CN112435482B - Parking control method and system in automatic driving mode, electronic equipment and vehicle - Google Patents
Parking control method and system in automatic driving mode, electronic equipment and vehicle Download PDFInfo
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- CN112435482B CN112435482B CN202011235746.2A CN202011235746A CN112435482B CN 112435482 B CN112435482 B CN 112435482B CN 202011235746 A CN202011235746 A CN 202011235746A CN 112435482 B CN112435482 B CN 112435482B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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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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- 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
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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
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
Abstract
The embodiment of the application discloses a parking control method, a system, an electronic device and a vehicle under an automatic driving mode, which comprises the steps of obtaining a working state, a current vehicle speed and a deceleration threshold value corresponding to each sensing system, obtaining lane data to be changed based on a plurality of sensing systems if each sensing system is normal, determining a target lane according to preset lane changing conditions, the current vehicle speed and the lane data to be changed, changing the lane to the target lane, obtaining a parking buffer speed interval corresponding to the target lane, determining a first deceleration according to the current vehicle speed, the deceleration threshold value and the parking buffer speed interval to adjust the driving speed of the vehicle in the target lane, wherein the driving speed of the vehicle in the target lane is in the parking buffer speed interval, when the driving time of the vehicle in the target lane reaches the preset time, the driving speed of the vehicle in the target lane is adjusted based on a preset second deceleration and the deceleration threshold value, until the vehicle is stopped. Therefore, the vehicle can be controlled to safely stop and the vehicle behind the vehicle can be warned.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a parking control method and system in an automatic driving mode, electronic equipment and a vehicle.
Background
In the high-level auxiliary driving System and the automatic driving System, in a set drivable area (ODD), an automatic driving mode is entered, and in the driving mode, hands and feet of a driver can be liberated by combining a Driver Monitoring System (DMS), so that hands-free and feet-free driving can be realized, and even eye-free driving can be realized under a certain condition. In some roads where the driver is not allowed to go out of sight, when the system finds that the attention of the driver is not concentrated, a take-over reminder is sent, for example, a multimedia voice reminder, an instrument panel icon reminder, a safety belt pre-tightening reminder, a seat micro-vibration reminder and the like, after the driver is reminded to take over the vehicle, the driver still does not take over the vehicle, and the system determines that the attention of the driver is not concentrated for a long time or the vehicle cannot be taken over due to certain accidents, and automatic safe parking needs to be executed. In addition, when a part of sensors in the vehicle-mounted sensors fails or a part of units in the controller fails, it is also necessary to perform automatic safe parking.
The automatic driving system is generally started on a high-speed overhead, and because the speed of the vehicle is high, if the vehicle is dense or the distance between the vehicle and the automatic driving system is short, the conventional auxiliary parking method for immediately controlling the vehicle to decelerate to the parking state cannot realize safe parking, so that rear-end accidents are easily caused.
Disclosure of Invention
The embodiment of the application provides a parking control method and system in an automatic driving mode, electronic equipment and a vehicle, which can control the vehicle to park safely, can also warn the vehicle behind, give reaction time to the vehicle behind and ensure driving safety.
The embodiment of the application provides a parking control method in an automatic driving mode, which comprises the following steps:
acquiring a working state corresponding to each sensing system in a plurality of sensing systems, the current speed of the vehicle and a deceleration threshold corresponding to the vehicle;
if the working state corresponding to each sensing system is a running state, acquiring lane data to be changed based on a plurality of sensing systems;
determining a target lane according to a preset lane changing condition, the current speed of the vehicle and lane data to be changed;
controlling the vehicle to change the lane to a target lane;
obtaining a parking buffer speed interval corresponding to a target lane;
determining a first deceleration according to the current vehicle speed, a deceleration threshold and a parking buffer speed interval;
adjusting the running speed of the vehicle in a target lane based on the first deceleration, wherein the running speed of the vehicle in the target lane is within a parking buffer speed interval;
and when the running time of the vehicle in the target lane reaches the preset time, adjusting the running speed of the vehicle in the target lane based on the preset second deceleration and the deceleration threshold value until the vehicle stops.
Further, determining a target lane according to a preset lane changing condition, the current speed of the vehicle and lane data to be changed, including:
if the current speed of the vehicle and the lane data to be changed meet the preset lane changing conditions, determining that the target lane is an emergency lane;
and if the current speed of the vehicle and the lane data to be lane-changed do not meet the preset lane-changing condition, determining that the target lane is the current lane.
