CN112622935B - Automatic vehicle driving method and device, vehicle and storage medium - Google Patents
Automatic vehicle driving method and device, vehicle and storage medium Download PDFInfo
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- CN112622935B CN112622935B CN202011614947.3A CN202011614947A CN112622935B CN 112622935 B CN112622935 B CN 112622935B CN 202011614947 A CN202011614947 A CN 202011614947A CN 112622935 B CN112622935 B CN 112622935B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
Abstract
The invention discloses a method and a device for automatically driving a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: after the automatic driving function is started, acquiring the state information of the current vehicle, wherein the state information comprises the running parameters and the component information of the current vehicle; after a first running speed and a running lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the running lane based on the first running speed; if the current vehicle is determined to be in an abnormal state according to the state information, a safety strategy corresponding to the abnormal state is further acquired according to the type of the abnormal state; and adjusting the running state of the current vehicle according to the safety strategy. According to the technical scheme, the first running speed and the running lane of the vehicle can be determined according to the state information of the vehicle, and then the vehicle is controlled to run on the running lane at the first running speed, so that automatic driving of the vehicle is realized.
Description
Technical Field
The embodiment of the invention relates to a vehicle automatic driving technology, in particular to a vehicle automatic driving method, a vehicle automatic driving device, a vehicle and a storage medium.
Background
The intelligent driving is the future direction of the transformation of the automobile industry, and the automatic driving vehicle can determine the most economical navigation mode according to the road condition and can save more oil and be more economical.
In the prior art, vehicles facing to the working condition of the expressway generally only have a self-adaptive cruise system, support the function of longitudinal automatic control and can liberate the feet of a driver under partial working conditions; few products have applied the lane function of controlling centrally, can liberate driver's both hands by part operating mode. However, the prior art cannot realize automatic lane changing of the vehicle according to the state information of the vehicle and cannot carry out vehicle safety reminding according to the state information.
Therefore, a method for automatically driving a vehicle under an expressway working condition is urgently needed, is used for automatically driving by releasing the hands, feet and eyes of a driver under a set working condition, has a safety reminding function, and realizes that the driver occasionally takes over and monitors the driving of the vehicle under the whole expressway working condition.
Disclosure of Invention
The invention provides a vehicle automatic driving method, a vehicle automatic driving device, a vehicle and a storage medium, which are used for realizing the automatic driving by releasing both hands, feet and eyes of a driver under a set working condition, have a safety reminding function and realize that the driver occasionally takes over and monitors the driving of the vehicle under the whole highway working condition.
In a first aspect, an embodiment of the present invention provides a method for automatically driving a vehicle, including:
after the automatic driving function is started, acquiring the state information of the current vehicle, wherein the state information comprises the running parameters and the component information of the current vehicle;
after a first running speed and a running lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the running lane based on the first running speed;
if the current vehicle is determined to be in an abnormal state according to the state information, a safety strategy corresponding to the abnormal state is further acquired according to the type of the abnormal state;
and adjusting the running state of the current vehicle according to the safety strategy.
Further, the driving parameters include position information and environment information of the current vehicle, and the acquiring of the state information of the current vehicle includes:
acquiring the position information and the environment information of the current vehicle;
acquiring component information of the current vehicle.
Further, the environment information includes preceding vehicle information, and the determining of the first driving speed and the driving lane of the current vehicle according to the state information includes:
if no front vehicle exists in front of the current vehicle, the current vehicle keeps running at the center of a current running lane at a constant speed at the first running speed;
and if a preceding vehicle exists in front of the current vehicle, determining the first running speed and the running lane according to a second running speed of the preceding vehicle.
Further, the environmental information includes adjacent vehicle information, and determining the first traveling speed and the traveling lane according to the second traveling speed of the preceding vehicle includes:
if the second driving speed is larger than a preset threshold value, controlling the current vehicle to keep at the center of the current lane, and determining the first driving speed according to the second driving speed;
and if the second running speed is less than a preset threshold value, determining the first running speed and the running lane according to the adjacent vehicle information.
Further, according to the type of the abnormal state, obtaining a security policy corresponding to the abnormal state includes:
if the abnormal state comprises that the environmental information exceeds a preset operation range, determining that the safety strategy comprises alarming, taking over and safely stopping;
and if the abnormal state comprises component information abnormality, determining that the safety strategy comprises alarming, taking over, function degradation and safe parking.
