CN112793586A - Automatic driving control method and device for automobile and computer storage medium - Google Patents
Automatic driving control method and device for automobile and computer storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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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
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Abstract
The embodiment of the application discloses an automatic driving control method and device of an automobile and a computer storage medium, and belongs to the technical field of vehicle engineering. The method comprises the following steps: acquiring environmental data in the driving process of the automobile through a camera, a radar and an infrared night vision sensor which are arranged on the automobile; determining the current environment scene of the automobile according to the environment data; and controlling the automobile to automatically drive according to a control strategy corresponding to the environment scene. In the embodiment of the application, the environmental data can be acquired through the camera, the radar and the infrared night vision camera, so that the corresponding control strategy is acquired according to the environmental scene described by the environmental data, automatic driving is performed according to the control strategy, the reaction time of a driver in emergency is reduced, the safety of driving at night is improved, and the possibility of accidents is reduced.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle engineering, in particular to an automatic driving control method and device of an automobile and a computer storage medium.
Background
With the development of scientific technology and the gradual application of intelligent driving automobiles, the intelligent driving auxiliary technology is mature and perfect day by day. The intelligent driving system technology development realizes the functions of full-speed-domain self-adaptive cruise, an automatic emergency braking system, a lane keeping system, a blind area monitoring system, a traffic jam assisting system and the like, the realization of the functions depends on a microwave radar and a multifunctional camera of the automobile, and the microwave radar and the multifunctional forward-looking camera can collect environmental information, so that the automobile is automatically driven and controlled according to the environmental information.
However, when the automobile is in dark light at night or the like and other obstacles are small, the functions of the multifunctional camera and the microwave radar are limited, and when the environment information is acquired through the multifunctional camera and the microwave radar, all the environment information may not be acquired, or the environment information cannot be acquired, so that the automatic driving control of the automobile is inaccurate, the possibility of traffic accidents is improved, and the automatic driving safety is reduced.
Disclosure of Invention
The embodiment of the application provides an automatic driving control method and device of an automobile and a computer storage medium, which can be used for solving the problems of inaccurate automatic driving control and low safety in the related technology. The technical scheme is as follows:
in one aspect, there is provided an automatic driving control method of an automobile, the method including:
acquiring environmental data in the driving process of the automobile through a camera, a radar and an infrared night vision sensor which are arranged on the automobile;
determining the current environment scene of the automobile according to the environment data;
and controlling the automobile to automatically drive according to a control strategy corresponding to the environment scene.
In some embodiments, the acquiring environmental data of the vehicle during driving by the vehicle-mounted camera, the radar and the infrared night vision sensor comprises:
acquiring environment image information in the driving process of the automobile through the camera, acquiring obstacle information of an obstacle detected in the driving process of the automobile through the radar, and acquiring infrared night vision information through the infrared night vision sensor;
and carrying out fusion processing on the environment image information, the obstacle information and the infrared night vision information to obtain the environment data.
In some embodiments, the determining, according to the environment data, an environment scene in which the automobile is currently located includes:
comparing the environmental data with a plurality of stored scene data;
determining a target scene as an environment scene where the automobile is currently located, wherein the target scene is a scene described by any scene data in the plurality of scene data, and the similarity between the target scene and the scene described by the environment data is greater than or equal to a similarity threshold value.
In some embodiments, the controlling the automobile to automatically drive according to the control strategy corresponding to the environmental scene includes:
when the environment scene is that an obstacle exists in front of the automobile and the distance between the automobile and the obstacle is smaller than or equal to a first safety distance, controlling the automobile to perform early warning control;
detecting the distance change between the barrier and the automobile in the process of early warning control of the automobile;
and when the distance between the barrier and the automobile is closer and smaller than or equal to a second safety distance, controlling the automobile to perform deceleration treatment, lane change treatment or braking treatment.
In some embodiments, the controlling the automobile to automatically drive according to the control strategy corresponding to the environmental scene includes:
when the environment scene is that a traffic fork is arranged in front of the automobile and a traffic signal lamp in the driving direction of the automobile at the traffic fork is a red light, controlling the automobile to brake;
and when the traffic signal lamp of the automobile driving direction at the traffic fork is green, controlling the automobile to drive according to an automatic driving path.
