CN111361560B - Method and device for controlling vehicle running in automatic driving and electronic equipment - Google Patents
Method and device for controlling vehicle running in automatic driving and electronic equipment Download PDFInfo
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- CN111361560B CN111361560B CN202010115742.4A CN202010115742A CN111361560B CN 111361560 B CN111361560 B CN 111361560B CN 202010115742 A CN202010115742 A CN 202010115742A CN 111361560 B CN111361560 B CN 111361560B
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- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- 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
- B60W40/04—Traffic conditions
Abstract
The application discloses a method and a device for controlling vehicle running, electronic equipment and a computer readable storage medium, and relates to the technical field of automatic driving. The implementation scheme adopted when the vehicle is controlled to run is as follows: after the vehicle receives the overtaking command in the running process, executing lane change observation; acquiring barrier information in front of an overtaking target vehicle through lane change observation; and determining whether the barrier information meets a first preset condition, if so, canceling overtaking and executing a backup scheme, and otherwise, executing the overtaking instruction. The method and the device can improve the success rate of overtaking of the vehicle and the reasonability of lane changing, thereby enhancing the driving safety of the vehicle.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a method, an apparatus, an electronic device, and a computer-readable storage medium for controlling vehicle driving in the field of automatic driving technologies.
Background
During the running process of the automatic driving vehicle, the automatic driving vehicle can make an overtaking instruction according to the current running environment. However, since the perception of the autonomous vehicle is often not perfect, and the view of the vehicle is blocked to obtain incomplete perception information, an overtaking command is given under the condition that the perception information is missing, so that accidents are easily caused, and the driving safety of the autonomous vehicle is reduced.
Disclosure of Invention
The technical scheme adopted by the application for solving the technical problem is to provide a method for controlling a vehicle to run, which comprises the following steps: after the vehicle receives the overtaking command in the running process, executing lane change observation; acquiring barrier information in front of an overtaking target vehicle through lane change observation; and determining whether the barrier information meets a first preset condition, if so, canceling overtaking and executing a backup scheme, and otherwise, executing the overtaking instruction. The vehicle in this application pulls open transverse distance through lane change observation and the place ahead vehicle, can acquire better observation angle, ensures the barrier information accuracy more that acquires to promote the success rate that the vehicle overtaken and the rationality of lane change, further strengthen the security that the vehicle travel.
According to a preferred embodiment of the present application, before performing lane change observation, the method further comprises: and determining whether the overtaking target vehicle obstructs the sight of the current vehicle, if so, continuing to execute lane change observation, and otherwise, executing an overtaking command. The step can improve the execution accuracy of lane change observation and avoid the vehicle from executing redundant operation.
According to a preferred embodiment of the present application, after acquiring the obstacle information in front of the passing target vehicle by lane change observation, the method further includes: determining obstacle information acquired before lane change observation; comparing the obtained obstacle information after lane change observation with the obtained obstacle information before lane change observation; and determining whether newly added obstacle information appears according to the comparison result, if so, acquiring the newly added obstacle information, and otherwise, executing an overtaking instruction. This step can ensure the accuracy of the obstacle information.
According to a preferred embodiment of the present application, the determining whether the obstacle information satisfies a first preset condition includes: determining whether the obstacle information contains a newly added vehicle; or determining whether the number of newly added vehicles in the obstacle information exceeds a first threshold; or determining whether the distance between the current vehicle and the newly added vehicle closest to the obstacle information is smaller than a second threshold value.
According to a preferred embodiment of the present application, the canceling overtaking and executing a backup scheme includes: acquiring environmental data of the periphery of the current vehicle; determining a driving scene of the current vehicle according to the environment data; and selecting a backup scheme corresponding to the driving scene and executing the backup scheme. The step can improve the execution flexibility of the backup scheme.
