CN113147783A - Control method and control device for unmanned vehicle and unmanned vehicle - Google Patents
Control method and control device for unmanned vehicle and unmanned vehicle Download PDFInfo
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- 238000004458 analytical method Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
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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
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a control method and a control device of an unmanned vehicle and the unmanned vehicle. The control method comprises the following steps: acquiring a signboard and a signal lamp within a preset distance range in front of a lane, wherein the signal lamp indicates a traffic signal at the current moment; judging whether to enter a lane steering mode or not based on the signboard and the traffic signal; if the lane steering mode is determined to be entered, predicting a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameter, wherein the vehicle steering vector indicates a vehicle steering angle; and when the vehicle steering time point is reached, controlling the unmanned vehicle to perform steering operation according to the vehicle steering vector. The invention solves the technical problem that the vehicle is easy to collide because the turning state of the unmanned vehicle is not considered in the related technology.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method and a control device for an unmanned vehicle and the unmanned vehicle.
Background
In the related art, when the vehicle is automatically controlled, how the vehicle runs on a straight road is often considered to avoid collision with other vehicles, but in the current vehicle control mode, the vehicle turning control under the conditions of multi-lane changing, vehicle turning, vehicle steering and the like of the vehicle is not considered, and when the vehicle runs on urban roads and rural roads, the situations of lane changing or steering are often met, and if the special running situations are not considered, the situation that the vehicle cannot be timely turned or easily collides with other vehicles is easily caused.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device of an unmanned vehicle and the unmanned vehicle, which at least solve the technical problem that the vehicle is easy to collide because the direction changing state of the unmanned vehicle is not considered in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a control method of an unmanned vehicle, including: acquiring a signboard and a signal lamp within a preset distance range in front of a lane, wherein the signal lamp indicates a traffic signal at the current moment; judging whether to enter a lane steering mode or not based on the signboard and the traffic signal; if the lane steering mode is determined to be entered, predicting a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameter, wherein the vehicle steering vector indicates a vehicle steering angle; and when the vehicle steering time point is reached, controlling the unmanned vehicle to perform steering operation according to the vehicle steering vector.
Optionally, the step of obtaining the signboard and the signal lamp within the preset distance range in front of the lane includes: analyzing a signboard in a preset distance range in front of a lane by adopting a map model base and lane microwave feedback signals, wherein the map model base is integrated with a plurality of lanes and a simplified building model, the lanes and simplified building model is a simplified model of an area around the unmanned vehicle, the lane microwave feedback signals are received lane feedback signals after the unmanned vehicle transmits microwaves in the preset distance range in front, and the signboard can be analyzed through the lane microwave feedback signals; sending a signal lamp reading request to a lane control system, and receiving a signal response packet fed back by the lane control system, wherein the signal response packet contains a signal lamp color and a traffic signal indicated by the signal lamp color.
Optionally, the step of determining whether to enter a lane steering mode based on the signboard and the traffic signal includes: judging whether the front lane indicated by the signboard is a lane change lane or a steering lane or not based on the signboard and the traffic signal; and if the lane in front indicated by the signboard is determined to be a lane change lane or a steering lane, determining to enter the lane steering mode.
Optionally, the step of predicting a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the own vehicle parameter includes: determining the required duration of the unmanned vehicle during steering based on the current vehicle type and the vehicle parameters; estimating a vehicle steering time point based on the required time length of the unmanned vehicle during steering; determining a steering direction of the unmanned vehicle after entering a lane steering mode; calculating the vehicle steering vector based on the steering direction and lane turn length.
Optionally, the step of calculating the vehicle steering vector based on the steering direction and the lane turning length comprises: acquiring the current speed of the unmanned vehicle and the wheelbases of the front wheel and the rear wheel of the vehicle; calculating a vehicle turning radius and an optimal steering angle during steering based on the current vehicle speed and the vehicle front and rear wheel wheelbases; and calculating the vehicle steering vector according to the steering direction, the vehicle turning radius and the optimal steering angle.
