CN113276885A

CN113276885A - Control method and control device for unmanned vehicle and unmanned vehicle

Info

Publication number: CN113276885A
Application number: CN202110501718.9A
Authority: CN
Inventors: 瞿胜杰; 唐烨; 江金源; 赵红芳; 李永业; 栾琳; 李宁; 肖春辉
Original assignee: Yinlong New Energy Co Ltd; Zhuhai Guangtong Automobile Co Ltd
Current assignee: Yinlong New Energy Co Ltd; Zhuhai Guangtong Automobile Co Ltd
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2021-08-20

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: detecting vehicle speed change data and parking space change data of a rear vehicle behind the unmanned vehicle in a driving state; judging whether the rear vehicle of the unmanned vehicle has an overtaking intention or not based on the vehicle speed change data and the parking space change data; if the rear vehicle of the unmanned vehicle has the overtaking intention, determining road track parameters and gradient parameters of a road to be driven in front of the unmanned vehicle; and executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter. The invention solves the technical problem that the unmanned vehicle easily collides with the vehicle without considering the overtaking intention of the rear vehicle in the related technology.

Description

Control method and control device for unmanned vehicle and unmanned vehicle

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

With the continuous development and maturity of the automation control technology, the unmanned technology is gradually applied to various fields, for example, in the aspect of vehicle control, the unmanned vehicle continuously comes up, the manpower is not needed to drive the vehicle, and the safe driving of the unmanned vehicle is controlled by the unmanned control technology.

In the related art, although the unmanned technology has been greatly developed, the current unmanned technology mostly considers the condition of vehicle sequential driving, and does not consider whether the vehicle has an overtaking intention, if the unmanned vehicle continues to drive at the current driving speed, and then the vehicle has the overtaking intention, the conditions of lane change collision and turning collision are easily caused, traffic accidents are easily caused, not only are the damage caused to the unmanned vehicle, but also other users beside the road are easily damaged, and the use interests of the vehicle owner are influenced.

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 are used for at least solving the technical problems that the unmanned vehicle does not consider the overtaking intention of a rear vehicle and the vehicle collision is easy to occur 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: detecting vehicle speed change data and parking space change data of a rear vehicle behind the unmanned vehicle in a driving state; judging whether the rear vehicle of the unmanned vehicle has an overtaking intention or not based on the vehicle speed change data and the parking space change data; if the rear vehicle of the unmanned vehicle has the overtaking intention, determining road track parameters and gradient parameters of a road to be driven in front of the unmanned vehicle; and executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter.

Optionally, the step of detecting the vehicle speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle includes: photographing a rear vehicle of the unmanned vehicle to obtain a plurality of rear vehicle pictures within a preset time period; analyzing the plurality of rear vehicle pictures, and analyzing distance values of the rear vehicle at a plurality of time points and the unmanned vehicle; determining the vehicle speed change data based on distance values at a plurality of time points; analyzing the multiple rear vehicle pictures, and analyzing the relative positions of the rear vehicle head and the tail of the unmanned vehicle of the rear vehicle at each time point; and analyzing the parking space change data based on the relative positions of a plurality of time points.

Optionally, the step of determining whether the rear vehicle of the unmanned vehicle has an intention to overtake based on the vehicle speed change data and the parking space change data includes: and if the vehicle speed change data indicates that the rear vehicle speed of the unmanned vehicle is increased and the parking space change data indicates that the rear vehicle of the unmanned vehicle deviates from the atomic lane, determining that the rear vehicle of the unmanned vehicle has the overtaking intention.

Optionally, after detecting the vehicle speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle, the control method further includes: monitoring a sound signal emitted by a rear vehicle of the unmanned vehicle; if sound signal is loudspeaker prompt tone or predetermines overtaking sound, just speed of a motor vehicle change data instruction the rear car speed of unmanned vehicle promotes, then confirms that unmanned vehicle's rear car has the intention of overtaking.

Optionally, if there is an intention to overtake behind the unmanned vehicle, the step of determining the road track parameter and the gradient parameter of the road to be traveled in front of the unmanned vehicle includes: if the rear vehicle of the unmanned vehicle has the overtaking intention, analyzing the road driving direction, the road type and the road turning angle of the road to be driven in front of the unmanned vehicle to obtain the road track parameter; and if the road to be driven in front of the unmanned vehicle is an inclined road, analyzing the ascending slope/descending slope and the curvature of the road to obtain the slope parameter.

