CN112849160A - Vehicle control method and device based on automatic driving - Google Patents
Vehicle control method and device based on automatic driving Download PDFInfo
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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
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
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Abstract
The embodiment of the invention provides a method and a device for controlling a vehicle based on automatic driving, wherein the method comprises the following steps: in the automatic driving process, acquiring environmental information acquired by a current vehicle; determining a target vehicle and vehicle type information of the target vehicle according to the environment information; judging whether the vehicle type information is the information of the specified vehicle type; and when the vehicle type information is the appointed vehicle type information, carrying out vehicle tracking on the target vehicle, and controlling the current vehicle according to the vehicle tracking result. According to the embodiment of the invention, the tracking result of the target vehicle of the specified vehicle type is realized, the current vehicle is controlled, the user experience is fully considered, and the automatic driving experience is improved.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a method and a device for controlling a vehicle based on automatic driving.
Background
With the development of intelligent automobiles, the application of automatic driving in vehicles is more and more extensive. In the automatic driving process, once the surrounding vehicles are detected, the surrounding vehicles can be avoided, so that the safety of automatic driving is ensured.
However, the vehicle avoidance strategy in the automatic driving process adopts the same avoidance measure for any vehicle, and actually, the feeling given to the user by one large-sized automobile and one small-sized automobile near the automatic driving vehicle is different, and if the same avoidance strategy is used for the large-sized automobile and the small-sized automobile, the use experience of the user in the automatic driving process may be ignored; in addition, even if the surrounding vehicles are all small cars, the actual feelings of users for different small cars which may collide nearby may be different, for example, for a small car with a high value, the loss of the car owner is relatively greater upon collision, and the users need to pay more attention to the special cars. The avoidance strategy in the automatic driving process is single, the actual experience of the user is ignored, and therefore the automatic driving experience of the user is reduced.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for autonomous-drive-based vehicle control that overcomes or at least partially solves the above mentioned problems, comprising:
a method of autonomous-drive-based vehicle control, the method comprising:
in the automatic driving process, acquiring environmental information acquired by a current vehicle;
determining a target vehicle and vehicle type information of the target vehicle according to the environment information;
judging whether the vehicle type information is the information of the specified vehicle type;
and when the vehicle type information is the appointed vehicle type information, carrying out vehicle tracking on the target vehicle, and controlling the current vehicle according to the vehicle tracking result.
Optionally, the controlling the current vehicle according to the result of the vehicle tracking includes:
determining a relative position and a relative direction of the target vehicle and the current vehicle;
and controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle.
Optionally, the controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle includes:
determining whether a changeable lane exists on a side of the current vehicle away from the target vehicle when the target vehicle is located in a front position area or a side position area of the current vehicle and the target vehicle and the current vehicle are in opposite driving directions;
when the current vehicle has a changeable lane on the side far away from the target vehicle, controlling the current vehicle to travel to the lane of the current vehicle on the side far away from the target vehicle.
Optionally, the method further comprises:
determining a probability of collision with the target vehicle when the current vehicle does not have a convertible lane on a side away from the target vehicle;
when the collision probability is larger than a preset probability, determining loss evaluation information of the current vehicle;
and controlling the current vehicle according to the loss evaluation information.
Optionally, the controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle includes:
when the target vehicle is located in a front position area of the current vehicle and the target vehicle and the current vehicle are in the same driving direction, determining distance information of the current vehicle relative to the target vehicle and abnormal information of the target vehicle;
and controlling the current vehicle according to the distance information and the abnormal information.
Optionally, the controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle includes:
and when the target vehicle is located in a side position area of the current vehicle and the target vehicle and the current vehicle are in the same driving direction, controlling the current vehicle to be far away from the target vehicle.
Optionally, the apparatus comprises:
the environment information acquisition module is used for acquiring environment information acquired by a current vehicle in the automatic driving process;
the target vehicle determining module is used for determining a target vehicle and vehicle type information of the target vehicle according to the environment information;
the vehicle type information judging module is used for judging whether the vehicle type information is the specified vehicle type information;
and the current vehicle control module is used for tracking the target vehicle when the vehicle type information is the specified vehicle type information, and controlling the current vehicle according to the result of vehicle tracking.
Optionally, the current vehicle control module comprises:
a tracking result submodule for determining a relative position and a relative direction of the target vehicle and the current vehicle;
and the vehicle control submodule is used for controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle.