Further, the plurality of perception systems includes an angular radar system, a forward radar system, and a forward visual perception system,
the method further comprises the following steps:
and if the working state corresponding to one sensing system in the plurality of sensing systems is a fault state, acquiring lane data to be changed based on part of the sensing systems in the plurality of sensing systems.
Further, acquiring lane data to be changed based on part of the sensing systems in the plurality of sensing systems, including:
if the angle radar system and the forward visual perception system are both in the operating state, the forward radar system is in the fault state,
and acquiring lane data to be changed based on a forward visual perception system.
Further, the plurality of perception systems further comprises a high-precision map system;
the method for acquiring lane data to be changed based on partial sensing systems in a plurality of sensing systems comprises the following steps:
if the angle radar system, the forward radar system and the high-precision map system are in the running state and the forward visual perception system is in the fault state,
and acquiring lane data to be changed based on the angle radar system, the forward radar system and the high-precision map system.
Further, acquiring lane data to be changed based on part of the sensing systems in the plurality of sensing systems, including:
if the forward radar system and the forward visual perception system are both in an operating state, the angle radar system is in a fault state,
and acquiring lane data to be changed based on a forward radar system and a forward visual perception system.
Further, obtaining a parking buffer speed interval corresponding to the target lane includes:
acquiring a speed limit value corresponding to a target lane;
and determining a parking buffer speed interval according to the speed limit value corresponding to the target lane.
Further, determining the first deceleration according to the current vehicle speed, the deceleration threshold and the parking buffer speed interval includes:
determining candidate deceleration according to the current vehicle speed and the parking buffer speed interval;
the minimum value of the deceleration threshold and the candidate deceleration is determined as the first deceleration.
Further, the method further comprises:
if the driver taking over system is detected to be in a trigger state, sending a control instruction to the vehicle-mounted automatic driving control system; the control instructions are for instructing the vehicle to switch the autonomous driving mode to the manual driving mode.
Correspondingly, the embodiment of the present application further provides a parking control system in an automatic driving mode, and the system includes:
the first acquisition module is used for acquiring the working state corresponding to each sensing system in the plurality of sensing systems, the current speed of the vehicle and the deceleration threshold corresponding to the vehicle;
the second acquisition module is used for acquiring lane data to be changed based on the plurality of sensing systems if the working state corresponding to each sensing system is a running state;
the first determining module is used for determining a target lane according to a preset lane changing condition, the current speed of the vehicle and lane data to be changed;
the lane changing module is used for controlling the vehicle to change the lane to the target lane;
the third acquisition module is used for acquiring a parking buffer speed interval corresponding to the target lane;
the second determining module is used for determining a first deceleration according to the current vehicle speed, the deceleration threshold and the parking buffer speed interval;
the first deceleration module is used for adjusting the running speed of the vehicle in the target lane based on the first deceleration, and the running speed of the vehicle in the target lane is within the parking buffer speed interval;
and the second deceleration module is used for adjusting the running speed of the vehicle in the target lane based on the preset second deceleration and the deceleration threshold value until the vehicle stops when the running time of the vehicle in the target lane reaches the preset time.
Correspondingly, the embodiment of the application also provides an electronic device, which comprises a processor and a memory, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to realize the parking control method in the automatic driving mode.
Correspondingly, the embodiment of the application also provides a vehicle, and the vehicle comprises the parking control system in the automatic driving mode.
The embodiment of the application has the following beneficial effects:
the embodiment of the application discloses a parking control method, a parking control system, electronic equipment and a vehicle in an automatic driving mode, wherein the parking control method comprises the steps of obtaining the working state corresponding to each sensing system in a plurality of sensing systems, the current vehicle speed of the vehicle and the deceleration threshold corresponding to the vehicle, if the working state corresponding to each sensing system is the running state, obtaining lane data to be changed based on the plurality of sensing systems, further determining a target lane according to preset lane changing conditions, the current vehicle speed of the vehicle and the lane data to be changed, controlling the vehicle to change to the target lane, simultaneously obtaining a parking buffer speed interval corresponding to the target lane, determining a first deceleration according to the current vehicle speed, the deceleration threshold and the parking buffer speed interval, then adjusting the running speed of the vehicle in the target lane based on the first deceleration, wherein the running speed of the vehicle in the target lane is in the parking buffer speed interval, and when the running time of the vehicle in the target lane reaches the preset time, regulating the running speed of the vehicle in the target lane based on the preset second deceleration and the deceleration threshold until the vehicle stops. Based on the embodiment of the application, lane data to be changed are obtained according to the working states corresponding to the sensing systems, the target lane of the vehicle is determined by combining the current speed of the vehicle, multiple times of deceleration are carried out on the basis of the first deceleration and the second deceleration until the vehicle is safely stopped, the vehicle can be controlled to be safely stopped, the vehicle behind can be warned, the reaction time is given to the vehicle behind, and the driving safety is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application;
fig. 2 is a schematic flowchart of a parking control method in an automatic driving mode according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a parking control system in an automatic driving mode according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
An "embodiment" as referred to herein relates to a particular feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should 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 to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than described or illustrated herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not expressly listed or inherent to such process, method, system, article, or apparatus.