Optionally, after determining road track parameters and gradient parameters of a road to be traveled in front of the unmanned vehicle, the control method further comprises: if the road track parameters indicate that the road turning angle of the road to be driven exceeds a preset angle threshold, performing turning prompt operation on a rear vehicle of the unmanned vehicle; and if the gradient parameter indicates that the gradient of the slope exceeds a preset gradient threshold value, carrying out downhill danger prompting operation on a rear vehicle of the unmanned vehicle.

Optionally, the step of executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter comprises: and if the gradient parameter indicates that the inclined gradient belongs to the normal vehicle running gradient range, and the road track parameter indicates that the road turning angle of the road to be run does not exceed a preset angle threshold value, executing a vehicle avoidance strategy according to the obstacle detection data and the pedestrian data on the road to be run.

According to another aspect of the embodiments of the present invention, there is also provided a control method of an unmanned vehicle, including: displaying the speed change data and the parking space change data of the rear vehicle on an operation interface of the unmanned vehicle in a driving state; judging whether the rear vehicle of the unmanned vehicle has an overtaking intention or not based on the vehicle speed change data and the parking space change data; if the rear vehicle of the unmanned vehicle has the overtaking intention, displaying a vehicle avoidance strategy on an operation interface of the unmanned vehicle, wherein the avoidance strategy is determined according to road track parameters and gradient parameters of a road to be driven in front of the unmanned vehicle.

According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of an unmanned vehicle, including: the detection unit is used for detecting the speed change data and the parking space change data of a rear vehicle behind the unmanned vehicle in a driving state; the first judgment unit is used for judging whether the rear vehicle of the unmanned vehicle has the overtaking intention or not based on the vehicle speed change data and the parking space change data; the determining unit is used for determining road track parameters and gradient parameters of a road to be traveled in front of the unmanned vehicle when the rear vehicle of the unmanned vehicle has an overtaking intention; and the execution unit is used for executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter.

Optionally, the detection unit includes: the first shooting module is used for shooting a rear vehicle of the unmanned vehicle to obtain a plurality of rear vehicle pictures within a preset time period; the first analysis module is used for analyzing the plurality of rear vehicle pictures and analyzing distance values of the rear vehicle at a plurality of time points and the unmanned vehicle; the first determination module is used for determining the vehicle speed change data based on distance values of a plurality of time points; the second analysis module is used for analyzing the multiple rear vehicle pictures and analyzing the relative positions of the rear vehicle head of the rear vehicle and the tail of the unmanned vehicle at each time point; and the third analysis module is used for analyzing the parking space change data based on the relative positions of a plurality of time points.

Optionally, the first judging unit includes: and the second determination module is used for determining that the rear vehicle of the unmanned vehicle has the overtaking intention when the vehicle speed change data indicates that the rear vehicle speed of the unmanned vehicle is increased and the parking space change data indicates that the rear vehicle of the unmanned vehicle deviates from the atomic lane.

Optionally, the control device of the unmanned vehicle further comprises: the monitoring unit is used for monitoring a sound signal emitted by a rear vehicle of the unmanned vehicle after detecting the vehicle speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle; and the third determination module is used for determining that the sound signal is horn prompt sound or preset overtaking sound, and the speed change data indicates that the rear vehicle speed of the unmanned vehicle is increased, so that the rear vehicle of the unmanned vehicle is determined to have overtaking intention.

Optionally, the determining unit includes: the fourth analysis module is used for analyzing the road running direction, the road type and the road turning angle of a road to be run in front of the unmanned vehicle to obtain the road track parameters, wherein the rear vehicle of the unmanned vehicle has the purpose of overtaking; and the fifth analysis module is used for analyzing the ascending slope/descending slope and the curvature of the road to obtain the slope parameters when the road to be driven in front of the unmanned vehicle is an inclined road.

