CN113370993A - Control method and control system for automatic driving of vehicle - Google Patents
Control method and control system for automatic driving of vehicle Download PDFInfo
- Publication number
- CN113370993A CN113370993A CN202110655350.1A CN202110655350A CN113370993A CN 113370993 A CN113370993 A CN 113370993A CN 202110655350 A CN202110655350 A CN 202110655350A CN 113370993 A CN113370993 A CN 113370993A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- driving
- information
- intersection
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000007613 environmental effect Effects 0.000 claims abstract description 36
- 238000004891 communication Methods 0.000 claims description 21
- 230000004927 fusion Effects 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 abstract description 21
- 238000009434 installation Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000007726 management method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 240000004050 Pentaglottis sempervirens Species 0.000 description 3
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000009440 infrastructure construction Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
Abstract
The application discloses a control method and a control system for automatic driving of a vehicle, wherein the control method comprises the following steps: acquiring road condition information of a vehicle; judging whether a driving area where the vehicle is located is an intersection area or not according to the road condition information; when the driving area is a non-intersection area, controlling the driving state of the vehicle according to the road condition information; and when the driving area is an intersection area, acquiring environmental information of the intersection area, and controlling the driving state of the vehicle according to the road condition information and the environmental information. The control method for automatic driving of the vehicle can utilize the existing shooting device of the intersection on the premise of not increasing the detection module equipped for the vehicle, not only can realize automatic driving under common road conditions, but also can ensure that the automatic driving operation of the vehicle can accurately and safely adapt to the driving requirement of the intersection which is a complex working condition, and the application cost of the automatic driving control mode of the vehicle is lower.
Description
Technical Field
The present disclosure relates to the field of vehicle manufacturing technologies, and in particular, to a control method for automatic driving of a vehicle and a control system for automatic driving of a vehicle suitable for the control method.
Background
In the related art, the current environment perception of the automatic driving vehicle has two main schemes: one adopts the sensor scheme, and the sensors are added in the automobile, so that the cost of the automobile is increased on one hand, and the realization of automatic driving mass production is not facilitated; on the other hand, when the vehicle passes through an intersection with a large traffic flow, the environment recognition of the vehicle sensor is blocked due to more targets, so that the environment information is not comprehensively recognized, the surrounding traffic flow information cannot be predicted, and the decision planning of the automatic driving vehicle is influenced. Another solution, relying on the V2X solution, requires extensive infrastructure construction, is costly, lands slowly, and leaves room for improvement.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. Therefore, an object of the present application is to provide a control method for automatic driving of a vehicle, which can realize automatic driving under different working conditions, and effectively reduce the application cost of automatic driving without adding a large number of sensors to the vehicle and without adding a large number of basic settings.
The control method for automatic driving of the vehicle comprises the following steps: acquiring road condition information of a vehicle; judging whether a driving area where the vehicle is located is an intersection area or not according to the road condition information; when the driving area is a non-intersection area, controlling the driving state of the vehicle according to the road condition information; and when the driving area is an intersection area, acquiring environmental information of the intersection area, and controlling the driving state of the vehicle according to the road condition information and the environmental information.
According to the control method for automatic driving of the vehicle, automatic driving operation of the vehicle can be achieved, and on the premise that a detection module equipped for the vehicle is not added, automatic driving under common road conditions can be achieved by means of the existing shooting device for the intersection, and the automatic driving operation of the vehicle can be guaranteed to be capable of accurately and safely meeting driving requirements of the intersection under complex working conditions. Therefore, infrastructure construction of shooting devices is not needed to be carried out on all driving road sections, detection modules configured for the vehicles do not need to be additionally arranged, and application cost of the automatic driving control mode of the vehicles is reduced.
According to some embodiments of the present application, the method for controlling automatic driving of a vehicle, the obtaining environmental information of the intersection area includes: acquiring the current position of a crossing area where the vehicle is located according to a positioning unit of the vehicle; and acquiring the environmental information according to the current position.
According to some embodiments of the present application, the method for controlling automatic driving of a vehicle, wherein the obtaining the environmental information according to the current position includes: acquiring shooting information of a shooting device in the intersection area of the current position; and acquiring the environmental information of the intersection area according to the shooting information.
According to some embodiments of the present application, the method for controlling automatic driving of a vehicle, the obtaining environmental information of the intersection area includes: acquiring vehicle contour coordinates, traffic flow of lanes, vehicle occupation time, vehicle number of lanes and vehicle types of the intersection area; and acquiring the returned intersection number and the confidence of the intersection area.
According to some embodiments of the present application, the controlling the driving state of the vehicle according to the road condition information and the environment information includes: acquiring a panoramic aerial view of the intersection area according to the road condition information and the environment information; and controlling the running state of the vehicle according to the panoramic aerial view.
According to some embodiments of the present application, the controlling of the driving state of the vehicle according to the panoramic aerial view comprises: planning the running path information of the vehicle according to the panoramic aerial view; and controlling the vehicle to run according to the running path information.
