CN111572561A - Speed control method, device and equipment for automatic driving automobile and storage medium - Google Patents
Speed control method, device and equipment for automatic driving automobile and storage medium Download PDFInfo
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- CN111572561A CN111572561A CN202010440159.0A CN202010440159A CN111572561A CN 111572561 A CN111572561 A CN 111572561A CN 202010440159 A CN202010440159 A CN 202010440159A CN 111572561 A CN111572561 A CN 111572561A
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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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
- B60W2552/00—Input parameters relating to infrastructure
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Abstract
The invention belongs to the technical field of automatic driving automobiles, and discloses a method, a device, equipment and a storage medium for controlling the speed of an automatic driving automobile. The method comprises the steps of respectively obtaining current limited vehicle speeds corresponding to vehicle data of different dimensions, wherein the vehicle data of different dimensions comprise at least one of map positioning data, machine vision data, driver preset data, barrier data and vehicle road data; determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition; and comparing the target limited vehicle speed with the current vehicle speed, and executing a preset deceleration operation when the target limited vehicle speed is smaller than the current vehicle speed. According to the invention, information is obtained through multi-sensor fusion, the target limited speed of the automatic driving automobile is determined according to the limiting conditions under various working conditions, and finally good speed control is realized, so that the problems of unreasonableness and driving safety of the existing automatic driving automobile are solved.
Description
Technical Field
The invention relates to the technical field of automatic driving automobiles, in particular to a method, a device, equipment and a storage medium for controlling the speed of an automatic driving automobile.
Background
The control of an autonomous vehicle is mainly divided into lateral control and longitudinal control, the longitudinal control is mainly responsible for controlling the running speed of the vehicle, such as acceleration and deceleration of the vehicle, and the longitudinal control speed of the current autonomous vehicle is mainly determined by the speed of the vehicle ahead during adaptive following or manual setting of a driver, for example, the adaptive cruise technology performs speed control by acceleration or deceleration based on the speed set by the driver of the vehicle, so that the vehicle keeps running within a certain range of the set speed. When the radar or the camera detects that a vehicle is in front of the vehicle, the system keeps a certain distance between the vehicle and the front vehicle by controlling the motor or the braking system, tracks the front vehicle and keeps the speed of the vehicle consistent with that of the front vehicle. The technology is a control strategy for automatically driving the vehicle, but the current vehicle is overspeed, the current vehicle keeps a certain distance from the previous vehicle, and the current vehicle is also overspeed and violates the regulation. Meanwhile, for a larger curve, when the set vehicle speed is too high, the vehicle is likely to sideslip and even be dangerous.
In addition, the driver can be reminded of the driving speed based on vision, whether the speed of the automobile exceeds the safe speed of the curve or not is judged at different curves, if the speed of the automobile is judged to be too high, an alarm is sent out to remind the driver, the driver is prompted to take measures to reduce the speed of the automobile in time, and the occurrence of side slipping or side turning accidents of the automobile is avoided, so that the safe driving of the automobile is ensured. However, in the technical scheme, the speed judgment of the vehicle is finished by vision to inform the driver of controlling the vehicle speed, the automatic speed control of the vehicle is not realized, and particularly, a corresponding vehicle speed control method is not provided under the condition that a front vehicle exists. The safe speed of a vehicle running on a certain road is determined by various factors, and the speed of the front vehicle during self-adaptive following or the speed control of an automatic driving vehicle manually set by a driver is not reasonable, and the actual speed control not only needs to self-adaptively follow the speed of the front vehicle during following or manually set by the driver, but also needs to consider road conditions, vehicle conditions and the like.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle speed control method, a device, equipment and a storage medium of an automatic driving vehicle, aiming at solving the technical problems that the vehicle speed control of the automatic driving vehicle is not reasonable and has the problem of driving safety.