Optionally, the control device of the unmanned vehicle further comprises: the first prompting module is used for executing turning prompting operation on a rear vehicle of the unmanned vehicle if the road track parameter indicates that the road turning angle of the road to be driven exceeds a preset angle threshold value after determining the road track parameter and the gradient parameter of the road to be driven in front of the unmanned vehicle; and the second prompting module is used for executing downhill danger prompting operation on a rear vehicle of the unmanned vehicle when the gradient parameter indicates that the gradient of inclination exceeds a preset gradient threshold value.

Optionally, the execution unit includes: and the execution module is used for indicating that the inclined gradient belongs to the normal vehicle running gradient range by the gradient parameter, indicating that the road turning angle of the road to be run does not exceed a preset angle threshold value by the road track parameter, and executing a vehicle avoidance strategy according to the obstacle detection data and the pedestrian data on the road to be run.

According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of an unmanned vehicle, including: the first display unit is used for displaying the speed change data and the parking space change data of the rear vehicle on an operation interface of the unmanned vehicle in a driving state; the second judgment unit is used for judging whether the rear vehicle of the unmanned vehicle has the overtaking intention or not based on the vehicle speed change data and the parking space change data; and the second display unit is used for displaying a vehicle avoidance strategy on an operation interface of the unmanned vehicle when the rear vehicle of the unmanned vehicle has the overtaking intention, wherein the avoidance strategy is determined according to the road track parameter and the gradient parameter of the road to be traveled in front of the unmanned vehicle.

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.

In the embodiment of the invention, the vehicle speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle are detected in a driving state, whether the rear vehicle of the unmanned vehicle has the purpose of overtaking is judged based on the vehicle speed change data and the parking space change data, if the rear vehicle of the unmanned vehicle has the purpose of overtaking, the road track parameter and the gradient parameter of the road to be driven in front of the unmanned vehicle are determined, and the vehicle avoidance strategy is executed based on the road track parameter and the gradient parameter. In the embodiment, whether the rear vehicle of the unmanned vehicle has the overtaking intention or not can be judged based on the detected vehicle speed change data and parking space change data, and when the rear vehicle has the overtaking intention, the vehicle avoidance is carried out in time, so that the occurrence of traffic accidents is reduced, and the technical problem that the vehicle collision is easy to occur because the overtaking intention of the rear vehicle is not considered by the unmanned vehicle in the related technology is solved.

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 flow chart of another alternative method of controlling an unmanned vehicle, in accordance with an embodiment of the present invention;

FIG. 3 is a schematic diagram of an alternative unmanned vehicle control arrangement, according to an embodiment of the present invention;

FIG. 4 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: garden logistics vehicles, new energy vehicles, automobiles and trucks. The body parameters and the scannable information of each type of unmanned vehicle are different, and the parameters used in analyzing park road conditions, road signs, lane lines, other vehicle information and obstacles are different 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, detecting the speed change data and the parking space change data of a rear vehicle behind the unmanned vehicle in a driving state;

step S104, judging whether the rear vehicle of the unmanned vehicle has an overtaking intention or not based on the vehicle speed change data and the parking space change data;

step S106, if the rear vehicle of the unmanned vehicle has the overtaking intention, determining road track parameters and gradient parameters of a road to be traveled in front of the unmanned vehicle;

and step S108, executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter.

Through the steps, the speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle can be detected in the driving state; judging whether the rear vehicle of the unmanned vehicle has an overtaking intention or not based on the vehicle speed change data and the parking space change data; if the rear vehicle of the unmanned vehicle has the overtaking intention, determining road track parameters and gradient parameters of a road to be driven in front of the unmanned vehicle; and executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter. In the embodiment, whether the rear vehicle of the unmanned vehicle has the overtaking intention or not can be judged based on the detected vehicle speed change data and parking space change data, and when the rear vehicle has the overtaking intention, the vehicle avoidance is carried out in time, so that the occurrence of traffic accidents is reduced, and the technical problem that the vehicle collision is easy to occur because the overtaking intention of the rear vehicle is not considered by the unmanned vehicle in the related technology is solved.

The following describes embodiments of the present invention in conjunction with the above-described implementation steps.

And step S102, detecting the vehicle speed change data and the parking space change data of a rear vehicle behind the unmanned vehicle in a driving state.

