CN112406876A - Vehicle, and control method and control device thereof - Google Patents
Vehicle, and control method and control device thereof Download PDFInfo
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- CN112406876A CN112406876A CN201910784757.7A CN201910784757A CN112406876A CN 112406876 A CN112406876 A CN 112406876A CN 201910784757 A CN201910784757 A CN 201910784757A CN 112406876 A CN112406876 A CN 112406876A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses a vehicle and a control method and a control device thereof, wherein the control method comprises the following steps: in the running process of the current vehicle, when the traffic signal lamp intersection in front of the current vehicle is identified, the color of the traffic signal lamp corresponding to the direction to be run and the time to be changed are obtained; and controlling the current vehicle according to the color of the traffic signal lamp and the changed time. The method controls the current vehicle according to the color of the traffic signal lamp and the time to be changed, is not influenced by external factors such as weather and the like, improves the accuracy of the driving strategy of the vehicle, and provides real-time help for the driving strategy of the vehicle because the color of the traffic signal lamp and the time to be changed can be predicted in advance, thereby improving the safety of automatic driving.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a control method of a vehicle, a control apparatus of a vehicle, an electronic device, and a computer-readable storage medium.
Background
The automatic driving technology of the vehicle is generally realized by installing advanced sensors, controllers, execution devices and the like on the basic structure of the traditional vehicle, and the information exchange of the vehicle, the road, a driver and the like is realized through a vehicle-mounted sensing System and an information fusion System, so that the vehicle has certain intelligent environment sensing capability, path identification and road condition identification, and realizes real-time early warning or timely parking and obstacle avoidance according to the actual situation by combining with a Global Positioning System (GPS), thereby improving the driving safety and configuring a reasonable driving strategy according to the path and the intention of the driver. At present, the automatic driving vehicles basically run on a specific park or a specific road of an intersection without traffic lights (i.e. traffic lights), and a small number of automatic driving vehicles running on the intersection with the traffic lights are made according to a visual sensor.
However, the color of the traffic light sensed by the vision sensor is limited by the influence of weather and other reasons, and a large false alarm rate is generated. In addition, the vision sensor perception is a perception after the fact, the color of a traffic signal lamp cannot be predicted in advance, so that the driving strategy of the vehicle has delay, and the safety of automatic driving is not facilitated.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a method for controlling a vehicle, which controls a current vehicle according to a color of a traffic light and a time to be changed, is not affected by external factors such as weather, improves accuracy of a driving strategy of the vehicle, and provides real-time assistance to the driving strategy of the vehicle since the color of the traffic light and the time to be changed can be predicted in advance, thereby improving safety of automatic driving. .
A second object of the present invention is to provide a control device for a vehicle.
A third object of the invention is to propose a vehicle.
A fourth object of the invention is to propose an electronic device.
A fifth object of the present invention is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of an aspect of the present invention provides a control method for a vehicle, including: when the front of the current vehicle is identified to be a traffic signal lamp intersection in the running process of the current vehicle, acquiring the color of a traffic signal lamp corresponding to the direction to be run and the time to be changed; and controlling the current vehicle according to the color of the traffic signal lamp and the time to be changed.
According to the control method of the vehicle, the current vehicle is controlled according to the color of the traffic signal lamp and the time to be changed, the influence of external factors such as weather is avoided, the accuracy of the driving strategy of the vehicle is improved, and the color of the traffic signal lamp and the time to be changed can be predicted in advance, so that real-time help is provided for the driving strategy of the vehicle, and the safety of automatic driving is improved.
In addition, the control method of the vehicle proposed according to the above-described embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the controlling the current vehicle according to the traffic signal light color and the time to be changed includes: and if the first distance between the current vehicle and the stop line of the traffic signal lamp intersection is greater than the second distance between the current vehicle and the front real obstacle, controlling the current vehicle according to the relative distance and the relative speed between the real obstacle and the current vehicle.