Referring to fig. 1, which is a schematic diagram illustrating an application environment provided by an embodiment of the present application, including a parking control system 101 in an automatic driving mode, where the parking control system 101 obtains an operating state corresponding to each sensing system of a plurality of sensing systems, a current vehicle speed of a vehicle, and a deceleration threshold corresponding to the vehicle, and if the operating state corresponding to each sensing system is an operating state, obtains lane data to be changed based on the plurality of sensing systems, further determines a target lane according to a preset lane change condition, the current vehicle speed of the vehicle, and the lane data to be changed, controls the vehicle to change to the target lane, obtains a parking buffer speed interval corresponding to the target lane, determines a first deceleration according to the current vehicle speed, the deceleration threshold, and the parking buffer speed interval, and then adjusts a driving speed of the vehicle in the target lane based on the first deceleration, and when the running time of the vehicle in the target lane reaches the preset time, adjusting the running speed of the vehicle in the target lane based on the preset second deceleration and the deceleration threshold until the vehicle stops.
The following describes a specific embodiment of the parking control method in an automatic driving mode, fig. 2 is a schematic flow chart of the parking control method in an automatic driving mode provided in the embodiment of the present application, and the present specification provides the operation steps of the method as shown in the embodiment or the flow chart, but more or fewer operation steps can be included based on conventional or non-inventive labor. The sequence of steps recited in the embodiments is only one of many execution sequences and does not represent a unique execution sequence, and in actual execution, the steps may be executed sequentially or in parallel according to the methods shown in the embodiments or the figures (e.g., in the context of parallel processors or multi-threaded processing). Specifically, as shown in fig. 2, the method includes:
s201: and acquiring the working state corresponding to each sensing system in the plurality of sensing systems, the current speed of the vehicle and the deceleration threshold corresponding to the vehicle.
In the embodiment of the application, a plurality of sensing systems can sense the data information of the side of the vehicle and the data information of the front and the rear of the vehicle.
In an alternative embodiment, when the vehicle does not have a redundant backup system, the plurality of sensing systems include, but are not limited to, an angle Radar system, a forward Radar system, and a forward vision sensing system, such as Front angle Radar (FSR), Rear angle Radar (RSR), Front Long range Radar (FLR), Front Long range Camera (FLC1, Front Long Camera). In addition, the plurality of perception systems may further include other necessary systems such as a positioning and mapping System and a Driver Monitoring System (DMS), which is not particularly limited herein.
In another alternative embodiment, when the vehicle is equipped with a redundant backup System, i.e., the plurality of sensing systems may include Front angle Radar (FSR), Rear angle Radar (RSR), Front Long distance Radar (FLR), Front Long distance Camera (FLC1, Front Long Camera), Wheel Speed Sensor (WSS1, Wheel Speed Sensor), Inertial Measurement Unit (IMU1, Inertial Measurement Unit), and Driver Monitoring System (DMS), the plurality of sensing systems may further include Front Long distance Camera (FLC2, Front Long Camera), Front Camera (FSC, Front single Camera), Front angle Camera (RSC, Front single Camera), Wheel Speed Sensor (WSS2, Wheel Speed Sensor), Inertial Measurement Unit (Inertial Measurement Unit 2, Front Wheel Camera 2), Electric Power Steering System (EPS 5, EPS), electric Power Steering System), Engine Control System (ECM), Electronic Stability Control System (ESC1, Electronic Stability Control System), Electronic Stability Control System (ESC2, Electronic Stability Control System). In addition, the multiple sensing systems can further comprise a Power supply system, wherein the Power supply system comprises two independent Power supply sources of Power1 and Power2, wherein Power1 is responsible for supplying Power to systems such as FSR, RSR, FLR, FLC1, WSS1, IMU1, Controller1 and DMS, and Power2 is responsible for supplying Power to systems such as FSC, RSC, FLC2, WSS2, IMU2 and Controller 2.