The unmanned vehicle can run on various roads in a running state, and a road to be run with low crowdedness can be screened out according to a navigation map, a departure place and a destination. Because roads to be driven are influenced by the base plane of each geographic position, the floating gradient of the roads in each place is different, for example, in a city, the roads generally belong to plain areas, the designed floating gradient of the roads is smaller, and more roads with larger inclined gradient are influenced by the road design of overpasses, intersections, underground lanes and the like; in other roads, such as mountain roads, the designed road is easily affected by hills, rivers, mountains, and the like, and the road inclination tends to be large.

In order to evaluate the potential safety hazards and avoidance possibility of overtaking on different types of roads, the overtaking avoidance strategy can be adjusted in time based on the road gradient and the floating degree of the road to be driven, the safe driving of the vehicle is ensured, and traffic accidents such as vehicle collision and rollover can be avoided.

Optionally, the step of detecting the speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle includes: photographing a rear vehicle of the unmanned vehicle to obtain a plurality of rear vehicle pictures within a preset time period; analyzing a plurality of rear vehicle pictures, and analyzing distance values of the rear vehicle at a plurality of time points and the unmanned vehicle; determining vehicle speed change data based on the distance values at the plurality of time points; analyzing a plurality of rear vehicle pictures, and analyzing the relative positions of the rear vehicle head and the tail of the unmanned vehicle of the rear vehicle at each time point; and analyzing the parking space change data based on the relative positions of the multiple time points.

Through the relative position of analysis back car and current vehicle, especially whether the locomotive direction of back car squints current vehicle direction of travel to whether the vehicle acceleration of going of looking over the back car promotes, through acceleration and locomotive direction and the relative position of a plurality of time points, analysis parking stall change data. If the rear vehicle head deviates from the original driving direction, the acceleration is obviously improved, and meanwhile, the relative position distance of the rear vehicle position relative to the current vehicle position is continuously close, so that the rear vehicle can be judged to have the overtaking intention.

In an optional implementation manner of this embodiment, after detecting the vehicle speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle, the control method further includes: monitoring a sound signal emitted by a rear vehicle of the unmanned vehicle; and if the sound signal is a horn prompt sound or a preset overtaking sound, and the speed change data indicates that the rear vehicle speed of the unmanned vehicle is increased, determining that the rear vehicle of the unmanned vehicle has an overtaking intention.

Generally, before the rear vehicle performs the overtaking action, the rear vehicle sends prompting information to the front vehicle through a certain prompting operation, for example, the front vehicle is informed that the front vehicle is ready to overtake by pressing a horn, clicking the horn and the like, and if the front vehicle receives the horn prompting sound and detects that the speed of the rear vehicle is increased, the rear vehicle of the unmanned vehicle is determined to have the overtaking intention.

In the embodiment, whether the rear vehicle of the unmanned vehicle emits the sound signal or not can be continuously detected, the sound signal is analyzed according to the preset vehicle identification rule to determine the type of the rear vehicle, then the overtaking intention of the rear vehicle is judged according to the type of the rear vehicle, and then the corresponding avoidance strategy is executed, so that the driving safety and the intelligent level of the unmanned vehicle can be effectively improved.

For the environment with low visibility such as night, dense fog, dust and sand, in this embodiment, when detecting the vehicle speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle, specific detection equipment such as an ultrasonic radar or a laser radar can be used for data acquisition, and the lighting equipment of the current vehicle is turned on, so as to improve the visibility of the vehicle and improve the acquisition accuracy of the parking space change data.

And step S104, judging whether the rear vehicle of the unmanned vehicle has the overtaking intention or not based on the vehicle speed change data and the parking space change data.

Optionally, the step of judging whether the rear vehicle of the unmanned vehicle has the overtaking intention or not based on the vehicle speed change data and the parking space change data comprises the following steps: and if the vehicle speed change data indicate that the rear vehicle speed of the unmanned vehicle is increased and the parking space change data indicate that the rear vehicle of the unmanned vehicle deviates from the atomic lane, determining that the rear vehicle of the unmanned vehicle has the overtaking intention.