In order to achieve the above object, the present invention provides a vehicle speed control method of an autonomous vehicle, the method comprising the steps of:
respectively acquiring current limited vehicle speeds corresponding to vehicle data of different dimensions, wherein the vehicle data of different dimensions comprise at least one of map positioning data, machine vision data, driver preset data, obstacle data and vehicle road data;
determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition;
and comparing the target limited vehicle speed with the current vehicle speed, and executing a preset deceleration operation when the target limited vehicle speed is smaller than the current vehicle speed.
Preferably, the currently defined vehicle speed includes: a first defined vehicle speed, a second defined vehicle speed, a third defined vehicle speed, a fourth defined vehicle speed, and/or a fifth defined vehicle speed;
the step of determining the target limited vehicle speed according to the current limited vehicle speed and the preset limited vehicle speed condition comprises the following steps:
selecting a target vehicle speed with the minimum speed value from the first limited vehicle speed, the second limited vehicle speed, the third limited vehicle speed, the fourth limited vehicle speed and/or the fifth limited vehicle speed;
taking the target vehicle speed as a target limit vehicle speed;
wherein the first defined vehicle speed is determined from the map positioning data, the second defined vehicle speed is determined from the machine vision data, the third defined vehicle speed is determined from the driver preset data, the fourth defined vehicle speed is determined from the obstacle data, and the fifth defined vehicle speed is determined from the vehicle road data.
Preferably, the vehicle speed control method of an autonomous vehicle further includes:
determining a current lane according to the map positioning data, and determining a corresponding current road section speed limit value and a current lane speed limit value according to the current lane;
and taking the current road section speed limit value and the current lane speed limit value as a first limited vehicle speed.
Preferably, the vehicle speed control method of an autonomous vehicle further includes:
extracting a road image in front of the vehicle from the machine vision data;
carrying out image processing on the road image in front of the vehicle to obtain a current lane image;
extracting current lane information according to the current lane image, and calculating the curvature of a current lane according to the current lane information;
and acquiring a corresponding curvature vehicle speed through a preset curvature vehicle speed corresponding table according to the curvature of the current lane, and taking the curvature vehicle speed as a second limited vehicle speed.
Preferably, the vehicle speed control method of an autonomous vehicle further includes:
extracting a preset expected speed of the current road section from the preset data of the driver;
and taking the preset expected speed as a third limited vehicle speed.
Preferably, the vehicle speed control method of an autonomous vehicle further includes:
extracting a front vehicle running speed from the obstacle data;
and taking the running speed of the front vehicle as a fourth limited vehicle speed.
Preferably, the vehicle speed control method of an autonomous vehicle further includes:
extracting a vehicle speed yaw rate from the vehicle road data;
calculating the lateral acceleration according to the road friction coefficient;
and determining a fifth limited vehicle speed according to the vehicle speed yaw angular speed, the lateral acceleration and the current vehicle speed.
In addition, in order to achieve the above object, the present invention further provides a vehicle speed control method apparatus for an autonomous vehicle, the apparatus comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for respectively acquiring current limited vehicle speeds corresponding to vehicle data with different dimensions, and the vehicle data with different dimensions comprises at least one of map positioning data, machine vision data, driver preset data, barrier data and vehicle road data;
the determining module is used for determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition;
and the execution module is used for comparing the target limited vehicle speed with the current vehicle speed and executing preset deceleration operation when the target limited vehicle speed is smaller than the current vehicle speed.
In addition, to achieve the above object, the present invention also provides an electronic device, including: a memory, a processor and a vehicle speed control program of an autonomous vehicle stored on the memory and operable on the processor, the vehicle speed control program of an autonomous vehicle being configured to implement the steps of the vehicle speed control method of an autonomous vehicle as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having a vehicle speed control program of an autonomous vehicle stored thereon, the vehicle speed control program of the autonomous vehicle implementing the steps of the vehicle speed control method of the autonomous vehicle as described above when executed by a processor
The method comprises the steps of respectively obtaining current limited vehicle speeds corresponding to vehicle data of different dimensions, wherein the vehicle data of different dimensions comprise at least one of map positioning data, machine vision data, driver preset data, barrier data and vehicle road data; determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition; and comparing the target limited vehicle speed with the current vehicle speed, and executing a preset deceleration operation when the target limited vehicle speed is smaller than the current vehicle speed. By the mode, the vehicle data with different dimensions are comprehensively considered to comprise map positioning data, machine vision data, driver preset data, barrier data and vehicle road data, the automatic driving automobile determines the target limited speed according to the limiting conditions under various working conditions, the good speed control effect is finally achieved, and the driving safety of the automobile is improved. Therefore, the technical problems that the existing automatic driving automobile is not reasonable in speed control and has the problem of driving safety are solved.