Further, if the abnormal state includes that the environmental information exceeds a preset operation range, adjusting the operation state of the current vehicle according to the safety strategy, including:
controlling to send out a first alarm signal, and controlling the vehicle to decelerate after the automatic driving function is quitted;
if an external control signal is received, entering a manual driving state, otherwise, controlling to send out a second alarm signal;
and if the external control signal is not received continuously, controlling the current vehicle to safely stop.
Further, if the abnormal state includes component information abnormality, adjusting the current vehicle operating state according to the safety policy includes:
if any one of the lateral sensor and the backward sensor is in an abnormal state, controlling to send out a first alarm signal, and simultaneously degrading the function;
if any one of the forward sensor and the controller is in an abnormal state, controlling to send out a second alarm signal, and controlling the vehicle to decelerate after the automatic driving function is quitted;
if an external control signal is received, entering a manual driving state, otherwise, controlling to send a third alarm signal;
and if the external control signal is not received continuously, controlling the current vehicle to safely stop.
In a second aspect, an embodiment of the present invention further provides a vehicle automatic driving device, including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the state information of the current vehicle after the automatic driving function is started, and the state information comprises the driving parameters and the component information of the current vehicle;
the control module is used for controlling the current vehicle to run in the driving lane based on the first driving speed after determining the first driving speed and the driving lane of the current vehicle according to the state information;
the execution module is used for acquiring a safety strategy corresponding to the abnormal state further according to the type of the abnormal state if the current vehicle is determined to be in the abnormal state according to the state information;
and the adjusting module is used for adjusting the running state of the current vehicle according to the safety strategy.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
storage means for storing one or more programs;
the sensor is used for acquiring the driving parameters of the current vehicle;
when executed by the one or more processors, cause the one or more processors to implement the method of vehicle autopilot as in any one of the first aspects.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions for performing the method for vehicle autopilot according to any one of the first aspect when executed by a computer processor.
The invention provides a vehicle automatic driving method, which comprises the steps of obtaining the state information of a current vehicle after an automatic driving function is started, wherein the state information comprises the driving parameters and component information of the current vehicle; after a first running speed and a running lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the running lane based on the first running speed; if the current vehicle is determined to be in an abnormal state according to the state information, a safety strategy corresponding to the abnormal state is further acquired according to the type of the abnormal state; and adjusting the running state of the current vehicle according to the safety strategy. According to the technical scheme, the first running speed and the running lane of the vehicle can be determined according to the state information of the vehicle, and then the vehicle is controlled to run on the running lane at the first running speed, so that automatic driving of the vehicle is realized.
Drawings
FIG. 1 is a schematic diagram of a vehicle system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for automatically driving a vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of a vehicle automatic driving method according to a second embodiment of the present invention;
fig. 4 is a structural diagram of an automatic driving apparatus for a vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Fig. 1 is a schematic structural diagram of a vehicle system according to an embodiment of the present invention, and as shown in fig. 1, the vehicle system may include a Controller, a sensor system, a positioning system, an instrument interaction system, and a chassis control system, and data and instructions may be transmitted between the Controller and the sensor system, between the positioning system, between the instrument interaction system, and between the Controller and the chassis control system through a Controller Area Network (CAN) bus. The controller may include a perception fusion module, a planning decision module, a longitudinal automatic control module, and a transverse automatic control module.
After the automatic driving function of the vehicle is started, the positioning system integrated with the high-precision map can update the position information of the vehicle in real time, and is used for judging whether the vehicle is in the designed safety range of the electronic fence or not, and meanwhile, the sensor system arranged on the periphery of the vehicle body acquires the environmental information. The positioning system and the sensor system can send the position information and the environment information to the controller, and a perception fusion module in the controller can perform fusion calculation on the position information and the environment information acquired by various sensors to generate a travelable area. A planning decision module in the controller can plan an automatic driving track and can also make decisions on whether to drive at a constant speed in a lane line, follow a vehicle in a lane, automatically change lanes and overtake the vehicle and the like. The longitudinal automatic control module can send an instruction to the chassis control system to execute longitudinal driving, and the transverse automatic control module can send an instruction to the chassis control system to execute lane keeping or lane changing steering. The vehicle system can acquire the state information of the vehicle in real time, and when an abnormal state occurs, the vehicle system sends an alarm signal to remind a driver through the instrument interaction system so as to remind the driver to take over the vehicle in time and ensure the driving safety.
Example one
Fig. 2 is a flowchart of an automatic driving method for a vehicle according to an embodiment of the present invention, where the embodiment is applicable to a situation where the vehicle is running on a highway and needs to free both hands, feet, and eyes of a driver for automatic driving, and the method may be executed by a vehicle system, and specifically includes the following steps:
The state information of the vehicle may indicate, among other things, the environment in which the vehicle is located and the state of the components of the vehicle itself.