And step S106, if the rear vehicle of the unmanned vehicle has the overtaking intention, determining the road track parameter and the gradient parameter of the road to be traveled in front of the unmanned vehicle.

In this embodiment, if there is an intention to pass a vehicle behind the unmanned vehicle, the step of determining the road track parameter and the gradient parameter of the road to be traveled that are located in front of the unmanned vehicle includes: if the rear vehicle of the unmanned vehicle has the overtaking intention, analyzing the road driving direction, the road type and the road turning angle of the road to be driven in front of the unmanned vehicle to obtain road track parameters; and if the road to be driven in front of the unmanned vehicle is an inclined road, analyzing the ascending slope/descending slope and the curvature of the road to obtain slope parameters.

Alternatively, after determining the road track parameter and the gradient parameter of the road to be traveled located in front of the unmanned vehicle, the control method further comprises: if the road track parameter indicates that the road turning angle of the road to be driven exceeds a preset angle threshold, turning prompt operation is executed on a rear vehicle of the unmanned vehicle; and if the gradient parameter indicates that the gradient of the slope exceeds a preset gradient threshold value, carrying out downhill danger prompting operation on a rear vehicle of the unmanned vehicle.

For the purpose of overtaking of vehicles on an uphill slope and a downhill slope, whether traffic accidents occur or not needs to be analyzed in detail, because the vehicle speed is often reduced on the uphill slope, the running speed of the vehicles is obviously improved on the downhill slope, and if the vehicle speed is continuously judged according to the original vehicle speed, the vehicles are easy to be too close to each other, and the vehicles are easy to collide with each other.

Optionally, the step of executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter includes: and if the gradient parameter indicates that the inclined gradient belongs to the normal vehicle running gradient range and the road track parameter indicates that the road turning angle of the road to be run does not exceed the preset angle threshold, executing a vehicle avoidance strategy according to the obstacle detection data and the pedestrian data on the road to be run.

Alternatively, the control method may further include: the method comprises the steps of initializing and establishing a vehicle coordinate system, calculating lane-changing fault-tolerant deviation according to lane recognition results and current vehicle geographic positioning information, and then adjusting a local driving path of a vehicle based on the lane-changing fault-tolerant deviation. The lane change fault-tolerant deviation is calculated based on each data state, and is dynamically updated in real time, so that the system complexity is simplified, the practical application is easy, the continuous and smooth control among multiple following states is realized, and the comfort and the stability of the intelligent driving vehicle are improved.

By the embodiment, the situation that the rear vehicle has the overtaking intention can be judged in time, the avoidance strategy can be adjusted in time according to the road parameters of the current driving road, and the unmanned vehicle is controlled to safely drive on the planned path.

An example of the invention is described below in connection with an alternative embodiment.

Fig. 2 is a flowchart of another alternative control method of the unmanned vehicle according to the embodiment of the present invention, as shown in fig. 2, the control method further comprising:

step S202, displaying the speed change data and the parking space change data of the rear vehicle on an operation interface of the unmanned vehicle in a driving state;

step S204, judging whether the rear vehicle of the unmanned vehicle has an overtaking intention or not based on the vehicle speed change data and the parking space change data;

and S206, if the rear vehicle of the unmanned vehicle has the overtaking intention, displaying a vehicle avoidance strategy on an operation interface of the unmanned vehicle, wherein the avoidance strategy is determined according to the road track parameter and the gradient parameter of the road to be driven in front of the unmanned vehicle.

Through the steps, the speed change data and the parking space change data of the rear vehicle can be displayed on the operation interface of the unmanned vehicle in the driving state, whether the rear vehicle of the unmanned vehicle has the overtaking intention or not is judged based on the speed change data and the parking space change data, and if the rear vehicle of the unmanned vehicle has the overtaking intention, a vehicle avoidance strategy is displayed on the operation interface of the unmanned vehicle, wherein the avoidance strategy is determined according to the road track parameter and the gradient parameter of the road to be driven in front of the unmanned vehicle. In the embodiment, corresponding vehicle speed change and parking space change can be displayed on an operation interface of the unmanned vehicle, whether the rear vehicle of the unmanned vehicle has the overtaking intention or not is judged based on the detected vehicle speed change data and parking space change data, and when the rear vehicle has the overtaking intention, the vehicle is avoided in time, so that traffic accidents are reduced, and the technical problem that the unmanned vehicle easily collides with the rear vehicle without considering the overtaking intention of the rear vehicle in the related technology is solved.