In the embodiment of the application, in the system with the automatic driving mode of L2.5 or the experiential formula L3, in the area meeting the automatic driving condition, the vehicle is allowed to run in the automatic driving mode, the driver is allowed to take off hands for a long time, but the driver is generally not allowed to take off eyes for driving, therefore, when the driver is detected to be inattentive for a long time, an alarm is sent out, and if the driver does not take over the vehicle under the alarm reminding, the safe parking control is carried out. In a known alternative embodiment, a plurality of levels of alarms may be preset, and the alarm category and frequency of each level are different, and the higher the level is, the higher the corresponding alarm frequency is. During the whole warning process, the transverse and longitudinal assistant driving systems of the vehicle keep normal operation to Control the vehicle to be in an automatic driving mode, such as a typical Adaptive Cruise Control (ACC), a Pilot Control (PA) and a highway assistant (HWA). In addition, when detecting that one or more sensing systems in the plurality of sensing systems have faults, the system also sends out an alarm, and if the driver does not take over the vehicle under the alarm reminding, the safe parking control is carried out. When the safe parking control is determined, the safe alarming lamp is controlled to be in the turn-on mode immediately.
S203: and if the working state corresponding to each sensing system is a running state, acquiring lane data to be changed based on the plurality of sensing systems.
In the embodiment of the application, whether each sensing system is in an operating state or a fault state can be determined through the acquired working state corresponding to each sensing system in the plurality of sensing systems, and then the sensing systems in the operating state are used for acquiring the lane data to be changed. Wherein the lane data to be changed may include the lowest speed of the lane to be changed, the type of lane line (solid line, dotted line) on the side of the current lane close to the lane to be changed, the effective length of the lane to be changed, the width of the lane to be changed, whether a short-distance obstacle (vehicle) exists in the lane to be changed, the lane change time, and the like, wherein, the lane changing time refers to the time required by comprehensively considering whether the lane changing data meets the preset lane changing condition when the vehicle sends a lane changing request, it should be noted that, the lane data to be changed may be obtained by a plurality of sensing systems in an operating state, or may be obtained by a part of the sensing systems in an operating state, and a part of the sensing systems in an operating state and another vehicle-mounted data acquisition device, of course, the multiple sensing systems are not only used for acquiring the sensing data of the lane to be changed, but also sensing other road information to assist the driving of the vehicle.
In the embodiment of the application, if the working state corresponding to each sensing system is a running state, where the working state corresponding to each sensing system is a running state, it means that each sensing system is normal, lane data to be changed or other road information can be acquired, and then each sensing system in the plurality of sensing systems is used to acquire the lane data to be changed. And if the working state corresponding to one sensing system in the plurality of sensing systems is a fault state, acquiring lane data to be changed based on part of the sensing systems in the plurality of sensing systems. That is, when one or more sensing systems in the plurality of sensing systems are in a fault state, the data of the lane to be changed is acquired by using the partial sensing systems in the running state in the plurality of sensing systems.
The following is an illustration of a vehicle described above without a backup redundancy system. Assume that the plurality of perception systems includes an angular radar system, a forward radar system, and a forward visual perception system.
When the angle radar system, the forward radar system and the forward visual perception system are all normal, the lane data to be changed can be obtained through the angle radar system, the forward radar system and the forward visual perception system.
And if the working state corresponding to one sensing system in the plurality of sensing systems is a fault state, acquiring lane data to be changed based on part of the plurality of sensing systems.
In an optional implementation manner, if the angle radar system and the forward vision perception system are both in an operating state and the forward radar system is in a fault state, the lane data to be changed is acquired based on the forward vision perception system.
In another optional implementation mode, the multiple sensing systems may further include a high-precision map system, and if the angle radar system, the forward radar system, and the high-precision map system are in an operating state, the forward vision sensing system is in a failure state, and lane data to be changed is acquired based on the angle radar system, the forward radar system, and the high-precision map system. In particular, if the sensing system does not include a high-precision map system or the high-precision map system is not available, the automatic driving mode is immediately exited, and then the manual driving mode is immediately exited.
In another optional implementation mode, if the forward radar system and the forward visual perception system are both in an operating state and the angle radar system is in a fault state, acquiring lane data to be changed based on the forward radar system and the forward visual perception system.
S205: and determining a target lane according to the preset lane changing condition, the current speed of the vehicle and the lane data to be changed.
In the embodiment of the application, the target lane can be determined according to the preset lane changing condition, the current speed of the vehicle and the lane data to be changed. If the current speed of the vehicle and the lane data to be lane-changed meet the preset lane-changing conditions, determining that the target lane is an emergency lane; and if the current speed of the vehicle and the lane data to be changed do not meet the preset lane changing conditions, determining that the target lane is the current lane.