The automatic driving function may be enabled through an instrument interaction system of the vehicle, and the instrument interaction system may include a plurality of buttons, for example, an automatic driving function activation switch, an automatic driving function exit switch, a longitudinal automatic control activation switch, a longitudinal automatic control exit switch, an automatic lane change confirmation switch, and the like, for activation and exit of various functions during automatic driving of the vehicle.
Specifically, after the automatic driving function of the vehicle is turned on, the sensors and the controller may acquire status information of the vehicle.
In this embodiment, if the automatic driving function of the current vehicle remains on, the state information of the current vehicle may be continuously acquired.
And step 220, after the first driving speed and the driving lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the driving lane based on the first driving speed.
The driving parameters of the current vehicle may include a first driving speed and a driving lane of the current vehicle.
The vehicle can be provided with a speed sensor and a distance sensor, the speed sensor can acquire the real-time speed of the vehicle in real time, the distance sensor can determine the driving lane of the vehicle according to the distance between the vehicle and the roadside fence, and the specific deviation of the vehicle on the driving lane, such as left driving, right driving, center driving and the like, can be determined according to the distance sensor.
Specifically, if an adjacent vehicle exists between the vehicle and the roadside fence, the blocking distance sensor acquires the distance information between the current vehicle and the electronic railing, a real-time map of the current position can be retrieved, the distance between the current vehicle and the roadside fence is determined according to the first position information of the vehicle and the second position information of the roadside fence in the real-time map, and the driving lane of the vehicle is further determined.
The state information may include a driving parameter and component information of the current vehicle, and the driving parameter may include position information and environment information of the current vehicle. Correspondingly, the abnormality information may include a driving parameter abnormality and a component information abnormality, and further, the driving parameter abnormality may include an environmental information abnormality.
The abnormal states of different types can correspond to different safety strategies, and the abnormal states of different types can be processed based on different safety strategies, so that the vehicle can continuously and stably run on a driving lane, the operation of a driver on the current vehicle is reduced in the automatic driving process, and the automatic driving of the vehicle is further realized.
Specifically, the abnormal state types and the safety policies may be in one-to-one correspondence and stored in a storage module of the vehicle system. And if the current vehicle is in an abnormal state, calling a safety strategy corresponding to the abnormal state.
And 240, adjusting the running state of the current vehicle according to the safety strategy.
The security policy may include: alarm, take over, function degradation and safe parking. When the safety strategy comprises an alarm, the instrument interaction system can be controlled to send out a first alarm signal to remind a driver; when the safety strategy comprises taking over, the instrument interaction system can be controlled to send out a first alarm signal and a second alarm signal so as to remind a driver of taking over to control the vehicle to run; when the safety strategy includes a function degradation, the vehicle may be controlled to exit the lateral control function; when the safety strategy comprises safe parking, the vehicle can be controlled to move to the side of the road, and the vehicle can be parked close to the side or on the spot.
In this embodiment, the abnormal state may correspond to a plurality of security policies. For example, when an abnormal state occurs, an alarm and function degradation may be performed step by step, or an alarm and takeover may be performed step by step, and the specific implementation of the security policy may be determined according to the actual situation.
According to the technical scheme of the embodiment, after an automatic driving function is started, state information of a current vehicle is obtained, wherein the state information comprises driving parameters and component information of the current vehicle; after a first running speed and a running lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the running lane based on the first running speed; if the current vehicle is determined to be in an abnormal state according to the state information, a safety strategy corresponding to the abnormal state is further acquired according to the type of the abnormal state; and adjusting the running state of the current vehicle according to the safety strategy. According to the technical scheme, the first running speed and the running lane of the vehicle can be determined according to the state information of the vehicle, and then the vehicle is controlled to run on the running lane at the first running speed, so that automatic driving of the vehicle is realized.
Example two
Fig. 3 is a flowchart of a vehicle automatic driving method according to a second embodiment of the present invention, which is embodied on the basis of the second embodiment. In this embodiment, the method may further include:
The driving parameters include position information and environment information of the current vehicle, and the state information of the current vehicle is acquired, including:
and acquiring the position information and the environment information of the current vehicle.
The environment information may include preceding vehicle information, adjacent vehicle information, and road information.
Specifically, the position information of the current vehicle may be acquired by a Global Positioning System (GPS), and the preceding vehicle information, the adjacent vehicle information, and the road information may be acquired by a distance sensor.
Acquiring component information of the current vehicle.