In another aspect, there is provided an automatic driving control apparatus of an automobile, the apparatus including:
the acquisition module is used for acquiring environmental data in the driving process of the automobile through a camera, a radar and an infrared night vision sensor which are arranged on the automobile;
the determining module is used for determining the current environment scene of the automobile according to the environment data;
and the control module is used for controlling the automobile to automatically drive according to the control strategy corresponding to the environment scene.
In some embodiments, the obtaining module comprises:
the acquisition submodule is used for acquiring environment image information in the driving process of the automobile through the camera, acquiring obstacle information of an obstacle detected in the driving process of the automobile through the radar, and acquiring infrared night vision information through the infrared night vision sensor;
and the fusion submodule is used for carrying out fusion processing on the environment image information, the obstacle information and the infrared night vision information to obtain the environment data.
In some embodiments, the determining module comprises:
the comparison submodule is used for comparing the environment data with a plurality of stored scene data;
and the determining sub-module is used for determining a target scene as an environment scene where the automobile is currently located, wherein the target scene is a scene described by any scene data in the plurality of scene data, and the similarity between the target scene and the scene described by the environment data is greater than or equal to a similarity threshold value.
In some embodiments, the control module comprises:
the first control submodule is used for controlling the automobile to carry out early warning control when the environment scene is that an obstacle exists in front of the automobile and the distance between the automobile and the obstacle is smaller than or equal to a first safety distance;
the detection submodule is used for detecting the distance change between the barrier and the automobile in the process of early warning control of the automobile;
and the second control submodule is used for controlling the automobile to perform deceleration processing, lane changing processing or braking processing when the distance between the barrier and the automobile is closer and smaller than or equal to a second safety distance.
In some embodiments, the control module comprises:
the third control sub-module is used for controlling the automobile to brake when the environment scene is that a traffic fork is arranged in front of the automobile and a traffic signal lamp in the driving direction of the automobile at the traffic fork is a red lamp;
and the fourth control submodule is used for controlling the automobile to run according to an automatic running path when a traffic signal lamp of the running direction of the automobile at the traffic fork is green.
In another aspect, a computer-readable storage medium is provided, which has instructions stored thereon, and when the instructions are executed by a processor, the instructions implement any one of the steps of the automatic driving control method of the automobile.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
in the embodiment of the application, the environmental data in the driving process of the automobile can be acquired through the camera, the radar and the infrared night vision camera, so that automatic driving is performed according to a control strategy corresponding to an environmental scene described by the environmental data, the reaction time of a driver in emergency is reduced, and the environmental data can be accurately acquired in the dark environment due to the infrared night vision sensor, so that the automatic driving accuracy and the safety of driving at night are improved, and the possibility of accidents is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an architecture of an automatic driving control system of an automobile according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of an automatic driving control method for a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a flowchart of an automatic driving control method for a vehicle according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of an automatic driving control device of a vehicle according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an acquisition module according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a determination module provided in an embodiment of the present application;
FIG. 7 is a schematic structural diagram of a control module according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of another acquisition module provided in an embodiment of the present application;
fig. 9 is a schematic structural diagram of an automobile according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.
Before explaining the automatic driving control method of the vehicle provided by the embodiment of the present application in detail, an application scenario and a system architecture provided by the embodiment of the present application are introduced.
First, an application scenario related to the embodiment of the present application is described.
At present, the environment of car autopilot control includes the environment of light teaching notes such as night or tunnel usually, under the darker and less circumstances of other barriers of light such as car at night, the multi-functional camera and the microwave radar function of car installation will be restricted, when carrying out the acquirement of environmental information through multi-functional camera and microwave radar, can't acquire whole environmental information, perhaps, can't acquire environmental information, lead to inaccurate to car autopilot control, the traffic accident emergence possibility has been improved, autopilot security has been reduced.