Optionally, the vehicle type comprises at least one of: cars, heavy trucks, buses; the own vehicle parameter includes at least one of: vehicle weight, vehicle seat, vehicle length.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of an unmanned vehicle, including: the system comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring a signboard and a signal lamp within a preset distance range in front of a lane, and the signal lamp indicates a traffic signal at the current moment; the judging unit is used for judging whether to enter a lane steering mode or not based on the signboard and the traffic signal; the pre-estimation unit is used for pre-estimating a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameter when the lane steering mode is determined to be entered, wherein the vehicle steering vector indicates a vehicle steering angle; and the control unit is used for controlling the unmanned vehicle to carry out steering operation according to the vehicle steering vector when the vehicle steering time point is reached.
Optionally, the obtaining unit includes: the first analysis module is used for analyzing the signboard in a preset distance range in front of a lane by adopting a map model base and lane microwave feedback signals, wherein the map model base is integrated with a plurality of lanes and building simplified models, the lanes and building simplified models are simplified models of areas around the unmanned vehicle, the lane microwave feedback signals are received lane feedback signals after the unmanned vehicle transmits microwaves in the preset distance range in front, and the signboard can be analyzed through the lane microwave feedback signals; the first receiving module is used for sending a signal lamp reading request to a lane control system and receiving a signal response packet fed back by the lane control system, wherein the signal response packet comprises a signal lamp color and a traffic signal indicated by the signal lamp color.
Optionally, the determining unit includes: the first judging module is used for judging whether a front lane indicated by the signboard is a lane change lane or a steering lane based on the signboard and the traffic signal; the first determining module is used for determining to enter the lane steering mode when the lane in front indicated by the signboard is determined to be a lane changing lane or a steering lane.
Optionally, the pre-estimating unit includes: the second determination module is used for determining the required time length of the unmanned vehicle during steering based on the current vehicle type and the vehicle parameter; the first estimation module is used for estimating a vehicle steering time point based on the required time length of the unmanned vehicle during steering; a third determination module for determining a steering direction of the unmanned vehicle after entering a lane steering mode; a first calculation module to calculate the vehicle steering vector based on the steering direction and a lane turn length.
Optionally, the first computing module comprises: the obtaining submodule is used for obtaining the current speed of the unmanned vehicle and the wheel base of the front wheel and the rear wheel of the vehicle; the first calculation submodule is used for calculating the turning radius of the vehicle and the optimal steering angle during steering on the basis of the current vehicle speed and the wheelbases of the front wheel and the rear wheel of the vehicle; and the second calculation submodule is used for calculating the vehicle steering vector according to the steering direction, the vehicle turning radius and the optimal steering angle.
Optionally, the vehicle type comprises at least one of: cars, heavy trucks, buses; the own vehicle parameter includes at least one of: vehicle weight, vehicle seat, vehicle length.
According to another aspect of the embodiments of the present invention, there is also provided an unmanned vehicle including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform any one of the above described unmanned vehicle control methods via execution of the executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which is characterized by comprising a stored computer program, wherein when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned methods for controlling an unmanned vehicle.
In the embodiment of the invention, a signboard and a signal lamp within a preset distance range in front of a lane are obtained, wherein the signal lamp indicates a traffic signal at the current moment, whether the lane steering mode is entered or not is judged based on the signboard and the traffic signal, if the lane steering mode is determined to be entered, a vehicle steering time point and a vehicle steering vector are estimated according to the current vehicle type and self vehicle parameters, wherein the vehicle steering vector indicates a vehicle steering angle, and when the vehicle steering time point is reached, an unmanned vehicle is controlled to perform steering operation according to the vehicle steering vector. In the embodiment, whether the vehicle enters a lane steering mode can be judged in advance based on the signboard and the traffic signal, and then when the vehicle enters the lane steering module, steering time and steering vectors are controlled, so that safe steering of the vehicle is realized, and the probability of collision among the vehicles is reduced, thereby solving the technical problem that the vehicle is easy to collide because the steering state of the unmanned vehicle is not considered in the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an alternative method of controlling an unmanned vehicle, in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of an alternative control arrangement for an unmanned vehicle, according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Embodiments of the present invention may be applied to various unmanned vehicles of types including, but not limited to: new energy vehicles, automobiles, cars and trucks. The body parameters and the scannable information of each type of unmanned vehicle are different, and the parameters used are different when analyzing road conditions, road signs, other vehicle information and obstacles, and are automatically adjusted according to the specific conditions of each type of vehicle.
On the unmanned vehicle it is possible to integrate: control platform, camera device, perception equipment (including distance perceptron, sensing equipment), safety precaution device etc..