Specifically, component information of the vehicle may be acquired by a component controller of a corresponding component of the vehicle, where the component information may include information such as a state of the component and a lifetime of the component.
In this embodiment, after the automatic driving function of the vehicle is started, the driving parameters and the component information of the vehicle may be acquired in real time, and the driving parameters and the component information acquired in real time may be used in the subsequent automatic driving control.
And 320, after determining the first running speed and the running lane of the current vehicle according to the state information, controlling the current vehicle to run in the running lane based on the first running speed.
The environment information includes preceding vehicle information, and the first driving speed and driving lane of the current vehicle are determined according to the state information, including:
if no front vehicle exists in front of the current vehicle, the current vehicle keeps running at the center of a current running lane at a constant speed at the first running speed; and if a preceding vehicle exists in front of the current vehicle, determining the first running speed and the running lane according to a second running speed of the preceding vehicle.
The first running speed of the constant-speed running can be preset, and the first running speed can be determined according to the actual road condition and can also be determined according to the weather condition. For example, on the one hand, the first driving speed may be determined according to the speed limit information of the current highway; on the other hand, the current weather condition may also affect the first traveling speed, if the weather condition is good and there is no rain, the first traveling speed may be a first preset speed, otherwise the first traveling speed may be a second preset speed.
Specifically, if there is no preceding vehicle ahead of the current vehicle, the vehicle may travel in the center of the current driving lane based on a preset first driving speed; if there is a preceding vehicle ahead of the current vehicle, the first travel speed may be determined based on the second travel speed of the preceding vehicle. Specifically, the first driving speed at this time may be less than or equal to the second driving speed of the preceding vehicle, and the current vehicle may perform following driving based on the preceding vehicle, so as to further facilitate adjustment of the first driving speed according to the second driving speed of the preceding vehicle, reduce driving pressure of the driver, and further implement automatic driving of the vehicle.
Of course, in an actual situation, if the second running speed of the preceding vehicle is less than the preset threshold, the current vehicle may perform lane change and overtaking; if the preceding vehicle decelerates and parks, the current vehicle can also decelerate and follow the parking. If the parking time is less than the time threshold, a first alarm signal is sent out through the instrument interaction system to remind a driver, and at the moment, if an external control signal is received, the current vehicle can start running again; and if the external control signal is not received and the parking time is greater than the time threshold, sending a second alarm signal through the instrument interaction system.
Wherein the first alarm signal may comprise an optical signal and the second alarm signal may comprise an alarm signal in which the optical signal accompanies the acoustic signal.
The environmental information includes adjacent vehicle information, and the first driving speed and the driving lane are determined according to the second driving speed of the preceding vehicle, including: if the second driving speed is larger than a preset threshold value, controlling the current vehicle to keep at the center of the current lane, and determining the first driving speed according to the second driving speed; and if the second running speed is less than a preset threshold value, determining the first running speed and the running lane according to the adjacent vehicle information.
Specifically, if the second running speed of the front vehicle is greater than the preset threshold value, the current vehicle can normally run behind the front vehicle, and the following running is performed according to the front vehicle; and if the second running speed of the front vehicle is smaller than the preset threshold value, the first running speed of the current vehicle is also smaller than the preset threshold value. When the vehicle runs on the expressway, the running speed of the vehicle is too low, and dangerous accidents can be caused, so that the current vehicle can be driven to change lanes when the second running speed of the front vehicle is identified to be smaller than the preset threshold value. That is, the traveling lane of the current vehicle can be made different from the traveling lane of the preceding vehicle.
In addition, the adjacent vehicle information may include the number of adjacent vehicles, the positions of adjacent vehicles, and the speed of adjacent vehicles, and if the current vehicle needs to change lanes, the adjacent vehicle information of the current vehicle may be detected. If no adjacent vehicle exists around the current vehicle or the speed of the adjacent vehicle of the current vehicle is less than the first running speed, the lane can be changed at the first running speed immediately; otherwise, the lane can be changed when the adjacent vehicle is far away from the current vehicle, or the lane can be changed at the preset overtaking speed which is higher than the first driving speed. It can be known that the information of the vehicle ahead needs to be monitored in real time while waiting for the adjacent vehicle to exceed the current vehicle. If the distance between the current vehicle and the previous vehicle is smaller than the preset distance, a first alarm signal can be sent out based on the instrument interaction system to remind a driver to control the current vehicle.
It should be further noted that the state information further includes road information, if the current vehicle needs to change the lane, the road information of the adjacent lane may be acquired, if the road information of the adjacent lane is normal, the lane change may be performed normally, and if the road information of the adjacent lane is abnormal, the road information of the next adjacent lane may be acquired again until the normal road information is acquired, so as to implement the lane change of the current vehicle.
