CN113635917A - A vehicle automatic driving control method and device - Google Patents
A vehicle automatic driving control method and device Download PDFInfo
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- CN113635917A CN113635917A CN202110786563.8A CN202110786563A CN113635917A CN 113635917 A CN113635917 A CN 113635917A CN 202110786563 A CN202110786563 A CN 202110786563A CN 113635917 A CN113635917 A CN 113635917A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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Abstract
The invention relates to the technical field of automatic driving of vehicles, in particular to a method and a device for controlling automatic driving of a vehicle. The method comprises the following steps: when a first vehicle is automatically driven, acquiring first vehicle networking broadcast information of an area within a first distance from the first vehicle; judging whether a vehicle with abnormal tire pressure exists in an area within a first distance from a first vehicle or not according to the broadcast information of the first vehicle network; and if the vehicle with the abnormal tire pressure exists, responding to the first preset instruction, and changing the automatic driving operation of the first vehicle. According to the method and the device, when the first vehicle is automatically driven, the first vehicle networking broadcast information can be received, whether the vehicles with abnormal tire pressure exist in the surrounding vehicles can be known according to the first vehicle networking broadcast information, if yes, the automatic driving operation of the first vehicle is changed, the influence of the vehicles with abnormal tire pressure on the first vehicle is reduced, the risk of the abnormal tire pressure fault of the vehicle is reduced, and the driving safety of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to a method and a device for controlling automatic driving of a vehicle.
Background
When a vehicle runs, if the tire pressure of the vehicle has an abnormal fault, serious accidents such as tire burst and vehicle out of control can occur to the vehicle, and further personal and property safety of other traffic participants is damaged.
Therefore, how to improve the safety of vehicle driving is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a vehicle automatic driving control method and a vehicle automatic driving control device, which are used for improving the running safety of a vehicle.
The embodiment of the invention provides the following scheme:
in a first aspect, an embodiment of the present invention provides a vehicle automatic driving control method, where the method includes:
when a first vehicle is automatically driven, acquiring first vehicle networking broadcast information of an area within a first distance from the first vehicle;
judging whether an abnormal tire pressure vehicle exists in an area within a first distance from the first vehicle or not according to the first vehicle network broadcast information;
and if the vehicle with the abnormal tire pressure exists, responding to a first preset instruction, and changing the automatic driving operation of the first vehicle.
In one possible embodiment, before the determining whether the tire pressure abnormal vehicle is present in the area within the first distance from the first vehicle, the method further includes:
judging whether a fatigue driving vehicle of a driver exists in an area within a first distance from the first vehicle or not according to the first vehicle network broadcast information;
and if the driver fatigue driving vehicle exists, responding to a second preset instruction, and changing the automatic driving operation of the first vehicle.
In one possible embodiment, said altering the autonomous driving operation of the first vehicle in response to a first preset instruction comprises:
responding to a first deceleration avoiding instruction, and controlling the first vehicle to decelerate and avoid the vehicle with the abnormal tire pressure;
and/or replanning the running track of the first vehicle in response to a first acceleration avoidance instruction, and accelerating away from the vehicle with the abnormal tire pressure;
the altering of the autonomous driving operation of the first vehicle in response to a second preset instruction comprises:
controlling the first vehicle to decelerate and avoid the driver fatigue driving vehicle in response to a second deceleration and avoidance instruction;
and/or replanning the running track of the first vehicle in response to a second acceleration avoidance instruction, and accelerating the vehicle away from fatigue driving of the driver.
In a second aspect, an embodiment of the present invention provides a vehicle automatic driving control apparatus, including:
the first acquisition module is used for acquiring first vehicle networking broadcast information of an area within a first distance from a first vehicle when the first vehicle is automatically driven;
the first judgment module is used for judging whether an area within a first distance from the first vehicle has a vehicle with abnormal tire pressure according to the first vehicle network broadcast information;
the first response module is used for responding to a first preset instruction when the tire pressure abnormal vehicle exists, and changing the automatic driving operation of the first vehicle.
