CN111768649A - Control method and device for vehicle and computer readable storage medium - Google Patents

Control method and device for vehicle and computer readable storage medium Download PDF

Info

Publication number
CN111768649A
CN111768649A CN201910195706.0A CN201910195706A CN111768649A CN 111768649 A CN111768649 A CN 111768649A CN 201910195706 A CN201910195706 A CN 201910195706A CN 111768649 A CN111768649 A CN 111768649A
Authority
CN
China
Prior art keywords
target
vehicle
control
target vehicle
target area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910195706.0A
Other languages
Chinese (zh)
Other versions
CN111768649B (en
Inventor
李柏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingbangda Trade Co Ltd
Beijing Jingdong Qianshi Technology Co Ltd
Original Assignee
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Century Trading Co Ltd, Beijing Jingdong Shangke Information Technology Co Ltd filed Critical Beijing Jingdong Century Trading Co Ltd
Priority to CN201910195706.0A priority Critical patent/CN111768649B/en
Publication of CN111768649A publication Critical patent/CN111768649A/en
Application granted granted Critical
Publication of CN111768649B publication Critical patent/CN111768649B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Abstract

The disclosure relates to a control method and device of a vehicle and a computer readable storage medium, and relates to the technical field of artificial intelligence. The method comprises the following steps: responding to the target vehicle entering a first target area, and calculating a first control quantity according to the lane where the target vehicle is located and the current motion state information; controlling the target vehicle to run at a constant speed in a first target area at a first target speed according to the first control quantity; calculating a second control quantity according to the extending direction of the target lane and the current motion state information of the target vehicle in response to the target vehicle leaving the first target area; and controlling the target vehicle to drive to the target lane at a constant speed at a second target speed according to the second control quantity. The technical scheme of the disclosure can improve the control efficiency.