In this embodiment, after the first travel speed and the travel lane of the current vehicle are determined according to the state information of the current vehicle, the current vehicle may be controlled to travel on the travel lane at the first travel speed.
And 330, if the current vehicle is determined to be in an abnormal state according to the state information, further acquiring a safety strategy corresponding to the abnormal state according to the type of the abnormal state.
Specifically, if the vehicle enters the automatic driving function and it is detected that the vehicle is in an abnormal state, the safety policy corresponding to the abnormal state may be acquired according to the type of the abnormal state.
Wherein the types of abnormal states include: environmental information anomalies and component anomalies. The method specifically comprises the following steps: the system comprises a controller, a lateral sensor, a backward sensor, a forward sensor and a controller, wherein the environmental information exceeds a preset operation range.
According to the type of the abnormal state, obtaining a security policy corresponding to the abnormal state, including:
and if the abnormal state comprises that the environmental information exceeds a preset operation range, determining that the safety strategy comprises alarming, taking over and safely stopping.
The environment information exceeding the preset operation range can include no signal of a GPS, a vehicle positioned outside the electronic fence, lane line loss at two sides and the like.
Correspondingly, according to the safety strategy, adjusting the running state of the current vehicle comprises:
and controlling to send out a first alarm signal, and controlling the vehicle to decelerate after the automatic driving function is quitted.
The first alarm signal can be used for reminding a driver of taking over the current vehicle.
Specifically, if the abnormal state includes that the environmental information exceeds the preset operation range, the automatic driving function is automatically exited, and the automatic driving function cannot be started in a state where the environmental information exceeds the preset operation range. After the automatic driving function is quitted, the current vehicle can be decelerated, and a first alarm signal is sent out, so that the driver is reminded to operate.
And if the external control signal is received, entering a manual driving state, otherwise, controlling to send out a second alarm signal.
Wherein, the driver triggers the instrument interaction system to send out an external control signal. Of course, the external control signal may also include a driver-triggered brake signal or brake signal via the throttle or brake.
Specifically, the reception of the external control signal indicates that the driver starts to control the current vehicle, which may exit the abnormal state under the manipulation of the driver. Of course, if the external control signal is not received, it indicates that the driver has not yet detected the abnormal state of the current vehicle or has not yet processed the abnormal state of the current vehicle. At this time, a second alarm signal can be continuously sent out, the prompting intensity of the second alarm signal can be greater than that of the first alarm signal, and the second alarm signal can be an alarm signal of an optical signal accompanied by a sound signal.
And if the external control signal is not received continuously, controlling the current vehicle to safely stop.
Specifically, if the driver has not taken over the current vehicle after the second warning signal is issued, the current vehicle may be controlled to be safely stopped.
The safe parking may include an edge safe parking strategy and a current lane safe parking strategy. If the sensor system functions normally and the chassis control system is normal, executing a safe parking strategy along the side; and if the sensor system is abnormal in function or the transverse control execution system in the chassis control system is abnormal, executing the current lane safe parking strategy.
And if the abnormal state comprises component information abnormality, determining that the safety strategy comprises alarming, taking over, function degradation and safe parking.
Correspondingly, according to the safety strategy, adjusting the running state of the current vehicle comprises:
and if any one of the lateral sensor and the rear sensor is in an abnormal state, controlling to send out a first alarm signal, and simultaneously degrading the function.
Wherein the function degradation may be disabling the lateral control function, i.e. the auto lane change function.
Specifically, the lateral sensor and the rear sensor can acquire adjacent vehicle information, if any one of the lateral sensor and the rear sensor is in an abnormal state, complete adjacent vehicle information cannot be acquired, and in the lane changing process of the vehicle, the current vehicle is possibly in a dangerous state because any one of the adjacent vehicle information is not detected.
If any one of the forward sensor and the controller is in an abnormal state, the controller sends out a second alarm signal, and controls the vehicle to decelerate after the automatic driving function is quitted.
Specifically, the forward sensor may acquire forward information and the controller may control normal operation of the current vehicle autopilot function. If the forward sensor is abnormal, the information of the front vehicle cannot be acquired, and at the moment, if automatic driving is continued, the speed and the distance between the current vehicle and the front vehicle cannot be controlled, so that a dangerous condition may be caused; if the controller is abnormal, the normal operation of the automatic driving function cannot be controlled, and the automatic driving function may be disturbed, which may result in a dangerous situation. Therefore, if either of the forward sensor and the controller of the present vehicle is in an abnormal state, a dangerous situation may be caused to occur. Furthermore, when any one of the forward sensor and the controller of the current vehicle is detected to be in an abnormal state, the current vehicle can be controlled to exit the automatic driving function, and a second alarm signal is controlled to be sent out so as to remind a driver to take over the vehicle, and the vehicle can be decelerated at the same time, so that the dangerous condition is reduced.