In accordance with an embodiment of the present invention, there is provided an unmanned vehicle control method embodiment, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
Fig. 1 is a flowchart of an alternative method of controlling an unmanned vehicle, as shown in fig. 1, comprising the steps of:
step S102, obtaining a signboard and a signal lamp within a preset distance range in front of a lane, wherein the signal lamp indicates a traffic signal at the current moment;
step S104, judging whether to enter a lane steering mode or not based on the signboard and the traffic signal;
step S106, if the lane steering mode is determined to be entered, predicting a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameter, wherein the vehicle steering vector indicates a vehicle steering angle;
and step S108, controlling the unmanned vehicle to perform steering operation according to the vehicle steering vector when the vehicle steering time point is reached.
Through the steps, the signboard and the signal lamp within the preset distance range in front of the lane can be obtained, wherein the signal lamp indicates the passing signal at the current moment, whether the lane steering mode is entered or not is judged based on the signboard and the passing signal, if the lane steering mode is determined to be entered, the vehicle steering time point and the vehicle steering vector are estimated according to the current vehicle type and the vehicle parameters, wherein the vehicle steering vector indicates the vehicle steering angle, and when the vehicle steering time point is reached, the unmanned vehicle is controlled to perform steering operation according to the vehicle steering vector. In the embodiment, whether the vehicle enters a lane steering mode can be judged in advance based on the signboard and the traffic signal, and then when the vehicle enters the lane steering module, steering time and steering vectors are controlled, so that safe steering of the vehicle is realized, and the probability of collision among the vehicles is reduced, thereby solving the technical problem that the vehicle is easy to collide because the steering state of the unmanned vehicle is not considered in the related technology.
The following describes embodiments of the present invention in detail with reference to the above-described respective implementation steps.
And S102, acquiring a signboard and a signal lamp within a preset distance range in front of the lane, wherein the signal lamp indicates a traffic signal at the current moment.
The signboard in the embodiment of the invention can be understood as a road sign board on two sides of/above a road, including but not limited to: distance sign, the place ahead road sign, diversion sign, turn sign, the sign that goes straight, grade climbing sign, the sign of forbidding to go, downhill path sign etc. and the signal lamp can refer to the signal indication lamp that sets up in road intersection, road top isotopography.
The road involved in the embodiments of the present invention may include one lane or a plurality of parallel lanes.
Optionally, the step of obtaining the signboard and the signal lamp within the preset distance range in front of the lane includes: analyzing the signboard in a preset distance range in front of a lane by adopting a map model base and lane microwave feedback signals, wherein the map model base is integrated with a plurality of lanes and building simplification models, the lanes and building simplification models are simplification models of the surrounding area of the unmanned vehicle, the lane microwave feedback signals are received lane feedback signals after the unmanned vehicle transmits microwaves in the preset distance range in front, and the signboard can be analyzed through the lane microwave feedback signals; and sending a signal lamp reading request to the lane control system, and receiving a signal response packet fed back by the lane control system, wherein the signal response packet comprises the color of the signal lamp and a traffic signal indicated by the color of the signal lamp.
The lane and building simplification models include, but are not limited to: when the lane and the building simplified model are constructed, a navigation map can be adopted to assist in obtaining basic information (including but not limited to geographic coordinates, area, name, height, length, width and shape), and then the lane, the building and the like are scanned to complete the construction of the model. Wherein, when constructing the simplified model of lane and building, the key mark: whether the vehicle is a one-way road or not, information of the distance between the vehicle and the lane, whether an interfering building exists above the lane, the distance between a sidewalk and the lane on two sides of the lane, whether the vehicle can be parked or not, whether the vehicle can be steered or not, and whether various types of vehicles can pass through or not.
For the above navigation maps, including but not limited to: the off-line map and the on-line map acquire road data by using aerial photos, vehicle-mounted sensors (laser radars and camera devices) and a high-precision combined positioning system (a satellite positioning system and an inertial navigation system), then preprocess the original road data, extract various road information, and finally fuse the road information extraction results to generate the navigation map.
The lane control system can be understood as an urban road control system, and the traffic signal of the front road is determined in a wireless connection mode.
Optionally, in the embodiment of the present invention, the color of the signal lamp and the interval duration from the next signal lamp may also be acquired by the vehicle ahead.