Description

Control method and device for vehicle and computer readable storage medium
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to a control method for a vehicle, a control device for a vehicle, and a computer-readable storage medium.
Background
With the development of artificial intelligence technology, the intelligent automobile has communication and cooperative motion capabilities, and can realize intelligent information exchange of people, vehicles and roads. Therefore, the intelligent automobile can automatically analyze the safety and dangerous states of the running of the automobile and reach the destination according to the will of people.
Crossroads are used as important pivot points of a road traffic network and are essential sources of urban traffic jam defects. Therefore, how to safely and efficiently pass through the intersection is an important technical problem to be solved by the intelligent automobile.
The related art plans a control scheme of a vehicle at an intersection based on a signal lamp management scheme.
Disclosure of Invention
The inventors of the present disclosure found that the following problems exist in the above-described related art: fixed rule based signal lamp control schemes are less flexible, resulting in inefficient control of the vehicle.
In view of this, the present disclosure provides a control technique for a vehicle, which can improve control efficiency.
According to some embodiments of the present disclosure, there is provided a control method of a vehicle, including: responding to the fact that a target vehicle enters a first target area, and calculating a first control quantity according to the lane where the target vehicle is located and the current motion state information; controlling the target vehicle to run at a constant speed in the first target area at a first target speed according to the first control quantity; in response to the target vehicle leaving the first target area, calculating a second control amount according to the extending direction of the target lane and the current motion state information of the target vehicle; and controlling the target vehicle to drive to the target lane at a second target speed at a constant speed according to the second control quantity.
In some embodiments, the second control amount is calculated in response to the target vehicle leaving the first target area and entering a second target area; and in response to the target vehicle leaving the second target area and entering a third target area, controlling the target vehicle to drive to the target lane through the third target area at a constant speed at a second target speed.
In some embodiments, the first control amount and the second control amount are calculated on the premise that the target vehicle is ensured not to collide with a road edge and other vehicles.
In some embodiments, the first optimization problem model is constructed according to a first constraint with a minimized control completion time as an objective function, the first constraint comprising: a vehicle kinematics equation; avoid other vehicles and avoid collision with the edge of the road; driving along the lane in the forward direction; at the control completion time, the speed of the target vehicle is a first target speed, the acceleration is 0, and the target vehicle does not enter the third target area; and solving the first optimization problem model by using an optimization method, and determining the first control quantity.
In some embodiments, the second optimization problem model is constructed according to a second constraint with the minimized control completion time as the objective function, the second constraint comprising: a vehicle kinematics equation; avoid other vehicles and avoid collision with the edge of the road; at the control starting moment, the target vehicle is located at the edge of the third target area, the speed is a first target speed, and the acceleration is 0; at the control completion time, the speed of the target vehicle is a second target speed, the acceleration is 0, and the driving direction of the target vehicle is consistent with the extending direction of the target lane; and solving the second optimization problem model by using an optimization method to determine the second control quantity.
In some embodiments, in response to the target vehicle entering the first target area, assigning an avoidance priority to the target vehicle; and increasing the avoiding priority of other vehicles in the first target area, the second target area and the third target area, so that the avoiding priority of other vehicles is higher than the avoiding priority of the target vehicle, and the target vehicle is ensured not to collide with other vehicles.
In some embodiments, the first target area, the second target area and the third target area are circular areas with a center of a road intersection as a dot, and the radius of the second target area is larger than the radius of the third target area and smaller than the radius of the first target area.
In some embodiments, the first control amount and the second control amount include a plurality of items of a position, a speed, an acceleration, a front wheel yaw angle speed, a posture angle of the target vehicle at each time within a control completion time.
According to still other embodiments of the present disclosure, there is provided a control apparatus of a vehicle, including: the calculating unit is used for responding to the target vehicle entering a first target area, calculating a first control quantity according to the lane where the target vehicle is located and the current motion state information, responding to the target vehicle leaving the first target area, and calculating a second control quantity according to the extending direction of the target lane and the current motion state information of the target vehicle; and the control unit is used for controlling the target vehicle to run at a constant speed in the first target area at a first target speed according to the first control quantity and controlling the target vehicle to run to the target lane at a constant speed at a second target speed according to the second control quantity.
According to still further embodiments of the present disclosure, there is provided a control apparatus of a vehicle, including: a memory; and a processor coupled to the memory, the processor configured to execute the control method of the vehicle in any of the above embodiments based on instructions stored in the memory device.
According to still further embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a control method of a vehicle in any of the above embodiments.