According to an embodiment of the present invention, the controlling the current vehicle according to the traffic signal light color and the time to be changed includes: and if the first distance is equal to or less than the second distance, selecting to control the current vehicle according to the relative distance and the relative speed between the real obstacle and the current vehicle or according to the relative distance and the relative speed between the stop line and the current vehicle according to the color of the traffic signal lamp and the time to be changed.
According to an embodiment of the invention, selecting to control the current vehicle according to the relative distance and the relative speed of the real obstacle from the current vehicle according to the color of the traffic signal lamp and the time to be changed comprises: and if the color of the traffic signal lamp is green and the time of the current vehicle reaching the stop line according to the current vehicle speed is less than the time to be changed, controlling the current vehicle to run according to the current vehicle speed and controlling the current vehicle according to the relative distance and the relative speed between the real obstacle and the current vehicle.
According to an embodiment of the invention, selecting to control the current vehicle according to the relative distance and the relative speed of the real obstacle from the current vehicle according to the color of the traffic signal lamp and the time to be changed comprises: and if the color of the traffic signal lamp is red or yellow, and the time of the current vehicle reaching the stop line according to the current vehicle speed is equal to or more than the time to be changed, controlling the current vehicle to run according to the current vehicle speed, and controlling the current vehicle according to the relative distance and the relative speed between the real obstacle and the current vehicle.
According to an embodiment of the invention, selecting to control the current vehicle according to the relative distance and the relative speed of the stop line and the current vehicle according to the color of the traffic signal lamp and the time to be changed comprises: and if the color of the traffic signal lamp is green and the time of the current vehicle reaching the stop line according to the current speed is equal to or more than the time to be changed, controlling the current vehicle according to the relative distance and the relative speed between the stop line and the current vehicle.
According to an embodiment of the invention, selecting to control the current vehicle according to the relative distance and the relative speed of the stop line and the current vehicle according to the color of the traffic signal lamp and the time to be changed comprises: and if the color of the traffic signal lamp is red or yellow and the time of the current vehicle reaching the stop line according to the current speed is less than the time to be changed, controlling the current vehicle according to the relative distance and the relative speed between the stop line and the current vehicle.
According to one embodiment of the invention, the coordinates of the stop line are stored in advance in the present vehicle.
According to an embodiment of the present invention, before the communicating with the traffic signal at the current traffic signal intersection to obtain the color of the traffic signal corresponding to the direction to be traveled and the time to be changed, the method further includes: acquiring driving environment information of the current vehicle; and controlling the current vehicle to run according to a preset running path or change the lane according to the running environment information of the current vehicle.
According to an embodiment of the present invention, the controlling the current vehicle to travel according to a preset travel path or lane change according to the travel environment information of the current vehicle includes: carrying out information fusion on the driving environment information of the current vehicle to obtain the driving information of the current vehicle; and controlling the current vehicle to run according to a preset running path or change the lane according to the running information.
In order to achieve the above object, a second aspect of the present invention provides a control apparatus for a vehicle, including: the acquisition module is used for acquiring the color of a traffic signal lamp at the intersection of the traffic signal lamp and the time to be changed when the front of the current vehicle is identified as the intersection of the traffic signal lamp in the running process of the current vehicle; and the control module is used for longitudinally controlling the current vehicle according to the color of the traffic signal lamp and the time to be changed.
The control device of the vehicle of the embodiment of the invention controls the current vehicle according to the color of the traffic signal lamp and the time to be changed, is not influenced by external factors such as weather, improves the accuracy of the driving strategy of the vehicle, and provides real-time help for the driving strategy of the vehicle because the color of the traffic signal lamp and the time to be changed can be predicted in advance, thereby improving the safety of automatic driving.
In order to achieve the above object, a third aspect of the present invention proposes a vehicle including the control device of the vehicle according to the second aspect of the present invention.
According to the vehicle provided by the embodiment of the invention, the control device is used for controlling the current vehicle according to the color of the traffic signal lamp and the time to be changed, the influence of external factors such as weather is avoided, the accuracy of the driving strategy of the vehicle is improved, and the color of the traffic signal lamp and the time to be changed can be predicted in advance, so that real-time help is provided for the driving strategy of the vehicle, and the safety of automatic driving is improved.