Specifically, when it is determined that the current lane where the vehicle is located is the first lane, for example, whether the current lane is the first lane may be comprehensively determined according to a map and a positioning system in combination with data sensed by a plurality of sensing systems. Here, the direction from the road edge to the road center line, i.e., from right to left, may be set as the first lane, the second lane, and the third lane in this order based on the lane division rule of the existing expressway, and when there is an emergency lane, the emergency lane may be set as the first lane. And then, acquiring the data of the lane to be changed based on the sensing system in the running state in the plurality of sensing systems.
If the current vehicle speed of the vehicle and the lane data to be lane-changed meet the preset lane-changing condition, determining that the emergency lane is a target lane, for example, the current vehicle speed of the vehicle is greater than or equal to the lowest vehicle speed of the lane to be lane-changed, that is, the current vehicle speed of the vehicle is greater than or equal to the minimum value of the speed-limited interval of the lane to be lane-changed, one side lane line of the current lane close to the lane to be lane-changed is a dotted line, that is, the right side lane line of the current lane is a dotted line (if the current lane is a second lane, the right side lane line of the current lane is a solid line, and the emergency lane is a first lane), the lane length required for lane-changing with the current vehicle speed of the vehicle is less than or equal to the effective length of the lane to be lane-changed, the minimum value of the lane width to be lane-changed is greater than or equal to the width of the vehicle, that the minimum value of the right side lane width is greater than or equal to the width of the vehicle, and no obstacle exists in the lane to be lane-changed, that is, no short-distance barrier exists in the right lane, that is, no collision danger exists when the vehicle changes lane to the right, and the lane changing time is less than or equal to the preset lane changing maintaining time, so that the current vehicle speed of the vehicle and the lane data to be changed can be judged to meet the preset lane changing condition. When the current vehicle speed and the lane data to be changed of the vehicle do not meet any of the conditions listed above, the current vehicle speed and the lane data to be changed of the vehicle are considered not to meet the preset lane changing condition, and lane changing is not possible, and a typical example is that the vehicle always runs on the right lane and the distance is short, so lane changing cannot be performed.
S207: and controlling the vehicle to change the lane to the target lane.
In the embodiment of the application, when the lane data to be changed meet the preset lane change condition, the vehicle is controlled to change to the emergency lane, and when the lane data to be changed do not meet the preset lane change condition, the vehicle is controlled to change to the current lane, namely, lane change control is not performed. For example, when the vehicle runs on a fourth lane (the emergency lane is the first lane), the third lane is the lane to be changed, if lane data to be changed of the third lane meets the preset lane change condition, the target lane is determined to be the emergency lane, and the vehicle is controlled to be changed to the third lane, at this time, the second lane is the lane to be changed, and if the lane data to be changed of the second lane meets the preset lane change condition, the target lane is also determined to be the emergency lane; and if the lane data to be changed of the second lane does not meet the preset lane change condition, determining that the target lane is the current lane. And when the lane data to be changed of the second lane meets the preset lane change condition, controlling the vehicle to change to the second lane, wherein the first lane is the lane to be changed, namely the emergency lane is the lane to be changed, and if the lane data to be changed of the emergency lane meets the preset lane change condition, controlling the vehicle to change to the emergency lane.
S209: and acquiring a parking buffer speed interval corresponding to the target lane.
In the embodiment of the present application, the parking buffer speed interval may be determined according to a vehicle speed range allowed by the current driving lane, specifically, if the vehicle speed allowed by the current driving lane has a minimum value and a maximum value, the minimum value of the vehicle speed allowed by the current driving lane may be directly determined as a lower limit value of the parking buffer speed interval, and further, an upper limit value of the parking buffer speed interval may be determined according to a lower limit value of the parking buffer speed interval and a preset coefficient, where the upper limit value of the parking buffer speed interval is greater than the lower limit value of the parking buffer speed interval and less than the maximum value of the vehicle speed allowed by the current driving lane. For example, the allowable vehicle speed range of the expressway is 60-120km/h, and the parking buffer speed interval can be 60-65 km/h. If the current driving lane only defines the maximum allowable vehicle speed, the parking buffer speed interval may be determined according to the maximum allowable vehicle speed of the current driving lane, for example, the maximum allowable vehicle speed of the current driving lane may be multiplied by a preset coefficient to obtain a lower limit value of the parking buffer speed interval, and further, the upper limit value of the parking buffer speed interval may be determined according to the lower limit value of the parking buffer speed interval.