In one possible embodiment, the apparatus further comprises:
the second judgment module is used for judging whether a driver fatigue driving vehicle exists in an area within a first distance from the first vehicle or not according to the first vehicle network broadcast information before the first judgment module works;
and the second response module is used for responding to a second preset instruction when the driver drives the vehicle in a fatigue mode, and changing the automatic driving operation of the first vehicle.
In one possible embodiment, the first response module includes:
the first control module is used for responding to a first deceleration avoiding instruction and controlling the first vehicle to decelerate and avoid the vehicle with the abnormal tire pressure;
the second control module is used for replanning the running track of the first vehicle in response to the first acceleration avoidance instruction, and accelerating the vehicle away from the vehicle with the abnormal tire pressure;
the second response module includes:
the third control module is used for responding to a second deceleration avoiding instruction and controlling the first vehicle to decelerate and avoid the driver fatigue driving vehicle;
and the fourth control module is used for replanning the running track of the first vehicle in response to the second acceleration avoidance instruction, and accelerating the vehicle away from fatigue driving of the driver.
In a third aspect, an embodiment of the present invention provides a vehicle automatic driving control method, where the method includes:
when a second vehicle is driven automatically, judging whether the second vehicle has an abnormal tire pressure fault or not;
and if the tire pressure abnormal fault occurs, broadcasting second vehicle network broadcast information to an area within a second distance from the second vehicle, so that the automatic driving operation of the vehicles within the area within the second distance from the second vehicle is changed after the vehicles receive the second vehicle network broadcast information.
In one possible embodiment, after determining whether the second vehicle has an abnormal tire pressure failure, the method further includes:
if the tire pressure abnormal fault does not occur, judging whether the second vehicle has the fatigue driving condition of a driver;
and if the fatigue driving condition of the driver occurs, broadcasting third vehicle network broadcast information to an area within a third distance from the second vehicle, so that the automatic driving operation of the vehicle within the area within the third distance from the second vehicle is changed after the vehicle receives the third vehicle network broadcast information.
In a fourth aspect, an embodiment of the present invention provides a vehicle automatic driving control apparatus, including:
the third judgment module is used for judging whether the second vehicle has an abnormal tire pressure fault or not when the second vehicle is driven automatically;
and the fifth control module is used for broadcasting second vehicle network broadcasting information to an area within a second distance from the second vehicle when the tire pressure abnormal fault occurs, so that the automatic driving operation of the vehicles within the area within the second distance from the second vehicle is changed after the vehicles receive the second vehicle network broadcasting information.
In a possible embodiment, the apparatus further comprises:
the fourth judgment module is used for judging whether the second vehicle has the driver fatigue driving condition or not when the tire pressure abnormal fault does not occur;
and the sixth control module is used for broadcasting third vehicle network broadcasting information to an area within a third distance from the second vehicle when the driver fatigue driving condition occurs, so that the automatic driving operation of the vehicles within the area within the third distance from the second vehicle is changed after the vehicles receive the third vehicle network broadcasting information.
In a fifth aspect, an embodiment of the present invention provides an electronic device, including:
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the vehicle automatic driving control method according to any one of the first and third aspects.
In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the steps of the vehicle automatic driving control method according to any one of the first and third aspects.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the method and the device, when the first vehicle is automatically driven, the first vehicle networking broadcast information can be received, whether the vehicles with abnormal tire pressure exist in the surrounding vehicles can be known according to the first vehicle networking broadcast information, if yes, the automatic driving operation of the first vehicle is changed, the influence of the vehicles with abnormal tire pressure on the first vehicle is reduced, the risk of the abnormal tire pressure fault of the vehicle is reduced, and the driving safety of the vehicle is improved.
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In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling automatic driving of a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic vehicle driving control device according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for controlling automatic driving of a vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic driving control device for a vehicle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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, rather than all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a vehicle automatic driving control method according to an embodiment of the present invention, which specifically includes steps 11 to 13.