And step S104, judging whether to enter a lane steering mode or not based on the signboard and the traffic signal.
In the embodiment of the invention, the step of judging whether to enter a lane steering mode or not based on the signboard and the traffic signal comprises the following steps: judging whether the lane in front indicated by the signboard is a lane change lane or a steering lane or not based on the signboard and the traffic signal; and if the lane in front indicated by the signboard is determined to be the lane change lane or the steering lane, determining to enter a lane steering mode.
And S106, if the lane steering mode is determined to be entered, predicting a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameter, wherein the vehicle steering vector indicates a vehicle steering angle.
Optionally, the step of predicting the vehicle steering time point and the vehicle steering vector according to the current vehicle type and the vehicle parameter includes: determining the required time length of the unmanned vehicle during steering based on the current vehicle type and the vehicle parameters; estimating a vehicle steering time point based on the required time length of the unmanned vehicle during steering; determining the steering direction of the unmanned vehicle after entering a lane steering mode; based on the steering direction and the lane turning length, a vehicle steering vector is calculated.
Lane steering modes include, but are not limited to: lane switching operation, overtaking operation, or turning driving maneuver operation.
When the vehicle steering time point is estimated, the information of other vehicles and obstacles at the steering position point on the lane needs to be considered, and other vehicles and obstacles around are avoided so as to reach the steering position point in time.
As an alternative embodiment of the present invention, the step of calculating a vehicle steering vector based on the steering direction and the lane turning length includes: acquiring the current speed of the unmanned vehicle and the wheelbases of the front wheel and the rear wheel of the vehicle; calculating a turning radius of the vehicle and an optimal steering angle during steering based on the current vehicle speed and the wheelbases of the front and rear wheels of the vehicle; and calculating the vehicle steering vector according to the steering direction, the vehicle turning radius and the optimal steering angle.
After the lane turning mode is determined, the vehicle speed and the wheelbases of the front wheel and the rear wheel can be obtained, then the optimal turning angle of the vehicle is determined, the turning radius of the motor vehicle is obtained according to the optimal turning angle and the wheelbases of the front wheel and the rear wheel, and finally the lane switching path track is planned according to the optimal turning angle and the turning radius of the motor vehicle.
And step S108, controlling the unmanned vehicle to perform steering operation according to the vehicle steering vector when the vehicle steering time point is reached.
Optionally, the vehicle type comprises at least one of: cars, heavy trucks, buses; the own vehicle parameter includes at least one of: vehicle weight, vehicle seat, vehicle length.
By the embodiment, when the unmanned vehicle is controlled to run, the vehicle turning operation is considered, the vehicle turning time point and the turning vector are estimated in time, the unmanned vehicle is controlled to safely reach the turning position point, and therefore the unmanned vehicle is controlled to safely execute the turning operation.
Example two
The present embodiment relates to a control device for an unmanned vehicle, which includes a plurality of implementation units corresponding to the implementation steps in the first embodiment.
Fig. 2 is a schematic diagram of an alternative control device for an unmanned vehicle according to an embodiment of the present invention, which may include, as shown in fig. 2: an acquisition unit 21, a judgment unit 23, an estimation unit 25, a control unit 27, wherein,
the acquiring unit 21 is used for acquiring a signboard and a signal lamp within a preset distance range in front of a lane, wherein the signal lamp indicates a traffic signal at the current moment;
a judging unit 23 for judging whether to enter a lane steering mode based on the signboard and the traffic signal;
the estimation unit 25 is used for estimating a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameters when determining to enter the lane steering mode, wherein the vehicle steering vector indicates a vehicle steering angle;
and a control unit 27 for controlling the unmanned vehicle to perform a steering operation according to the vehicle steering vector when a vehicle steering time point is reached.
The control device of the unmanned vehicle can acquire the signboard and the signal lamp in the preset distance range in front of the lane through the acquisition unit 21, wherein the signal lamp indicates the passing signal at the current moment, the judgment unit 23 judges whether to enter the lane steering mode or not based on the signboard and the passing signal, the estimation unit 25 determines to enter the lane steering mode, the vehicle steering time point and the vehicle steering vector are estimated according to the current vehicle type and the own vehicle parameters, wherein the vehicle steering vector indicates the vehicle steering angle, and the control unit 27 controls the unmanned vehicle to perform steering operation according to the vehicle steering vector when the vehicle steering time point is reached. In the embodiment, whether the vehicle enters a lane steering mode can be judged in advance based on the signboard and the traffic signal, and then when the vehicle enters the lane steering module, steering time and steering vectors are controlled, so that safe steering of the vehicle is realized, and the probability of collision among the vehicles is reduced, thereby solving the technical problem that the vehicle is easy to collide because the steering state of the unmanned vehicle is not considered in the related technology.