S211: and determining a first deceleration according to the current vehicle speed, the deceleration threshold and the parking buffer speed interval.
In the embodiment of the present application, the first deceleration may be determined according to the current vehicle speed, a deceleration threshold and a parking buffer speed interval, where the deceleration threshold refers to a deceleration at which a longitudinal assisted driving system of the vehicle, i.e., longitudinal functions ACC, AEB, etc., ensures safe driving of the vehicle. In an alternative embodiment, the candidate deceleration may be determined according to the current vehicle speed of the vehicle and the parking buffer speed interval, and the minimum value of the candidate deceleration and the deceleration threshold may be determined as the first deceleration, so that the lateral-longitudinal direction auxiliary driving system of the vehicle may be ensured to be in safe driving.
S213: and adjusting the running speed of the vehicle in the target lane based on the first deceleration, wherein the running speed of the vehicle in the target lane is within the parking buffer speed interval.
In the embodiment of the present application, after determining the first deceleration, the travel speed of the vehicle in the target lane may be adjusted based on the first deceleration, and according to the various cases mentioned above, the vehicle may be adjusted to travel in the current lane, that is, the own lane, based on the first deceleration, or may be controlled to travel in the emergency lane after the vehicle changes lane, based on the first deceleration, until the travel speed of the vehicle in the target lane is within the parking buffer speed interval, and the travel time of the vehicle in the target lane is kept for the preset time. In a special case where the current vehicle speed of the vehicle is less than the lower threshold of the parking buffer speed section, in other words, the first deceleration may be 0, that is, deceleration is not required in the parking buffer speed section based on the current vehicle speed of the vehicle, at which time the vehicle may be controlled to travel in the target lane for a preset time based on the current vehicle speed of the vehicle to warn the vehicle behind the vehicle while the immediate control safety warning light process on mode mentioned above is performed.
S215: and when the running time of the vehicle in the target lane reaches the preset time, adjusting the running speed of the vehicle in the target lane based on the preset second deceleration and the deceleration threshold value until the vehicle stops.
In the embodiment of the application, after the running time of the vehicle in the target lane reaches the preset time, the vehicle can be controlled to run in the target lane until stopping on the basis of the preset second deceleration and the deceleration threshold. Here, the second deceleration may be a fixed value set in advance, or may be a variation value set according to a real-time speed at which the vehicle travels in the target lane based on the first deceleration, and the purpose of controlling the vehicle based on the preset second deceleration and the deceleration threshold is the same as above, all for ensuring that the lateral and longitudinal direction assistant driving system of the vehicle is in safe driving.
In the embodiment of the application, in the process of the above steps, if it is detected that the driver take-over system is in the trigger state, that is, the driver takes over the vehicle, for example, it is detected that both hands of the driver control the steering wheel, or it is detected that the driver steps on the brake pedal, or it is detected that the driver cancels the automatic driving mode, or it is detected that the driver applies a large torque on the steering wheel, or it is detected that both hands of the driver control the steering wheel and steps on the accelerator pedal, that is, it is detected that the driver's attention returns to the concentrated state, a control instruction is sent to the vehicle-mounted automatic driving control system, where the control instruction is used to instruct the vehicle to switch the automatic driving mode to the manual driving mode. It should be noted that after the vehicle switches the automatic driving mode to the manual driving mode in response to the control command, all the driving assistance functions are exited, and the automatic driving mode is not allowed to be activated during the current ignition cycle. When the safe parking is triggered, the data recording system EDR is required to record data corresponding to a plurality of sensing systems and the vehicle-mounted control system, and the recorded data is data in the period from 5s before the safe parking is triggered to the time when the vehicle finishes parking.
When the vehicle is provided with a backup redundant system, information sensed by the sensing system is input into the main control unit and the backup control unit, the main control unit can send the state of the main control unit to the backup control unit, the two control units carry out calculation independently and output a control instruction, and if the backup control unit cannot receive the state information of the main control unit, namely the main control unit fails, the backup control unit executes parking control operation.
By adopting the parking control method in the automatic driving mode, the lane data to be changed are obtained according to the working states corresponding to the sensing systems, the target lane of the vehicle is determined by combining the current speed of the vehicle, and the vehicle is decelerated for multiple times until the vehicle is safely parked on the basis of the first deceleration and the second deceleration, so that the vehicle can be controlled to be safely parked, the vehicle behind can be warned, the reaction time can be given to the vehicle behind, and the driving safety can be ensured.