Based on the application scene, the embodiment of the application provides the automatic driving control method of the automobile, which can improve the accuracy of automatic driving control and reduce the occurrence of traffic accidents.
Next, a system architecture according to an embodiment of the present application will be described.
Fig. 1 is a schematic diagram of an architecture of an automatic driving Control system of an automobile according to an embodiment of the present disclosure, and referring to fig. 1, the system includes at least one camera (e.g., CAN include a multifunctional forward-looking camera) 1, at least one millimeter-wave radar 2, an infrared night vision sensor 3, a domain Controller 4, an EPS (Electric Power Steering) 5, an ESP (Electronic Stability Program) system 6, a TCU (Transmission Control Unit) system 7, and the like, where the at least one camera 1, the at least one millimeter-wave radar 2, and the infrared night vision sensor 3 CAN be respectively connected to the domain Controller 4 through a CAN (Controller Area Network), and the ESP domain Controller 4 CAN be respectively connected to the EPS system 5, the ESP system 6, and the TCU system 7 through the CAN.
As an example, the at least one camera 1, the at least one millimeter wave radar 2 and the infrared night vision sensor 3 can acquire environmental data of the automobile during driving and transmit the acquired environmental data to the domain controller 4; the domain controller 4 can be used for determining the current environmental scene of the automobile according to the environmental data, and controlling the automobile to control the EPS system 5, the ESP system 6, the TCU system 7 and the like to perform automatic driving control according to the control strategy corresponding to the environmental scene.
It should be understood by those skilled in the art that the foregoing system architecture is merely exemplary, and other modules, systems, or components that may be present or later become known and that may be suitable for use in the present application are also included within the scope of the present application and are hereby incorporated by reference.
Fig. 2 is a flowchart of an automatic driving control method for a vehicle according to an embodiment of the present disclosure, where the automatic driving control method for a vehicle may include the following steps:
step 201: the environmental data of the automobile in the driving process is obtained through a camera, a radar and an infrared night vision sensor which are arranged on the automobile.
Step 202: and determining the current environment scene of the automobile according to the environment data.
Step 203: and controlling the automobile to automatically drive according to the control strategy corresponding to the environmental scene.
In the embodiment of the application, the environmental data in the driving process of the automobile can be acquired through the camera, the radar and the infrared night vision camera, so that automatic driving is performed according to a control strategy corresponding to an environmental scene described by the environmental data, the reaction time of a driver in emergency is reduced, and the environmental data can be accurately acquired in the dark environment due to the infrared night vision sensor, so that the automatic driving accuracy and the safety of driving at night are improved, and the possibility of accidents is reduced.
In some embodiments, the obtaining environmental data of the automobile during driving through a camera, a radar and an infrared night vision sensor installed on the automobile comprises:
acquiring environment image information of the automobile in the driving process through the camera, acquiring obstacle information of an obstacle detected in the driving process of the automobile through the radar, and acquiring infrared night vision information through the infrared night vision sensor;
and carrying out fusion processing on the environment image information, the obstacle information and the infrared night vision information to obtain the environment data.
In some embodiments, determining the current environmental scenario in which the vehicle is located according to the environmental data includes:
comparing the environmental data with a plurality of stored scene data;
and determining a target scene as an environmental scene where the automobile is currently located, wherein the target scene is a scene described by any scene data in the plurality of scene data, and the similarity between the target scene and the scene described by the environmental data is greater than or equal to a similarity threshold value.
In some embodiments, controlling the vehicle to drive automatically according to the control strategy corresponding to the environmental scene includes:
when the environment scene is that an obstacle exists in front of the automobile and the distance between the automobile and the obstacle is smaller than or equal to a first safety distance, controlling the automobile to perform early warning control;
detecting the distance change between the barrier and the automobile in the process of early warning control of the automobile;
and when the distance between the obstacle and the automobile is closer and smaller than or equal to a second safety distance, controlling the automobile to perform deceleration processing, lane changing processing or braking processing.