And if the external control signal is received, entering a manual driving state, otherwise, controlling to send out a third alarm signal.
Specifically, at this time, if an external control signal triggered by the driver is received, indicating that the driver has taken over the current vehicle, the current vehicle may enter a manual driving state. Otherwise, the control is continued to send out a third alarm signal so as to further remind the driver.
Wherein, the third alarm signal may comprise an optical signal accompanied by a sound signal and an alarm signal of seat vibration.
And if the external control signal is not received continuously, controlling the current vehicle to safely stop.
As previously described, safe parking may include a safe-to-edge parking maneuver and a safe-to-current-lane parking maneuver.
In this embodiment, different types of abnormal states may correspond to different safety strategies, and if the current vehicle has an abnormal state, the safety strategy corresponding to the abnormal state is determined according to the type of the abnormal state, and the driver of the current vehicle is further prompted according to the obtained safety strategy, or the current vehicle is controlled, so that automatic driving of the vehicle is further achieved.
And 340, adjusting the running state of the current vehicle according to the safety strategy.
In particular, different security policies may correspond to different methods of controlling the vehicle, which may include driver control and vehicle automation. Modulation of the vehicle operating state may be achieved based on driver-triggered external control signals and vehicle automatic control.
According to the technical scheme of the embodiment, after an automatic driving function is started, state information of a current vehicle is obtained, wherein the state information comprises driving parameters and component information of the current vehicle; after a first running speed and a running lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the running lane based on the first running speed; if the current vehicle is determined to be in an abnormal state according to the state information, a safety strategy corresponding to the abnormal state is further acquired according to the type of the abnormal state; and adjusting the running state of the current vehicle according to the safety strategy. According to the technical scheme, the first running speed and the running lane of the vehicle can be determined according to the state information of the vehicle, and then the vehicle is controlled to run on the running lane at the first running speed, so that automatic driving of the vehicle is realized.
EXAMPLE III
Fig. 4 is a structural diagram of an automatic driving device for a vehicle according to a third embodiment of the present invention, where the device is suitable for a situation where the vehicle is running on a highway and automatic driving needs to be performed by freeing both hands, both feet and both eyes of a driver, so as to achieve automatic driving of the vehicle. The device may be implemented by software and/or hardware and is typically integrated into a vehicle system.
As shown in fig. 4, the apparatus includes:
the obtaining module 410 is configured to obtain state information of a current vehicle after an automatic driving function is started, where the state information includes driving parameters and component information of the current vehicle;
the control module 420 is configured to control the current vehicle to operate in the driving lane based on the first driving speed after determining the first driving speed and the driving lane of the current vehicle according to the state information;
the execution module 430 is configured to, if it is determined that the current vehicle is in an abnormal state according to the state information, further obtain a safety policy corresponding to the abnormal state according to the type of the abnormal state;
an adjusting module 440, configured to adjust the current operating state of the vehicle according to the security policy.
The automatic vehicle driving device provided by the embodiment acquires the state information of the current vehicle after the automatic driving function is started, wherein the state information comprises the running parameters and the component information of the current vehicle; after a first running speed and a running lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the running lane based on the first running speed; if the current vehicle is determined to be in an abnormal state according to the state information, a safety strategy corresponding to the abnormal state is further acquired according to the type of the abnormal state; and adjusting the running state of the current vehicle according to the safety strategy. According to the technical scheme, the first running speed and the running lane of the vehicle can be determined according to the state information of the vehicle, and then the vehicle is controlled to run on the running lane at the first running speed, so that automatic driving of the vehicle is realized.
On the basis of the foregoing embodiment, the driving parameters include the position information and the environmental information of the current vehicle, and the obtaining module 410 is specifically configured to:
acquiring the position information and the environment information of the current vehicle;
acquiring component information of the current vehicle.
On the basis of the above embodiment, the determining the first traveling speed and the traveling lane of the current vehicle according to the state information includes:
if no front vehicle exists in front of the current vehicle, the current vehicle keeps in the center of the current driving lane to perform constant-speed operation;
and if a preceding vehicle exists in front of the current vehicle, determining the first running speed and the running lane according to a second running speed of the preceding vehicle.