Step 11, when a first vehicle is automatically driven, first vehicle networking broadcast information of an area within a first distance from the first vehicle is acquired.
Specifically, the first vehicle may construct a vehicle networking of vehicles in an area within a first distance from the first vehicle through V2X (vehicle to X).
The first vehicle can receive first vehicle networking broadcast information sent by other vehicles in the vehicle networking, and learn the driving conditions of other vehicles in the vehicle networking (for example, information such as a current automatic driving route, a current vehicle speed and/or whether a current vehicle has a fault).
Specifically, the first distance may be set to 100 to 200 meters.
And step 12, judging whether an abnormal tire pressure vehicle exists in an area within a first distance from the first vehicle according to the first vehicle network broadcast information.
Specifically, can set up the tire pressure monitoring sensor on the vehicle, according to this tire pressure monitoring sensor, learn the current tire pressure condition of this vehicle to judge whether this vehicle appears the unusual trouble of tire pressure, when the unusual trouble of tire pressure appears in this vehicle, then can outwards send broadcast information, inform other vehicles including first vehicle that it has taken place the unusual trouble of tire pressure.
On the basis, the first vehicle can judge whether the vehicle with abnormal tire pressure exists in the area within the first distance from the first vehicle according to the first vehicle network broadcast information.
And step 13, if the vehicle with the abnormal tire pressure exists, responding to a first preset instruction, and changing the automatic driving operation of the first vehicle.
Specifically, the first vehicle can respond to a preset instruction according to the relative position and distance between the first vehicle and the tire pressure abnormal vehicle, so that the influence of the tire pressure abnormal vehicle on the safety of the tire pressure abnormal vehicle is reduced.
In practical applications, the first preset instruction may include a first deceleration avoidance instruction, and/or a first acceleration avoidance instruction; step 13 comprises the following scheme:
responding to a first deceleration avoiding instruction, and controlling the first vehicle to decelerate and avoid the vehicle with the abnormal tire pressure;
and/or replanning the running track of the first vehicle in response to a first acceleration avoidance instruction, and accelerating away from the vehicle with the abnormal tire pressure.
Of course, the driver may also experience fatigue driving when driving the vehicle, which may also seriously affect the safety of the vehicle driving, and for this reason, the following scheme is provided to improve the safety of the vehicle driving, and before step 12, the present embodiment further includes step 21 to step 22.
And step 21, judging whether a driver fatigue driving vehicle exists in an area within a first distance from the first vehicle according to the first vehicle network broadcast information.
Specifically, the vehicle can time the driving time of the driver, and if the driving time of the driver exceeds the set time, the vehicle is determined to be a vehicle fatigue-driven by the driver; of course, whether the driver is tired of driving can be detected by the modes of the blink frequency of the driver, the eyelid opening and closing distance, the grip strength of a steering wheel, the heartbeat breathing frequency and the like, and the specific implementation mode is not limited.
On the basis, the first vehicle can judge whether a driver fatigue driving vehicle exists in an area within a first distance from the first vehicle according to the first vehicle network broadcast information.
And step 22, if the driver drives the vehicle in a fatigue mode, responding to a second preset instruction, and changing the automatic driving operation of the first vehicle.
In practical applications, the second preset instruction may include a second deceleration avoidance instruction, and/or a second acceleration avoidance instruction; step 22 comprises the following scheme:
controlling the first vehicle to decelerate and avoid the driver fatigue driving vehicle in response to a second deceleration and avoidance instruction;
and/or replanning the running track of the first vehicle in response to a second acceleration avoidance instruction, and accelerating the vehicle away from fatigue driving of the driver.