In the above embodiment, the vehicle is controlled to run at a constant speed according to the information such as the current motion state and position of the vehicle, and on the basis of this, the control amount is generated according to the direction of the target lane so as to control the vehicle to run to the target lane. In this way, it is possible to flexibly plan a control strategy for the traveling state and the traveling target of each vehicle without following a fixed traveling restriction, thereby improving the control efficiency of the vehicle.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.
The present disclosure may be more clearly understood from the following detailed description, taken with reference to the accompanying drawings, in which:
FIG. 1 illustrates a flow chart of some embodiments of a control method of a vehicle of the present disclosure;
FIG. 2 illustrates a flow diagram of some embodiments of a collision avoidance method of the present disclosure;
FIG. 3 illustrates a schematic diagram of some embodiments of the takeover region partitioning of the present disclosure;
FIG. 4 illustrates a flow diagram of some embodiments of step 110 in FIG. 1;
FIG. 5 illustrates a flow diagram for some embodiments of step 130 in FIG. 1;
FIG. 6 illustrates a block diagram of some embodiments of a control apparatus of a vehicle of the present disclosure;
FIG. 7 shows a block diagram of further embodiments of a control apparatus of a vehicle of the present disclosure;
fig. 8 shows a block diagram of further embodiments of a control device of a vehicle of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 shows a flow chart of some embodiments of a control method of a vehicle of the present disclosure.
As shown in fig. 1, the method includes: step 110, calculating a first control quantity; step 120, controlling the vehicle to run at a constant speed; step 130, calculating a second control quantity; and step 140, controlling the vehicle to drive to the target lane at a constant speed.
In step 110, in response to the target vehicle entering the first target area, a first control amount is calculated according to the lane in which the target vehicle is located and the current motion state information.
In some embodiments, a control device of the vehicle, such as a central management system, may be provided for controlling the travel of the vehicle. For example, a control device may be provided at a crossing where a plurality of lanes intersect to take over an area (the take over area includes a first target area), and after the target vehicle enters the take over area, the control device takes over the driving behavior of the target vehicle and controls it.
In some embodiments, the motion state information of the target vehicle at time t may include the current position of the target vehicle (e.g., the target vehicle's rear axle midpoint coordinates x (t), y (t), velocity v (t), acceleration a (t), front wheel yaw angle
Figure BDA0001995757370000051
Front wheel yaw angular velocity ω (t), attitude angle θ (t), and the like.
In some embodiments, the first control amount is calculated on the premise that the target vehicle is ensured not to collide with the road edge and other vehicles. For example, it may be ensured by the embodiment in fig. 2 that the target vehicle does not collide with other vehicles in the take-over area.
Fig. 2 illustrates a flow diagram of some embodiments of the disclosed collision avoidance method.
As shown in fig. 2, the method includes: step 210, allocating avoidance priority to the target vehicle; and step 210, increasing the evasion priority of other vehicles.
In step 210, in response to the target vehicle entering the first target area, an evasive priority is assigned to the target vehicle. For example, after the target vehicle enters the first target area, a unique identifier is assigned to the target vehicle (if k-1 vehicles already exist in the entire takeover area, the identifier of the target vehicle may be set to k), and then the evasive priority of the target vehicle is set to 1 (the larger the value of the evasive priority may be set, the higher the priority is).
In step 220, the evasion priorities of other vehicles in the first target area, the second target area and the third target area are increased, so that the evasion priorities of the other vehicles are higher than the evasion priority of the target vehicle, and the target vehicle is guaranteed not to collide with the other vehicles. For example, the evasive priority of an already existing k-1 car may be increased by 1.
In some embodiments, the takeover region may be further divided into a first target region, a second target region, and a third target region. The first target area, the second target area and the third target area are all circular areas taking the center of the intersection as a circular point, and the radius of the second target area is larger than that of the third target area and smaller than that of the first target area. For example, the take-over area of an intersection may be divided according to the schematic in fig. 3.
Fig. 3 illustrates a schematic diagram of some embodiments of the takeover region partitioning of the present disclosure.
As shown in fig. 3, a take-over area is set at the intersection of a road 31 and a road 32, and is divided into a first target area, a second target area, and a third target area.
In some embodiments, the lane in which the target vehicle is currently located may be lane 311, and the target lane after the target vehicle passes through the intersection may be lane 321. In order to enable the control target vehicle to smoothly enter the lane 321 from the lane 311, the control target vehicle may be controlled to travel at a constant speed in the first target area, a control strategy for causing the target vehicle to enter the lane 321 is planned in the second target area, and the control target vehicle may be controlled to enter the lane 321 in the third target area. For example, the first control amount may be calculated by the steps in fig. 4 to control the target vehicle to travel at a constant speed.
FIG. 4 illustrates a flow diagram for some embodiments of step 110 in FIG. 1.
As shown in fig. 4, step 110 includes: step 1110, constructing a first optimization problem model; and step 1120, determining a first control quantity.
In step 1110, a first optimization problem model is constructed according to a first constraint condition with the minimized control completion time as an objective function. For example, the first constraint includes: a vehicle kinematics equation; avoid other vehicles and avoid collision with the edge of the road; driving along the lane in the forward direction; at the control completion time, the speed of the target vehicle is the first target speed, the acceleration is 0, and the target vehicle does not enter the third target area.
In some embodiments, the control start time is t0The control end time is tfThen the objective function is such that the control is completed for time tf-t0And minimum. For example, a bicycle model based vehicle kinematics equation can be employed:
Figure BDA0001995757370000061