According to a preferred embodiment of the present application, after the overtaking is cancelled and the backup scheme is executed, the method further comprises: determining whether the vehicle meets a second preset condition between the receiving of the current overtaking instruction and the previous overtaking instruction; if so, the vehicle is maintained to run on the original lane, otherwise, the vehicle is controlled to execute lane change observation. This step can avoid unnecessary control of the vehicle.
The technical scheme that this application adopted for solving technical problem provides a control vehicle device that traveles, includes: the control unit is used for executing lane change observation after the vehicle receives the overtaking command in the running process; the acquiring unit is used for acquiring the information of the obstacle in front of the overtaking target vehicle through lane changing observation; and the processing unit is used for determining whether the barrier information meets a first preset condition, if so, canceling the overtaking and executing a backup scheme, and otherwise, executing the overtaking instruction.
According to a preferred embodiment of the present application, before performing lane change observation, the control unit further performs: and determining whether the overtaking target vehicle obstructs the sight of the current vehicle, if so, continuing to execute lane change observation, and otherwise, executing an overtaking command.
According to a preferred embodiment of the present application, the acquisition unit, after acquiring the obstacle information in front of the passing target vehicle through lane change observation, further performs: determining obstacle information acquired before lane change observation; comparing the obtained obstacle information after lane change observation with the obtained obstacle information before lane change observation; and determining whether newly added obstacle information appears according to the comparison result, if so, acquiring the newly added obstacle information, and otherwise, executing an overtaking instruction.
According to a preferred embodiment of the present application, when determining whether the obstacle information satisfies a first preset condition, the processing unit specifically executes: determining whether the obstacle information contains a newly added vehicle; or determining whether the number of newly added vehicles in the obstacle information exceeds a first threshold; or determining whether the distance between the current vehicle and the newly added vehicle closest to the obstacle information is smaller than a second threshold value.
According to a preferred embodiment of the present application, when canceling overtaking and executing a backup scheme, the processing unit specifically executes: acquiring environmental data of the periphery of the current vehicle; determining a driving scene of the current vehicle according to the environment data; and selecting a backup scheme corresponding to the driving scene and executing the backup scheme.
According to a preferred embodiment of the present application, after canceling the overtaking and executing the backup scheme, the processing unit further executes: determining whether the vehicle meets a second preset condition between the receiving of the current overtaking instruction and the previous overtaking instruction; if so, the vehicle is maintained to run on the original lane, otherwise, the vehicle is controlled to execute lane change observation.
One embodiment in the above application has the following advantages or benefits: the method and the device can improve the success rate of overtaking of the vehicle and the reasonability of lane changing, and further enhance the driving safety of the vehicle. Because the technical means that the obstacle information in front of the overtaking target vehicle is firstly obtained through lane changing observation and then whether overtaking is required or not is determined according to the obtained obstacle information is adopted, the technical problem that overtaking failure is easily caused by controlling the vehicle to overtake only through incomplete sensing information in the prior art is solved, the success rate of vehicle overtaking and the reasonability of lane changing are improved, and the technical effect of the safety of vehicle driving is further enhanced.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a flow chart of a method for controlling travel of a vehicle according to a first embodiment of the present application;
FIG. 2 is a schematic illustration of a vehicle lane change observation provided in accordance with a second embodiment of the present application;
FIG. 3 is a schematic illustration of a vehicle lane change observation provided in accordance with a third embodiment of the present application;
fig. 4 is a structural view of an apparatus for controlling running of a vehicle according to a fourth embodiment of the present application;
fig. 5 is a block diagram of an electronic device for implementing the method of controlling the running of the vehicle according to the embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a flowchart of a method for controlling a vehicle to run according to a first embodiment of the present application, and as shown in fig. 1, the method includes:
in S101, after the vehicle receives an overtaking command during traveling, lane change observation is performed.
In this step, if the vehicle receives an overtaking command during the running process of the vehicle, the vehicle is controlled to perform lane change observation. That is to say, after the vehicle in the present application receives the overtaking command, the vehicle is not directly controlled to make lane change and overtake the vehicle ahead, but lane change observation is performed first, and then whether to make an overtaking is determined according to the observation result.