Drawings
Fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method for controlling the speed of an autonomous vehicle according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a method for controlling the speed of an autonomous vehicle according to the present invention;
fig. 4 is a block diagram showing the structure of a first embodiment of the vehicle speed control device of an autonomous vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle speed control program of an autonomous vehicle.
In the electronic apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the electronic device of the present invention may be provided in the electronic device, and the electronic device calls the vehicle speed control program of the autonomous vehicle stored in the memory 1005 through the processor 1001 and executes the vehicle speed control method of the autonomous vehicle provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for controlling a vehicle speed of an autonomous vehicle, and referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of the method for controlling the vehicle speed of the autonomous vehicle according to the present invention.
In this embodiment, the method for controlling the speed of the autonomous vehicle includes the steps of:
step S10: the method comprises the steps of respectively obtaining current limited vehicle speeds corresponding to vehicle data of different dimensions, wherein the vehicle data of different dimensions comprise at least one of map positioning data, machine vision data, driver preset data, obstacle data and vehicle road data.
It should be noted that, the current limited vehicle speeds corresponding to the vehicle data of different dimensions are respectively acquired: the first defined vehicle speed is determined from the map positioning data, the second defined vehicle speed is determined from the machine vision data, the third defined vehicle speed is determined from the driver preset data, the fourth defined vehicle speed is determined from the obstacle data, and the fifth defined vehicle speed is determined from the vehicle road data. The first, second, third, fourth, and/or fifth defined vehicle speeds are used as current defined vehicle speeds.
Specifically, a current lane is determined according to the map positioning data, and a corresponding current road section speed limit value and a current lane speed limit value are determined according to the current lane; and taking the current road section speed limit value and the current lane speed limit value as a first limited vehicle speed.
Specifically, a road image in front of the vehicle is extracted from the machine vision data; carrying out image processing on the road image in front of the vehicle to obtain a current lane image; extracting current lane information according to the current lane image, and calculating the curvature of a current lane according to the current lane information; and acquiring a corresponding curvature vehicle speed through a preset curvature vehicle speed corresponding table according to the curvature of the current lane, and taking the curvature vehicle speed as a second limited vehicle speed.
Specifically, preset data of a driver are obtained, and a preset expected speed of a current road section is extracted from the preset data of the driver; and taking the preset expected speed as a third limited vehicle speed.
Specifically, a preceding vehicle running speed is extracted from the obstacle data; and taking the running speed of the front vehicle as a fourth limited vehicle speed.
Specifically, a vehicle speed yaw rate is extracted from the vehicle road data; calculating the lateral acceleration according to the road friction coefficient; and determining a fifth limited vehicle speed according to the vehicle speed yaw angular speed, the lateral acceleration and the current vehicle speed.
Step S20: and determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition.
It will be readily appreciated that the currently defined vehicle speeds include: a first defined vehicle speed, a second defined vehicle speed, a third defined vehicle speed, a fourth defined vehicle speed, and/or a fifth defined vehicle speed; the step of determining the target limited vehicle speed according to the current limited vehicle speed and the preset limited vehicle speed condition comprises the following steps: selecting a target vehicle speed with the minimum speed value from the first limited vehicle speed, the second limited vehicle speed, the third limited vehicle speed, the fourth limited vehicle speed and/or the fifth limited vehicle speed; taking the target vehicle speed as a target limit vehicle speed; wherein the first defined vehicle speed is determined from the map positioning data, the second defined vehicle speed is determined from the machine vision data, the third defined vehicle speed is determined from the driver preset data, the fourth defined vehicle speed is determined from the obstacle data, and the fifth defined vehicle speed is determined from the vehicle road data.