The invention is described below in connection with an alternative embodiment.

Example two

Fig. 3 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. 3: a detection unit 31, a first judgment unit 33, a determination unit 35, an execution unit 37, wherein,

a detection unit 31 for detecting vehicle speed change data and parking space change data of a rear vehicle located behind the unmanned vehicle in a traveling state;

a first judging unit 33 configured to judge whether there is an intention to overtake a rear vehicle of the unmanned vehicle based on the vehicle speed change data and the parking space change data;

the determining unit 35 is used for determining road track parameters and gradient parameters of a road to be traveled in front of the unmanned vehicle when the rear vehicle of the unmanned vehicle has an overtaking intention;

and the execution unit 37 is used for executing the vehicle avoidance strategy based on the road track parameter and the gradient parameter.

The control device of the unmanned vehicle can detect the speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle in a driving state through the detection unit 31, and judge whether the rear vehicle of the unmanned vehicle has the overtaking intention or not through the first judgment unit 33 based on the speed change data and the parking space change data; the determination unit 35 determines road track parameters and gradient parameters of a road to be traveled in front of the unmanned vehicle when the unmanned vehicle has an intention to overtake behind the unmanned vehicle, and the execution unit 37 executes a vehicle avoidance strategy based on the road track parameters and the gradient parameters. In the embodiment, whether the rear vehicle of the unmanned vehicle has the overtaking intention or not can be judged based on the detected vehicle speed change data and parking space change data, and when the rear vehicle has the overtaking intention, the vehicle avoidance is carried out in time, so that the occurrence of traffic accidents is reduced, and the technical problem that the vehicle collision is easy to occur because the overtaking intention of the rear vehicle is not considered by the unmanned vehicle in the related technology is solved.

Optionally, the detection unit includes: the first shooting module is used for shooting a rear vehicle of the unmanned vehicle to obtain a plurality of rear vehicle pictures within a preset time period; the first analysis module is used for analyzing a plurality of rear vehicle pictures and analyzing distance values of the rear vehicle at a plurality of time points and the unmanned vehicle; the first determination module is used for determining vehicle speed change data based on distance values of a plurality of time points; the second analysis module is used for analyzing a plurality of rear vehicle pictures and analyzing the relative positions of the rear vehicle head of the rear vehicle and the tail of the unmanned vehicle at each time point; and the third analysis module is used for analyzing the parking space change data based on the relative positions of a plurality of time points.

Optionally, the first determining unit includes: and the second determining module is used for determining that the rear vehicle of the unmanned vehicle has the overtaking intention when the vehicle speed change data indicates that the rear vehicle speed of the unmanned vehicle is increased and the parking space change data indicates that the rear vehicle of the unmanned vehicle deviates from the atomic lane.

Optionally, the control device of the unmanned vehicle further includes: the monitoring unit is used for monitoring a sound signal emitted by a rear vehicle of the unmanned vehicle after detecting the vehicle speed change data and the parking space change data of the rear vehicle behind the unmanned vehicle; and the third determining module is used for determining that the rear vehicle of the unmanned vehicle has the overtaking intention when the sound signal is a horn prompt sound or a preset overtaking sound and the vehicle speed change data indicates that the rear vehicle speed of the unmanned vehicle is increased.

Optionally, the determining unit includes: the fourth analysis module is used for analyzing the road driving direction, the road type and the road turning angle of a road to be driven in front of the unmanned vehicle to obtain road track parameters, wherein the rear vehicle of the unmanned vehicle has the purpose of overtaking; and the fifth analysis module is used for analyzing the ascending slope/descending slope and the road curvature of the road to obtain the slope parameters when the road to be driven in front of the unmanned vehicle is an inclined road.

Optionally, the control device of the unmanned vehicle further includes: the first prompting module is used for executing turning prompting operation on a rear vehicle of the unmanned vehicle if the road track parameter indicates that the road turning angle of the road to be driven exceeds a preset angle threshold value after determining the road track parameter and the gradient parameter of the road to be driven in front of the unmanned vehicle; and the second prompting module is used for executing downhill danger prompting operation on a rear vehicle of the unmanned vehicle when the gradient parameter indicates that the gradient of inclination exceeds a preset gradient threshold value.