In some embodiments, controlling the vehicle to drive automatically according to the control strategy corresponding to the environmental scene includes:
when the environmental scene is that the front of the automobile is a traffic turnout and a traffic signal lamp of the driving direction of the automobile at the traffic turnout is a red lamp, controlling the automobile to brake;
and when the traffic signal lamp of the automobile driving direction at the traffic turnout is green, controlling the automobile to drive according to the automatic driving path.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.
Fig. 3 is a flowchart of an automatic driving control method for an automobile according to an embodiment of the present disclosure, which is exemplified by applying the automatic driving control method for an automobile to an automobile, and the automatic driving control method for an automobile may include the following steps:
step 301: the automobile detects whether the light intensity of the current environment meets the light condition.
Because the car probably carries out autopilot in the darker environment of light such as night or tunnel, and when driving in the darker environment of light, for car autopilot security, the car need pass through infrared night vision sensor's help, consequently, the car need detect whether the light intensity of the environment of present place accords with the light condition in the driving process.
It should be noted that the light condition is a condition for activating the infrared night vision sensor of the vehicle.
As an example, the automobile can detect the light intensity of the current environment through the installed light intensity sensor, and when the light intensity is less than or equal to the light intensity threshold, it is determined that the light intensity of the current environment of the automobile meets the light condition.
It should be noted that the light intensity threshold can be set in advance according to the requirement, for example, the light intensity threshold can be 10 lux, 20 lux, and so on.
As an example, the automobile can also determine that the light intensity of the environment where the automobile is currently located meets the light condition when the current driving time of the automobile is within a preset time period and/or the type of the position where the automobile is currently located is a preset type according to the determination of the current driving time or position.
It should be noted that, the preset time period and the preset type can be set in advance according to the requirement, and the preset time period can be adjusted according to different seasons, for example, the preset time period can be 19 pm to 6 pm in summer, and can be 8 pm in winter, and so on. The preset type can be a tunnel, an underground parking lot, and the like.
In some embodiments, when the light intensity of the current environment meets the light condition, the automobile can perform the following operations 302-304. Alternatively, the automobile can directly perform the following operations of steps 302-304 during driving.
Step 302: the automobile acquires environmental data in the driving process of the automobile through a camera, a radar and an infrared night vision sensor.
Because obstacles such as pedestrians and other automobiles may appear around the automobile in the driving process of the automobile in the automatic driving process, if the automobile cannot accurately identify the obstacles in time, the automobile is likely to collide with the obstacles, and thus a collision accident occurs. Therefore, in order to reduce the occurrence of collision accidents, the automobile can acquire environmental data during the driving process through the installed camera, the radar and the infrared night vision sensor so as to determine whether the obstacle exists in the current environment of the automobile according to the environmental data.
As an example, the automobile can acquire the environment data in real time, and can also acquire the environment data at preset time intervals, which can be set in advance according to requirements, for example, the preset time intervals can be 5 minutes, 10 minutes, and the like.
As an example, the operation of the automobile to acquire environmental data during driving of the automobile through the installed camera, radar and infrared night vision sensor includes: acquiring environment image information in the driving process of the automobile through a camera, acquiring obstacle information of an obstacle detected in the driving process of the automobile through a radar, and acquiring infrared night vision information through an infrared night vision sensor; and carrying out fusion processing on the environment image information, the obstacle information and the infrared night vision information to obtain environment data.
It should be noted that the environmental information can include road conditions in the current environment, such as the positions of other automobiles, turning automobiles, lane-changing automobiles, oncoming automobiles, pedestrian positions, whether traffic lights exist, traffic light indication information, and the like.
Step 303: and the automobile determines the current environment scene of the automobile according to the environment data.
Different environmental data can describe different environmental scenes, and the automatic driving control modes of the automobile are different in different environmental scenes, so that the automobile needs to determine the current environmental scene of the automobile according to the environmental data.
As an example, the operation of the automobile for determining the environmental scene in which the automobile is currently located according to the environmental data includes: comparing the environment data with a plurality of stored scene data; and determining a target scene as an environmental scene where the automobile is currently located, wherein the target scene is a scene described by any scene data in the plurality of scene data, and the similarity between the target scene and the scene described by the environmental data is greater than or equal to a similarity threshold value.