To achieve the above object, a fourth aspect of the present invention provides an electronic device including: the present invention relates to a control method for a vehicle, and more particularly, to a control method for a vehicle, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor.
According to the electronic equipment provided by the embodiment of the invention, when the processor reads the executable program code stored in the memory to run the program corresponding to the executable program code, and when the front of the current vehicle is identified to be a traffic signal lamp intersection in the running process of the current vehicle, the processor communicates with the traffic signal lamp at the current traffic signal lamp intersection to acquire the color of the traffic signal lamp corresponding to the direction to be driven and the time to be changed, and controls the current vehicle according to the color of the traffic signal lamp and the time to be changed, so that the electronic equipment is not influenced by external factors such as weather, the accuracy of the running strategy of the vehicle is improved, and the color of the traffic signal lamp and the time to be changed can be predicted in advance, so that real-time help is provided for the running strategy of the vehicle, and the safety of automatic driving is improved.
To achieve the above object, a fifth embodiment of the present invention provides a computer-readable storage medium, having a computer program stored thereon, where the computer program is executed by a processor to implement the control method of the vehicle according to the first embodiment of the present invention.
The computer readable storage medium of the embodiment of the invention, when the computer program stored thereon is executed by the processor, when the current vehicle is in the driving process and the front of the current vehicle is identified to be a traffic signal light intersection, the computer program communicates with the traffic signal light at the current traffic signal light intersection to acquire the color of the traffic signal light corresponding to the direction to be driven and the time to be changed, and controls the current vehicle according to the color of the traffic signal light and the time to be changed, so that the computer readable storage medium is not influenced by external factors such as weather, the accuracy of the driving strategy of the vehicle is improved, and the color of the traffic signal light and the time to be changed can be predicted in advance, so that real-time help is provided for the driving strategy of the vehicle, and the safety of automatic driving is improved.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which,
fig. 1 is a flowchart of a control method of a vehicle according to a first embodiment of the invention;
FIG. 2 is a block schematic diagram of an intelligent control system of a vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a traffic signal intersection according to one embodiment of the present invention;
fig. 4 is a flowchart of a control method of a vehicle according to a second embodiment of the invention;
fig. 5 is a flowchart of a control method of a vehicle according to a third embodiment of the invention;
fig. 6 is a flowchart of a control method of a vehicle according to a fourth embodiment of the invention;
fig. 7 is a flowchart of a control method of a vehicle according to one specific example of the invention;
fig. 8 is a block schematic diagram of a control apparatus of a vehicle according to one embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A control method of a vehicle, a control apparatus of a vehicle, an electronic device, and a computer-readable storage medium, which are proposed by embodiments of the present invention, are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a control method of a vehicle according to a first embodiment of the invention. As shown in fig. 1, the control method includes the steps of:
and S1, acquiring the color of the traffic light corresponding to the direction to be driven and the time to be changed when the front of the current vehicle is identified to be the intersection of the traffic light in the driving process of the current vehicle.
The traffic signal light intersection is a traffic light intersection, and the traffic light is a traffic light.
And S2, controlling the current vehicle according to the color of the traffic signal lamp and the time to be changed.
Specifically, as shown in fig. 2, the intelligent control system for a vehicle with an automatic driving function mainly includes: the system comprises four modules of transverse control, longitudinal control, information fusion and decision. As shown in fig. 2, the information fusion module includes: the system comprises ZigBee (also called purple bee, which is a wireless internet protocol of low-speed short-distance transmission), information processing, one-line laser radar data analysis, ultrasonic radar data analysis, RTK (Real-time kinematic) navigation program, lane line identification program, millimeter wave radar data analysis, traffic signal lamp identification program and the like, wherein the information fusion is to identify and process information of all sensors, and finally output the speed and distance of an obstacle detected by the sensors relative to the vehicle, lane line information, vehicle coordinates, course angle information and the like to a decision module. The decision-making module judges whether the vehicle runs according to a global path or an obstacle avoidance and lane change according to the information after information fusion, and simultaneously outputs steering wheel control corner information to the transverse control module; the decision module simultaneously outputs distance and speed information to the longitudinal Control module, and the ACC (Adaptive Cruise Control) and the AEB (Auto ignition Brake assist) realize speed Control of the vehicle.