This is because, in some driving scenarios of the vehicle, for example, a large vehicle (bus, truck, etc.) is in front of the vehicle, which may obstruct the view of the current vehicle. And when the large vehicle runs at a slow speed or is static, the current vehicle can make a decision to change lanes and overtake. However, since the sight line is blocked, the current vehicle cannot accurately sense the front of the passing target vehicle, and if an unknown obstacle exists in front of the passing target vehicle, the current vehicle is very likely to fail in passing this time, so that the safety of vehicle driving is reduced.
Therefore, the lane change observation performed by the vehicle in this step is a process of controlling the vehicle to change its lane so as to observe the front of the passing target vehicle. Therefore, the step can acquire the information of the obstacle originally shielded by the overtaking target vehicle by controlling the vehicle to execute lane change observation.
In addition, in order to improve the execution accuracy of lane change observation and avoid the vehicle from executing redundant operations, before executing lane change observation, the step may further include the following steps: and determining whether the overtaking target vehicle obstructs the sight of the current vehicle, if so, continuing to execute lane change observation, and otherwise, executing an overtaking command.
That is, the lane change observation can be executed for each overtaking command, so that the information of the obstacle in front of the overtaking target vehicle can be more accurately acquired; or only when the sight line of the current vehicle is blocked by the overtaking target vehicle, the vehicle can be controlled to perform lane-changing observation.
Preferably, the vehicle in the present application is a vehicle with an automatic driving capability, that is, a control module in the automatic driving vehicle controls the automatic driving vehicle to change a traffic lane and perform observation after receiving the overtaking instruction sent by the planning module. The vehicle in the application can also be a common vehicle, namely the common vehicle sends out the prompt message of lane change detection to the driver after determining that the driver sends out the overtaking command so as to remind the driver to observe firstly and then overtake.
In S102, obstacle information in front of the passing target vehicle is acquired by lane change observation.
In this step, after the control vehicle performs lane change observation in step S101, obstacle information in front of the passing target vehicle is acquired. That is, after the vehicle in this step changes the lane by performing lane change observation, the line of sight originally blocked by the passing target vehicle is restored, so that the obstacle information in front of the passing target vehicle is acquired more accurately.
The obstacle information in front of the passing target vehicle obtained in this step is preferably obstacle information in front of a lane in which the passing target vehicle is located, and the lane in which the passing target vehicle is located is a lane before the current vehicle changes lanes. Therefore, the step only needs to observe the front of the lane where the overtaking target vehicle is located, and the acquisition process of the obstacle information is simplified.
The obstacle information in front of the overtaking target vehicle can still be obtained under the condition that the sight line of the current vehicle is blocked, namely the overtaking of the vehicle at this time has a certain basis and is not performed under the condition that the front condition is completely unknown.
However, since the current vehicle view is necessarily partially blocked, in order to ensure the accuracy of the acquired obstacle information and further improve the safety of vehicle driving, the step may further include the following steps after acquiring the obstacle information in front of the passing target vehicle through lane change observation: determining obstacle information acquired before lane change observation; comparing the obtained obstacle information after lane change observation with the obtained obstacle information before lane change observation; and determining whether newly added obstacle information appears according to the comparison result, if so, acquiring the newly added obstacle information, and otherwise, executing an overtaking instruction.
In S103, whether the barrier information meets a first preset condition is determined, if yes, overtaking is cancelled and a backup scheme is executed, and if not, the overtaking instruction is executed.
In this step, after the obstacle information in front of the passing target vehicle is acquired in step S102, it is first determined whether the acquired obstacle information satisfies a first preset condition, and if so, the passing is cancelled and a backup plan is executed, and if not, the received passing instruction is executed.