The present application also proposes a computer-readable storage medium having stored thereon a control program for automatic driving of a vehicle, which when executed by a processor implements a control method for automatic driving of a vehicle as in any one of the above-described embodiments.
The application also provides a computer device, which comprises a memory, a processor and a control program of automatic driving of the vehicle, wherein the control program is stored on the memory and can run on the processor, and when the processor executes the control program, the control method of automatic driving of the vehicle is realized according to any embodiment.
The application also provides a control system for automatic driving of the vehicle.
A control system for automatic driving of a vehicle according to some embodiments of the present application includes: the vehicle-mounted environment sensing unit is used for acquiring road condition information of the vehicle; the control module is in communication connection with the vehicle-mounted environment sensing unit, and is used for judging whether a driving area where the vehicle is located is an intersection area or not according to the road condition information and controlling the driving state of the vehicle according to the road condition information when the driving area is a non-intersection area; the intersection visual data processing unit is used for acquiring the environmental information of the intersection area when the driving area is the intersection area; and the control module is also used for controlling the driving state of the vehicle according to the analysis results of the road condition information and the environment information.
The control system for automatic driving of a vehicle according to some embodiments of the present application, further comprising: the intersection visual data processing unit is in communication connection with the cloud server; the cloud server, the vehicle positioning unit and the control module are all in communication connection with the fusion unit; the control module is used for planning the running path information of the vehicle according to the panoramic aerial view so as to control the vehicle to run according to the running path information.
The control system, the computer device and the computer-readable storage medium for vehicle automatic driving have the same advantages as the control method for vehicle automatic driving described above with respect to the prior art, and are not described herein again.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a work flow diagram of a control system for automatic driving of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a control system for vehicle autonomous driving according to an embodiment of the present application;
fig. 3 is a detailed structural view (with three cameras) of a photographing installation lever in the control system for automatic driving of a vehicle according to the embodiment of the present application;
fig. 4 is a detailed distribution diagram (intersection) of cameras in the control system for automatic driving of a vehicle according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of an on-board environment sensing unit in the control system for automatic driving of the vehicle according to the embodiment of the application.
Reference numerals:
a control system 100 for automatic driving of a vehicle,
a vehicle-mounted environment sensing unit 1, a vehicle decision planning unit 2, a vehicle control unit 3, a positioning unit 4, a fusion unit 5, a cloud server 6, an intersection visual data processing unit 7,
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a control method for automatic driving of a vehicle according to an embodiment of the present application with reference to fig. 1 to 5, where the control method can implement automatic driving control of a common road condition and can also adapt to automatic driving control of a complex working condition at an intersection, and it is not necessary to add a large number of sensors to a vehicle or add a large number of basic settings, so as to effectively reduce the application cost of automatic driving.
As shown in fig. 1, a control method of vehicle autonomous driving according to an embodiment of the present application includes:
s10: and acquiring road condition information of the vehicle.
The traffic information includes the scene of the lane around the vehicle, the vehicle on the lane 11, and other information on the road. That is, when executing the control method for vehicle automatic driving, the information about the road conditions around the vehicle may be obtained first to determine the current lane scene where the vehicle is located, the vehicle existing on the lane 11 where the vehicle is located, and other things that interfere with or affect the vehicle automatic driving. And when concrete execution, the accessible sets up detection module at the vehicle and acquires the road conditions information of vehicle, if detection module can be including locating camera 8, millimeter wave radar 9 etc. of vehicle to acquire the road conditions information of vehicle periphery through modes such as shooting, radar detection.
As shown in fig. 5, a millimeter wave radar 9 may be provided in the front of the vehicle for measuring the relative distance between the object in front of the vehicle and the host vehicle, and acquiring the size and type of the object in front. And the cameras 8 can be arranged in different areas of the front, the back, the left and the right of the vehicle, so as to capture image information of different areas of the vehicle, as shown in fig. 5, the cameras 8 can be respectively arranged in the left rear-view mirror and the right rear-view mirror of the vehicle, and the cameras 8 are arranged in the left area and the right area of the tail part of the vehicle, so as to capture and capture road condition information of different positions of the front, the back, the left and the right of the vehicle, so as to accurately detect the road condition information around the vehicle. As shown in fig. 2, two positioning units 4 may be disposed on the vehicle, and one of the positioning units 4 is configured to obtain the positioning information and the map where the vehicle is located, and the traffic information includes the positioning information and the map where the vehicle is located.
S20: and judging whether the driving area where the vehicle is located is the intersection area or not according to the road condition information.
It can be understood that after the detection module shoots and analyzes the traffic information around the vehicle, the type of the driving area where the vehicle is located can be determined according to the traffic information. If only one-way or two-way equal-linear lanes 11 exist in the road condition information, the area where the current vehicle runs can be judged to be a non-intersection area; and when the road condition information includes the crossed lanes 11, especially when two or more lanes 11 are crossed, the type of the area currently driven by the vehicle can be determined according to the type of the cross or the number of the crossed lanes 11, for example, the area currently driven is a t-junction or an intersection.