A vehicle comprising a processor, a memory and a computer program stored on and executable on the memory, the computer program when executed by the processor implementing the method of autonomous-based vehicle control as described above.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method of autonomous-drive-based vehicle control as set out above.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, in the automatic driving process, the environmental information acquired by the current vehicle is acquired, the vehicle type information of the target vehicle and the target vehicle is determined according to the environmental information, whether the vehicle type information is the appointed vehicle type information is judged, when the vehicle type information is the appointed vehicle type information, the target vehicle is tracked, and the current vehicle is controlled according to the vehicle tracking result, so that the tracking result of the target vehicle of the appointed vehicle type is realized, the current vehicle is controlled, the user experience is fully considered, and the automatic driving experience is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1a is a flowchart illustrating steps of a method for automated vehicle control according to an embodiment of the present invention;
FIG. 1b is a block diagram of a vehicle control system according to an embodiment of the present invention;
FIG. 2a is a flow chart illustrating steps in another method for automated vehicle control according to an embodiment of the present invention;
FIG. 2b is a flow chart of a method of vehicle control according to an embodiment of the present invention;
FIG. 2c is a flow chart of another method of vehicle control provided by an embodiment of the present invention;
FIG. 3a is a flowchart illustrating steps in a method for autonomous vehicle control, according to an embodiment of the present invention;
FIG. 3b is a flow chart of yet another method of vehicle control provided by an embodiment of the present invention;
FIG. 3c is a flow chart of a method of controlling a vehicle according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus for controlling a vehicle based on automatic driving according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1a, a flowchart illustrating steps of a method for controlling a vehicle based on automatic driving according to an embodiment of the present invention may specifically include the following steps:
in one example, the environmental information may be obstacle information collected by a radar sensor and/or image information collected by a camera sensor of a current vehicle.
In practical applications, as shown in fig. 1b, devices for collecting surrounding environment information, such as radar sensors, cameras, etc., may be installed in the vehicle, and when the vehicle is in the automatic driving mode, the surrounding environment information may be collected through the devices installed in the current vehicle.
The surrounding environment information may include obstacle information collected by a radar sensor and/or image information collected by a camera sensor.
The radar sensor and the camera sensor can acquire the distance of the obstacle, the direction of the obstacle relative to the current vehicle and the image information of the obstacle in real time. Therefore, during the automatic driving process of the current vehicle, the direction and the distance of other vehicles in the moving range relative to the current vehicle can be determined, meanwhile, the vehicle can also determine the transverse/longitudinal acceleration of the current vehicle through the speed sensor and the inertia sensor of the vehicle, and the steering information of the barricade vehicle acquired by the steering sensor, so that the information such as the position speed, the position and the like of other vehicles around the current vehicle can be determined.
after the environment information is acquired, the target vehicle may be determined by the image information or the obstacle information in the environment information, and the vehicle type information of the target vehicle may be determined by recognizing the characteristic image of the target vehicle in the image information.
after the model information of the target vehicle is determined, the model information can be matched in a preset model library, the preset vehicle library can store the specified model information, and whether the model information of the target vehicle is the specified model information can be judged through matching.
In an example, a Human Machine interaction module may be included in the current vehicle, and a Human Machine Interface (HMI) in the Human Machine interaction module may previously enter specified vehicle type information into a vehicle type library in order to determine whether the target vehicle is the target vehicle. The manner of storing the specified information in the vehicle type library in advance is as follows:
in the man-machine interaction module, a driver is prompted to input or select the vehicle type information (namely the appointed vehicle type information) of a specific vehicle according to a pop-up interface, the front and back front pictures of the vehicle with the specific vehicle type are input by the driver within a first preset time, and the appointed vehicle type information and the corresponding pictures are stored in a vehicle type library.
Or the driver inputs front and rear images of a vehicle with a specific vehicle model within first preset time, the system identifies the images, when the vehicle model is identified, the vehicle model is sent to a large screen to be displayed, the driver is prompted to determine whether the vehicle model is identified correctly, when the vehicle model is identified correctly, the driver performs confirmation operation on an interactive interface, and after the system performs corresponding confirmation operation, the information of the specified vehicle model and the corresponding images can be stored in a vehicle model library.