Specifically, in this step, when determining whether the obstacle information satisfies the first preset condition, it may be determined whether the acquired obstacle information includes a newly added vehicle, it may also be determined whether the number of the newly added vehicles exceeds a first threshold, and it may also be determined whether the distance between the current vehicle and the newly added vehicle is smaller than a second threshold, and the like. Wherein, the newly added vehicle in the step is the vehicle positioned in front of the overtaking target vehicle. That is to say, the overtaking can be cancelled under the condition that other vehicles still exist in front of the overtaking target vehicle after lane change observation, so that accidents are avoided, and the driving safety of the vehicle is improved.
It is understood that the backup schemes executed in this step may be unified, that is, the vehicles adopt the same backup scheme in different driving scenarios, for example, the lane change is cancelled to return to the original lane, or the vehicle is directly braked, or the lane change is cancelled after the vehicle is separated from the passing target vehicle.
In addition, when the overtaking is cancelled and a backup scheme is executed, the following modes can be adopted in the step: acquiring environmental data of the periphery of the vehicle; determining a driving scene of the vehicle according to the acquired environmental data; and selecting a backup scheme corresponding to the determined driving scene and executing. That is to say, this step can make the vehicle execute different backup schemes under different driving scenes, thereby promote the flexibility of the vehicle when executing the backup schemes.
In order to avoid unnecessary control of the vehicle, after the overtaking is cancelled and the backup scheme is executed, the following contents can be further included in the step: determining whether a vehicle meets a second preset condition between receiving the current overtaking instruction and the previous overtaking instruction, wherein the second preset condition can be whether at least one of a time interval and a distance interval between two times of receiving the instructions is smaller than a preset threshold value; if so, maintaining the vehicle to run on the original lane, otherwise controlling the vehicle to perform lane change observation. That is, since the time or distance between the vehicle receiving the current overtaking command and the previous overtaking command is small, the previous overtaking is proved to be unable to be completed after the lane change detection, and the vehicle is unable to complete the overtaking according to the current overtaking command, the vehicle is not controlled to continue to run on the original lane.
Therefore, after the vehicle in the application receives the overtaking command, the obstacle information in front of the overtaking target vehicle is obtained through lane change observation, and then whether overtaking is carried out or not is determined according to the obtained obstacle information, so that the success rate of overtaking of the vehicle and the lane change rationality are improved, and the driving safety of the vehicle is further enhanced.
FIG. 2 is a schematic diagram of a lane change observation performed by a vehicle according to a second embodiment of the present disclosure, wherein the vehicle is traveling in a leftmost lane of a current road; fig. 3 is a schematic diagram of a lane change observation performed by a vehicle according to a third embodiment of the present application, wherein the vehicle travels in a middle lane of a current road.
Fig. 4 is a structural view of an apparatus for controlling running of a vehicle according to a fourth embodiment of the present application, as shown in fig. 4, the apparatus including: a control unit 401, an acquisition unit 402, and a processing unit 403.
And the control unit 401 is used for executing lane change observation after the vehicle receives the overtaking command in the running process.
And a control unit 401, configured to control the vehicle to perform lane change observation if the vehicle receives an overtaking command during a driving process of the vehicle. That is to say, after the vehicle in the present application receives the overtaking command, the vehicle is not directly controlled to make lane change and overtake the vehicle ahead, but lane change observation is performed first, and then whether to make an overtaking is determined according to the observation result.
This is because, in some driving scenarios of the vehicle, for example, a large vehicle (bus, truck, etc.) is in front of the vehicle, which may obstruct the view of the current vehicle. And when the large vehicle runs at a slow speed or is static, the current vehicle can make a decision to change lanes and overtake. However, since the sight line is blocked, the current vehicle cannot accurately sense the front of the passing target vehicle, and if an unknown obstacle exists in front of the passing target vehicle, the current vehicle is very likely to fail in passing this time, so that the safety of vehicle driving is reduced.