S30: and when the driving area is a non-intersection area, controlling the driving state of the vehicle according to the road condition information.
That is to say, when the driving area is a non-intersection area, that is, the vehicle is in a normal road condition, the road condition information around the vehicle is relatively simple, and the detection module equipped in the vehicle can accurately detect the scene and the object information around the vehicle, so that the control module of the vehicle can automatically drive and control the vehicle according to the detected road condition information, and can effectively ensure that the vehicle has a reliable and safe driving state.
S40: and when the driving area is the intersection area, acquiring the environmental information of the intersection area, and controlling the driving state of the vehicle according to the road condition information and the environmental information.
That is to say, when it is determined that the driving area where the vehicle is located is the intersection area, at this time, the scene information in the driving area is relatively complex, the detection range of the detection module equipped by the vehicle itself is limited, and the detection result is difficult to accurately predict the relatively complex path planning of the intersection, at this time, the working mode under the unusual road condition is adopted. Specifically, the detection module at the intersection position can be used for detecting and acquiring the environmental information of the intersection area, and it can be understood that the intersection area is a section with frequent accidents, and the existing intersection area is mostly provided with a shooting device for detecting the scene, traffic flow, people flow and other information of the intersection area in real time, so that the environmental information acquired by the shooting device of the intersection area can be combined with the road condition information shot by the detection module of the vehicle, and the more accurate driving path can be planned by combining the two information, thereby adapting to the automatic driving requirement of the intersection area under the complex operation condition.
That is to say, by adopting the control method for automatic driving of the vehicle in the application, the automatic driving operation of the vehicle can be realized, and on the premise of not increasing a detection module equipped for the vehicle, the automatic driving under the common road condition can be realized by utilizing the existing shooting device of the intersection, and the automatic driving operation of the vehicle can be ensured to be accurately and safely adapted to the driving requirement of the intersection under the complex working condition. Therefore, infrastructure construction of shooting devices is not needed to be carried out on all driving road sections, detection modules configured for the vehicles do not need to be additionally arranged, and application cost of the automatic driving control mode of the vehicles is reduced.
In some embodiments, obtaining environmental information of the intersection region comprises: acquiring the current position of the intersection area where the vehicle is located according to the positioning unit 4 of the vehicle; and acquiring the environmental information according to the current position.
The positioning unit 4 and the fusion unit 5 of the vehicle can be in communication connection, the fusion unit 5 is in communication connection with the cloud server 6, and the fusion unit 5 is in communication connection with the control module of the vehicle, so that the positioning unit 4 of the fusion unit 5 of the vehicle can acquire the current position of the vehicle, and further acquire the environment information of the intersection region where the vehicle is located.
It should be noted that, in the existing traffic management system, the environmental information in different areas and different positions is monitored through the cloud server 6, for example, a shooting device is provided at a conventional intersection or a t-intersection to shoot the environmental information in the intersection area, and the environmental information is uploaded to the cloud server 6 after being shot, so that the traffic management authority can monitor the relevant intersection area conveniently. In the application, the monitoring facilities in the existing traffic management system are utilized, the positioning unit 4 and the fusion unit 5 of the vehicle can be in communication connection, so that the fusion unit 5 determines the position of the intersection region where the vehicle is located according to the positioning unit 4, and then the environmental information acquired by the shooting device in the intersection region is called from the cloud server 6, therefore, the monitoring facilities in the existing traffic management system can be well applied to the automatic driving operation of the vehicle, and the automatic control of the vehicle is realized according to the environmental information shot by the existing monitoring facilities in the intersection region.
In some embodiments, obtaining the context information according to the current location comprises: acquiring shooting information of a shooting device in an intersection area at a current position; and acquiring the environmental information of the intersection area according to the shooting information.
That is, after the position information of the intersection area where the vehicle is located is determined, the camera in the intersection area can be called from the cloud server 6 according to the position information, and then the environment information at the intersection area can be obtained according to the camera information of the camera.
It should be noted that, as shown in fig. 3, a shooting installation rod 10 is provided at the intersection position, and a camera 8 is provided on the shooting installation rod 10, and as shown in fig. 3, three cameras 8 are provided on each shooting installation rod 10, wherein the three cameras 8 can be used for shooting areas at different positions and different angles. Meanwhile, as shown in fig. 4, particularly at an intersection, the intersection comprises four crossed lanes 11, and the shooting devices are arranged at the positions of the four lanes 11, so that a panoramic image of the intersection area can be comprehensively and accurately acquired through the shooting devices at the positions of the four lanes 11.