In some embodiments, the domain controller of the automobile can store scene data of a plurality of environment scenes, so that the automobile can compare environment data of the current environment with the stored plurality of environment data, when environment data with similarity greater than or equal to a similarity threshold value with the environment data of the current environment exists in the stored plurality of environment data, the environment data with similarity greater than or equal to the similarity threshold value with the environment data of the current environment in the stored plurality of environment data is determined as target environment data, and the environment scene described by the target environment data is determined as the target environment scene.
It should be noted that the similarity threshold can be set in advance according to requirements, for example, the similarity threshold can be 95%, 98%, and the like.
In some embodiments, the vehicle can also determine the current environmental scene of the vehicle in other ways according to the environmental data, for example, the vehicle can perform data processing and image recognition analysis on the environmental data to obtain the environmental scene described by the environmental data.
It should be noted that the environmental scene can include the position of an obstacle, the distance between the automobile and the obstacle, the type of the obstacle, the moving direction of the obstacle, the moving speed, the position of the current traffic intersection, the traffic signal light signal at the traffic intersection, and the like.
Step 304: and the automobile automatically drives according to the control strategy corresponding to the environmental scene.
Due to different environmental scenes, the automatic driving of the automobile is carried out in different modes, so that the automobile can be automatically driven according to the control strategy corresponding to the environmental scenes.
As an example, the operation of controlling the automobile to automatically drive according to the control strategy corresponding to the environmental scene comprises the following steps: when the environmental scene is that an obstacle exists in front of the automobile and the distance between the automobile and the obstacle is smaller than or equal to a first safety distance, controlling the automobile to perform early warning control; detecting the distance change between an obstacle and the automobile in the process of early warning control of the automobile; and when the distance between the obstacle and the automobile is closer and smaller than or equal to the second safety distance, controlling the automobile to perform deceleration processing, lane changing processing or braking processing.
It should be noted that the obstacle may include pedestrians and/or other automobiles, and other automobiles and pedestrians may be located in the driving direction of the automobile and may also be located behind the lane where the automobile is located. When the obstacle includes other vehicles, the other vehicles may make sudden lane changes, turn, stop, etc., resulting in the vehicles getting closer to the other vehicles, thereby presenting a collision risk. When the obstacle is a pedestrian, the pedestrian may not notice the automobile because of inattention, or cross the road on the sidewalk, the pedestrian behavior is difficult to predict, and the risk of collision with the pedestrian is also high. Therefore, when the environment scene is that an obstacle exists in front of the automobile and the distance between the automobile and the obstacle is smaller than or equal to the first safety distance, early warning control can be performed on the automobile.
When the obstacle moves in front of the lane of the automobile and the distance between the obstacle and the automobile is smaller than or equal to the first safety distance, the obstacle is close to the automobile, and the obstacle and the automobile may collide with each other, so that early warning control is required to inform a driver that the automobile has a collision risk, the driver intervenes in time, and the reaction time of the driver is reduced.
It should be noted that the warning control can include a whistle control, a voice message prompt, a seat vibration prompt, a seat belt tightening prompt, and the like.
Because the driver may not notice the early warning, the distance between the automobile and the obstacle is closer and closer, if the automobile does not perform any treatment at this time, the possibility of collision between the automobile and the obstacle is greatly improved, therefore, the automobile can detect the change of the distance between the automobile and the obstacle in the early warning control process, and when the distance between the obstacle and the automobile is closer and is less than or equal to the second safety distance, the risk of collision between the obstacle and the automobile is improved, and therefore, the automobile needs to be actively controlled to perform deceleration treatment, lane change treatment or braking treatment.
It should be noted that the first safety distance and the second safety distance can be set in advance according to requirements, for example, the first safety distance may be 10 meters, 15 meters, and the like, and the second safety distance may be 3 meters, 2 meters, and the like.