Fig. 4 is a schematic view of another alternative control apparatus of the unmanned vehicle according to the embodiment of the present invention, as shown in fig. 4, the control apparatus may include: a first display unit 41, a second determination unit 43, a second display unit 45, wherein,

the first display unit 41 is used for displaying the speed change data and the parking space change data of the rear vehicle on an operation interface of the unmanned vehicle in a driving state;

a second determination unit 43, configured to determine whether the rear vehicle of the unmanned vehicle has an intention to overtake based on the vehicle speed change data and the parking space change data;

and a second display unit 45, configured to display a vehicle avoidance strategy on an operation interface of the unmanned vehicle when a rear vehicle of the unmanned vehicle has an intention to overtake, where the avoidance strategy is determined according to a road track parameter and a gradient parameter of a road to be traveled in front of the unmanned vehicle.

The control device of the unmanned vehicle can display the speed change data and the parking space change data of the rear vehicle on the operation interface of the unmanned vehicle through the first display unit 41 in a driving state, judge whether the rear vehicle of the unmanned vehicle has the overtaking intention or not through the second judgment unit 43 based on the speed change data and the parking space change data, and display the vehicle avoidance strategy on the operation interface of the unmanned vehicle when the rear vehicle of the unmanned vehicle has the overtaking intention through the second display unit 45, wherein the avoidance strategy is determined according to the road track parameter and the gradient parameter of the road to be driven in front of the unmanned vehicle. In the embodiment, corresponding vehicle speed change and parking space change can be displayed on an operation interface of the unmanned vehicle, whether the rear vehicle of the unmanned vehicle has the overtaking intention or not is judged based on the detected vehicle speed change data and parking space change data, and when the rear vehicle has the overtaking intention, the vehicle is avoided in time, so that traffic accidents are reduced, and the technical problem that the unmanned vehicle easily collides with the rear vehicle without considering the overtaking intention of the rear vehicle in the related technology is solved.

The above-mentioned control device for the unmanned vehicle may further include a processor and a memory, the above-mentioned detecting unit 31, the first judging unit 33, the determining unit 35, the executing unit 37, the first presenting unit 41, the second judging unit 43, the second presenting unit 45, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement 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 than one, and the vehicle avoidance strategy is displayed on the operation interface of the unmanned vehicle when the rear vehicle of the unmanned vehicle has the overtaking intention 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.

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: detecting vehicle speed change data and parking space change data of a rear vehicle behind the unmanned vehicle in a driving state; judging whether the rear vehicle of the unmanned vehicle has an overtaking intention or not based on the vehicle speed change data and the parking space change data; if the rear vehicle of the unmanned vehicle has the overtaking intention, determining road track parameters and gradient parameters of a road to be driven in front of the unmanned vehicle; and executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter.

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

1. A control method of an unmanned vehicle, characterized by comprising:

detecting vehicle speed change data and parking space change data of a rear vehicle behind the unmanned vehicle in a driving state;

judging whether the rear vehicle of the unmanned vehicle has an overtaking intention or not based on the vehicle speed change data and the parking space change data;

if the rear vehicle of the unmanned vehicle has the overtaking intention, determining road track parameters and gradient parameters of a road to be driven in front of the unmanned vehicle;

and executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter.

2. The control method according to claim 1, wherein the step of detecting the vehicle speed change data and the space change data of the rear vehicle located behind the unmanned vehicle includes:

photographing a rear vehicle of the unmanned vehicle to obtain a plurality of rear vehicle pictures within a preset time period;

analyzing the plurality of rear vehicle pictures, and analyzing distance values of the rear vehicle at a plurality of time points and the unmanned vehicle;

determining the vehicle speed change data based on distance values at a plurality of time points;

analyzing the multiple rear vehicle pictures, and analyzing the relative positions of the rear vehicle head and the tail of the unmanned vehicle of the rear vehicle at each time point;

and analyzing the parking space change data based on the relative positions of a plurality of time points.