Step S30: and comparing the target limited vehicle speed with the current vehicle speed, and executing a preset deceleration operation when the target limited vehicle speed is smaller than the current vehicle speed.
It should be noted that a vehicle speed signal of the current vehicle speed can be acquired through a vehicle-mounted sensor, the target limited vehicle speed is compared with the current vehicle speed, and when the target limited vehicle speed is smaller than the current vehicle speed, a longitudinal control module of the automatic driving vehicle is started to execute a preset deceleration operation; and when the target limited speed is greater than or equal to the current speed, the automatic driving automobile keeps running at the current speed, and a longitudinal control module of the automatic driving automobile is not started.
It is easy to understand that the speed control method for the automatic driving automobile provided by the embodiment calls common signals to perform simple data processing on the basis of using common hardware of the automatic driving automobile, and obtains the reasonable limited speed of the road where the automatic driving automobile is located. The hardware does not increase any cost, and the software only needs to add the speed control program of the automatic driving automobile provided by the embodiment, the speed control program of the automatic driving automobile is configured to realize the steps of the speed control method of the automatic driving automobile according to the embodiment, and the speed control program of the automatic driving automobile is embedded into the longitudinal motion control module of the automatic driving automobile.
It should be understood that the vehicle speed control method for an autonomous vehicle provided in this embodiment selects a reasonable limited vehicle speed based on multiple conditions and is not limited to the highest vehicle speed, and the reasonable driving vehicle speed of the autonomous vehicle and the like may also be calculated based on the vehicle speed control method for an autonomous vehicle provided in this embodiment.
In the embodiment, the current limited vehicle speeds corresponding to vehicle data of different dimensions are respectively acquired, wherein the vehicle data of different dimensions comprise at least one of map positioning data, machine vision data, driver preset data, obstacle data and vehicle road data; determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition; and comparing the target limited vehicle speed with the current vehicle speed, and executing a preset deceleration operation when the target limited vehicle speed is smaller than the current vehicle speed. By the mode, vehicle data with different dimensions are comprehensively considered to comprise map positioning data, machine vision data, driver preset data, barrier data and/or vehicle road data, the target limited vehicle speed is determined according to limiting conditions under various working conditions of the automatic driving vehicle, a good vehicle speed control effect is finally achieved, a longitudinal control effect is improved on the basis of not increasing any hardware, and the driving safety of the automatic driving vehicle is improved. Therefore, the technical problems that the existing automatic driving automobile is not reasonable in speed control and has the problem of driving safety are solved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of a method for controlling a vehicle speed of an autonomous vehicle according to the present invention. Based on the first embodiment, the method for controlling the vehicle speed of the autonomous vehicle in this embodiment specifically includes, in step S20:
step S201: and selecting a target vehicle speed with the minimum speed value from the first limited vehicle speed, the second limited vehicle speed, the third limited vehicle speed, the fourth limited vehicle speed and/or the fifth limited vehicle speed.
Step S202: and taking the target vehicle speed as a target limit vehicle speed.
It should be noted that the first defined vehicle speed is determined from the map positioning data, the second defined vehicle speed is determined from the machine vision data, the third defined vehicle speed is determined from the driver preset data, the fourth defined vehicle speed is determined from the obstacle data, and the fifth defined vehicle speed is determined from the vehicle road data.
It should be appreciated that the first defined vehicle speed is determined from the map positioning data: determining a current lane according to the map positioning data, and determining a corresponding current road section speed limit value and a current lane speed limit value according to the current lane; and taking the current road section speed limit value and the current lane speed limit value as a first limited vehicle speed.
Specifically, a road section speed limit value and different lane speed limit values in a certain range of the vehicle can be obtained according to the map positioning data, then the current position of the vehicle is obtained based on the map positioning data, namely the current lane, the current road section speed limit value corresponding to the current lane and the current lane speed limit value are obtained, a regulation limit speed can be obtained according to the map positioning data, and the regulation limit speed, the current road section speed limit value and the current lane speed limit value are used as a first limit vehicle speed.