As an example, when the obstacle is positioned in front of the lane of the automobile and the distance between the obstacle and the automobile is larger than the first safety distance, the safe distance between the automobile and the obstacle is processed, and the automobile does not need to perform any operation.
In some embodiments, after the vehicle performs the warning control, the driver does not perform any collision avoidance process because the driver may not notice the warning. Therefore, in order to reduce the occurrence of the collision accident, when the automobile does not detect the deceleration operation, the lane change operation or the braking operation of the driver within the first preset time period after the early warning control, the automobile can be actively controlled to perform the deceleration treatment, the braking treatment and/or the lane change treatment instead of detecting the distance between the automobile and the obstacle.
When the vehicle is subjected to the lane change processing, it is necessary to detect whether or not an obstacle is present in a lane adjacent to a lane in which the vehicle is currently located, and when an obstacle is present, the vehicle is subjected to the deceleration processing and/or the braking processing. When no obstacle exists, lane changing processing is performed.
In some embodiments, when the environmental scene is that the front of the automobile is a traffic intersection and a traffic signal lamp of the automobile driving direction at the traffic intersection is a red light, the automobile is controlled to perform braking operation; and when the traffic signal lamp of the automobile driving direction at the traffic intersection is green, controlling the automobile to drive according to the automatic driving path.
When the automobile is at the traffic turnout, the traffic turnout is usually provided with a traffic signal lamp, so that the control strategy of the automobile needs to be instructed according to the traffic signal lamp, and when the traffic signal lamp of the automobile driving direction at the traffic turnout is a red light, the automobile is controlled to brake; and when the traffic signal lamp of the automobile driving direction at the traffic intersection is green, controlling the automobile to drive according to the automatic driving path.
In the embodiment of the application, when the automobile drives at night or drives in other darker environments, the environmental data in the driving process of the automobile can be acquired through the camera, the radar and the infrared night vision camera, so that the automatic driving is performed according to the control strategy corresponding to the environmental scene described by the environmental data, the reaction time of a driver in emergency is reduced, and the environmental data can be accurately acquired in the dark environment due to the infrared night vision sensor, so that the automatic driving accuracy and the safety of driving at night are improved, and the possibility of accidents is reduced.
Fig. 4 is a schematic structural diagram of an automatic driving control device of an automobile according to an embodiment of the present application, where the automatic driving control device of the automobile may be implemented by software, hardware, or a combination of the two. The automatic driving control apparatus of an automobile may include: an acquisition module 401, a determination module 402 and a control module 403.
The acquisition module 401 is used for acquiring environmental data of the automobile in the driving process through a camera, a radar and an infrared night vision sensor which are installed on the automobile;
a determining module 402, configured to determine, according to the environment data, an environment scene where the automobile is currently located;
and the control module 403 is configured to control the automobile to automatically drive according to the control strategy corresponding to the environmental scene.
In some embodiments, referring to fig. 5, the obtaining module 401 includes:
the obtaining submodule 4011 is configured to obtain environment image information of the vehicle in a driving process through the camera, obtain obstacle information of an obstacle detected in the driving process of the vehicle through the radar, and obtain infrared night vision information through the infrared night vision sensor;
and a fusion sub-module 4012, configured to perform fusion processing on the environment image information, the obstacle information, and the infrared night vision information to obtain the environment data.
In some embodiments, referring to fig. 6, the determining module 402 comprises:
a comparison sub-module 4021, configured to compare the environment data with a plurality of stored scene data;
the determining sub-module 4022 is configured to determine a target scene as an environmental scene in which the automobile is currently located, where the target scene is a scene described by any scene data in the plurality of scene data, and a similarity between the target scene and the scene described by the environmental data is greater than or equal to a similarity threshold.
In some embodiments, referring to fig. 7, the control module 403 includes:
the first control submodule 4031 is used for controlling the automobile to perform early warning control when the environment scene is that an obstacle exists in front of the automobile and the distance between the automobile and the obstacle is smaller than or equal to a first safety distance;
the detection submodule 4032 is configured to detect a change in a distance between the obstacle and the vehicle in a process of performing early warning control on the vehicle;
and the second control submodule 4033 is used for controlling the automobile to perform deceleration processing, lane change processing or braking processing when the distance between the obstacle and the automobile is closer and smaller than or equal to a second safe distance.