Therefore, the control unit 401 controls lane change observation performed by the vehicle, that is, a process of controlling the vehicle to change its lane of travel to observe ahead of the passing target vehicle. Therefore, the control unit 401 can acquire the obstacle information originally blocked by the passing target vehicle by controlling the vehicle to perform lane change observation.
In addition, in order to improve the accuracy of performing lane change observation and avoid the vehicle performing redundant operations, the control unit 401 may further include the following before performing lane change observation: and determining whether the overtaking target vehicle obstructs the sight of the current vehicle, if so, continuing to execute lane change observation, and otherwise, executing an overtaking command.
That is, the control unit 401 can perform lane change observation for each passing instruction, thereby more accurately acquiring the obstacle information in front of the passing target vehicle; or only when the sight line of the current vehicle is blocked by the overtaking target vehicle, the vehicle can be controlled to perform lane-changing observation.
An obtaining unit 402, configured to obtain information of an obstacle in front of the passing target vehicle through lane change observation.
The acquisition unit 402 acquires obstacle information in front of the passing target vehicle after the control unit 401 controls the vehicle to perform lane change observation. That is, the acquisition unit 402 more accurately acquires the obstacle information in front of the passing target vehicle after the vehicle performs lane change observation to change the lane of travel, since the line of sight originally blocked by the passing target vehicle is restored.
The obstacle information in front of the passing target vehicle acquired by the acquiring unit 402 is preferably obstacle information in front of a lane where the passing target vehicle is located, and the lane where the passing target vehicle is located is a lane before the current vehicle changes lanes. Therefore, the acquisition unit 402 only needs to observe the front of the lane where the passing target vehicle is located, and the acquisition process of the obstacle information is simplified.
The obstacle information in front of the overtaking target vehicle can still be obtained under the condition that the sight line of the current vehicle is blocked, namely the overtaking of the vehicle at this time has a certain basis and is not performed under the condition that the front condition is completely unknown.
However, since the current vehicle view is necessarily partially blocked, in order to ensure the accuracy of the acquired obstacle information and further improve the safety of vehicle driving, the acquiring unit 402 may further include the following after acquiring the obstacle information in front of the passing target vehicle through lane change observation: determining obstacle information acquired before lane change observation; comparing the obtained obstacle information after lane change observation with the obtained obstacle information before lane change observation; and determining whether newly added obstacle information appears according to the comparison result, if so, acquiring the newly added obstacle information, and otherwise, executing an overtaking instruction.
And the processing unit 403 is configured to determine whether the obstacle information meets a first preset condition, cancel the overtaking and execute a backup scheme if the obstacle information meets the first preset condition, and otherwise execute the overtaking instruction.
After the obtaining unit 402 obtains the obstacle information in front of the passing target vehicle, the processing unit 403 first determines whether the obtained obstacle information satisfies a first preset condition, and if so, cancels passing and executes a backup scheme, and if not, executes the received passing instruction.
Specifically, when determining whether the obstacle information satisfies the first preset condition, the processing unit 403 may determine whether the acquired obstacle information includes a newly added vehicle, may determine whether the number of newly added vehicles exceeds a first threshold, may determine whether the distance between the current vehicle and the newly added vehicle is smaller than a second threshold, and the like. The newly added vehicle in the processing unit 403 is a vehicle located in front of the passing target vehicle. That is, the processing unit 403 can cancel the passing in the case where other vehicles are still present in front of the passing target vehicle after the lane change observation, thereby avoiding the occurrence of an accident and improving the safety of vehicle driving.
It is understood that the backup scheme executed in the processing unit 403 may be uniform, that is, the vehicles adopt the same backup scheme under different driving scenarios, for example, the lane change is cancelled to return to the original lane, or the vehicle is directly braked, or the lane change is cancelled after the vehicle is separated from the passing target vehicle.
In addition, the processing unit 403 may adopt the following manner when canceling the overtaking and executing the backup scheme: acquiring environmental data of the periphery of the vehicle; determining a driving scene of the vehicle according to the acquired environmental data; and selecting a backup scheme corresponding to the determined driving scene and executing. That is, the processing unit 403 can enable the vehicle to execute different backup schemes under different driving scenarios, thereby improving the flexibility of the vehicle in executing the backup schemes.
To avoid unnecessary control of the vehicle, the processing unit 403 may further include the following after canceling the overtaking and executing the backup scheme: determining whether a vehicle meets a second preset condition between receiving the current overtaking instruction and the previous overtaking instruction, wherein the second preset condition can be whether at least one of a time interval and a distance interval between two times of receiving the instructions is smaller than a preset threshold value; if so, maintaining the vehicle to run on the original lane, otherwise controlling the vehicle to perform lane change observation. That is, since the time or distance between the vehicle receiving the current overtaking command and the previous overtaking command is small, the previous overtaking is proved to be unable to be completed after the lane change detection, and the vehicle is unable to complete the overtaking according to the current overtaking command, the vehicle is not controlled to continue to run on the original lane.
According to an embodiment of the present application, an electronic device and a computer-readable storage medium are also provided.
As shown in fig. 5, the method for controlling the vehicle to run according to the embodiment of the present application is a block diagram of an electronic device. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 5, the electronic apparatus includes: one or more processors 501, memory 502, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 5, one processor 501 is taken as an example.
The memory 502, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the method of controlling vehicle travel in the embodiment of the present application (for example, the control unit 401, the acquisition unit 402, and the processing unit 403 shown in fig. 4). The processor 501 executes various functional applications of the server and data processing, i.e., implements the method of controlling the running of the vehicle in the above-described method embodiment, by executing the non-transitory software programs, instructions, and modules stored in the memory 502.
The memory 502 may include a storage program area and a storage data area, wherein the storage program 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 electronic device, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 502 optionally includes memory located remotely from processor 501, and these remote memories may be connected over a network to electronics that control the method of vehicle travel. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the method of controlling the vehicle to travel may further include: an input device 503 and an output device 504. The processor 501, the memory 502, the input device 503 and the output device 504 may be connected by a bus or other means, and fig. 5 illustrates the connection by a bus as an example.
The input device 503 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic equipment of the method of controlling the travel of the vehicle, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or other input devices. The output devices 504 may include a display device, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, after the vehicle receives the overtaking command, the obstacle information in front of the overtaking target vehicle is obtained through lane changing observation, and then whether overtaking is carried out or not is determined according to the obtained obstacle information, so that the success rate of overtaking of the vehicle and the reasonability of lane changing are improved, and the driving safety of the vehicle is further enhanced.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present application can be achieved, and the present invention is not limited herein.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (12)
1. A method of controlling travel of a vehicle in autonomous driving, comprising:
after the vehicle receives the overtaking command in the running process, executing lane change observation, wherein the lane change observation is that the vehicle changes a traffic lane so as to observe the front of the overtaking target vehicle;
acquiring obstacle information in front of a lane where a passing target vehicle is located through lane change observation;
determining whether the barrier information meets a first preset condition, if so, canceling overtaking and executing a backup scheme, otherwise, executing the overtaking instruction;
the determining whether the obstacle information satisfies a first preset condition includes:
determining whether the obstacle information contains a newly added vehicle; or
Determining whether the number of newly added vehicles in the obstacle information exceeds a first threshold; or
Determining whether the distance between the current vehicle and the newly added vehicle which is the nearest in the obstacle information is smaller than a second threshold value.
2. The method of claim 1, further comprising, prior to performing lane change observations:
and determining whether the overtaking target vehicle obstructs the sight of the current vehicle, if so, continuing to execute lane change observation, and otherwise, executing an overtaking command.
3. The method according to claim 1, further comprising, after acquiring the obstacle information in front of the lane in which the passing target vehicle is located by lane change observation:
determining obstacle information acquired before lane change observation;
comparing the obtained obstacle information after lane change observation with the obtained obstacle information before lane change observation;
and determining whether newly added obstacle information appears according to the comparison result, if so, acquiring the newly added obstacle information, and otherwise, executing an overtaking instruction.
4. The method of claim 1, wherein the cancelling of the overtaking and executing the backup scenario comprises:
acquiring environmental data of the periphery of the current vehicle;
determining a driving scene of the current vehicle according to the environment data;
and selecting a backup scheme corresponding to the driving scene and executing the backup scheme.
5. The method of claim 1, further comprising, after canceling the overtaking and executing the backup scenario:
determining whether the vehicle meets a second preset condition between the receiving of the current overtaking instruction and the previous overtaking instruction;
if so, the vehicle is maintained to run on the original lane, otherwise, the vehicle is controlled to execute lane change observation.
6. An apparatus for controlling running of a vehicle in automatic driving, characterized by comprising:
the control unit is used for executing lane change observation after the vehicle receives the overtaking command in the running process, wherein the lane change observation is that the vehicle changes a traffic lane so as to observe the front of the overtaking target vehicle;
the system comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring the information of an obstacle in front of a lane where a passing target vehicle is located through lane change observation;
the processing unit is used for determining whether the barrier information meets a first preset condition, if so, canceling overtaking and executing a backup scheme, and otherwise, executing the overtaking instruction;
when determining whether the obstacle information meets a first preset condition, the processing unit specifically executes:
determining whether the obstacle information contains a newly added vehicle; or
Determining whether the number of newly added vehicles in the obstacle information exceeds a first threshold; or
Determining whether the distance between the current vehicle and the newly added vehicle which is the nearest in the obstacle information is smaller than a second threshold value.
7. The apparatus according to claim 6, wherein the control unit further performs, before performing lane change observation:
and determining whether the overtaking target vehicle obstructs the sight of the current vehicle, if so, continuing to execute lane change observation, and otherwise, executing an overtaking command.
8. The apparatus according to claim 6, wherein the acquisition unit, after acquiring the obstacle information in front of the lane in which the passing target vehicle is located by lane change observation, further performs:
determining obstacle information acquired before lane change observation;
comparing the obtained obstacle information after lane change observation with the obtained obstacle information before lane change observation;
and determining whether newly added obstacle information appears according to the comparison result, if so, acquiring the newly added obstacle information, and otherwise, executing an overtaking instruction.
9. The apparatus according to claim 6, wherein the processing unit, when cancelling the overtaking and executing the backup scheme, specifically executes:
acquiring environmental data of the periphery of the current vehicle;
determining a driving scene of the current vehicle according to the environment data;
and selecting a backup scheme corresponding to the driving scene and executing the backup scheme.
10. The apparatus of claim 6, wherein the processing unit, after canceling the overtaking and executing the backup scheme, further performs:
determining whether the vehicle meets a second preset condition between the receiving of the current overtaking instruction and the previous overtaking instruction;
if so, the vehicle is maintained to run on the original lane, otherwise, the vehicle is controlled to execute lane change observation.
11. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-5.
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| CN112918477A (en) * | 2021-03-29 | 2021-06-08 | 昆山宝创新能源科技有限公司 | Overtaking control method and storage medium |
| CN114547403B (en) * | 2021-12-30 | 2023-05-23 | 广州文远知行科技有限公司 | Method, device, equipment and storage medium for collecting variable-track scene |
| CN116331207A (en) * | 2022-10-27 | 2023-06-27 | 深圳曦华科技有限公司 | Intelligent lane changing method for automatic driving scene, related device, medium and program |
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| CN105216794A (en) * | 2014-06-23 | 2016-01-06 | 富士重工业株式会社 | The drive assistance device of vehicle |
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| JP6237694B2 (en) * | 2015-04-28 | 2017-11-29 | トヨタ自動車株式会社 | Travel control device |
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