It will be readily appreciated that the second defined vehicle speed is determined from the machine vision data: extracting a road image in front of the vehicle from the machine vision data; carrying out image processing on the road image in front of the vehicle to obtain a current lane image; extracting current lane information according to the current lane image, and calculating the curvature of a current lane according to the current lane information; and acquiring a corresponding curvature vehicle speed through a preset curvature vehicle speed corresponding table according to the curvature of the current lane, and taking the curvature vehicle speed as a second limited vehicle speed.
Specifically, the vehicle speed at which the vehicle can safely pass is different for different lane curvatures. The method comprises the steps that a camera arranged on an automatic driving automobile interior rearview mirror is used for collecting front road video to generate machine vision data, and an automobile front road image is extracted from the machine vision data; carrying out image processing on the road image in front of the vehicle to obtain a current lane image; and extracting current lane information according to the current lane image, calculating the curvature of the current lane according to the current lane information, wherein the preset curvature vehicle speed corresponding table can be an existing curvature vehicle speed corresponding table, the maximum safe passing vehicle speed is searched in the existing curvature vehicle speed corresponding table according to the curvature of the current lane, the maximum safe passing vehicle speed is the curvature vehicle speed, and the curvature vehicle speed is used as a second limited vehicle speed.
It should be noted that the third limited vehicle speed is determined by the driver preset data: acquiring preset data of a driver, and extracting a preset expected speed of a current road section from the preset data of the driver; and taking the preset expected speed as a third limited vehicle speed.
Specifically, the automatic driving automobile generally comprises driver preset data, wherein a driver presets driving speeds of different road sections in advance according to driving habits, the driving speeds of the different road sections are preset as the driver preset data, the driver preset data are obtained, and a preset expected speed of a current road section is extracted from the driver preset data; and taking the preset expected speed as a third limited vehicle speed. Further, the driver of the autonomous vehicle may preset the vehicle maximum traveling speed, which may be taken as the third defined vehicle speed.
It will be readily appreciated that the fourth defined vehicle speed is determined from the obstacle data: extracting a front vehicle running speed from the obstacle data; and taking the running speed of the front vehicle as a fourth limited vehicle speed.
Specifically, the obstacle data may include obstacle state data and obstacle driving data, when there is a vehicle ahead but the vehicle does not expect to overtake, the driving speed of the vehicle is limited by the driving speed of the vehicle ahead, and the driving speed of the vehicle ahead is extracted from the obstacle driving data; and taking the running speed of the front vehicle as a fourth limited vehicle speed.
It should be noted that the fifth limit vehicle speed is determined from the vehicle road data: in order to satisfy riding comfort and driving safety, an autonomous vehicle has certain requirements for yaw rate, lateral acceleration, longitudinal acceleration, and the like of the autonomous vehicle. Meanwhile, the adhesion coefficient between wheels and a road and the like of the automatic driving automobile are also considered in order to pass through a curve with a certain curvature, so that the phenomenon that the automatic driving automobile sideslips and is dangerous when the lateral force of the road, which is required to be provided for the automatic driving automobile, exceeds the maximum adhesion force, is avoided.
Specifically, a vehicle speed yaw rate is extracted from the vehicle road data; calculating the lateral acceleration according to the road friction coefficient; and determining a fifth limited vehicle speed according to the vehicle speed yaw angular speed, the lateral acceleration and the current vehicle speed. For example, by extracting vehicle speed yaw rate and current vehicle speed from the vehicle road data via on-board sensors, the maximum lateral acceleration provided by the road to the autonomous vehicle may be calculated from the road friction coefficient; a fifth defined vehicle speed may be determined based on the vehicle speed yaw rate, a maximum lateral acceleration, and the current vehicle speed.