In some embodiments, referring to fig. 8, the control module 403 includes:
a third control sub-module 4034, configured to control the automobile to perform a braking operation when the environmental scene is that a traffic intersection is located in front of the automobile and a traffic signal lamp in a driving direction of the automobile at the traffic intersection is a red light;
a fourth control submodule 4035, configured to control the vehicle to travel according to an automatic travel path when a traffic signal light in the vehicle travel direction at the traffic intersection is green.
In the embodiment of the application, when the automobile drives at night or drives in other darker environments, the environmental data in the driving process of the automobile can be acquired through the camera, the radar and the infrared night vision camera, so that the automatic driving is performed according to the control strategy corresponding to the environmental scene described by the environmental data, the reaction time of a driver in emergency is reduced, and the environmental data can be accurately acquired in the dark environment due to the infrared night vision sensor, so that the automatic driving accuracy and the safety of driving at night are improved, and the possibility of accidents is reduced.
It should be noted that: in the automatic driving control device for an automobile provided in the above embodiment, when performing automatic driving control of an automobile, only the division of the function modules is illustrated, and in practical applications, the function distribution may be completed by different function modules according to needs, that is, the internal structure of the device may be divided into different function modules to complete all or part of the functions described above. In addition, the automatic driving control device of the vehicle and the automatic driving control method of the vehicle provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
Fig. 9 shows a block diagram of an automobile 900 according to an exemplary embodiment of the present application. Generally, the automobile 900 includes: a processor 901 and a memory 902.
In some embodiments, the automobile 900 may further optionally include: a peripheral interface 903 and at least one peripheral. The processor 901, memory 902, and peripheral interface 903 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 903 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 904, a display screen 905, a camera assembly 906, an audio circuit 907, a positioning assembly 908, and a power supply 909.
The peripheral interface 903 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 901 and the memory 902. In some embodiments, the processor 901, memory 902, and peripheral interface 903 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 901, the memory 902 and the peripheral interface 903 may be implemented on a separate chip or circuit board, which is not limited by this embodiment.
The Radio Frequency circuit 904 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 904 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 904 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 904 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuit 904 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 904 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 905 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 905 is a touch display screen, the display screen 905 also has the ability to capture touch signals on or over the surface of the display screen 905. The touch signal may be input to the processor 901 as a control signal for processing. At this point, the display 905 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 905 may be one, providing the front panel of the automobile 900; in other embodiments, the number of the display panels 905 may be at least two, and each of the display panels may be disposed on a different surface of the automobile 900 or may be of a foldable design; in other embodiments, the display 905 may be a flexible display, disposed on a curved surface or on a folded surface of the automobile 900. Even more, the display screen 905 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display panel 905 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.
The camera assembly 906 is used to capture images or video. Optionally, camera assembly 906 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 906 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The Location component 908 is used to locate the current geographic Location of the automobile 900 to implement navigation or LBS (Location Based Service). The Positioning component 908 may be a Positioning component based on the GPS (Global Positioning System) in the united states, the beidou System in china, the graves System in russia, or the galileo System in the european union.
The power supply 909 is used to supply power to various components in the automobile 900. The power source 909 may be alternating current, direct current, disposable or rechargeable. When power source 909 comprises a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the automobile 900 also includes one or more sensors 910.
Those skilled in the art will appreciate that the configuration shown in fig. 9 is not intended to be limiting of the vehicle 900 and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be used.
The embodiment of the application also provides a non-transitory computer readable storage medium, and when instructions in the storage medium are executed by a processor of the terminal, the terminal can execute the automatic driving control method of the automobile provided by the above embodiment.
