CN112298211A - Automatic pedestrian yielding driving scheme based on 5G grading decision - Google Patents
Automatic pedestrian yielding driving scheme based on 5G grading decision Download PDFInfo
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- CN112298211A CN112298211A CN202011296540.0A CN202011296540A CN112298211A CN 112298211 A CN112298211 A CN 112298211A CN 202011296540 A CN202011296540 A CN 202011296540A CN 112298211 A CN112298211 A CN 112298211A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- 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
Abstract
The invention discloses an automatic pedestrian yielding driving scheme based on 5G grading decision. And the information of the pedestrian is uploaded to an automatic driving server in the 5G base station through the positioning equipment or the roadside equipment. The server combines the position and state of the vehicle uploaded to the network by the automatic driving vehicle controller and the information of pedestrians, carries out comprehensive decision, and issues instructions of stopping and giving way, starting driving, running at low speed, emergency stopping and the like to the vehicle. The automatic driving vehicle correctly responds to the cloud decision, and smoothness, safety and comfort of a pedestrian passing scene are guaranteed.
Description
Technical Field
The invention relates to an automatic pedestrian yielding driving scheme based on 5G grading decision.
Background
Since the 5G network will be commercialized in the next half year of 2019, the networked autopilot solution is brought into the view of the public. The high-performance industrial personal computer and the image processing system which are required to be equipped in the original single-vehicle-version automatic driving scheme can be moved into the base station under the framework of 5G, and large-volume data acquired by vehicles are quickly transmitted into the base station through a 5G network and are processed through edge calculation; the strategies of avoiding and following the automatic driving vehicle are also calculated and issued by cloud software, and finally the purpose of reducing the requirement on vehicle-end equipment is achieved. The scenes that pedestrians appear in target areas such as zebra crossings and the like and vehicles need to be automatically driven to park and give way can be solved through a 5G network connection scheme.
In conclusion, the invention designs an automatic pedestrian yielding driving scheme based on 5G grading decision.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic pedestrian yielding driving scheme based on 5G grading decision, and the fluency, safety and comfort of a pedestrian yielding scene are ensured.
In order to achieve the purpose, the invention is realized by the following technical scheme: an automatic pedestrian yielding driving process based on 5G grading decision comprises the following steps:
1. firstly, acquiring pedestrian information in a target area, and uploading the pedestrian information to an automatic driving server in a 5G base station through positioning equipment or roadside equipment;
2. the server combines the position and state of the vehicle uploaded to the network by the automatic driving vehicle controller and the information of pedestrians, carries out comprehensive decision, and issues instructions such as stopping and giving way, starting driving, running at low speed, emergency stopping and the like to the vehicle;
3. the autonomous vehicle correctly responds to the cloud decision.
The pedestrian information in the step 1 is acquired by adopting the following two modes:
a. pedestrian's locating information can be gathered by handheld high accuracy positioning terminal, and high accuracy positioning terminal can communicate with the 5G network according to standard protocol, reaches high in the clouds autopilot server to effective information.
b. When the pedestrian is in the shooting range of the drive test camera, the camera can capture and identify the pedestrian, and the positioning data of the pedestrian is accurately calculated according to the self positioning of the drive test camera and the position and position change of the pedestrian in the shot image; the road test equipment server can communicate with the 5G network according to a standard protocol after acquiring the road detection information, and finally transmits the effective information to the cloud automatic driving server.
The automatic driving server in step 1 can obtain and analyze the positioning data (longitude and latitude, walking direction, walking speed, etc.) of the pedestrian in the target area.
In the step 2, under the communication environment of 5G, the vehicle can receive the parking yielding strategy issued by the edge computing server in the base station in real time (with the delay less than 20 ms) through the wireless CPE device, and correctly respond to the parking yielding function.
The invention has the beneficial effects that: the invention ensures the fluency, safety and comfort of the pedestrian traffic scene.
Drawings
The invention is described in detail below with reference to the drawings and the detailed description;
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1-2, the following technical solutions are adopted in the present embodiment: an automatic pedestrian yielding driving process based on 5G grading decision comprises the following steps:
1. firstly, acquiring pedestrian information in a target area, and uploading the pedestrian information to an automatic driving server in a 5G base station through positioning equipment or roadside equipment;
2. the server combines the position and state of the vehicle uploaded to the network by the automatic driving vehicle controller and the information of pedestrians, carries out comprehensive decision, and issues instructions such as stopping and giving way, starting driving, running at low speed, emergency stopping and the like to the vehicle;
3. the autonomous vehicle correctly responds to the cloud decision.
The high-precision positioning information of the pedestrian of the embodiment can be acquired in the following two ways under the 5g framework:
a. pedestrian's locating information can be gathered by handheld high accuracy positioning terminal, and high accuracy positioning terminal can communicate with the 5G network according to standard protocol, reaches high in the clouds autopilot server to effective information.
b. When the pedestrian is in the shooting range of the drive test camera, the camera can capture and identify the pedestrian, and the positioning data of the pedestrian is accurately calculated according to the self positioning of the drive test camera and the position and position change of the pedestrian in the shot image; the road test equipment server can communicate with the 5G network according to a standard protocol after acquiring the road detection information, and finally transmits the effective information to the cloud automatic driving server.