When the driver does not input the front and rear front pictures of the vehicle with the specific vehicle model within the first preset time, the pop-up interface can be hidden.
When the driver determines that the vehicle model identification is incorrect, a step of prompting the driver to input or select model information of a specific vehicle according to a pop-up interface is performed.
And 104, when the vehicle type information is the specified vehicle type information, carrying out vehicle tracking on the target vehicle, and controlling the current vehicle according to the vehicle tracking result.
When the model information is appointed model information, can carry out vehicle tracking to the target vehicle of appointed model information, and then can be through vehicle tracking's result, generate braking instruction and/or turn to the instruction, can send braking instruction and/or turn to the instruction and brake the execution module and/or turn to the execution module, brake the execution module and/or turn to the execution module and control current vehicle, in order to avoid current vehicle and target vehicle to collide, improve automatic driving's security, improve the autopilot experience, the user can make corresponding vehicle avoidance measure according to own experience, vehicle avoidance strategy has been enriched.
In one example, controlling the current vehicle may include controlling a following distance, a speed, an emergency braking collision threshold, lane change detection, an offset distance, and the like.
The avoidance strategy of the vehicle may specifically include any one or more of the following vehicle control methods:
primary longitudinal avoidance: increasing the following distance to T1, and increasing the emergency braking collision threshold to P1.
Secondary longitudinal avoidance: the self vehicle is immediately decelerated, the speed drop is adjusted to be V1, the following vehicle distance is increased to T2, and the emergency braking collision threshold is increased to P2.
Three-stage longitudinal avoidance: the self vehicle is immediately decelerated, the speed drop is adjusted to be V2, the following vehicle distance is increased to T3, and the emergency braking collision threshold is increased to P3.
Lateral avoidance (i.e., primary lateral avoidance): the planned driving track of the self-vehicle is wholly deviated to the other side by a first preset distance (Dy 2).
Lane change detection: conventional lane change detection or emergency lane change detection.
Among them, P3> P2> P1, the higher the emergency braking collision threshold is, the easier emergency braking is activated, V2> V1, T3> T2> T1.
In the embodiment of the invention, the environmental information acquired by the current vehicle is acquired in the automatic driving process, the vehicle type information of the target vehicle and the target vehicle is determined according to the environmental information, whether the vehicle type information is the appointed vehicle type information is judged, when the vehicle type information is the appointed vehicle type information, the target vehicle is tracked, and the current vehicle is controlled according to the vehicle tracking result, so that the tracking result of the target vehicle of the appointed vehicle type is realized, the current vehicle is controlled, the vehicle avoiding strategy is enriched, the user experience is fully considered, and the automatic driving experience is improved.
Referring to fig. 2a, a flowchart illustrating steps of another method for controlling a vehicle based on automatic driving according to an embodiment of the present invention may specifically include the following steps:
in an example, when the vehicle type information is the information of the specified vehicle type, a request message can be generated to prompt a driver to identify a target vehicle of which the vehicle type information is the information of the specified vehicle type, the driver is requested to confirm whether to start avoidance tracking, and when the confirmation of the avoidance tracking on the target vehicle is detected, the vehicle tracking can be started on the target vehicle, so that special vehicle type avoidance measures can be carried out on the target vehicle; when the avoidance tracking is not started for the target vehicle in the detection, the target vehicle can be normally controlled, and a special vehicle type avoidance measure is not entered.
after the target vehicle with the vehicle type information being the designated vehicle type information is tracked, the relative position and the corresponding direction of the target vehicle and the current vehicle can be determined.
Wherein the relative position of the target vehicle and the current vehicle may include that the target vehicle is located in a front position area of the current vehicle (i.e., a right front area) or that the target vehicle is located in a side position area of the current vehicle (i.e., a left front area or a right front area of the current vehicle); the relative direction of the target vehicle and the current vehicle may include the target vehicle being in the same driving direction as the current vehicle or the target vehicle being in the opposite driving direction to the current vehicle.
And step 206, controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle.
After determining the relative position and relative direction of the current vehicle, the current vehicle may be controlled accordingly according to the relative position and relative direction of the current vehicle.
In an embodiment of the present invention, the controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle includes:
when the target vehicle is located in a front position area of the current vehicle and the target vehicle and the current vehicle are in the same driving direction, determining distance information of the current vehicle relative to the target vehicle and abnormal information of the target vehicle; and controlling the current vehicle according to the distance information and the abnormal information.