Therefore, the scene states of all positions in the intersection area can be determined more accurately by acquiring the image information shot at different angles and different positions of the intersection area, so that the driving path of the vehicle can be predicted and planned based on the omnibearing situation, and the automatic driving function of the vehicle is ensured to be safe and reliable.
In some embodiments, obtaining environmental information of the intersection region comprises: the vehicle contour coordinates of the intersection area, the traffic volume of the lane 11, the vehicle occupancy time, the number of vehicles in the lane 11, and the vehicle type are acquired.
When environmental information of a road area is acquired, the driving accuracy and safety of a vehicle are affected by characteristics of various aspects. Specifically, the vehicle contour coordinates of the intersection area are obtained, so that the distance between the vehicle and the contour boundary of other vehicles can be controlled accurately, and the hard contact between the vehicle and other vehicles is avoided; acquiring the traffic flow of the lane 11 to predict the number of vehicles which may exist when the vehicle actually runs to the intersection crossing area; the occupied time of the vehicle is acquired, so that the time used when the vehicle passes through the intersection area can be determined; the number of the vehicles in the lane 11 can be used for predicting the number of the vehicles around the vehicle when the vehicle drives to the intersection area, so that the interference of too many vehicles on the driving time of the vehicle is avoided, and the excessive passing time occupied by the vehicle when the number of the vehicles in the intersection area is less is also avoided, thereby ensuring the smooth traffic in the intersection area.
And acquiring the returned intersection number and the confidence of the intersection area. The method is characterized in that the returned crossing number is acquired, so that the position information of the crossing where the crossing exists is facilitated, and the prediction mode of the crossing area is convenient to store and determine, therefore, the self-learning of the control program of the automatic driving can be facilitated by referring to the prediction mode of the previous driving when the crossing is passed next time; the confidence of the intersection region is obtained, so that the prediction mode of the intersection region can be evaluated and analyzed, whether the same prediction mode can be adopted in the follow-up process or not is further determined, and the execution efficiency of the intermediate step of the control method is improved.
In some embodiments, controlling the driving state of the vehicle according to the traffic information and the environment information includes: acquiring a panoramic aerial view of the intersection area according to the road condition information and the environment information; and controlling the running state of the vehicle according to the panoramic aerial view.
It should be noted that effective overlapping can be achieved in the area obtained by the photographing module in the intersection area and the detection module of the vehicle, so that the scene in the intersection area is comprehensively analyzed and information splicing is performed based on the angle of the photographing module in the intersection area and the angle of the vehicle, and a panoramic bird's-eye view is generated by the information obtained from the two angles through the fusion unit 5, so that the scene in the intersection area and the state of objects in the scene are predicted and analyzed at a large local angle, and automatic driving of the vehicle is controlled at a higher dimension, and therefore, the accuracy of automatic driving can be ensured.
In some embodiments, controlling the driving state of the vehicle according to the panoramic aerial view includes: planning the driving path information of the vehicle according to the panoramic aerial view; and controlling the vehicle to run according to the running path information.
After the panoramic aerial view is generated, the states of vehicles, pedestrians and other objects existing in the intersection area can be accurately analyzed, and the dynamic simulation can be realized by forming the panoramic aerial view through multiple frequencies, so that the driving scenes actually faced when the vehicle passes through the intersection area can be accurately and reliably analyzed, the influence caused by automatic driving of the vehicle with each characteristic in the intersection area can be more accurately considered, the vehicle, the surrounding vehicles and the objects can be well avoided, and the safety of the vehicle passing through the intersection area can be ensured.
Therefore, by the control method for automatic vehicle driving in the embodiment of the application, the vehicles can be ensured to have accurate and reliable control states when driving to common road conditions and road conditions of intersections, and the control method is suitable for driving requirements under different road conditions, so that the safety of automatic vehicle driving is ensured, the detection modules of the vehicles do not need to be supplemented and increased, meanwhile, the redundant construction of infrastructure in non-intersection areas is not needed, the cost of traffic operation is greatly reduced, and the practicability is high.
In order to achieve the above-described embodiments, the present invention proposes a computer-readable storage medium having stored thereon a control program for vehicle autonomous driving, which, when executed by a processor, can implement the control method for vehicle autonomous driving of the above-described embodiments.
According to the computer-readable storage medium of the embodiment of the invention, when the control program of the automatic driving of the vehicle is executed by the processor, the accurate and reliable control state of the vehicle can be ensured when the vehicle is driven to the common road condition and the road condition of the intersection, and the driving requirements under different road conditions are met, so that the safety of the automatic driving of the vehicle is ensured. And the detection module of the vehicle is not required to be supplemented and increased, and the redundant construction of the infrastructure of the non-intersection area is not required, so that the traffic running cost is greatly reduced, and the practicability is high.
In order to implement the foregoing embodiment, the present invention further provides a computer device, including: the control method of the automatic driving of the vehicle is realized when the processor executes the control program.