Lwthe front and rear wheel base of the target vehicle.
For example, if the target vehicle has four vertices at time t, positions a (t), b (t), c (t), and d (t), and the road edges have positions a and b, the avoidance of collision with the road edge can be expressed as:
a＜A(t)＜b；
a＜B(t)＜b；
a＜C(t)＜b；
a＜D(t)＜b。
for example, if the position of the center line of the lane where the target vehicle is located is c, then the vehicle can travel forward along the lane where the target vehicle is located, which can be expressed by the formula y (t) c. The motion state information a (t) of the target vehicle at the controller time can be given0)、ω(t0)、v(t0)、
Figure BDA0001995757370000071
x(t0)、y(t0) And θ (t)0). The first target speed is v1And according to the constraint condition, the motion state information of the target vehicle at the control completion moment is as follows:
Figure BDA0001995757370000072
by solving the first optimization problem model using an optimization method, [ t ] can be obtained0，tf]The motion states a (t), ω (t), v (t) of the target vehicle at respective times within the time period,
Figure BDA0001995757370000073
x (t), y (t), and θ (t). A plurality of motion states, v (t), may be selected,
Figure BDA0001995757370000074
Is the first control amount.
The first optimization problem model belongs to the shortest time optimal control problem and can be solved by a numerical optimization method. The driving task related to the first optimization problem model is simple, the first optimization problem model can be solved in a short time (millisecond level), and error problems caused by time consumption of solving can be ignored. For example, after the solution is completed, the motion trajectory of the target vehicle within the first target area may be recorded.
The control of the target vehicle may continue through steps 120-140 in fig. 1 after the first control amount is determined.
In step 120, the target vehicle is controlled to travel at a constant speed within the first target area at the first target speed according to the first control amount. The target vehicle is controlled to run at a constant speed, the time of the target vehicle entering the third target area can be estimated in advance, and the control strategy is accurately planned, so that the control accuracy is improved.
In step 130, in response to the target vehicle leaving the first target area, a second control amount is calculated based on the extending direction of the target lane and the current motion state information of the target vehicle. For example, the second control amount is calculated in response to the target vehicle leaving the first target area and entering the second target area.
In some embodiments, the second control amount may be calculated by the steps in fig. 5.
Fig. 5 illustrates a flow diagram for some embodiments of step 130 in fig. 1.
As shown in fig. 5, step 130 includes: step 1310, constructing a second optimization problem model; and step 1320, determining a second control quantity.
In step 1310, a second optimization problem model is constructed according to a second constraint with the minimized control completion time as an objective function. For example, the second constraint includes: a vehicle kinematics equation; avoid other vehicles and avoid collision with the edge of the road; at the control starting moment, the target vehicle is located at the edge of a third target area, the speed is the first target speed, and the acceleration is 0; at the control completion time, the speed of the target vehicle is the second target speed, the acceleration is 0, and the traveling direction of the target vehicle coincides with the extending direction of the target lane.
In some embodiments, the control start time is t'0Control end time is t'fThen the objective function is such that control is completed for time t'f-t′0And minimum. Given the control start time (when the target vehicle leaves the second target area and enters the third target area) the moving state information of the target vehicle:
Figure BDA0001995757370000081
at the control termination time, the motion state information of the target vehicle is:
Figure BDA0001995757370000082
v2is the second target speed, thetadThe lane-based traffic lane is set according to the extending direction of the target lane.
Solving the second optimization problem model by using an optimization method to obtain [ t'0，t′f]The motion states a (t), ω (t), v (t) of the target vehicle at respective times within the time period,
Figure BDA0001995757370000083
x (t), y (t), and θ (t). A plurality of motion states, v (t), may be selected,
Figure BDA0001995757370000084
Is the second control amount.
The second optimization problem model belongs to the shortest time optimal control problem and can be solved by adopting a numerical optimization method. The second optimization problem model involves a complex driving task and requires significant solution time (in seconds) to complete the solution. Therefore, the second target area is set as the buffer area and used for calculating the control quantity of the target vehicle in the third target area, so that the problem of control delay can be effectively solved, and the control efficiency and accuracy are improved.
In some embodiments, after the solution of the second optimization problem model is completed, the planned movement trajectory of the target vehicle may be recorded. Having determined the second control amount, the target vehicle may be controlled via step 140 of FIG. 1.
In step 140, the target vehicle is controlled to drive toward the target lane at a constant speed at the second target speed according to the second control amount. For example, in response to the target vehicle leaving the second target area and entering the third target area, the target vehicle is controlled to drive at the second target speed at a uniform speed through the third target area toward the target lane.
In some embodiments, after the target vehicle leaves the takeover area, the identification, the motion track and the avoidance priority of the target vehicle are logged out. To this end, the target vehicle is disengaged from the take over of the control device.
In the above embodiment, the vehicle is controlled to run at a constant speed according to the information such as the current motion state and position of the vehicle, and on the basis of this, the control amount is generated according to the direction of the target lane so as to control the vehicle to run to the target lane. In this way, it is possible to flexibly plan a control strategy for the traveling state and the traveling target of each vehicle without following a fixed traveling restriction, thereby improving the control efficiency of the vehicle.
Fig. 6 shows a block diagram of some embodiments of a control device of a vehicle of the present disclosure.
As shown in fig. 6, the control device 6 of the vehicle includes a calculation unit 61 and a control unit 62.