As shown in fig. 3, during the automatic driving of the vehicle, the RTK, the traffic light recognition program, and the like may be used to obtain the coordinate information of the driving road, the number of the traffic light in the driving road, and the stop line of the traffic light, and when the vehicle approaches the intersection of the traffic light, the color of the traffic light in front of the current vehicle and the time to be changed (the time to be changed) are obtained. The decision-making module can generate a driving strategy for passing through the traffic signal lamp according to the acquired information such as the color of the traffic signal lamp in front of the vehicle, the time to be changed and the like, the information of the steering wheel control corner is output to the transverse control module according to the driving strategy, the transverse control module realizes the control of the steering wheel corner of the vehicle, the transverse control module simultaneously outputs the distance and speed information to the longitudinal control module, and the ACC and the AEB realize the speed control of the vehicle, so that the aim of safely passing through the traffic signal lamp is fulfilled.
According to the control method of the vehicle, the current vehicle is controlled according to the color of the traffic signal lamp and the time to be changed, the influence of external factors such as weather is avoided, the accuracy of the driving strategy of the vehicle is improved, and the color of the traffic signal lamp and the time to be changed can be predicted in advance, so that real-time help is provided for the driving strategy of the vehicle, and the safety of automatic driving is improved.
How to control the current vehicle according to the traffic signal light color and the time to be changed is described below in conjunction with specific embodiments.
According to an embodiment of the present invention, as shown in fig. 4, controlling the current vehicle according to the traffic signal light color and the time to be changed may include:
s21, if the first distance S1 between the current vehicle and the stop line of the traffic signal light intersection is larger than the second distance S between the current vehicle and the front real obstacle, controlling the current vehicle according to the relative distance S and the relative speed V between the real obstacle and the current vehicle.
And S22, if the first distance S1 is equal to or less than the second distance S, controlling the current vehicle according to the relative distance S and the relative speed V between the real obstacle and the current vehicle or the relative distance S1 and the relative speed V1 between the stop line and the current vehicle according to the color of the traffic signal lamp and the time to be changed.
Specifically, if S1 > S, which indicates that there are other real obstacles (e.g. other vehicles) between the current vehicle and the stop line of the traffic signal in front, it is necessary to further control the current vehicle according to the relative distance S and the relative speed V between the real obstacle and the current vehicle, so as to control the current vehicle and the preceding vehicle to safely pass through the traffic signal at a certain safe distance. And if S1 is less than or equal to S, no real obstacle exists between the current vehicle and the stop line of the traffic signal lamp in front, the current vehicle is theoretically the first vehicle reaching the stop line, and at the moment, the vehicle needs to be further controlled according to the relative distance S and the relative speed V between the real obstacle and the current vehicle, or according to the relative distance S1 and the relative speed V1 between the stop line and the current vehicle.
And particularly, the relative distance S and the relative speed V between the real obstacle and the current vehicle are selected, or the relative distance S1 and the relative speed V1 between the stop line and the current vehicle are selected to control the vehicle, which is further determined by the color of the traffic light and the time to be changed.
Specifically, as shown in fig. 5, selecting to control the current vehicle according to the relative distance S and the relative speed V between the real obstacle and the current vehicle according to the color of the traffic signal and the time to be changed includes:
and S221, if the color of the traffic signal lamp is green and the time of the current vehicle reaching the stop line according to the current vehicle speed is less than the time to be changed, controlling the current vehicle to run according to the current vehicle speed, and controlling the current vehicle according to the relative distance S and the relative speed V between the real obstacle and the current vehicle.