The computer equipment of the embodiment of the invention executes the control program of the automatic driving of the vehicle stored in the memory through the processor, can ensure that the vehicle has accurate and reliable control states when the vehicle runs to the common road condition and the road condition of the intersection, adapts to the driving requirements under different road conditions, and further ensures the safety of the automatic driving of the vehicle. And the detection module of the vehicle is not required to be supplemented and increased, and the redundant construction of the infrastructure of the non-intersection area is not required, so that the traffic running cost is greatly reduced, and the practicability is high.
Wherein the computer device comprises at least one processor, at least one communication interface, at least one memory and at least one communication bus; in the embodiment of the invention, the number of the processor, the communication interface, the memory and the communication bus is at least one, and the processor, the communication interface and the memory are communicated with each other through the communication bus.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory is used for storing a program, and the processor executes the program after receiving the execution instruction, so as to realize the steps of the control method for automatic driving of the vehicle described in the above embodiment.
The processor may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The present application further provides a control system 100 for automatic vehicle driving, where the control system 100 is used to implement the control method for automatic vehicle driving described in any of the above embodiments, that is, when the control system 100 executes the above control method, it can be ensured that the vehicle has an accurate and reliable control state when driving to a common road condition and when driving at an intersection, and the control system adapts to driving requirements under different road conditions, thereby ensuring safety of automatic vehicle driving.
As shown in fig. 2, a control system 100 for automatic driving of a vehicle includes: the system comprises a vehicle-mounted environment sensing unit 1, a control module and an intersection visual data processing unit 7.
The vehicle-mounted environment sensing unit 1 is configured to acquire road condition information of a vehicle, and specifically, the vehicle-mounted environment sensing unit 1 may include a camera 8, a millimeter wave radar 9, and the like, which are disposed on the vehicle, so as to acquire the road condition information around the vehicle by shooting, radar detection, and the like.
As shown in fig. 5, a millimeter wave radar 9 may be provided in the front of the vehicle for measuring the relative distance of an object in front of the vehicle and the host vehicle, and acquiring the size and type of the object in front. And the cameras 8 can be arranged in different areas of the front, the back, the left and the right of the vehicle, so as to capture image information of different areas of the vehicle, as shown in fig. 5, the cameras 8 can be respectively arranged in the left rear-view mirror and the right rear-view mirror of the vehicle, and the cameras 8 are arranged in the left area and the right area of the tail part of the vehicle, so as to capture and capture road condition information of different positions of the front, the back, the left and the right of the vehicle, so as to accurately detect the road condition information around the vehicle.
The vehicle-mounted environment sensing unit 1 is in communication connection with the control module, the vehicle-mounted environment sensing unit 1 can send road condition information of an acquired vehicle to the control module, and the control module can analyze and recognize the road condition information, wherein the control module in the application comprises a vehicle decision planning unit 2 and a vehicle control unit 3, specifically, the vehicle-mounted environment sensing unit 1 and the vehicle control unit 3 are respectively electrically connected with the vehicle decision planning unit 2, the vehicle-mounted environment sensing unit 1 can send the road condition information to the vehicle decision planning unit 2, the vehicle decision planning unit 2 can analyze the road condition information and plan a reasonable and accurate driving path, and the vehicle control unit 3 can control the driving state of the vehicle according to the planned driving path.
The vehicle decision planning unit 2 is configured to determine whether a driving area where the vehicle is located is an intersection area according to the road condition information, and when the driving area is identified as a non-intersection area, the vehicle decision planning unit 2 is configured to generate driving path information according to the road condition information, and the vehicle control unit 3 controls a driving state of the vehicle according to the driving path information.
The intersection visual data processing unit 7 is configured to acquire environmental information of an intersection area when the driving area is the intersection area, where the intersection visual data processing unit 7 includes a camera 8 located at the intersection area, as shown in fig. 3, a shooting installation rod 10 is arranged at the intersection position, and the shooting installation rod 10 is provided with the camera 8, and as shown in fig. 3, each shooting installation rod 10 is provided with three cameras 8, where the three cameras 8 may be used to shoot areas at different positions and different angles.
Meanwhile, as shown in fig. 4, particularly at an intersection, the intersection comprises four crossed lanes 11, and the shooting devices are arranged at the positions of the four lanes 11, so that a panoramic image of the intersection area can be comprehensively and accurately acquired through the shooting devices at the positions of the four lanes 11. Therefore, the scene states of all positions in the intersection area can be determined more accurately by acquiring the image information shot at different angles and different positions of the intersection area, so that the driving path of the vehicle can be predicted and planned based on the omnibearing situation, and the automatic driving function of the vehicle is ensured to be safe and reliable.
The control module in the application is also used for controlling the driving state of the vehicle according to the analysis result of the road condition information and the environmental information. Specifically, after the road condition information and the environmental information are comprehensively analyzed, the specific traveling path information may be generated, so that the vehicle control unit 3 of the control module may control the vehicle to pass through the intersection region in the optimal traveling manner based on the traveling path information, and thus, the safety of the vehicle traveling may be ensured.