The embodiment of the application also provides a computer program product containing instructions, and when the computer program product runs on the terminal, the terminal is enabled to execute the automatic driving control method of the automobile provided by the embodiment.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. An automatic driving control method of an automobile, characterized by comprising:
acquiring environmental data in the driving process of the automobile through a camera, a radar and an infrared night vision sensor which are arranged on the automobile;
determining the current environment scene of the automobile according to the environment data;
and controlling the automobile to automatically drive according to a control strategy corresponding to the environment scene.
2. The method of claim 1, wherein the obtaining environmental data during the driving of the vehicle via a vehicle mounted camera, radar and infrared night vision sensor comprises:
acquiring environment image information in the driving process of the automobile through the camera, acquiring obstacle information of an obstacle detected in the driving process of the automobile through the radar, and acquiring infrared night vision information through the infrared night vision sensor;
and carrying out fusion processing on the environment image information, the obstacle information and the infrared night vision information to obtain the environment data.
3. The method of claim 1, wherein determining the current environmental context of the vehicle based on the environmental data comprises:
comparing the environmental data with a plurality of stored scene data;
determining a target scene as an environment scene where the automobile is currently located, wherein the target scene is a scene described by any scene data in the plurality of scene data, and the similarity between the target scene and the scene described by the environment data is greater than or equal to a similarity threshold value.
4. The method of claim 1, wherein controlling the vehicle to autonomously drive according to a control strategy corresponding to the environmental scenario comprises:
when the environment scene is that an obstacle exists in front of the automobile and the distance between the automobile and the obstacle is smaller than or equal to a first safety distance, controlling the automobile to perform early warning control;
detecting the distance change between the barrier and the automobile in the process of early warning control of the automobile;
and when the distance between the barrier and the automobile is closer and smaller than or equal to a second safety distance, controlling the automobile to perform deceleration treatment, lane change treatment or braking treatment.
5. The method of claim 1, wherein controlling the vehicle to autonomously drive according to a control strategy corresponding to the environmental scenario comprises:
when the environment scene is that a traffic fork is arranged in front of the automobile and a traffic signal lamp in the driving direction of the automobile at the traffic fork is a red light, controlling the automobile to brake;
and when the traffic signal lamp of the automobile driving direction at the traffic fork is green, controlling the automobile to drive according to an automatic driving path.
6. An automatic driving control apparatus of an automobile, characterized in that the apparatus comprises:
the acquisition module is used for acquiring environmental data in the driving process of the automobile through a camera, a radar and an infrared night vision sensor which are arranged on the automobile;
the determining module is used for determining the current environment scene of the automobile according to the environment data;
and the control module is used for controlling the automobile to automatically drive according to the control strategy corresponding to the environment scene.
7. The apparatus of claim 6, wherein the acquisition module comprises:
the acquisition submodule is used for acquiring environment image information in the driving process of the automobile through the camera, acquiring obstacle information of an obstacle detected in the driving process of the automobile through the radar, and acquiring infrared night vision information through the infrared night vision sensor;
and the fusion submodule is used for carrying out fusion processing on the environment image information, the obstacle information and the infrared night vision information to obtain the environment data.
8. The apparatus of claim 6, wherein the determining module comprises:
the comparison submodule is used for comparing the environment data with a plurality of stored scene data;
and the determining sub-module is used for determining a target scene as an environment scene where the automobile is currently located, wherein the target scene is a scene described by any scene data in the plurality of scene data, and the similarity between the target scene and the scene described by the environment data is greater than or equal to a similarity threshold value.
9. The apparatus of claim 6, wherein the control module comprises:
the first control submodule is used for controlling the automobile to carry out early warning control when the environment scene is that an obstacle exists in front of the automobile and the distance between the automobile and the obstacle is smaller than or equal to a first safety distance;
the detection submodule is used for detecting the distance change between the barrier and the automobile in the process of early warning control of the automobile;
and the second control submodule is used for controlling the automobile to perform deceleration processing, lane changing processing or braking processing when the distance between the barrier and the automobile is closer and smaller than or equal to a second safety distance.
10. A computer-readable storage medium having stored thereon instructions which, when executed by a processor, carry out the steps of the method of any of the preceding claims 1 to 5.
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