And S222, if the color of the traffic light is red or yellow and the time of the current vehicle reaching the stop line according to the current vehicle speed is equal to or more than the time to be changed, controlling the current vehicle to run according to the current vehicle speed, and controlling the current vehicle according to the relative distance S and the relative speed V between the real obstacle and the current vehicle.
Specifically, if S1 is less than or equal to S, it indicates that there is no real obstacle between the current vehicle and the stop line of the traffic light in front, and the current vehicle is theoretically the first vehicle to reach the stop line, and at this time, it is necessary to further determine the color and the time to be changed of the traffic light. If the color of the traffic light is green, and the time that the current vehicle reaches the stop line according to the current vehicle speed is equal to or less than the time to be changed (namely the remaining time of the green light), namely, the current vehicle can reach the stop line according to the current vehicle speed within the time of the green light before the traffic light turns into the red light, the current vehicle does not need to be decelerated, runs according to the current vehicle speed, obtains the relative distance S and the relative speed V (for example, the front vehicle) between the real obstacle and the current vehicle, and further controls the vehicle to safely pass through the traffic light according to the S and the V. And if the color of the traffic signal lamp is red or yellow, and the time that the current vehicle reaches the stop line according to the current vehicle speed is equal to or longer than the time to be changed (namely the remaining time of the red light, the yellow light is processed in a red light mode), the situation that the signal lamp can be changed into the green light when the current vehicle reaches the stop line according to the current vehicle speed is shown, the current vehicle does not need to be decelerated, the vehicle runs according to the current vehicle speed, the relative distance S and the relative speed V (for example, the vehicle in front) between the real obstacle and the current vehicle are obtained, and the vehicle is further controlled to safely pass through the traffic signal lamp.
As shown in fig. 5, controlling the current vehicle according to the traffic signal light color and the time to be changed, according to the relative distance S1 and the relative speed V1 of the stop line from the current vehicle, may include:
and S223, if the color of the traffic light is green and the time that the current vehicle reaches the stop line according to the current speed is equal to or more than the time to be changed, controlling the current vehicle according to the relative distance S1 and the relative speed V1 of the stop line and the current vehicle.
And S224, if the color of the traffic light is red or yellow and the time that the current vehicle reaches the stop line according to the current vehicle speed is less than the time to be changed, controlling the current vehicle according to the relative distance S1 and the relative speed V1 of the stop line and the current vehicle.
Specifically, if S1 is less than or equal to S, it indicates that there is no real obstacle between the current vehicle and the stop line of the traffic light in front, and the current vehicle is theoretically the first vehicle to reach the stop line, and at this time, it is necessary to further determine the color of the traffic light and the time to be changed. If the color of the traffic light is green, and the time that the current vehicle reaches the stop line according to the current speed is equal to or longer than the time to be changed (namely the remaining time of the green light), namely, the traffic light is changed into the red light when the front vehicle reaches the stop line according to the current speed, the vehicle cannot pass through the intersection of the traffic light, the stop line is used as a virtual obstacle, the current vehicle is controlled according to the relative distance S1 and the relative speed V1 between the stop line and the current vehicle, the vehicle is controlled to accurately stop before the stop line, and the vehicle is controlled to safely pass after the traffic light is changed into the green light.
If the color of the traffic light is red or yellow, and the time that the current vehicle reaches the stop line according to the current speed is less than the time to be changed (namely the remaining time of the red light, the yellow light is processed in a red light mode), namely, the traffic light is still red when the current vehicle reaches the stop line, the vehicle cannot pass through the intersection of the traffic light, the stop line is used as a virtual obstacle, the current vehicle is controlled according to the relative distance S1 and the relative speed V1 between the stop line and the current vehicle, the vehicle is controlled to accurately stop before the stop line, and the vehicle is controlled to safely pass after the traffic light is changed into the green light. If the current vehicle decelerates to a proper speed and can pass through the intersection of the traffic light, the vehicle does not need to continue decelerating after decelerating to the speed and can pass through at the current speed.