In some embodiments, the control system 100 for automatic driving of a vehicle further comprises: a cloud server 6 and a fusion unit 5 and a positioning unit 4 for installing vehicles.
The intersection visual data processing unit 7 is in communication connection with the cloud server 6, and the cloud server 6, the vehicle positioning unit 4 and the control module are in communication connection with the fusion unit 5.
In specific execution, the fusion unit 5 determines the position of the intersection region where the vehicle is located according to the positioning unit 4, and then transfers the environment information acquired by the intersection visual data processing unit 7 in the intersection region from the cloud server 6, so that the monitoring facility in the existing traffic management system can be well applied to the automatic driving operation of the vehicle, and the vehicle can be automatically controlled according to the environment information acquired by the existing intersection visual data processing unit 7 in the intersection region. In particular, the intersection vision data processing unit 7 can acquire the vehicle contour coordinates of the intersection region, the traffic volume of the lane 11, the vehicle occupancy time, the number of vehicles in the lane 11, the vehicle type, the return intersection number, the confidence. The number of the positioning units 4 can be two, and one of the positioning units 4 is used for being in communication connection with the fusion unit 5 so as to obtain environment information corresponding to the position of the intersection area where the vehicle is located; the other positioning unit 4 is used for being in communication connection with the vehicle decision planning unit 2, so that the vehicle decision planning unit 2 can obtain the map and the positioning information of the vehicle.
The vehicle decision planning unit 2 can send road condition information of the vehicle acquired by the vehicle-mounted environment sensing unit 1 to the fusion unit 5, and the intersection visual data processing unit 7 can send environment information of an intersection area to the fusion unit 5, so that the fusion unit 5 is used for fusing the road condition information and the environment information into a panoramic bird's-eye view image, the vehicle decision planning unit 2 of the control module is further used for planning driving path information of the vehicle according to the panoramic bird's-eye view image, the driving path information is sent to the vehicle-mounted control unit, the vehicle-mounted control unit is further used for controlling the vehicle to drive according to the driving path information, and the driving safety of the vehicle is guaranteed.
Therefore, when the control method is executed by the control system 100 for automatic driving of the vehicle, the control system can ensure that the vehicle has an accurate and reliable control state when the vehicle runs to a common road condition or a road condition at an intersection, and can adapt to driving requirements under different road conditions, thereby ensuring the safety of automatic driving of the vehicle. And the detection module of the vehicle is not required to be supplemented and increased, and the redundant construction of the infrastructure of the non-intersection area is not required, so that the traffic running cost is greatly reduced, and the practicability is high.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.
In the description of the present application, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present application, "a plurality" means two or more.
In the description of the present application, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact not directly but via another feature therebetween.
In the description of the present application, the first feature being "on," "above" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A control method of automatic driving of a vehicle, characterized by comprising:
acquiring road condition information of a vehicle;
judging whether a driving area where the vehicle is located is an intersection area or not according to the road condition information;
when the driving area is a non-intersection area, controlling the driving state of the vehicle according to the road condition information; and
and when the driving area is an intersection area, acquiring environmental information of the intersection area, and controlling the driving state of the vehicle according to the road condition information and the environmental information.
2. The control method of vehicle autonomous driving according to claim 1, wherein said acquiring environmental information of the intersection area includes:
acquiring the current position of the intersection area where the vehicle is located according to the positioning unit (4) of the vehicle;
and acquiring the environmental information according to the current position.
3. The control method of vehicle autonomous driving according to claim 2, wherein the acquiring the environmental information according to the current position includes:
acquiring shooting information of a shooting device in the intersection area of the current position;
and acquiring the environmental information of the intersection area according to the shooting information.
4. The control method of vehicle autonomous driving according to claim 3, wherein said acquiring environmental information of the intersection area includes:
acquiring vehicle contour coordinates, traffic flow of a lane (11), vehicle occupation time, the number of vehicles in the lane (11) and vehicle types of the intersection area;
and acquiring the returned intersection number and the confidence of the intersection area.
5. The method of claim 1, wherein the controlling the driving state of the vehicle according to the traffic information and the environmental information comprises:
acquiring a panoramic aerial view of the intersection area according to the road condition information and the environment information;
and controlling the running state of the vehicle according to the panoramic aerial view.
6. The control method of automatic driving of a vehicle according to claim 5, wherein the controlling the running state of the vehicle according to the panoramic aerial view includes:
planning the running path information of the vehicle according to the panoramic aerial view;
and controlling the vehicle to run according to the running path information.
7. A computer-readable storage medium, characterized in that a control program for vehicle autonomous driving is stored thereon, which when executed by a processor implements the control method for vehicle autonomous driving according to any one of claims 1 to 6.