The calculation unit 61 calculates a first control amount based on the lane in which the target vehicle is located and the current motion state information in response to the target vehicle entering the first target region. The calculation unit 61 calculates the second control amount according to the extending direction of the target lane and the current motion state information of the target vehicle in response to the target vehicle leaving the first target region.
For example, the first control amount and the second control amount include a plurality of items of a position, a speed, an acceleration, a front wheel yaw angle speed, and an attitude angle of the target vehicle at each time within the control completion time.
The control unit 62 controls the target vehicle to travel at a constant speed at the first target speed within the first target area in accordance with the first control amount. The control unit 62 controls the target vehicle to travel to the target lane at a constant speed at the second target speed in accordance with the second control amount.
In some embodiments, the calculation unit 61 calculates the first control amount and the second control amount on the premise of ensuring that the target vehicle does not collide with the road edge and other vehicles.
For example, the calculation unit 61 assigns an avoidance priority to the target vehicle in response to the target vehicle entering the first target area. The calculation unit 61 increases the avoidance priority of other vehicles in the first target area, the second target area, and the third target area, so that the avoidance priority of other vehicles is higher than the avoidance priority of the target vehicle, thereby ensuring that the target vehicle does not collide with other vehicles.
In some embodiments, the calculation unit 61 constructs the first optimization problem model according to the first constraint condition with the minimized control completion time as the objective function. The first constraint includes: a vehicle kinematics equation; avoid other vehicles and avoid collision with the edge of the road; driving along the lane in the forward direction; at the control completion time, the speed of the target vehicle is the first target speed, the acceleration is 0, and the target vehicle does not enter the third target area. The calculation unit 61 solves the first optimization problem model, and determines the first control amount.
In some embodiments, the calculation unit 61 calculates the second control amount in response to the target vehicle leaving the first target area and entering the second target area. The control unit 62 controls the target vehicle to travel toward the target lane through the third target region at the second target speed at the uniform speed in response to the target vehicle leaving the second target region and entering the third target region.
For example, the calculation unit 61 constructs a second optimization problem model according to the second constraint condition with the minimized control completion time as the objective function. The second constraint includes: a vehicle kinematics equation; avoid other vehicles and avoid collision with the edge of the road; at the control starting moment, the target vehicle is located at the edge of a third target area, the speed is the first target speed, and the acceleration is 0; at the control completion time, the speed of the target vehicle is a second target speed, the acceleration is 0, and the running direction of the target vehicle is consistent with the extending direction of the target lane; and solving the second optimization problem model and determining a second control quantity.
In some embodiments, the first target area, the second target area, and the third target area are all circular areas with the intersection center as a dot. The radius of the second target area is greater than the radius of the third target area and less than the radius of the first target area.
In the above embodiment, the vehicle is controlled to run at a constant speed according to the information such as the current motion state and position of the vehicle, and on the basis of this, the control amount is generated according to the direction of the target lane so as to control the vehicle to run to the target lane. In this way, the control strategy can be planned for the running state and the running target of each vehicle without following fixed running restrictions, thereby improving the control efficiency of the vehicle.
Fig. 7 shows a block diagram of further embodiments of a control device of a vehicle of the present disclosure.
As shown in fig. 7, the control device 7 of the vehicle of the embodiment includes: a memory 71 and a processor 72 coupled to the memory 71, the processor 72 being configured to execute a control method of a vehicle in any one of the embodiments of the present disclosure based on instructions stored in the memory 71.
The memory 71 may include, for example, a system memory, a fixed nonvolatile storage medium, and the like. The system memory stores, for example, an operating system, an application program, a Boot Loader (Boot Loader), a database, and other programs.
Fig. 8 shows a block diagram of further embodiments of a control device of a vehicle of the present disclosure.
As shown in fig. 8, a control device 8 of a vehicle of this embodiment includes: a memory 810 and a processor 820 coupled to the memory 810, the processor 820 being configured to execute a control method of a vehicle in any of the foregoing embodiments based on instructions stored in the memory 810.
Memory 810 may include, for example, system memory, fixed non-volatile storage media, and the like. The system memory stores, for example, an operating system, an application program, a BootLoader (BootLoader), and other programs.
The control device 8 of the vehicle may further include an input-output interface 830, a network interface 840, a storage interface 850, and the like. These interfaces 830, 840, 850 and between the memory 810 and the processor 820 may be connected, for example, by a bus 860. The input/output interface 830 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 640 provides a connection interface for various networking devices. The storage interface 850 provides a connection interface for external storage devices such as an SD card and a usb disk.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Up to this point, the control method of the vehicle, the control apparatus of the vehicle, and the computer-readable storage medium according to the present disclosure have been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
The method and system of the present disclosure may be implemented in a number of ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the foregoing examples are for purposes of illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims (11)