In the embodiment of the invention, the coordinates of the stop line are stored in advance in the current vehicle. For example, coordinates of a stop line at the nearest intersection in the traveling direction of the vehicle can be acquired by RTK and stored.
It will be appreciated that the automated driving makes it possible to achieve an accurate stop-line, on the one hand the control of the vehicle speed by the longitudinal control module and on the other hand depending on the relative distance S1 and the relative speed V1 of the stop-line from the current vehicle, as obtained by the decision module. When the front of the current vehicle is free of obstacles and is a red light, the decision module takes the stop line as a virtual obstacle, and outputs the relative distance S1 and the relative speed V1 between the stop line and the current vehicle to the longitudinal control module, but when the red light is changed into a green light, if the decision module continues to output virtual obstacle information, the vehicle still is in a braking state and cannot be started to run, and when the information output to the longitudinal control module is changed into normal obstacle information in front of the vehicle, the safety distance of the vehicle is increased, and the function of automatic starting is realized.
According to an embodiment of the present invention, as shown in fig. 6, the method for controlling a vehicle according to an embodiment of the present invention, before communicating with a traffic light at a current traffic light intersection to obtain a color of the traffic light corresponding to a direction to be traveled and a time to be changed, may further include:
and S101, acquiring the driving environment information of the current vehicle.
And S102, controlling the current vehicle to run according to a preset running path or change the lane according to the running environment information of the current vehicle.
Further, in an embodiment of the present invention, controlling the current vehicle to travel according to a preset travel path or lane change according to the travel environment information of the current vehicle may include: carrying out information fusion on the driving environment information of the current vehicle to obtain the driving information of the current vehicle; and controlling the current vehicle to run or change the lane according to the running information.
Specifically, in the running process of the current vehicle, when the traffic light intersection in front of the current vehicle is identified, it is required to firstly judge whether the vehicle runs according to the preset running path or the lane change running according to the running information of the current vehicle, if it is judged that the running path is abnormal according to the running information of the current vehicle, the vehicle can be controlled to run by changing the lane, and if it is judged that the running path is not abnormal according to the running information of the current vehicle, the vehicle can be controlled to run according to the preset running path. For example, if it is determined that an obstacle in front of the vehicle does not move for a long time, and a traffic accident may occur in front, the vehicle may be controlled to move on a lane, so as to avoid traffic jam caused by long-time waiting of the vehicle. For example, if it is recognized that a road ahead of the vehicle is collapsed or has a large pothole, the vehicle can be controlled to travel on a lane change, and the vehicle can be protected and the driving safety can be improved.
In order to make the present invention more clearly understood by those skilled in the art, a control method of a vehicle according to an embodiment of the present invention will be described below with reference to an example shown in fig. 7. Fig. 7 is a flowchart of a control method of a vehicle according to one specific example of the invention, as shown in fig. 7, the method including:
s101, when the situation that the front of the current vehicle is a traffic light intersection is identified, the driving environment information of the current vehicle is obtained.
And S102, controlling the current vehicle to run according to a preset running path or change the lane according to the running environment information of the current vehicle.
S103, communicating with a traffic signal lamp at the current traffic signal lamp intersection to acquire the color of the traffic signal lamp corresponding to the direction to be driven and the time to be changed.
S104, judging whether S is greater than S1. If yes, go to step S105; if not, step S106 is performed.
Wherein S1 is the distance S1 between the current vehicle and the stop line of the traffic signal intersection, and S is the distance between the current vehicle and the real obstacle ahead.
And S105, other real obstacles exist between the current vehicle and the stop line of the traffic signal lamp in front, and the current vehicle is controlled according to the relative distance S and the relative speed V between the real obstacles and the current vehicle.
And S106, judging whether the color of the current traffic signal lamp is green. If not, step S107 is performed. If so, step S109 is performed.
And S107, judging whether the time that the current vehicle reaches the stop line according to the current vehicle speed is less than the time that the traffic signal lamp is to be changed. If yes, go to step S108; if not, step S110 is executed.