In practical applications, when the target vehicle is located in a front position area of the current vehicle, and the target vehicle and the current vehicle are in the same driving direction, the distance information of the current vehicle relative to the target vehicle and the abnormality information of the target vehicle may be determined, wherein the abnormality information of the target vehicle may include speed abnormality information and/or direction abnormality information.
For example, when the target vehicle is tracked, a rapid decrease in the speed of the target vehicle is detected, it may be determined that the target vehicle may be decelerating or braking, and it may be determined that the speed of the target vehicle is abnormal; when the target vehicle is continuously deviated to the left and/or right, it may be determined that the direction of the target vehicle is abnormal.
In determining the distance information and the abnormality information of the target vehicle, the vehicle may be controlled according to the distance information and the abnormality information.
For example, as shown in fig. 2b, when it is detected that the target vehicle is in a region in front of the current vehicle (e.g., the target vehicle and the current vehicle are in the same lane or in front of and behind adjacent lanes, i.e., region 1), the current vehicle and the target vehicle travel in the same direction, a primary longitudinal avoidance may be started first, the distance between the current vehicle and the target vehicle is appropriately pulled to T1, and at the same time, the emergency braking threshold is increased to P1.
In the process of tracking the target vehicle, the position track of the target vehicle can be continuously tracked, and when the direction control of a driver of the target vehicle is judged to be abnormal, secondary longitudinal avoidance can be started; when the speed control of the driver of the target vehicle is judged to be abnormal, three-stage longitudinal avoidance can be started, and when the three-stage avoidance is started, conventional lane change detection can be performed through lane line, lane change space safety detection and the like.
And when the changeable lane exists on the side of the current vehicle far away from the target vehicle, controlling the current vehicle to run to the lane of the current vehicle on the side far away from the target vehicle, and accelerating to overtake the target vehicle.
When there is no convertible lane on the side of the subject vehicle away from the subject vehicle, the crash threshold is increased to P4(P4> P3) and the driver may be prompted to take over vehicle control.
In an embodiment of the present invention, the controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle includes:
and when the target vehicle is located in a side position area of the current vehicle and the target vehicle and the current vehicle are in the same driving direction, controlling the current vehicle to be far away from the target vehicle.
In practical applications, when the target vehicle is located in a side position area (adjacent lane to the front left or right) of the current vehicle and the current vehicle is in the same traveling direction as the target vehicle, the current vehicle may be controlled to be away from the target vehicle.
In one example, as shown in fig. 2c, when the target vehicle is located in a side position area (left front or right front lane, i.e., area 2 and/or area 3) of the current vehicle and the target vehicle are in the same driving direction, it may be determined whether the current vehicle can pass the target vehicle within a second preset time (T3), and when it is determined that the current vehicle can pass the target vehicle within the second preset time, the vehicle is normally controlled without entering a special-model vehicle avoidance measure; when the current vehicle is judged not to exceed the target vehicle within the second preset time, the target vehicle can be continuously tracked.
When the direction of the target vehicle is abnormal, three-stage longitudinal avoidance and transverse avoidance are started, and conventional lane change detection is carried out simultaneously. When the conventional lane change feasibility detection indicates that a changeable lane exists on the side of the current vehicle far away from the target vehicle, controlling the current vehicle to travel to the lane of the current vehicle on the side of the current vehicle far away from the target vehicle; when the conventional lane change feasibility test indicates that there is no switchable lane on the side of the current vehicle away from the target vehicle, the crash emergency threshold may be increased to P4, prompting the driver to take over vehicle control.
In the process of tracking the target vehicle, the transverse distance between the target vehicle and the current vehicle can also be determined, and when the current vehicle has no abnormal information and the transverse distance is less than or equal to a second preset distance (Dy1), primary longitudinal avoidance and transverse avoidance can be started.
In the embodiment of the invention, the environmental information acquired by the current vehicle is acquired in the automatic driving process, the vehicle type information of the target vehicle and the target vehicle is determined according to the environmental information, whether the vehicle type information is the appointed vehicle type information is judged, when the vehicle type information is the appointed vehicle type information, the vehicle tracking is carried out on the target vehicle, the relative position and the relative direction of the target vehicle and the current vehicle are determined, and the current vehicle is controlled according to the relative position and the relative direction of the target vehicle and the current vehicle, so that the control of the current vehicle is realized through the relative position and the relative direction of the target vehicle and the current vehicle of the appointed vehicle type, the rich vehicle avoidance strategy is provided, the user experience is fully considered, and the automatic driving experience is improved.