1. A control method of a vehicle, comprising:
responding to the fact that a target vehicle enters a first target area, and calculating a first control quantity according to the lane where the target vehicle is located and the current motion state information;
controlling the target vehicle to run at a constant speed in the first target area at a first target speed according to the first control quantity;
in response to the target vehicle leaving the first target area, calculating a second control amount according to the extending direction of the target lane and the current motion state information of the target vehicle;
and controlling the target vehicle to drive to the target lane at a second target speed at a constant speed according to the second control quantity.
2. The control method according to claim 1, wherein the calculating the second control amount includes:
calculating the second control amount in response to the target vehicle leaving the first target area and entering a second target area;
the controlling the target vehicle to drive to the target lane at a second target speed at a constant speed comprises:
and in response to the target vehicle leaving the second target area and entering a third target area, controlling the target vehicle to drive to the target lane through the third target area at a constant speed at a second target speed.
3. The control method according to claim 1 or 2, wherein,
and calculating the first control quantity and the second control quantity on the premise of ensuring that the target vehicle does not collide with the edge of the road and other vehicles.
4. The control method according to claim 3, wherein the calculating the first control amount includes:
constructing a first optimization problem model according to a first constraint condition by taking the minimized control completion time as an objective function, wherein the first constraint condition comprises the following steps:
a vehicle kinematics equation;
avoid other vehicles and avoid collision with the edge of the road;
driving along the lane in the forward direction;
at the control completion time, the speed of the target vehicle is a first target speed, the acceleration is 0, and the target vehicle does not enter the third target area;
and solving the first optimization problem model by using an optimization method, and determining the first control quantity.
5. The control method according to claim 3, wherein the calculating the second control amount includes:
and constructing a second optimization problem model according to a second constraint condition by taking the minimized control completion time as an objective function, wherein the second constraint condition comprises the following steps:
a vehicle kinematics equation;
avoid other vehicles and avoid collision with the edge of the road;
at the control starting moment, the target vehicle is located at the edge of the third target area, the speed is a first target speed, and the acceleration is 0;
at the control completion time, the speed of the target vehicle is a second target speed, the acceleration is 0, and the driving direction of the target vehicle is consistent with the extending direction of the target lane;
and solving the second optimization problem model by using an optimization method to determine the second control quantity.
6. The control method according to claim 3, wherein ensuring that the target vehicle does not collide with other vehicles includes:
assigning an avoidance priority to the target vehicle in response to the target vehicle entering the first target area;
and increasing the avoiding priority of other vehicles in the first target area, the second target area and the third target area, so that the avoiding priority of other vehicles is higher than the avoiding priority of the target vehicle, and the target vehicle is ensured not to collide with other vehicles.
7. The control method according to claim 2, wherein,
the first target area, the second target area and the third target area are all circular areas taking the center of a road intersection as a circular point, and the radius of the second target area is larger than that of the third target area and smaller than that of the first target area.
8. The control method according to claim 1,
the first control amount and the second control amount include a plurality of items of a position, a speed, an acceleration, a front wheel yaw angle speed, and an attitude angle of the target vehicle at each time within a control completion time.
9. A control device of a vehicle, comprising:
the calculating unit is used for responding to the target vehicle entering a first target area, calculating a first control quantity according to the lane where the target vehicle is located and the current motion state information, responding to the target vehicle leaving the first target area, and calculating a second control quantity according to the extending direction of the target lane and the current motion state information of the target vehicle;
and the control unit is used for controlling the target vehicle to run at a constant speed in the first target area at a first target speed according to the first control quantity and controlling the target vehicle to run to the target lane at a constant speed at a second target speed according to the second control quantity.
10. A control device of a vehicle, comprising:
a memory; and
a processor coupled to the memory, the processor configured to execute the method of controlling the vehicle of any of claims 1-8 based on instructions stored in the memory device.
11. A computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the control method of the vehicle of any one of claims 1-8.
CN201910195706.0A 2019-03-15 2019-03-15 Control method, device and computer readable storage medium for vehicle Active CN111768649B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910195706.0A CN111768649B (en) 2019-03-15 2019-03-15 Control method, device and computer readable storage medium for vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910195706.0A CN111768649B (en) 2019-03-15 2019-03-15 Control method, device and computer readable storage medium for vehicle