And S108, when the vehicle cannot pass through the intersection of the traffic signal lamp within the green time according to the current vehicle speed, taking the stop line as a virtual obstacle, and controlling the current vehicle according to the relative distance S1 and the relative speed V1 between the stop line and the current vehicle.
And S109, judging whether the time that the current vehicle reaches the stop line according to the current vehicle speed is less than the time that the traffic signal lamp is to be changed. If yes, go to step S110; if not, step S108 is performed.
And S110, the current vehicle can reach the stop line within the green light time, the vehicle runs according to the current speed, and the vehicle is controlled according to the relative distance S and the relative speed V between the obtained real obstacle and the current vehicle.
According to the control method of the vehicle, the current vehicle is controlled according to the color of the traffic signal lamp and the time to be changed, the influence of external factors such as weather is avoided, the accuracy of the driving strategy of the vehicle is improved, and the color of the traffic signal lamp and the time to be changed can be predicted in advance, so that real-time help is provided for the driving strategy of the vehicle, and the safety of automatic driving is improved.
In addition, the invention also provides a control device of the vehicle corresponding to the control method of the vehicle, and for details which are not disclosed in the device embodiment, the method embodiment can be referred to. Fig. 8 is a block schematic diagram of a control apparatus of a vehicle according to one embodiment of the invention.
As shown in fig. 8, the apparatus includes: the device comprises an acquisition module 1 and a control module 2. The acquisition module 1 is used for acquiring the color and the time to be changed of a traffic signal lamp at the intersection of a current traffic signal lamp from a road control center when the front of a current vehicle is identified as the intersection of the traffic signal lamp in the running process of the current vehicle; the control module 2 is used for longitudinally controlling the current vehicle according to the color of the traffic signal lamp and the time to be changed.
The control device of the vehicle of the embodiment of the invention controls the current vehicle according to the color of the traffic signal lamp and the time to be changed, is not influenced by external factors such as weather, improves the accuracy of the driving strategy of the vehicle, and provides real-time help for the driving strategy of the vehicle because the color of the traffic signal lamp and the time to be changed can be predicted in advance, thereby improving the safety of automatic driving.
In addition, the invention also provides a vehicle which comprises the control device of the vehicle.
According to the vehicle provided by the embodiment of the invention, the control device is used for controlling the current vehicle according to the color of the traffic signal lamp and the time to be changed, the influence of external factors such as weather is avoided, the accuracy of the driving strategy of the vehicle is improved, and the color of the traffic signal lamp and the time to be changed can be predicted in advance, so that real-time help is provided for the driving strategy of the vehicle, and the safety of automatic driving is improved.
An embodiment of the present invention further provides an electronic device including: the present invention relates to a vehicle control system, and more particularly to a vehicle control system, a vehicle control method, and a vehicle control method, which are capable of controlling a vehicle according to the above-described embodiments of the present invention.
According to the electronic equipment provided by the embodiment of the invention, when the processor reads the executable program code stored in the memory to run the program corresponding to the executable program code, and when the front of the current vehicle is identified to be a traffic signal lamp intersection in the running process of the current vehicle, the processor communicates with the traffic signal lamp at the current traffic signal lamp intersection to acquire the color of the traffic signal lamp corresponding to the direction to be driven and the time to be changed, and controls the current vehicle according to the color of the traffic signal lamp and the time to be changed, so that the electronic equipment is not influenced by external factors such as weather, the accuracy of the running strategy of the vehicle is improved, and the color of the traffic signal lamp and the time to be changed can be predicted in advance, so that real-time help is provided for the running strategy of the vehicle, and the safety of automatic driving is improved.
The present invention also proposes a computer-readable storage medium having stored thereon a computer program, which is executed by a processor, implementing the control method of the vehicle of the present invention described above.