Optionally, the obtaining unit includes: the first analysis module is used for analyzing the signboard in a preset distance range in front of a lane by adopting a map model base and lane microwave feedback signals, wherein the map model base is integrated with a plurality of lanes and building simplified models, the lanes and building simplified models are simplified models of the surrounding area of the unmanned vehicle, the lane microwave feedback signals are received lane feedback signals after the unmanned vehicle transmits microwaves to the front within the preset distance range, and the signboard can be analyzed through the lane microwave feedback signals; the first receiving module is used for sending a signal lamp reading request to the lane control system and receiving a signal response packet fed back by the lane control system, wherein the signal response packet contains a signal lamp color and a passing signal indicated by the signal lamp color.
Optionally, the determining unit includes: the first judgment module is used for judging whether the lane in front indicated by the signboard is a lane change lane or a turning lane or not based on the signboard and the traffic signal; the first determining module is used for determining to enter a lane steering mode when the lane in front indicated by the signboard is determined to be a lane changing lane or a steering lane.
Optionally, the estimation unit includes: the second determination module is used for determining the required time length of the unmanned vehicle during steering based on the current vehicle type and the vehicle parameters; the first estimation module is used for estimating a vehicle steering time point based on the required time length of the unmanned vehicle during steering; the third determining module is used for determining the steering direction of the unmanned vehicle after the unmanned vehicle enters the lane steering mode; the first calculation module is used for calculating a vehicle steering vector based on the steering direction and the lane turning length.
Optionally, the first calculation module includes: the acquisition submodule is used for acquiring the current speed of the unmanned vehicle and the wheelbases of the front wheel and the rear wheel of the vehicle; the first calculation submodule is used for calculating the turning radius of the vehicle and the optimal steering angle during steering on the basis of the current vehicle speed and the wheelbases of the front wheel and the rear wheel of the vehicle; and the second calculation submodule is used for calculating the vehicle steering vector according to the steering direction, the vehicle turning radius and the optimal steering angle.
Optionally, the vehicle type comprises at least one of: cars, heavy trucks, buses; the own vehicle parameter includes at least one of: vehicle weight, vehicle seat, vehicle length.
The above-mentioned control device for the unmanned vehicle may further include a processor and a memory, and the above-mentioned acquiring unit 21, the judging unit 23, the estimating unit 25, the control unit 27, and the like are stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to implement the corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. The kernel can be set to be one or more, and the unmanned vehicle is controlled to perform steering operation according to the vehicle steering vector when the vehicle steering time point is reached by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided an unmanned vehicle including: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform any one of the above-described unmanned vehicle control methods via execution of executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored computer program, wherein when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the method for controlling an unmanned vehicle according to any one of the above.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: acquiring a signboard and a signal lamp within a preset distance range in front of a lane, wherein the signal lamp indicates a traffic signal at the current moment; judging whether to enter a lane steering mode or not based on the signboard and the traffic signal; if the lane steering mode is determined to be entered, predicting a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameter, wherein the vehicle steering vector indicates a vehicle steering angle; and when the vehicle steering time point is reached, controlling the unmanned vehicle to perform steering operation according to the vehicle steering vector.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A control method of an unmanned vehicle, characterized by comprising:
acquiring a signboard and a signal lamp within a preset distance range in front of a lane, wherein the signal lamp indicates a traffic signal at the current moment;
judging whether to enter a lane steering mode or not based on the signboard and the traffic signal;
if the lane steering mode is determined to be entered, predicting a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameter, wherein the vehicle steering vector indicates a vehicle steering angle;
and when the vehicle steering time point is reached, controlling the unmanned vehicle to perform steering operation according to the vehicle steering vector.