Referring to fig. 3a, a flowchart illustrating steps of another method for controlling a vehicle based on automatic driving according to an embodiment of the present invention may specifically include the following steps:
after determining the relative position and relative direction of the target vehicle and the current vehicle, when the target vehicle is located in a front position area or a side position area of the current vehicle and the target vehicle and the current vehicle are in opposite driving directions, that is, the current vehicle and the target vehicle are driven in the same lane or in opposite directions of adjacent vehicles, the current vehicle and the target vehicle may collide, and therefore, conventional lane change feasibility detection may be performed to determine whether a changeable lane exists on a side of the current vehicle away from the target vehicle.
And 307, when the changeable lane exists on the side of the current vehicle far away from the target vehicle, controlling the current vehicle to run to the lane of the current vehicle on the side far away from the target vehicle.
When a changeable lane exists on one side, far away from the target vehicle, of the current road, the current vehicle is controlled to run to the lane on one side, far away from the target vehicle, of the current vehicle, so that collision between the current vehicle and the target vehicle is avoided, and vehicle safety in an automatic driving process is guaranteed.
In an embodiment of the present invention, the method further includes:
determining a probability of collision with the target vehicle when the current vehicle does not have a convertible lane on a side away from the target vehicle; when the collision probability is larger than a preset probability, determining loss evaluation information of the current vehicle; and controlling the current vehicle according to the loss evaluation information.
In practical application, the lane line and lane safety (no other vehicle exists in a certain lane preset range) need to be considered in the conventional lane change detection, and the lane change process is relatively gentle in practice.
When the conventional lane change detection determines that the switchable lane does not exist on the side of the current vehicle far away from the target vehicle, the collision probability of the target vehicle and the current vehicle can be determined, and when the collision probability is greater than the preset probability, the loss evaluation of the current vehicle can be determined, so that the vehicle control can be performed according to the loss evaluation.
The loss evaluation of the current vehicle can be determined by the current vehicle according to a preset collision safety responsibility evaluation mechanism, when the driving of the current vehicle is judged to be irregular according to the collision safety responsibility evaluation mechanism, the loss evaluation of the current vehicle when the current vehicle collides with a target vehicle is large, emergency lane change detection can be started, the limitation of lane lines does not need to be considered in the emergency lane change detection, and meanwhile, the safety detection of lanes is correspondingly adjusted relative to the conventional lane change detection.
For example, in the normal lane detection, if there is no other vehicle within 100 meters before and after a certain lane, the lane change is possible, and in the emergency lane change detection, if there is no other vehicle within 50 meters before and after a certain lane, the lane change is possible in an emergency.
When an emergency lane change lane exists, performing emergency lane change; when there is no emergency lane change, the emergency collision threshold may be increased to P4, prompting the driver to take over vehicle control.
For example, as shown in fig. 3b, when the target vehicle is located in the front position area of the current vehicle and the target vehicle is in the opposite driving direction to the current vehicle, if the driver confirms that the avoidance tracking is turned on, the secondary longitudinal avoidance turn-on may be turned on, the own vehicle is immediately decelerated, the speed drop is adjusted to V1, the following vehicle distance is increased to T2, the emergency braking collision threshold is increased to P2, and the conventional lane change detection is turned on.
When the lane is changeable, changing the lane to an adjacent lane; when no lane change exists, the self-vehicle is driven towards the right side of the lane, the distance Dy from the lane line on the right side is less than or equal to Dy2, the track of the target vehicle is tracked, when the collision probability K between the target vehicle and the current vehicle is continuously monitored within a third preset time (namely T2) and is greater than or equal to a first preset probability K1, the loss evaluation of the current vehicle can be determined, when the accident responsibility is judged according to a collision safety responsibility evaluation mechanism, the loss evaluation is large, emergency lane change safety detection is started, lane change is carried out when an emergency lane change lane exists, and when the emergency lane change lane does not exist, the emergency collision threshold value can be increased to P4 to prompt the driver to take over vehicle control.