3. The control method according to claim 1, wherein the step of determining whether the rear vehicle of the unmanned vehicle has an intention to cut in based on the vehicle speed change data and the parking space change data includes:

and if the vehicle speed change data indicates that the rear vehicle speed of the unmanned vehicle is increased and the parking space change data indicates that the rear vehicle of the unmanned vehicle deviates from the atomic lane, determining that the rear vehicle of the unmanned vehicle has the overtaking intention.

4. The control method according to claim 1, characterized in that after detecting vehicle speed change data and space change data of a rear vehicle located behind the unmanned vehicle, the control method further comprises:

monitoring a sound signal emitted by a rear vehicle of the unmanned vehicle;

if sound signal is loudspeaker prompt tone or predetermines overtaking sound, just speed of a motor vehicle change data instruction the rear car speed of unmanned vehicle promotes, then confirms that unmanned vehicle's rear car has the intention of overtaking.

5. The control method according to claim 1, wherein the step of determining road track parameters and gradient parameters of a road to be traveled ahead of the unmanned vehicle if there is an intention to pass behind the unmanned vehicle comprises:

if the rear vehicle of the unmanned vehicle has the overtaking intention, analyzing the road driving direction, the road type and the road turning angle of the road to be driven in front of the unmanned vehicle to obtain the road track parameter;

and if the road to be driven in front of the unmanned vehicle is an inclined road, analyzing the ascending slope/descending slope and the curvature of the road to obtain the slope parameter.

6. The control method according to claim 1, characterized in that after determining road track parameters and gradient parameters of a road to be traveled in front of the unmanned vehicle, the control method further comprises:

if the road track parameters indicate that the road turning angle of the road to be driven exceeds a preset angle threshold, performing turning prompt operation on a rear vehicle of the unmanned vehicle;

and if the gradient parameter indicates that the gradient of the slope exceeds a preset gradient threshold value, carrying out downhill danger prompting operation on a rear vehicle of the unmanned vehicle.

7. The control method of claim 1, wherein the step of executing a vehicle avoidance strategy based on the road track parameter and the grade parameter comprises:

and if the gradient parameter indicates that the inclined gradient belongs to the normal vehicle running gradient range, and the road track parameter indicates that the road turning angle of the road to be run does not exceed a preset angle threshold value, executing a vehicle avoidance strategy according to the obstacle detection data and the pedestrian data on the road to be run.

8. A control method of an unmanned vehicle, characterized by comprising:

displaying the speed change data and the parking space change data of the rear vehicle on an operation interface of the unmanned vehicle in a driving state;

if the rear vehicle of the unmanned vehicle has the overtaking intention, displaying a vehicle avoidance strategy on an operation interface of the unmanned vehicle, wherein the avoidance strategy is determined according to road track parameters and gradient parameters of a road to be driven in front of the unmanned vehicle.

9. A control device of an unmanned vehicle, characterized by comprising:

the detection unit is used for detecting the speed change data and the parking space change data of a rear vehicle behind the unmanned vehicle in a driving state;

the first judgment unit is used for judging whether the rear vehicle of the unmanned vehicle has the overtaking intention or not based on the vehicle speed change data and the parking space change data;

the determining unit is used for determining road track parameters and gradient parameters of a road to be traveled in front of the unmanned vehicle when the rear vehicle of the unmanned vehicle has an overtaking intention;

and the execution unit is used for executing a vehicle avoidance strategy based on the road track parameter and the gradient parameter.

10. A control device of an unmanned vehicle, characterized by comprising:

the first display unit is used for displaying the speed change data and the parking space change data of the rear vehicle on an operation interface of the unmanned vehicle in a driving state;

the second judgment unit is used for judging whether the rear vehicle of the unmanned vehicle has the overtaking intention or not based on the vehicle speed change data and the parking space change data;

and the second display unit is used for displaying a vehicle avoidance strategy on an operation interface of the unmanned vehicle when the rear vehicle of the unmanned vehicle has the overtaking intention, wherein the avoidance strategy is determined according to the road track parameter and the gradient parameter of the road to be traveled in front of the unmanned vehicle.

11. 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 1-8 via execution of the executable instructions.