The environmental information includes adjacent vehicle information, and the first driving speed and the driving lane are determined according to the second driving speed of the preceding vehicle, including:
if the second driving speed is larger than a preset threshold value, controlling the current vehicle to keep at the center of the current lane, and determining the first driving speed according to the second driving speed;
and if the second running speed is less than a preset threshold value, determining the first running speed and the running lane according to the adjacent vehicle information.
On the basis of the foregoing embodiment, the execution module 430 is specifically configured to:
if the abnormal state comprises that the environmental information exceeds a preset operation range, determining that the safety strategy comprises alarming, taking over and safely stopping;
and if the abnormal state comprises component information abnormality, determining that the safety strategy comprises alarming, taking over, function degradation and safe parking.
On the basis of the above embodiment, if the abnormal state includes that the environmental information exceeds the preset operation range, adjusting the operation state of the current vehicle according to the safety policy includes:
controlling to send out a first alarm signal, and controlling the vehicle to decelerate after the automatic driving function is quitted;
if an external control signal is received, entering a manual driving state, otherwise, controlling to send out a second alarm signal;
and if the external control signal is not received continuously, controlling the current vehicle to safely stop.
On the basis of the above embodiment, if the abnormal state includes component information abnormality, adjusting the current vehicle operating state according to the safety policy includes:
if any one of the lateral sensor and the backward sensor is in an abnormal state, controlling to send out a first alarm signal, and simultaneously degrading the function;
if any one of the forward sensor and the controller is in an abnormal state, controlling to send out a second alarm signal, and controlling the vehicle to decelerate after the automatic driving function is quitted;
if an external control signal is received, entering a manual driving state, otherwise, controlling to send a third alarm signal;
and if the external control signal is not received continuously, controlling the current vehicle to safely stop.
The automatic vehicle driving device provided by the embodiment of the invention can execute the automatic vehicle driving method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 5 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 5, the vehicle includes a processor 510, a memory 520, and a sensor 530; the number of processors 510 in the vehicle may be one or more, and one processor 510 is taken as an example in fig. 5; the processor 510, memory 520, and sensors 530 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 5.
The memory 520 may be used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle automatic driving method according to the embodiment of the present invention (for example, the obtaining module 410, the control module 420, the execution module 430, and the adjustment module 440 in the vehicle automatic driving apparatus). The processor 510 executes various functional applications and data processing of the vehicle, i.e., implements the vehicle automatic driving method described above, by executing software programs, instructions, and modules stored in the memory 520.
The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 520 may further include memory located remotely from the processor 510, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
And a sensor 530 for acquiring a running parameter of the current vehicle.
The vehicle provided by the embodiment of the invention can execute the automatic driving method of the vehicle provided by the embodiment of the invention, and has corresponding functions and beneficial effects.
EXAMPLE five
Embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method for vehicle autopilot, the method comprising:
after the automatic driving function is started, acquiring the state information of the current vehicle, wherein the state information comprises the running parameters and the component information of the current vehicle;
after a first running speed and a running lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the running lane based on the first running speed;
if the current vehicle is determined to be in an abnormal state according to the state information, a safety strategy corresponding to the abnormal state is further acquired according to the type of the abnormal state;
and adjusting the running state of the current vehicle according to the safety strategy.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the method for automatically driving a vehicle provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the vehicle automatic driving device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (7)
1. A method of automatically driving a vehicle, comprising:
after the automatic driving function is started, acquiring the state information of the current vehicle, wherein the state information comprises the running parameters and the component information of the current vehicle;
after a first running speed and a running lane of the current vehicle are determined according to the state information, controlling the current vehicle to run in the running lane based on the first running speed;
if the current vehicle is determined to be in an abnormal state according to the state information, a safety strategy corresponding to the abnormal state is further acquired according to the type of the abnormal state;
adjusting the running state of the current vehicle according to the safety strategy;
wherein, the driving parameters include the position information and the environment information of the current vehicle, and the obtaining of the state information of the current vehicle includes:
acquiring the position information and the environment information of the current vehicle;
acquiring component information of the current vehicle;
acquiring a security policy corresponding to the abnormal state according to the type of the abnormal state, wherein the acquiring of the security policy corresponding to the abnormal state comprises the following steps:
if the abnormal state comprises that the environmental information exceeds a preset operation range, determining that the safety strategy comprises alarming, taking over and safely stopping;
if the abnormal state comprises component information abnormality, determining that the safety strategy comprises alarming, taking over, function degradation and safe parking; wherein the functional degradation comprises disabling lateral control functionality;
wherein if the abnormal state includes component information abnormality, adjusting the current vehicle operating state according to the safety policy includes:
if any one of the lateral sensor and the backward sensor is in an abnormal state, controlling to send out a first alarm signal, and simultaneously degrading the function;
if any one of the forward sensor and the controller is in an abnormal state, controlling to send out a second alarm signal, and controlling the vehicle to decelerate after the automatic driving function is quitted;
if an external control signal is received, entering a manual driving state, otherwise, controlling to send a third alarm signal;
and if the external control signal is not received continuously, controlling the current vehicle to safely stop.