8. A computer device comprising a memory, a processor, and a control program for vehicle autonomous driving stored on the memory and executable on the processor, the processor implementing the control method for vehicle autonomous driving according to any one of claims 1 to 6 when executing the control program.
9. A control system (100) for automatic driving of a vehicle, comprising:
the vehicle-mounted environment sensing unit (1) is used for acquiring road condition information of a vehicle;
the control module is in communication connection with the vehicle-mounted environment sensing unit (1), and is used for judging whether a driving area where the vehicle is located is an intersection area or not according to the road condition information and controlling the driving state of the vehicle according to the road condition information when the driving area is a non-intersection area;
the intersection visual data processing unit (7) is used for acquiring the environmental information of the intersection area when the driving area is the intersection area;
and the control module is also used for controlling the running state of the vehicle according to the road condition information and the environment information.
10. The control system (100) for automatic driving of a vehicle according to claim 9, further comprising:
the intersection visual data processing unit (7) is in communication connection with the cloud server (6);
the fusion unit (5), the cloud server (6), the vehicle positioning unit (4) and the control module are all in communication connection with the fusion unit (5); wherein
The fusion unit (5) is used for fusing the road condition information and the environment information into a panoramic aerial view, and the control module is further used for planning the driving path information of the vehicle according to the panoramic aerial view so as to control the vehicle to drive according to the driving path information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110655350.1A CN113370993A (en) | 2021-06-11 | 2021-06-11 | Control method and control system for automatic driving of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110655350.1A CN113370993A (en) | 2021-06-11 | 2021-06-11 | Control method and control system for automatic driving of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113370993A true CN113370993A (en) | 2021-09-10 |
Family
ID=77574128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110655350.1A Pending CN113370993A (en) | 2021-06-11 | 2021-06-11 | Control method and control system for automatic driving of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113370993A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115223148A (en) * | 2022-09-20 | 2022-10-21 | 毫末智行科技有限公司 | Automatic control method and device for vehicle, equipment and storage medium |
| WO2024067493A1 (en) * | 2022-09-27 | 2024-04-04 | 比亚迪股份有限公司 | Vehicle control method, apparatus and vehicle |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102291541A (en) * | 2011-09-05 | 2011-12-21 | 毛湘伦 | Virtual synthesis display system of vehicle |
| CN105632214A (en) * | 2015-10-28 | 2016-06-01 | 东莞酷派软件技术有限公司 | Traffic light state information acquisition method, cloud processing method and related equipment |
| CN106373415A (en) * | 2016-10-20 | 2017-02-01 | 深圳市元征科技股份有限公司 | Lane guiding method and apparatus |
| CN106961583A (en) * | 2017-03-28 | 2017-07-18 | 深圳市车车安信息技术有限公司 | Dual camera outdoor scene intelligent travelling crane method and system |
| US20180003965A1 (en) * | 2016-06-30 | 2018-01-04 | Paypal, Inc. | Enhanced safety through augmented reality and shared data |
| CN207216876U (en) * | 2017-05-29 | 2018-04-10 | 广州市联奥信息科技有限公司 | A kind of vehicle assistant drive device of view-based access control model traffic lights information |
| CN207611490U (en) * | 2017-12-30 | 2018-07-13 | 广州大正新材料科技有限公司 | A kind of system for solving crossing traffic congestion |
| CN109035832A (en) * | 2018-09-12 | 2018-12-18 | 清华大学苏州汽车研究院（吴江） | Signal lamp intersection intelligence traffic system based on V2X communication |
| CN109447901A (en) * | 2018-10-12 | 2019-03-08 | 北京双髻鲨科技有限公司 | A kind of method for panoramic imaging and device |
| CN110544389A (en) * | 2018-05-28 | 2019-12-06 | 上海汽车集团股份有限公司 | automatic driving control method, device and system |
| CN111376895A (en) * | 2018-12-29 | 2020-07-07 | 上海汽车集团股份有限公司 | Around-looking parking sensing method and device, automatic parking system and vehicle |
| WO2020245654A1 (en) * | 2019-06-06 | 2020-12-10 | Mobileye Vision Technologies Ltd. | Systems and methods for vehicle navigation |
| CN112382100A (en) * | 2020-11-02 | 2021-02-19 | 深圳市元征科技股份有限公司 | Crossing safe passing method and related equipment |
| CN112706765A (en) * | 2021-01-25 | 2021-04-27 | 广州小鹏自动驾驶科技有限公司 | Automatic driving method and device |
| CN112793564A (en) * | 2021-02-07 | 2021-05-14 | 杨东杰 | Autonomous parking auxiliary system based on panoramic aerial view and deep learning |
-
2021