2. The control method according to claim 1, wherein the step of acquiring the signboard and the signal light within a preset distance range in front of the lane comprises:
analyzing a signboard in a preset distance range in front of a lane by adopting a map model base and lane microwave feedback signals, wherein the map model base is integrated with a plurality of lanes and a simplified building model, the lanes and simplified building model is a simplified model of an area around the unmanned vehicle, the lane microwave feedback signals are received lane feedback signals after the unmanned vehicle transmits microwaves in the preset distance range in front, and the signboard can be analyzed through the lane microwave feedback signals;
sending a signal lamp reading request to a lane control system, and receiving a signal response packet fed back by the lane control system, wherein the signal response packet contains a signal lamp color and a traffic signal indicated by the signal lamp color.
3. The control method according to claim 1, wherein the step of determining whether to enter a lane-steering mode based on the signboard and the traffic signal includes:
judging whether the front lane indicated by the signboard is a lane change lane or a steering lane or not based on the signboard and the traffic signal;
and if the lane in front indicated by the signboard is determined to be a lane change lane or a steering lane, determining to enter the lane steering mode.
4. The control method according to claim 1, wherein the step of estimating a vehicle turning time point and a vehicle turning vector based on the current vehicle type and the own vehicle parameter comprises:
determining the required duration of the unmanned vehicle during steering based on the current vehicle type and the vehicle parameters;
estimating a vehicle steering time point based on the required time length of the unmanned vehicle during steering;
determining a steering direction of the unmanned vehicle after entering a lane steering mode;
calculating the vehicle steering vector based on the steering direction and lane turn length.
5. The control method according to claim 4, wherein the step of calculating the vehicle steering vector based on the steering direction and the lane turning length includes:
acquiring the current speed of the unmanned vehicle and the wheelbases of the front wheel and the rear wheel of the vehicle;
calculating a vehicle turning radius and an optimal steering angle during steering based on the current vehicle speed and the vehicle front and rear wheel wheelbases;
and calculating the vehicle steering vector according to the steering direction, the vehicle turning radius and the optimal steering angle.
6. The control method according to any one of claims 1 to 5, characterized in that the vehicle type includes at least one of: cars, heavy trucks, buses; the own vehicle parameter includes at least one of: vehicle weight, vehicle seat, vehicle length.
7. A control device of an unmanned vehicle, characterized by comprising:
the system comprises an acquisition unit, a display unit and a control unit, wherein the acquisition unit is used for acquiring a signboard and a signal lamp within a preset distance range in front of a lane, and the signal lamp indicates a traffic signal at the current moment;
the judging unit is used for judging whether to enter a lane steering mode or not based on the signboard and the traffic signal;
the pre-estimation unit is used for pre-estimating a vehicle steering time point and a vehicle steering vector according to the current vehicle type and the vehicle parameter when the lane steering mode is determined to be entered, wherein the vehicle steering vector indicates a vehicle steering angle;
and the control unit is used for controlling the unmanned vehicle to carry out steering operation according to the vehicle steering vector when the vehicle steering time point is reached.
8. The control device according to claim 7, wherein the acquisition unit includes:
the first analysis module is used for analyzing the signboard in a preset distance range in front of a lane by adopting a map model base and lane microwave feedback signals, wherein the map model base is integrated with a plurality of lanes and building simplified models, the lanes and building simplified models are simplified models of areas around the unmanned vehicle, the lane microwave feedback signals are received lane feedback signals after the unmanned vehicle transmits microwaves in the preset distance range in front, and the signboard can be analyzed through the lane microwave feedback signals;
the first receiving module is used for sending a signal lamp reading request to a lane control system and receiving a signal response packet fed back by the lane control system, wherein the signal response packet comprises a signal lamp color and a traffic signal indicated by the signal lamp color.
9. An unmanned vehicle, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of controlling the unmanned vehicle of any of claims 1-6 via execution of the executable instructions.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of controlling an unmanned vehicle according to any one of claims 1 to 6.
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| CN202110396938.XA CN113147783A (en) | 2021-04-13 | 2021-04-13 | Control method and control device for unmanned vehicle and unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435367A (en) * | 2022-03-14 | 2022-05-06 | 东风汽车集团股份有限公司 | Intersection auxiliary transverse control method based on lane indication board and lane line and vehicle |
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2021
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435367A (en) * | 2022-03-14 | 2022-05-06 | 东风汽车集团股份有限公司 | Intersection auxiliary transverse control method based on lane indication board and lane line and vehicle |
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