Publications (2)

Publication Number Publication Date
CN111768649A true CN111768649A (en) 2020-10-13
CN111768649B CN111768649B (en) 2023-09-26

Family

ID=72717930

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910195706.0A Active CN111768649B (en) 2019-03-15 2019-03-15 Control method, device and computer readable storage medium for vehicle

Country Status (1)

Country Link
CN (1) CN111768649B (en)

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130018572A1 (en) * 2011-07-11 2013-01-17 Electronics And Telecommunications Research Institute Apparatus and method for controlling vehicle at autonomous intersection
CN105321362A (en) * 2015-10-30 2016-02-10 湖南大学 Intersection vehicle intelligent cooperative passage method
WO2017015951A1 (en) * 2015-07-28 2017-02-02 苏州大学张家港工业技术研究院 Uncontrolled intersection vehicle passing guiding system based on vehicle-road cooperation and guiding method therefor
CN106611504A (en) * 2015-10-23 2017-05-03 中国移动通信集团公司 Vehicle speed guidance method and device
CN106828493A (en) * 2017-02-20 2017-06-13 北理慧动（常熟）车辆科技有限公司 A kind of automatic driving vehicle layer-stepping longitudinal direction planning control system and method
CN106935056A (en) * 2017-04-28 2017-07-07 北京交通大学 Intelligent crossroad cooperative control method based on critical gap theory
CN107622684A (en) * 2017-09-14 2018-01-23 华为技术有限公司 Information transferring method, traffic control unit and board units
CN207036429U (en) * 2017-02-17 2018-02-23 特路（北京）科技有限公司 Automatic driving vehicle continues through the checkout area of intersection ability
US20180150081A1 (en) * 2018-01-24 2018-05-31 GM Global Technology Operations LLC Systems and methods for path planning in autonomous vehicles
WO2018120948A1 (en) * 2016-12-28 2018-07-05 华为技术有限公司 Route planning method, device and system
CN108257402A (en) * 2016-12-29 2018-07-06 中国移动通信有限公司研究院 A kind of method for control speed, device and computer storage media
CN108615387A (en) * 2018-04-18 2018-10-02 长沙理工大学 The free added turning lane setting method in intersection under a kind of automatic Pilot
CN108765982A (en) * 2018-05-04 2018-11-06 东南大学 Signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings
CN109249928A (en) * 2017-07-13 2019-01-22 现代自动车株式会社 Vehicle and method for controlling a vehicle