When the accident is judged not to be the own responsibility according to the collision safety responsibility evaluation mechanism, the loss evaluation is small, the current vehicle continuously decelerates, and the conventional lane change detection can be continuously carried out.
As shown in fig. 3c, when the target vehicle is located in the side position area of the current vehicle and the target vehicle and the current vehicle are in the opposite driving directions, after the avoidance tracking is confirmed to be started, when the collision probability K of the target vehicle and the current vehicle is continuously monitored within the fourth preset time (Tb) and is greater than or equal to the second preset probability K2, the three-level avoidance and the transverse avoidance are started, and the conventional lane change detection is performed at the same time; and when the collision probability of the target vehicle and the current vehicle is not continuously monitored to be greater than or equal to the second preset probability K2 within the fourth preset time (Tb) and the transverse distance between the target vehicle and the current vehicle is less than Dy1, increasing the emergency braking collision threshold to P1 and shifting Dy2 from the whole planned driving track of the vehicle to the other side.
When the conventional lane change detection indicates that the lane change exists, lane change processing is carried out, when the lane change does not exist, the loss evaluation of the current vehicle can be determined, when the lane change evaluation mechanism judges that the lane change is in responsibility of the own party, the loss evaluation is high, emergency lane change safety detection is started, when the emergency lane change lane exists, lane change is carried out, when the emergency lane change lane does not exist, the emergency collision threshold value can be increased to P4, and a driver is prompted to take over vehicle control.
When the vehicle is judged not to be in the own party responsibility according to the collision safety responsibility evaluation mechanism, the loss evaluation is small, the current vehicle continuously decelerates, the vehicle position track can be continuously tracked, and whether the collision probability K of the target vehicle and the current vehicle is larger than or equal to the first preset probability K2 or not is continuously monitored in the fourth preset time (namely Tb).
In the embodiment of the invention, by acquiring environment information collected by a current vehicle in the automatic driving process, determining vehicle type information of a target vehicle and the target vehicle according to the environment information, judging whether the vehicle type information is appointed vehicle type information, performing vehicle tracking on the target vehicle when the vehicle type information is the appointed vehicle type information, determining the relative position and the relative direction of the target vehicle and the current vehicle, determining whether a changeable lane exists on one side of the current vehicle far away from the target vehicle when the target vehicle is positioned in the front position area or the side position area of the current vehicle and the target vehicle is in the opposite driving direction to the current vehicle, and controlling the current vehicle to drive to the lane on one side of the current vehicle far away from the target vehicle when the changeable lane exists on one side of the current vehicle far away from the target vehicle, the target vehicle which is far away from the vehicle type information and is the appointed vehicle type information is achieved, the collision between the current vehicle and the target vehicle is avoided, and the automatic driving safety is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a schematic structural diagram of an apparatus for controlling a vehicle based on automatic driving according to an embodiment of the present invention is shown, and may specifically include the following modules:
the environment information acquiring module 401 is configured to acquire environment information acquired by a current vehicle in an automatic driving process;
a target vehicle determining module 402, configured to determine a target vehicle and vehicle type information of the target vehicle according to the environment information;
a vehicle type information judging module 403, configured to judge whether the vehicle type information is specified vehicle type information;
and a current vehicle control module 404, configured to perform vehicle tracking on the target vehicle when the vehicle type information is the specified vehicle type information, and control the current vehicle according to a result of the vehicle tracking.
In one embodiment of the present invention, the current vehicle control module 404 includes:
a tracking result submodule for determining a relative position and a relative direction of the target vehicle and the current vehicle;
and the vehicle control submodule is used for controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle.
In an embodiment of the present invention, the vehicle control sub-module may include:
a switchable lane determining unit configured to determine whether a switchable lane exists on a side of the current vehicle away from the target vehicle when the target vehicle is located in a front position area or a side position area of the current vehicle and the target vehicle is in an opposite driving direction to the current vehicle;
a lane changing unit for controlling the current vehicle to travel to a lane of the current vehicle on a side away from the target vehicle when there is a lane that can be changed on the side away from the target vehicle.
In an embodiment of the present invention, the vehicle control sub-module may further include:
a collision probability determination unit for determining a probability of collision with the target vehicle when the current vehicle does not have a switchable lane on a side away from the target vehicle;
the loss evaluation information determining unit is used for determining the loss evaluation information of the current vehicle when the collision probability is greater than a preset probability;
and the first vehicle control unit is used for controlling the current vehicle according to the loss evaluation information.