The computer readable storage medium of the embodiment of the invention, when the computer program stored thereon is executed by the processor, when the current vehicle is in the driving process and the front of the current vehicle is identified to be a traffic signal light intersection, the computer program communicates with the traffic signal light at the current traffic signal light intersection to acquire the color of the traffic signal light corresponding to the direction to be driven and the time to be changed, and controls the current vehicle according to the color of the traffic signal light and the time to be changed, so that the computer readable storage medium is not influenced by external factors such as weather, the accuracy of the driving strategy of the vehicle is improved, and the color of the traffic signal light and the time to be changed can be predicted in advance, so that real-time help is provided for the driving strategy of the vehicle, and the safety of automatic driving is improved.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A control method of a vehicle, characterized by comprising:
in the running process of a current vehicle, when a traffic signal lamp intersection is identified in front of the current vehicle, acquiring the color of a traffic signal lamp corresponding to the direction to be run and the time to be changed;
and controlling the current vehicle according to the color of the traffic signal lamp and the time to be changed.
2. The control method according to claim 1, wherein the controlling the current vehicle according to the traffic signal light color and the time to be changed includes:
if a first distance between the current vehicle and a stop line of the traffic signal lamp intersection is greater than a second distance between the current vehicle and a front real obstacle, controlling the current vehicle according to the relative distance and the relative speed between the real obstacle and the current vehicle;
and if the first distance is equal to or less than the second distance, selecting to control the current vehicle according to the relative distance and the relative speed between the real obstacle and the current vehicle or according to the relative distance and the relative speed between the stop line and the current vehicle according to the color of the traffic signal lamp and the time to be changed.
3. The control method according to claim 2, wherein selecting to control the current vehicle according to the relative distance and the relative speed of the real obstacle from the current vehicle according to the traffic signal light color and the time to be changed comprises:
if the color of the traffic signal lamp is green and the time that the current vehicle reaches the stop line according to the current vehicle speed is less than the time to be changed, controlling the current vehicle to run according to the current vehicle speed and controlling the current vehicle according to the relative distance and the relative speed between the real obstacle and the current vehicle;
and if the color of the traffic signal lamp is red or yellow, and the time of the current vehicle reaching the stop line according to the current vehicle speed is equal to or more than the time to be changed, controlling the current vehicle to run according to the current vehicle speed, and controlling the current vehicle according to the relative distance and the relative speed between the real obstacle and the current vehicle.
4. The control method according to claim 2, wherein selecting control of the current vehicle according to the relative distance and the relative speed of the stop line from the current vehicle according to the traffic signal light color and the time to be changed comprises:
if the color of the traffic signal lamp is green and the time of the current vehicle reaching the stop line according to the current speed is equal to or more than the time to be changed, controlling the current vehicle according to the relative distance and the relative speed between the stop line and the current vehicle;
and if the color of the traffic signal lamp is red or yellow and the time of the current vehicle reaching the stop line according to the current speed is less than the time to be changed, controlling the current vehicle according to the relative distance and the relative speed between the stop line and the current vehicle.
5. The control method according to claim 2, characterized in that the coordinates of the stop line are stored in advance in the present vehicle.
6. The control method according to claim 1, wherein before the acquiring of the traffic signal light color corresponding to the direction to be traveled and the time to be changed, further comprising:
acquiring driving environment information of the current vehicle;
carrying out information fusion on the driving environment information of the current vehicle to obtain the driving information of the current vehicle;
and controlling the current vehicle to run according to a preset running path or change the lane according to the running information.
7. A control apparatus of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the color of a traffic signal lamp at the intersection of the traffic signal lamp and the time to be changed when the front of the current vehicle is identified as the intersection of the traffic signal lamp in the running process of the current vehicle;
and the control module is used for longitudinally controlling the current vehicle according to the color of the traffic signal lamp and the time to be changed.
8. A vehicle, characterized by comprising: the control device of a vehicle according to claim 7.
9. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, when executing the program, implementing a control method of a vehicle according to any one of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a control method of a vehicle according to any one of claims 1-6.
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| CN201910784757.7A CN112406876A (en) | 2019-08-23 | 2019-08-23 | Vehicle, and control method and control device thereof |
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| CN201910784757.7A CN112406876A (en) | 2019-08-23 | 2019-08-23 | Vehicle, and control method and control device thereof |
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