It is easy to understand that, the current defined vehicle speeds corresponding to vehicle data of different dimensions are respectively obtained, where the vehicle data of different dimensions includes at least one of map positioning data, machine vision data, driver preset data, obstacle data, and vehicle road data, and the first defined vehicle speed, the second defined vehicle speed, the third defined vehicle speed, the fourth defined vehicle speed, and/or the fifth defined vehicle speed are/is used as the current defined vehicle speed, and the vehicle data of different dimensions may further include related data of other automatically driven vehicles, and the current defined vehicle speed may further include other corresponding defined vehicle speeds, which is not limited in this embodiment.
In the embodiment, a target vehicle speed with the minimum speed value is selected from the first limited vehicle speed, the second limited vehicle speed, the third limited vehicle speed, the fourth limited vehicle speed and/or the fifth limited vehicle speed; taking the target vehicle speed as a target limit vehicle speed; wherein the first defined vehicle speed is determined from the map positioning data, the second defined vehicle speed is determined from the machine vision data, the third defined vehicle speed is determined from the driver preset data, the fourth defined vehicle speed is determined from the obstacle data, and the fifth defined vehicle speed is determined from the vehicle road data. By the mode, vehicle data with different dimensions are comprehensively considered to comprise map positioning data, machine vision data, driver preset data, barrier data and/or vehicle road data, the target limited vehicle speed is determined according to limiting conditions under various working conditions of the automatic driving vehicle, a good vehicle speed control effect is finally achieved, and the driving safety of the vehicle is improved. Therefore, the technical problems that the existing automatic driving automobile is not reasonable in speed control and has the problem of driving safety are solved.
Furthermore, an embodiment of the present invention also provides a storage medium having a vehicle speed control program of an autonomous vehicle stored thereon, where the vehicle speed control program of the autonomous vehicle is executed by a processor to perform the steps of the vehicle speed control method of the autonomous vehicle as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
Referring to fig. 4, fig. 4 is a block diagram showing a vehicle speed control apparatus for an autonomous vehicle according to a first embodiment of the present invention.
As shown in fig. 4, a vehicle speed control device of an autonomous vehicle according to an embodiment of the present invention includes: the device comprises an acquisition module 10, a determination module 20 and an execution module 30;
the acquiring module 10 is configured to acquire current limited vehicle speeds corresponding to different-dimension vehicle data, where the different-dimension vehicle data includes at least one of map positioning data, machine vision data, driver preset data, obstacle data, and vehicle road data.
It should be noted that, the current limited vehicle speed corresponding to the vehicle data of different dimensions obtained respectively is: the first defined vehicle speed is determined from the map positioning data, the second defined vehicle speed is determined from the machine vision data, the third defined vehicle speed is determined from the driver preset data, the fourth defined vehicle speed is determined from the obstacle data, and the fifth defined vehicle speed is determined from the vehicle road data. The first, second, third, fourth, and/or fifth defined vehicle speeds are used as current defined vehicle speeds.
Specifically, a current lane is determined according to the map positioning data, and a corresponding current road section speed limit value and a current lane speed limit value are determined according to the current lane; and taking the current road section speed limit value and the current lane speed limit value as a first limited vehicle speed.
Specifically, a road image in front of the vehicle is extracted from the machine vision data; carrying out image processing on the road image in front of the vehicle to obtain a current lane image; extracting current lane information according to the current lane image, and calculating the curvature of a current lane according to the current lane information; and acquiring a corresponding curvature vehicle speed through a preset curvature vehicle speed corresponding table according to the curvature of the current lane, and taking the curvature vehicle speed as a second limited vehicle speed.
Specifically, preset data of a driver are obtained, and a preset expected speed of a current road section is extracted from the preset data of the driver; and taking the preset expected speed as a third limited vehicle speed.
Specifically, a preceding vehicle running speed is extracted from the obstacle data; and taking the running speed of the front vehicle as a fourth limited vehicle speed.
Specifically, a vehicle speed yaw rate is extracted from the vehicle road data; calculating the lateral acceleration according to the road friction coefficient; and determining a fifth limited vehicle speed according to the vehicle speed yaw angular speed, the lateral acceleration and the current vehicle speed.
And the determining module 20 is used for determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition.