2. The vehicle automatic driving method according to claim 1, wherein the environmental information includes preceding vehicle information, and determining a first traveling speed and a traveling lane of the current vehicle from the state information includes:
if no front vehicle exists in front of the current vehicle, the current vehicle keeps running at the center of a current running lane at a constant speed at the first running speed;
and if a preceding vehicle exists in front of the current vehicle, determining the first running speed and the running lane according to a second running speed of the preceding vehicle.
3. The vehicle automatic driving method according to claim 2, wherein the environmental information includes adjacent vehicle information, and the determining of the first traveling speed and the traveling lane from the second traveling speed of the preceding vehicle includes:
if the second driving speed is larger than a preset threshold value, controlling the current vehicle to keep at the center of the current lane, and determining the first driving speed according to the second driving speed;
and if the second running speed is less than a preset threshold value, determining the first running speed and the running lane according to the adjacent vehicle information.
4. The vehicle autopilot method of claim 1 wherein adjusting the current vehicle operating condition in accordance with the safety strategy if the abnormal condition includes environmental information outside a preset operating range comprises:
controlling to send out a first alarm signal, and controlling the vehicle to decelerate after the automatic driving function is quitted;
if an external control signal is received, entering a manual driving state, otherwise, controlling to send out a second alarm signal;
and if the external control signal is not received continuously, controlling the current vehicle to safely stop.
5. An automatic driving apparatus for a vehicle, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the state information of the current vehicle after the automatic driving function is started, and the state information comprises the driving parameters and the component information of the current vehicle;
wherein, the driving parameters include the position information and the environment information of the current vehicle, and the obtaining of the state information of the current vehicle includes:
acquiring the position information and the environment information of the current vehicle;
acquiring component information of the current vehicle;
the control module is used for controlling the current vehicle to run in the driving lane based on the first driving speed after determining the first driving speed and the driving lane of the current vehicle according to the state information;
the execution module is used for acquiring a safety strategy corresponding to the abnormal state further according to the type of the abnormal state if the current vehicle is determined to be in the abnormal state according to the state information;
acquiring a security policy corresponding to the abnormal state according to the type of the abnormal state, wherein the acquiring of the security policy corresponding to the abnormal state comprises the following steps:
if the abnormal state comprises that the environmental information exceeds a preset operation range, determining that the safety strategy comprises alarming, taking over and safely stopping;
if the abnormal state comprises component information abnormality, determining that the safety strategy comprises alarming, taking over, function degradation and safe parking; wherein the functional degradation comprises disabling lateral control functionality;
wherein if the abnormal state includes component information abnormality, adjusting the current vehicle operating state according to the safety policy includes:
if any one of the lateral sensor and the backward sensor is in an abnormal state, controlling to send out a first alarm signal, and simultaneously degrading the function;
if any one of the forward sensor and the controller is in an abnormal state, controlling to send out a second alarm signal, and controlling the vehicle to decelerate after the automatic driving function is quitted;
if an external control signal is received, entering a manual driving state, otherwise, controlling to send a third alarm signal;
if the external control signal is not received continuously, controlling the current vehicle to safely stop;
and the adjusting module is used for adjusting the running state of the current vehicle according to the safety strategy.
6. A vehicle, characterized in that the vehicle comprises:
one or more processors;
storage means for storing one or more programs;
the sensor is used for acquiring the driving parameters of the current vehicle;
when executed by the one or more processors, cause the one or more processors to implement the method of vehicle autopilot according to any one of claims 1-4.
7. A storage medium containing computer executable instructions for performing the method of vehicle autopilot according to any one of claims 1-4 when executed by a computer processor.
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| CN114162068B (en) * | 2021-12-31 | 2023-12-15 | 阿维塔科技(重庆)有限公司 | Method and device for managing intelligent driving function of vehicle and vehicle |
| CN114426028B (en) * | 2022-03-03 | 2023-12-22 | 一汽解放汽车有限公司 | Intelligent driving control method, intelligent driving control device, computer equipment and storage medium |
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