Fig. 3 is a schematic structural diagram of a parking control system in an automatic driving mode according to an embodiment of the present application, and as shown in fig. 3, the parking control system includes:
the first obtaining module 301 is configured to obtain a working state corresponding to each sensing system in the multiple sensing systems, a current vehicle speed of a vehicle, and a deceleration threshold corresponding to the vehicle;
the second obtaining module 303 is configured to obtain lane data to be changed based on the multiple sensing systems if the working state corresponding to each sensing system is an operating state;
the first determining module 305 is configured to determine a target lane according to a preset lane change condition, the current speed of the vehicle, and the lane data to be changed;
the lane changing module 307 is used for controlling the vehicle to change the lane to the target lane;
the third obtaining module 309 is configured to obtain a parking buffer speed interval corresponding to the target lane;
the second determining module 311 is configured to determine a first deceleration according to the current vehicle speed, the deceleration threshold, and the parking buffer speed interval;
the first deceleration module 313 is used for adjusting the running speed of the vehicle in the target lane based on the first deceleration, wherein the running speed of the vehicle in the target lane is within the parking buffer speed interval;
the second deceleration module 315 is configured to adjust the driving speed of the vehicle in the target lane until the vehicle stops based on a preset second deceleration and the deceleration threshold when the driving time of the vehicle in the target lane reaches a preset time.
The system and method embodiments in the embodiments of the present application are based on the same application concept.
The present invention further provides an electronic device, which can be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing a parking control method in an automatic driving mode in the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions are loaded and executed by the memory to implement the parking control method in the automatic driving mode.
The embodiment of the application also provides a vehicle, which comprises the parking control system in the automatic driving mode.
As can be seen from the above-mentioned embodiments of the parking control method, system, electronic device or vehicle in the automatic driving mode provided by the present application, the method in the present application includes obtaining an operating state corresponding to each sensing system of a plurality of sensing systems, a current vehicle speed of the vehicle and a deceleration threshold corresponding to the vehicle, obtaining lane data to be changed based on the plurality of sensing systems if the operating states corresponding to each sensing system are all operating states, further determining a target lane according to a preset lane change condition, the current vehicle speed of the vehicle and the lane data to be changed, controlling the vehicle to change the lane to the target lane, obtaining a parking buffer speed interval corresponding to the target lane, determining a first deceleration according to the current vehicle speed, the deceleration threshold and the parking buffer speed interval, then adjusting a driving speed of the vehicle in the target lane based on the first deceleration, the driving speed of the vehicle in the target lane being within the parking buffer speed interval, and when the running time of the vehicle in the target lane reaches the preset time, regulating the running speed of the vehicle in the target lane based on the preset second deceleration and the deceleration threshold until the vehicle stops. Based on the embodiment of the application, lane data to be changed are obtained according to the working states corresponding to the sensing systems, the target lane of the vehicle is determined by combining the current speed of the vehicle, multiple times of deceleration are carried out on the basis of the first deceleration and the second deceleration until the vehicle is safely stopped, the vehicle can be controlled to be safely stopped, the vehicle behind can be warned, the reaction time is given to the vehicle behind, and the driving safety is guaranteed.
It should be noted that: the foregoing sequence of the embodiments of the present application is for description only and does not represent the superiority and inferiority of the embodiments, and the specific embodiments are described in the specification, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in the order of execution in different embodiments and achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown or connected to enable the desired results to be achieved, and in some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments. In particular, for the embodiment of the system, since it is based on the embodiment similar to the method, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (12)
1. A parking control method in an automatic driving mode, comprising:
acquiring a working state corresponding to each sensing system in a plurality of sensing systems, the current speed of a vehicle and a deceleration threshold corresponding to the vehicle;
if the working state corresponding to each sensing system is a running state, acquiring lane data to be changed based on the plurality of sensing systems; the lane data to be changed comprises the lowest speed of the lane to be changed, the type of a lane line on one side of the current lane close to the lane to be changed, the effective length of the lane to be changed, the width of the lane to be changed, a short-distance obstacle in the lane to be changed and lane changing time;
determining a target lane according to a preset lane changing condition, the current speed of the vehicle and the lane data to be changed;
controlling the vehicle to change lane to the target lane; the target lane comprises an emergency lane and a current lane;
obtaining a parking buffer speed interval corresponding to the target lane;
determining a first deceleration according to the current vehicle speed, the deceleration threshold and the parking buffer speed interval;
adjusting a travel speed of the vehicle in the target lane based on the first deceleration, the travel speed of the vehicle in the target lane being within the parking buffer speed interval;
when the running time of the vehicle in the target lane reaches a preset time, the running speed of the vehicle in the target lane is adjusted based on a preset second deceleration and the deceleration threshold value until the vehicle stops.