The cloud-side automatic driving strategy server of the embodiment can acquire and analyze the positioning data (longitude and latitude, walking direction, walking speed and the like) of the pedestrians in the target area. The absolute GPS points used in the positioning are converted into points lying within a relative two-dimensional coordinate system with the origin at a given point:
the 5G automatic driving decision software in the server can judge the physical distance between the automatic driving vehicle and the vehicle parking spot according to the relative positions of the automatic driving vehicle and the vehicle parking spot:
and when the vehicle is within 50 meters of the parking point and the position of the pedestrian is on the traveling route of the automatic driving vehicle, issuing a parking yielding strategy. The server will issue the parking spot information matched with the target area to the vehicle through the 5G network.
Under the communication environment of 5G, the vehicle can receive the parking yielding strategy issued by the edge computing server in the base station in real time (with the time delay of less than 20 ms) through the wireless CPE equipment, and correctly respond to the parking yielding function.
In the parking strategy enabled process, the autonomous vehicle needs to meet the comfort of the braking action and the accuracy of the parking position. The vehicle-end controller continuously calculates and optimizes the braking force issued to the braking mechanism by combining the current position of the vehicle, the position of a braking point and the actual speed of the vehicle, so that the aims of reducing speed in advance, stably parking and ensuring the safety of the parking position are fulfilled.
When the road measurement camera detects that the pedestrian in the target area leaves the target area, or the GPS positioning uploaded by the handheld high-precision positioning device of the pedestrian is not in the target area:
a. the cloud end automatic driving server can immediately issue a driving starting strategy to the automatic driving vehicle.
b. The cloud automatic driving server sends a speed limit decision in the traffic passing area, so that the vehicle passes through the traffic passing area at a low speed.
c. If an obstacle or pedestrian suddenly appearing in the front of the vehicle or on the traveling route of the vehicle is detected in the passing process, the server calculates whether the pedestrian and the vehicle are kept within a certain safe distance:
the straight line equation of the current running path of the vehicle is as follows:
distance of pedestrian from vehicle travel path:
and if the pedestrian is in the traffic passing area and the position of the pedestrian does not meet the safety distance of the vehicle, the server issues an emergency braking decision, and the aim of quickly reducing the vehicle speed to 0km/h is fulfilled.
After receiving the driving instruction, the automatic driving vehicle responds to the driving and passes through the yielding area according to the received speed limit requirement and a certain low speed. If receive urgent brake instruction during through the region, can the quick response brake, avoid bumping with the place ahead barrier.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. An automatic pedestrian yielding driving process based on 5G grading decision is characterized by comprising the following steps:
(1) firstly, acquiring pedestrian information in a target area, and uploading the pedestrian information to an automatic driving server in a 5G base station through positioning equipment or roadside equipment;
(2) the server combines the information of the position and the state of the vehicle and the pedestrian uploaded to the network by the automatic driving vehicle controller, carries out comprehensive decision, and issues instructions of stopping and giving way, starting driving, running at low speed and emergency stopping to the vehicle;
(3) and the automatic driving vehicle correctly responds to the cloud decision.
2. The automated pedestrian avoidance system according to claim 1, wherein the pedestrian information collection in step 1 is performed in one or more of the following two ways:
(a) the positioning information of the pedestrians can be collected by the handheld high-precision positioning terminal, and the high-precision positioning terminal can communicate with the 5G network according to a standard protocol and transmit effective information to the cloud automatic driving server;
(b) when the pedestrian is in the shooting range of the drive test camera, the camera can capture and identify the pedestrian, and the positioning data of the pedestrian is accurately calculated according to the self positioning of the drive test camera and the position and position change of the pedestrian in the shot image; the road test equipment server can communicate with the 5G network according to a standard protocol after acquiring the road detection information, and finally transmits the effective information to the cloud automatic driving server.
3. The automated pedestrian yielding driving scheme based on 5G hierarchical decision as claimed in claim 1, wherein the automated driving server in step (1) is capable of acquiring and resolving the positioning data of the pedestrian in the target area.
4. The automatic pedestrian yield driving scheme based on 5G hierarchical decision as claimed in claim 1, wherein in the vehicle in step (2), under the 5G communication environment, the vehicle can receive the parking yield strategy issued by the edge computing server in the base station in real time through the wireless CPE device, and correctly respond to the parking yield function.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011296540.0A CN112298211A (en) | 2020-11-19 | 2020-11-19 | Automatic pedestrian yielding driving scheme based on 5G grading decision |
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| CN202011296540.0A CN112298211A (en) | 2020-11-19 | 2020-11-19 | Automatic pedestrian yielding driving scheme based on 5G grading decision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114312836A (en) * | 2021-12-24 | 2022-04-12 | 阿波罗智联(北京)科技有限公司 | Method, device, equipment and storage medium for automatically driving vehicle to give way to pedestrians |
| CN116572995A (en) * | 2023-07-11 | 2023-08-11 | 小米汽车科技有限公司 | Automatic driving method and device of vehicle and vehicle |
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Application publication date: 20210202 |
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