It will be readily appreciated that the currently defined vehicle speeds include: a first defined vehicle speed, a second defined vehicle speed, a third defined vehicle speed, a fourth defined vehicle speed, and/or a fifth defined vehicle speed; the step of determining the target limited vehicle speed according to the current limited vehicle speed and the preset limited vehicle speed condition comprises the following steps: selecting a target vehicle speed with the minimum speed value from the first limited vehicle speed, the second limited vehicle speed, the third limited vehicle speed, the fourth limited vehicle speed and/or the fifth limited vehicle speed; taking the target vehicle speed as a target limit vehicle speed; wherein the first defined vehicle speed is determined from the map positioning data, the second defined vehicle speed is determined from the machine vision data, the third defined vehicle speed is determined from the driver preset data, the fourth defined vehicle speed is determined from the obstacle data, and the fifth defined vehicle speed is determined from the vehicle road data.
And the execution module 30 is configured to compare the target limited vehicle speed with the current vehicle speed, and execute a preset deceleration operation when the target limited vehicle speed is less than the current vehicle speed.
It should be noted that a vehicle speed signal of the current vehicle speed can be acquired through a vehicle-mounted sensor, the target limited vehicle speed is compared with the current vehicle speed, and when the target limited vehicle speed is smaller than the current vehicle speed, a longitudinal control module of the automatic driving vehicle is started to execute a preset deceleration operation; and when the target limited speed is greater than or equal to the current speed, the automatic driving automobile keeps running at the current speed, and a longitudinal control module of the automatic driving automobile is not started.
It is easy to understand that the speed control method for the automatic driving automobile provided by the embodiment calls common signals to perform simple data processing on the basis of using common hardware of the automatic driving automobile, and obtains the reasonable limited speed of the road where the automatic driving automobile is located. The hardware does not increase any cost, and the software only needs to add the speed control program of the automatic driving automobile provided by the embodiment, the speed control program of the automatic driving automobile is configured to realize the steps of the speed control method of the automatic driving automobile according to the embodiment, and the speed control program of the automatic driving automobile is embedded into the longitudinal motion control module of the automatic driving automobile.
It should be understood that the vehicle speed control method for an autonomous vehicle provided in this embodiment selects a reasonable limited vehicle speed based on multiple conditions and is not limited to the highest vehicle speed, and the reasonable driving vehicle speed of the autonomous vehicle and the like may also be calculated based on the vehicle speed control method for an autonomous vehicle provided in this embodiment.
The speed control device of the automatic driving automobile comprises: the device comprises an acquisition module 10, a determination module 20 and an execution module 30; the system comprises an acquisition module 10, a display module and a display module, wherein the acquisition module is used for respectively acquiring current limited vehicle speeds corresponding to vehicle data with different dimensions, and the vehicle data with different dimensions comprise at least one of map positioning data, machine vision data, driver preset data, obstacle data and vehicle road data; the determining module 20 is used for determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition; and the execution module 30 is configured to compare the target limited vehicle speed with the current vehicle speed, and execute a preset deceleration operation when the target limited vehicle speed is less than the current vehicle speed. By the mode, vehicle data with different dimensions are comprehensively considered to comprise map positioning data, machine vision data, driver preset data, barrier data and/or vehicle road data, the target limited vehicle speed is determined according to limiting conditions under various working conditions of the automatic driving vehicle, a good vehicle speed control effect is finally achieved, and the driving safety of the vehicle is improved. Therefore, the technical problems that the existing automatic driving automobile is not reasonable in speed control and has the problem of driving safety are solved.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not elaborated in this embodiment can be referred to the method for controlling the speed of the autonomous vehicle according to any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle speed control method of an autonomous vehicle, characterized by comprising:
respectively acquiring current limited vehicle speeds corresponding to vehicle data of different dimensions, wherein the vehicle data of different dimensions comprise at least one of map positioning data, machine vision data, driver preset data, obstacle data and vehicle road data;
determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition;
and comparing the target limited vehicle speed with the current vehicle speed, and executing a preset deceleration operation when the target limited vehicle speed is smaller than the current vehicle speed.