- 2021-06-11 CN CN202110655350.1A patent/CN113370993A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102291541A (en) * | 2011-09-05 | 2011-12-21 | 毛湘伦 | Virtual synthesis display system of vehicle |
| CN105632214A (en) * | 2015-10-28 | 2016-06-01 | 东莞酷派软件技术有限公司 | Traffic light state information acquisition method, cloud processing method and related equipment |
| US20180003965A1 (en) * | 2016-06-30 | 2018-01-04 | Paypal, Inc. | Enhanced safety through augmented reality and shared data |
| CN106373415A (en) * | 2016-10-20 | 2017-02-01 | 深圳市元征科技股份有限公司 | Lane guiding method and apparatus |
| CN106961583A (en) * | 2017-03-28 | 2017-07-18 | 深圳市车车安信息技术有限公司 | Dual camera outdoor scene intelligent travelling crane method and system |
| CN207216876U (en) * | 2017-05-29 | 2018-04-10 | 广州市联奥信息科技有限公司 | A kind of vehicle assistant drive device of view-based access control model traffic lights information |
| CN207611490U (en) * | 2017-12-30 | 2018-07-13 | 广州大正新材料科技有限公司 | A kind of system for solving crossing traffic congestion |
| CN110544389A (en) * | 2018-05-28 | 2019-12-06 | 上海汽车集团股份有限公司 | automatic driving control method, device and system |
| CN109035832A (en) * | 2018-09-12 | 2018-12-18 | 清华大学苏州汽车研究院（吴江） | Signal lamp intersection intelligence traffic system based on V2X communication |
| CN109447901A (en) * | 2018-10-12 | 2019-03-08 | 北京双髻鲨科技有限公司 | A kind of method for panoramic imaging and device |
| CN111376895A (en) * | 2018-12-29 | 2020-07-07 | 上海汽车集团股份有限公司 | Around-looking parking sensing method and device, automatic parking system and vehicle |
| WO2020245654A1 (en) * | 2019-06-06 | 2020-12-10 | Mobileye Vision Technologies Ltd. | Systems and methods for vehicle navigation |
| CN112382100A (en) * | 2020-11-02 | 2021-02-19 | 深圳市元征科技股份有限公司 | Crossing safe passing method and related equipment |
| CN112706765A (en) * | 2021-01-25 | 2021-04-27 | 广州小鹏自动驾驶科技有限公司 | Automatic driving method and device |
| CN112793564A (en) * | 2021-02-07 | 2021-05-14 | 杨东杰 | Autonomous parking auxiliary system based on panoramic aerial view and deep learning |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115223148A (en) * | 2022-09-20 | 2022-10-21 | 毫末智行科技有限公司 | Automatic control method and device for vehicle, equipment and storage medium |
| WO2024067493A1 (en) * | 2022-09-27 | 2024-04-04 | 比亚迪股份有限公司 | Vehicle control method, apparatus and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109801508B (en) | Method and device for predicting movement track of obstacle at intersection | |
| CN110430401B (en) | Vehicle blind area early warning method, early warning device, MEC platform and storage medium | |
| JP6898394B2 (en) | Vehicle automatic driving control assist method, vehicle automatic driving control assist device, equipment, computer readable storage medium and lane cooperation system | |
| US8849554B2 (en) | Hybrid traffic system and associated method | |
| CN110874945A (en) | Roadside sensing system based on vehicle-road cooperation and vehicle control method thereof | |
| JP7266627B2 (en) | Early warning methods, devices, electronic devices, recording media and computer program products | |
| CN111105639B (en) | Parking space state detection method and device, vehicle guiding method and system and camera | |
| JP7000639B2 (en) | Intelligent roadside unit | |
| EP4089659A1 (en) | Map updating method, apparatus and device | |
| CN110807412B (en) | Vehicle laser positioning method, vehicle-mounted equipment and storage medium | |
| CN113370993A (en) | Control method and control system for automatic driving of vehicle | |
| JP2020038647A (en) | Traffic signal control system and traffic signal control method | |
| CN112106124A (en) | System and method for using V2X and sensor data | |
| CN111105644A (en) | Vehicle blind area monitoring and driving control method and device and vehicle road cooperative system | |
| CN112017448A (en) | Traffic detection method, signal lamp control method, device, equipment and storage medium | |
| CN112612272A (en) | Obstacle avoidance control method, electronic device and storage medium | |
| CN115123307A (en) | Automatic driving method and device based on obstacle intention and automatic driving vehicle | |
| CN111145569A (en) | Road monitoring and vehicle running control method and device and vehicle-road cooperative system | |
| CN109285381A (en) | For detecting the method and system of the free area in parking lot | |
| JP7289821B2 (en) | Vehicle control based on reliability values calculated from infrastructure information | |
| US20200302193A1 (en) | Information processing system and information processing method | |
| CN111429723B (en) | Communication and perception data fusion method based on road side equipment | |
| US20210256849A1 (en) | Process and system for local traffic approximation through analysis of cloud data | |
| US20230091505A1 (en) | Parking assistance device, parking assistance method, and computer program product | |
| CN111132212A (en) | Unmanned vehicle network exception handling method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210910 |
|
| RJ01 | Rejection of invention patent application after publication |