2. The method according to claim 1, wherein the determining a target lane according to a preset lane change condition, a current vehicle speed of the vehicle and the lane data to be changed comprises:
if the current speed of the vehicle and the lane data to be lane-changed meet a preset lane-changing condition, determining that the target lane is the emergency lane;
and if the current speed of the vehicle and the lane data to be lane-changed do not meet the preset lane-changing condition, determining that the target lane is the current lane.
3. The method of claim 1, wherein the plurality of perception systems includes an angular radar system, a forward radar system, and a forward visual perception system,
the method further comprises the following steps:
and if the working state corresponding to one sensing system in the plurality of sensing systems is a fault state, acquiring the lane data to be changed based on part of the sensing systems in the plurality of sensing systems.
4. The method according to claim 3, wherein the obtaining the lane data to be changed based on some of the plurality of sensing systems comprises:
if the angle radar system and the forward visual perception system are both in an operational state, the forward radar system is in a fault state,
and acquiring the lane data to be changed based on the forward visual perception system.
5. The method of claim 3, wherein the plurality of perception systems further comprises a high precision map system;
the acquiring the lane data to be changed based on part of the sensing systems comprises:
if the angle radar system, the forward radar system and the high-precision map system are in the operating state, the forward visual perception system is in the fault state,
and acquiring lane data to be changed based on the angle radar system, the forward radar system and the high-precision map system.
6. The method according to claim 3, wherein the obtaining the lane data to be changed based on some of the plurality of sensing systems comprises:
if the forward radar system and the forward visual perception system are both in the operational state, the angular radar system is in the fault state,
and acquiring lane data to be changed based on the forward radar system and the forward visual perception system.
7. The method of claim 1, wherein the obtaining of the parking buffer speed interval corresponding to the target lane comprises:
acquiring a speed limit value corresponding to the target lane;
and determining a parking buffer speed interval according to the speed limit value corresponding to the target lane.
8. The method of claim 1, wherein said determining a first deceleration from said current vehicle speed, said deceleration threshold, and said parking buffer speed interval comprises:
determining candidate deceleration according to the current vehicle speed and the parking buffer speed interval;
determining a minimum of the deceleration threshold and the candidate deceleration as a first deceleration.
9. The method of claim 1, further comprising:
if the driver taking over system is detected to be in a trigger state, sending a control instruction to the vehicle-mounted automatic driving control system; the control instruction is used for instructing the vehicle to switch the automatic driving mode to the manual driving mode.
10. A parking control system in an autonomous driving mode, comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the working state corresponding to each sensing system in a plurality of sensing systems, the current speed of a vehicle and the deceleration threshold corresponding to the vehicle;
the second acquisition module is used for acquiring lane data to be changed based on the plurality of sensing systems if the working state corresponding to each sensing system is a running state, wherein the lane data to be changed comprises the lowest speed of a lane to be changed, the type of a lane line on one side of the current lane close to the lane to be changed, the effective length of the lane to be changed, the width of the lane to be changed, a short-distance obstacle in the lane to be changed and lane changing time;
the first determining module is used for determining a target lane according to a preset lane changing condition, the current speed of the vehicle and the lane data to be changed;
the lane changing module is used for controlling the vehicle to change the lane to the target lane; the target lane comprises an emergency lane and a current lane;
the third acquisition module is used for acquiring a parking buffer speed interval corresponding to the target lane;
the second determining module is used for determining a first deceleration according to the current vehicle speed, the deceleration threshold and the parking buffer speed interval;
a first deceleration module for adjusting a running speed of the vehicle in the target lane based on the first deceleration, the running speed of the vehicle in the target lane being within the parking buffer speed interval;
and the second deceleration module is used for adjusting the running speed of the vehicle in the target lane based on a preset second deceleration and the deceleration threshold value until the vehicle stops when the running time of the vehicle in the target lane reaches a preset time.
11. An electronic device, comprising a processor and a memory, wherein the memory has stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which are loaded and executed by the processor to implement the method of parking control in autonomous driving mode according to any of claims 1-9.
12. A vehicle characterized by comprising the parking control system in the autonomous driving mode according to claim 10.
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| CN114523976B (en) * | 2022-04-22 | 2022-10-21 | 北京宏景智驾科技有限公司 | Control system and method for intelligently driving vehicle |
| CN115631653A (en) * | 2022-09-30 | 2023-01-20 | 中国第一汽车股份有限公司 | Method and device for determining lane change time interval, storage medium and electronic device |
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