2. The method of controlling vehicle speed of an autonomous vehicle as set forth in claim 1, wherein the currently defined vehicle speed comprises: a first defined vehicle speed, a second defined vehicle speed, a third defined vehicle speed, a fourth defined vehicle speed, and/or a fifth defined vehicle speed;
the step of determining the target limited vehicle speed according to the current limited vehicle speed and the preset limited vehicle speed condition comprises the following steps:
selecting a target vehicle speed with the minimum speed value from the first limited vehicle speed, the second limited vehicle speed, the third limited vehicle speed, the fourth limited vehicle speed and/or the fifth limited vehicle speed;
taking the target vehicle speed as a target limit vehicle speed;
wherein the first defined vehicle speed is determined from the map positioning data, the second defined vehicle speed is determined from the machine vision data, the third defined vehicle speed is determined from the driver preset data, the fourth defined vehicle speed is determined from the obstacle data, and the fifth defined vehicle speed is determined from the vehicle road data.
3. The vehicle speed control method of an autonomous vehicle as claimed in claim 2, characterized in that the vehicle speed control method of an autonomous vehicle further comprises:
determining a current lane according to the map positioning data, and determining a corresponding current road section speed limit value and a current lane speed limit value according to the current lane;
and taking the current road section speed limit value and the current lane speed limit value as a first limited vehicle speed.
4. The vehicle speed control method of an autonomous vehicle as claimed in claim 2, characterized in that the vehicle speed control method of an autonomous vehicle further comprises:
extracting a road image in front of the vehicle from the machine vision data;
carrying out image processing on the road image in front of the vehicle to obtain a current lane image;
extracting current lane information according to the current lane image, and calculating the curvature of a current lane according to the current lane information;
and acquiring a corresponding curvature vehicle speed through a preset curvature vehicle speed corresponding table according to the curvature of the current lane, and taking the curvature vehicle speed as a second limited vehicle speed.
5. The vehicle speed control method of an autonomous vehicle as claimed in claim 2, characterized in that the vehicle speed control method of an autonomous vehicle further comprises:
extracting a preset expected speed of the current road section from the preset data of the driver;
and taking the preset expected speed as a third limited vehicle speed.
6. The vehicle speed control method of an autonomous vehicle as claimed in claim 2, characterized in that the vehicle speed control method of an autonomous vehicle further comprises:
extracting a front vehicle running speed from the obstacle data;
and taking the running speed of the front vehicle as a fourth limited vehicle speed.
7. The vehicle speed control method of an autonomous vehicle as claimed in claim 2, characterized in that the vehicle speed control method of an autonomous vehicle further comprises:
extracting a vehicle speed yaw rate from the vehicle road data;
calculating the lateral acceleration according to the road friction coefficient;
and determining a fifth limited vehicle speed according to the vehicle speed yaw angular speed, the lateral acceleration and the current vehicle speed.
8. A vehicle speed control apparatus of an autonomous vehicle, characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for respectively acquiring current limited vehicle speeds corresponding to vehicle data with different dimensions, and the vehicle data with different dimensions comprises at least one of map positioning data, machine vision data, driver preset data, barrier data and vehicle road data;
the determining module is used for determining a target limited vehicle speed according to the current limited vehicle speed and a preset limited vehicle speed condition;
and the execution module is used for comparing the target limited vehicle speed with the current vehicle speed and executing preset deceleration operation when the target limited vehicle speed is smaller than the current vehicle speed.
9. An electronic device, characterized in that the device comprises: a memory, a processor and a vehicle speed control program of an autonomous vehicle stored on the memory and operable on the processor, the vehicle speed control program of an autonomous vehicle being configured to implement the steps of the vehicle speed control method of an autonomous vehicle as claimed in any one of claims 1 to 7.
10. A storage medium having stored thereon a vehicle speed control program for an autonomous vehicle, which when executed by a processor implements the steps of the vehicle speed control method for an autonomous vehicle according to any one of claims 1 to 7.
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| CN111572561B (en) | 2021-07-30 |
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