In an embodiment of the present invention, the vehicle control sub-module may further include:
a distance information and abnormality information determination unit configured to determine distance information of the current vehicle with respect to the target vehicle and abnormality information of the target vehicle when the target vehicle is located in a position area ahead of the current vehicle and the target vehicle is in the same driving direction as the current vehicle;
and the second vehicle control unit is used for controlling the current vehicle according to the distance information and the abnormal information.
In an embodiment of the present invention, the vehicle control sub-module may further include:
and a third vehicle control unit configured to control the current vehicle to move away from the target vehicle when the target vehicle is located in a lateral position area of the current vehicle and the target vehicle and the current vehicle are in the same driving direction.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method for automatic driving-based vehicle control as described above.
An embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the method for automatic driving-based vehicle control as described above.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method and apparatus for controlling a vehicle based on automatic driving are described in detail, and the principle and the embodiment of the present invention are explained herein by using specific examples, and the description of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method of autonomous vehicle control, the method comprising:
in the automatic driving process, acquiring environmental information acquired by a current vehicle;
determining a target vehicle and vehicle type information of the target vehicle according to the environment information;
judging whether the vehicle type information is the information of the specified vehicle type;
and when the vehicle type information is the appointed vehicle type information, carrying out vehicle tracking on the target vehicle, and controlling the current vehicle according to the vehicle tracking result.
2. The method of claim 1, wherein the controlling the current vehicle based on the result of the vehicle tracking comprises:
determining a relative position and a relative direction of the target vehicle and the current vehicle;
and controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle.
3. The method of claim 2, wherein the controlling the current vehicle based on the relative position and relative direction of the target vehicle and the current vehicle comprises:
determining whether a changeable lane exists on a side of the current vehicle away from the target vehicle when the target vehicle is located in a front position area or a side position area of the current vehicle and the target vehicle and the current vehicle are in opposite driving directions;
when the current vehicle has a changeable lane on the side far away from the target vehicle, controlling the current vehicle to travel to the lane of the current vehicle on the side far away from the target vehicle.
4. The method of claim 3, further comprising:
determining a probability of collision with the target vehicle when the current vehicle does not have a convertible lane on a side away from the target vehicle;
when the collision probability is larger than a preset probability, determining loss evaluation information of the current vehicle;
and controlling the current vehicle according to the loss evaluation information.
5. The method of claim 2, 3 or 4, wherein the controlling the current vehicle in accordance with the relative position and relative direction of the target vehicle and the current vehicle comprises:
when the target vehicle is located in a front position area of the current vehicle and the target vehicle and the current vehicle are in the same driving direction, determining distance information of the current vehicle relative to the target vehicle and abnormal information of the target vehicle;
and controlling the current vehicle according to the distance information and the abnormal information.
6. The method of claim 2, 3 or 4, wherein the controlling the current vehicle in accordance with the relative position and relative direction of the target vehicle and the current vehicle comprises:
and when the target vehicle is located in a side position area of the current vehicle and the target vehicle and the current vehicle are in the same driving direction, controlling the current vehicle to be far away from the target vehicle.
7. An apparatus for automated driving-based vehicle control, the apparatus comprising:
the environment information acquisition module is used for acquiring environment information acquired by a current vehicle in the automatic driving process;
the target vehicle determining module is used for determining a target vehicle and vehicle type information of the target vehicle according to the environment information;
the vehicle type information judging module is used for judging whether the vehicle type information is the specified vehicle type information;
and the current vehicle control module is used for tracking the target vehicle when the vehicle type information is the specified vehicle type information, and controlling the current vehicle according to the result of vehicle tracking.
8. The apparatus of claim 7, wherein the current vehicle control module comprises:
a tracking result submodule for determining a relative position and a relative direction of the target vehicle and the current vehicle;
and the vehicle control submodule is used for controlling the current vehicle according to the relative position and the relative direction of the target vehicle and the current vehicle.
9. A vehicle comprising a processor, a memory, and a computer program stored on the memory and operable on the processor, the computer program when executed by the processor implementing the method of autonomous-drive based vehicle control of any of claims 1 to 6.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method of autonomous-drive-based vehicle control of any one of claims 1 to 6.
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