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130018572A1 (en) * 2011-07-11 2013-01-17 Electronics And Telecommunications Research Institute Apparatus and method for controlling vehicle at autonomous intersection
WO2017015951A1 (en) * 2015-07-28 2017-02-02 苏州大学张家港工业技术研究院 Uncontrolled intersection vehicle passing guiding system based on vehicle-road cooperation and guiding method therefor
CN106611504A (en) * 2015-10-23 2017-05-03 中国移动通信集团公司 Vehicle speed guidance method and device
CN105321362A (en) * 2015-10-30 2016-02-10 湖南大学 Intersection vehicle intelligent cooperative passage method
WO2018120948A1 (en) * 2016-12-28 2018-07-05 华为技术有限公司 Route planning method, device and system
CN108257416A (en) * 2016-12-28 2018-07-06 华为技术有限公司 The methods, devices and systems of path planning
CN108257402A (en) * 2016-12-29 2018-07-06 中国移动通信有限公司研究院 A kind of method for control speed, device and computer storage media
CN207036429U (en) * 2017-02-17 2018-02-23 特路（北京）科技有限公司 Automatic driving vehicle continues through the checkout area of intersection ability
CN106828493A (en) * 2017-02-20 2017-06-13 北理慧动（常熟）车辆科技有限公司 A kind of automatic driving vehicle layer-stepping longitudinal direction planning control system and method
CN106935056A (en) * 2017-04-28 2017-07-07 北京交通大学 Intelligent crossroad cooperative control method based on critical gap theory
CN109249928A (en) * 2017-07-13 2019-01-22 现代自动车株式会社 Vehicle and method for controlling a vehicle
CN107622684A (en) * 2017-09-14 2018-01-23 华为技术有限公司 Information transferring method, traffic control unit and board units
US20180150081A1 (en) * 2018-01-24 2018-05-31 GM Global Technology Operations LLC Systems and methods for path planning in autonomous vehicles
CN108615387A (en) * 2018-04-18 2018-10-02 长沙理工大学 The free added turning lane setting method in intersection under a kind of automatic Pilot
CN108765982A (en) * 2018-05-04 2018-11-06 东南大学 Signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings

Also Published As

Publication number Publication date
CN111768649B (en) 2023-09-26

Similar Documents

Publication Publication Date Title
US11548512B2 (en) Yield behavior modeling and prediction
US20200339159A1 (en) Automatic driving track obtaining method and apparatus
EP3321757B1 (en) Planning feedback based decision improvement system for autonomous driving vehicle
CN110861650B (en) Vehicle path planning method and device, vehicle-mounted equipment and storage medium
CN108919795B (en) Automatic driving automobile lane change decision method and device
JP2022527072A (en) Pedestrian prediction based on attributes
CN114489044A (en) Trajectory planning method and device
CN108602509A (en) The method and system of automatic driving vehicle is operated based on motion planning
US20210139048A1 (en) Tree policy planning for autonomous vehicle driving solutions
WO2022257283A1 (en) Vehicle obstacle avoidance method and apparatus, electronic device, and storage medium
WO2021102957A1 (en) Lane keeping method, vehicle-mounted device, and storage medium
CN113160547B (en) Automatic driving method and related equipment
CN109421712B (en) Vehicle control device, vehicle control method, and storage medium
JP2022549832A (en) Planning for Particulate Matter Adjustments
US11433922B1 (en) Object uncertainty detection
US11353877B2 (en) Blocked region guidance
WO2023050811A1 (en) Driving device control method, apparatus, electronic device, storage medium, and computer program product
CN112325898B (en) Path planning method, device, equipment and storage medium
CN113450570B (en) Autonomous intersection management system and method based on signal lamp-free intersection
US11801864B1 (en) Cost-based action determination
CN116259185B (en) Vehicle behavior decision method and device fusing prediction algorithm in parking lot scene
CN112540606A (en) Obstacle avoidance method and device, scheduling server and storage medium
US11814072B2 (en) Method and system for conditional operation of an autonomous agent
CN114644016A (en) Vehicle automatic driving decision-making method and device, vehicle-mounted terminal and storage medium
CN112542061A (en) Lane borrowing and overtaking control method, device and system based on Internet of vehicles and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20210304

Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080

Applicant after: Beijing Jingbangda Trading Co.,Ltd.

Address before: 100086 8th Floor, 76 Zhichun Road, Haidian District, Beijing

Applicant before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd.

Applicant before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd.

Effective date of registration: 20210304

Address after: Room a1905, 19 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176

Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd.

Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080

Applicant before: Beijing Jingbangda Trading Co.,Ltd.

SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant