CN111532282A

CN111532282A - Automatic driving coordination method, device and storage medium based on external environment and vehicle condition

Info

Publication number: CN111532282A
Application number: CN202010364225.0A
Authority: CN
Inventors: 杨敬锋; 王立; 张南峰; 蓝飞腾; 刘晓松; 魏忠伟; 杨峰
Original assignee: Guangdong Zhongke Zhenheng Information Technology Co ltd
Current assignee: Guangdong Zhongke Zhenheng Information Technology Co ltd
Priority date: 2020-04-30
Filing date: 2020-04-30
Publication date: 2020-08-14
Anticipated expiration: 2040-04-30
Also published as: CN111532282B

Abstract

The invention relates to an automatic driving coordination method, equipment and a storage medium based on external environment and vehicle conditions, wherein the automatic driving coordination method comprises the following steps: s1, acquiring a weather type of a current road section, and determining a speed reference of the vehicle according to the weather type; s2, dynamically adjusting the speed reference according to the relative distance and the relative speed of the vehicle and the front vehicle, and driving at the adjusted speed; s3, calculating the allowed remaining distance according to the speed and the electric quantity of the vehicle; and S4, temporarily changing the destination to an adjacent charging station and sending out warning information when the remaining distance is not enough to reach the preset destination. The invention determines reasonable driving speed based on weather type by combining the relative distance and relative speed change of the vehicle and the front vehicle, and then calculates the remaining distance according to the vehicle speed and the electric quantity, thereby achieving the effect that the calculation result is more accurate and accords with the reality.

Description

Automatic driving coordination method, device and storage medium based on external environment and vehicle condition

Technical Field

The present invention relates to the field of automatic driving, and in particular, to an automatic driving coordination method, device, and storage medium based on external environment and vehicle conditions.

Background

The automatic driving technology is more mature and initially enters a practical stage, and the automatic driving technology depends on the cooperative cooperation of a neural network algorithm, visual calculation, radar monitoring and a global positioning system, so that a main control computer on a vehicle can automatically adjust the speed of the vehicle according to the relative position and relative speed between road vehicles in real time, and the vehicle can safely drive to a preset destination along a set path.

The existing monitoring mode is basically used for periodically judging whether the remaining distance which the vehicle can still allow to run is enough to reach a preset destination or not based on the vehicle speed and the electric quantity, and sending out a warning when the vehicle cannot reach the preset destination, and the mode does not consider the influence of actual weather on the vehicle speed, so that the condition that the vehicle has a deviation is judged.

Disclosure of Invention

The invention provides an automatic driving coordination method, equipment and a storage medium based on external environment and vehicle conditions to solve or partially solve the defects in the prior art.

To this end, an autonomous driving coordination method based on external environment and vehicle conditions is provided, comprising the following steps performed periodically:

s1, acquiring a weather type of a current road section, and determining a speed reference of the vehicle according to the weather type;

s2, dynamically adjusting the speed reference according to the relative distance and the relative speed of the vehicle and the front vehicle, and driving at the adjusted speed;

s3, calculating the allowed remaining distance according to the speed and the electric quantity of the vehicle;

and S4, temporarily changing the destination to an adjacent charging station and sending out warning information when the remaining distance is not enough to reach the preset destination.

Preferably, step S1 further includes: and in the first period after the weather type is changed, adjusting the interval duration between the following periods according to the weather type.

Preferably, step S1 further includes: respectively configuring a vehicle speed reference for each weather type in advance; the vehicle speed is set in step S1 in the following manner: and controlling the vehicle to run according to the vehicle speed reference corresponding to the weather type.

Preferably, the method comprises the step S5:

counting the speed of each passing vehicle on the road, and marking the weather type when the speed is acquired;

and in the first period after the weather type is changed, averaging the speed of each passing vehicle counted under the last weather type, and updating the obtained result to be the speed reference of the last weather type.

Preferably, the step S3 is executed only when the variation width of the vehicle speed is larger than a set threshold.

Preferably, in step S3, the remaining distance is calculated by:

establishing a table in advance to store the mapping relation between the vehicle speed and the power consumption per kilometer;

and determining the power consumption per kilometer according to a vehicle speed lookup table of the vehicle, and taking the ratio of the power consumption per kilometer to the determined power consumption per kilometer as the remaining distance.

Preferably, in step S4, the method for determining that the remaining distance is insufficient to reach the preset destination is:

determining the current position of the vehicle based on the GPS, and determining the shortest driving path according to the current position and a preset destination;

and acquiring the kilometer number required for driving of the shortest driving path, and determining that the remaining distance is insufficient to reach the preset destination when the remaining distance is less than the kilometer number.

There is also provided an apparatus, wherein the apparatus comprises:

a controller; and the number of the first and second groups,

a memory arranged to store computer executable instructions which, when executed, cause the controller to implement the method described above.

A computer-readable storage medium is also provided, wherein the computer-readable storage medium stores one or more programs which, when executed by a controller, implement the above-described method.

Has the advantages that:

the invention determines reasonable driving speed based on weather type by combining the relative distance and relative speed change of the vehicle and the front vehicle, and then calculates the remaining distance according to the vehicle speed and the electric quantity, thereby achieving the effect that the calculation result is more accurate and accords with the reality.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings.

In the drawings:

FIG. 1 is a flow chart illustrating an implementation of the present invention automated driving coordination method based on external environmental and vehicle conditions;

FIG. 2 is a schematic structural diagram of an electronic device according to the present invention;

fig. 3 is a schematic structural diagram of a computer-readable storage medium according to the present invention.

Detailed Description

The vehicle referred to in this embodiment is an automatic driving electric vehicle, and an automatic driving system composed of a conventional laser sensor (Ibeo), a vision sensor (binocular vision camera), a position sensor (GPS), a front and rear radar, and a main control computer (Nuvo-5095GC industrial personal computer) is provided thereon, and can implement conventional sensing detection and driving control required for automatic driving.

As shown in fig. 1, the automatic driving coordination method of the present embodiment includes the following steps S1-S4 that are periodically executed:

in particular, a plurality of road side units for realizing relay communication between an operation center and vehicles on the road are arranged at equal intervals along the side of the road, wherein, the operation center can be a traffic control center, the road side unit refers to a network communication device based on mobile communication technology, and when the operation center is arranged, along the driving direction, a plurality of road side units are arranged at equal intervals beside the road, the communication ranges of the road side units are close to each other and are not overlapped, then controlling each road side unit to periodically broadcast and page vehicles in the communication range thereof by taking the road side unit as a coordinator, networking by taking the vehicles as nodes to form a local area network with a star topology structure, and then, controlling each road side unit to respectively carry out remote communication with the operation center, wherein the road side units bear the data relay transmission function between the vehicles on the road and the operation center, so that the vehicles can interact with the operation center in real time on the driving road.

And after the rear communication connection link is established, controlling the vehicle to request the weather type of the current road section from the operation center through the road side unit, wherein the weather type comprises various types such as sunny days, rainy days, windy days, snowy days and the like. And for each weather type, a vehicle speed reference is configured in advance, and when the vehicle is driven, the corresponding vehicle speed reference is determined as the current vehicle speed reference through a lookup table according to the current weather type.

specifically, the change of the relative distance between the two vehicles is calculated by collecting the position change of the front vehicle relative to the vehicle within the time T by using a laser sensor and a radar device, the relative speed is obtained by dividing the change of the relative distance by the time T, then the vehicle speed of the front vehicle is converted based on the vehicle speed of the vehicle, then the conventional overtaking judgment is carried out, if overtaking is carried out, the original vehicle speed reference is kept unchanged after overtaking, the vehicle is driven according to the original vehicle speed reference, and if overtaking is not carried out, the vehicle speed reference is controlled to be consistent with the speed of the front vehicle, and then the vehicle is driven according to the adjusted vehicle speed reference.

specifically, after the vehicle speed reference is adjusted, in order to save calculation resources and vehicle electric quantity, screening is performed according to the vehicle speed variation range, and only when the variation range of the vehicle speed is greater than a set threshold value, the remaining distance allowed to be traveled is calculated and the step S4 is continuously executed.

Because the power consumption of the vehicle is different in each kilometer due to different vehicle speeds, a mapping relation between the vehicle speed and the power consumption of each kilometer needs to be established in advance, when the remaining distance is calculated, the power consumption of each kilometer is determined according to the vehicle speed of the vehicle, then the determined power consumption of each kilometer is divided by the current power, and the ratio is the remaining distance.

S4, when the remaining distance is not enough to reach a preset destination, temporarily changing the destination to an adjacent charging station and sending out warning information;

specifically, after the remaining distance is obtained, the number of kilometers that the current electric quantity of the vehicle is allowed to run is obtained according to the remaining distance, and partial electric quantity needs to be reserved for emergency power supply. Then, the current position of the vehicle is determined based on the GPS, the shortest driving path is determined on an electronic map according to the current position and a destination preset by a vehicle owner, the number of kilometers of driving to the preset destination is determined according to the shortest driving path, when the number of kilometers of the remaining path is smaller than the number of kilometers of driving to the preset destination, the remaining path is determined not to be enough to reach the preset destination, at the moment, the situation is intelligently processed, the vehicle is controlled to inquire the position close to the charging station, the destination is temporarily changed to the position close to the charging station for charging, and then warning information is sent out to remind the vehicle owner of the change situation. And when the number of kilometers in the remaining journey is more than or equal to the number of kilometers in the preset destination to be driven, driving according to the original plan without changing the destination.

The reasonable driving speed is determined by combining the relative distance between the vehicle and the front vehicle and the change of the relative speed based on the weather type, and then the remaining distance is calculated according to the vehicle speed and the electric quantity, so that the effect that the calculation result is more accurate and accords with the reality is achieved.

Based on big data analysis, it can be known that in rainy, windy, snowy and other types of weather, the driving behavior of the vehicle owner tends to be cautious, the vehicle speed conversion frequency is reduced, in normal sunny days, the vehicle speed conversion frequency is improved, based on the characteristic, different detection periods in different weather can be controlled, if the vehicle speed conversion frequency is high, the detection period is shortened to adapt to vehicle speed conversion, and if the vehicle speed conversion frequency is low, in rainy, windy, snowy and other types of weather, the detection period is lengthened to save computing resources, based on the characteristic, a preposed step can be set in step S1, namely in the first period after the change of the weather type, the interval duration between the previous periods is adjusted according to the weather type.

Further, in order to feedback and calibrate the vehicle speed reference configured for each weather type, step S5 executed in the large period is further provided in this embodiment, and step S5 specifically includes:

in the first period after the weather type is changed, the vehicle speed of each passing vehicle counted under the previous weather type is averaged, and the averaged vehicle speed is updated to be the new vehicle speed reference in the rainy day after the vehicle enters the rainy day section from the sunny day section, for example, the averaged vehicle speed is updated to be the new vehicle speed reference in the rainy day for later use, the vehicle speed reference is ensured to be in accordance with the actual situation through continuous adjustment according to the actual condition, and the accuracy of the reference is improved.

It should be noted that:

the method of the present embodiment may be implemented by a method that is converted into program steps and apparatuses that can be stored in a computer storage medium and invoked and executed by a controller.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the apparatus for detecting a wearing state of an electronic device according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

For example, fig. 2 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device conventionally comprises a processor 21 and a memory 22 arranged to store computer-executable instructions (program code). The memory 22 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 22 has a storage space 23 storing program code 24 for performing any of the method steps in the embodiments. For example, the storage space 23 for the program code may comprise respective program codes 24 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 3. The computer readable storage medium may have memory segments, memory spaces, etc. arranged similarly to the memory 22 in the electronic device of fig. 2. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores program code 31 for performing the steps of the method according to the invention, i.e. program code readable by a processor such as 21, which when run by an electronic device causes the electronic device to perform the individual steps of the method described above.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims

1. The automatic driving coordination method based on the external environment and the vehicle condition is characterized by comprising the following steps which are executed periodically:

2. The method according to claim 1, wherein step S1 further comprises: and in the first period after the weather type is changed, adjusting the interval duration between the following periods according to the weather type.

3. The method of claim 1,

step S1 further includes: respectively configuring a vehicle speed reference for each weather type in advance;

the vehicle speed is set in step S1 in the following manner: and controlling the vehicle to run according to the vehicle speed reference corresponding to the weather type.

4. The method according to claim 3, comprising step S5:

5. The method of claim 1, wherein: the step S3 is executed only when the variation width of the vehicle speed is larger than a set threshold.

6. The method according to claim 1, wherein in step S3, the remaining distance is calculated by:

7. The method according to claim 1, wherein in step S4, the method for determining that the remaining distance is insufficient to reach the predetermined destination is:

8. Storage medium storing a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.

9. An apparatus, wherein the apparatus comprises:

a controller; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the controller to implement the method of any one of claims 1-7.