Based on the same inventive concept as the method, an embodiment of the present invention further provides an automatic driving control device for a vehicle, as shown in fig. 2, which is a schematic structural diagram of an embodiment of the device, and the device includes:
the first obtaining module 31 is configured to obtain first vehicle networking broadcast information of an area within a first distance from a first vehicle when the first vehicle is automatically driven;
the first judging module 32 is configured to judge whether a vehicle with an abnormal tire pressure exists in an area within a first distance from the first vehicle according to the first vehicle network broadcast information;
the first response module 33 is configured to, when the tire pressure abnormal vehicle exists, change the automatic driving operation of the first vehicle in response to a first preset instruction.
In one possible embodiment, the apparatus further comprises:
the second judgment module is used for judging whether a driver fatigue driving vehicle exists in an area within a first distance from the first vehicle or not according to the first vehicle network broadcast information before the first judgment module works;
and the second response module is used for responding to a second preset instruction when the driver drives the vehicle in a fatigue mode, and changing the automatic driving operation of the first vehicle.
In one possible embodiment, the first response module includes:
the first control module is used for responding to a first deceleration avoiding instruction and controlling the first vehicle to decelerate and avoid the vehicle with the abnormal tire pressure;
the second control module is used for replanning the running track of the first vehicle in response to the first acceleration avoidance instruction, and accelerating the vehicle away from the vehicle with the abnormal tire pressure;
the second response module includes:
the third control module is used for responding to a second deceleration avoiding instruction and controlling the first vehicle to decelerate and avoid the driver fatigue driving vehicle;
and the fourth control module is used for replanning the running track of the first vehicle in response to the second acceleration avoidance instruction, and accelerating the vehicle away from fatigue driving of the driver.
Based on the same inventive concept as the method, the embodiment of the invention also provides a vehicle automatic driving control method, and fig. 4 is a flow chart of the embodiment of the method, and the method comprises steps 41 to 42.
And 41, judging whether the second vehicle has an abnormal tire pressure fault or not when the second vehicle is automatically driven.
Specifically, a tire pressure monitoring sensor can be arranged on the second vehicle, and the current tire pressure condition of the second vehicle is obtained according to the tire pressure monitoring sensor, so that whether the tire pressure abnormal fault occurs in the second vehicle is judged.
And 42, if the tire pressure abnormal fault occurs, broadcasting second vehicle network broadcast information to an area within a second distance from the second vehicle, so that the automatic driving operation of the vehicles within the area within the second distance from the second vehicle is changed after the vehicles receive the second vehicle network broadcast information.
The second vehicle may construct a vehicle networking of vehicles within an area within a second distance from the first vehicle via V2X (vehicle to X).
Specifically, the second distance may be 100 meters to 200 meters.
The second vehicle may broadcast second vehicle networking broadcast information to the network of vehicles to inform other vehicles in the network of vehicles of their own driving conditions (e.g., information about the current autonomous driving route, the current vehicle speed, and/or whether the current vehicle has a fault).
Other vehicles can know that the second vehicle has abnormal tire pressure failure after receiving the second vehicle networking broadcast information, and then can change its autopilot operation in advance, and the influence of second vehicle to its security is reduced to the speed reduction dodging or accelerating away from the second vehicle.
Of course, the driver may also experience fatigue driving while driving the vehicle, which may also seriously affect the safety of the vehicle driving, and for this reason, the following scheme is provided to improve the safety of the vehicle driving, and after step 41, the present embodiment further includes step 51 to step 52.
And 51, if the tire pressure abnormal fault does not occur, judging whether the second vehicle has the fatigue driving condition of the driver.
Specifically, the second vehicle can time the driving time of the driver, and if the driving time of the driver exceeds the set time, the second vehicle is determined as a vehicle fatigue-driven by the driver; of course, whether the driver is tired of driving can be detected by the modes of the blink frequency of the driver, the eyelid opening and closing distance, the grip strength of a steering wheel, the heartbeat breathing frequency and the like, and the specific implementation mode is not limited.
And step 52, if the fatigue driving condition of the driver occurs, broadcasting third vehicle network broadcasting information to an area within a third distance from the second vehicle, so that the automatic driving operation of the vehicle within the area within the third distance from the second vehicle is changed after the vehicle receives the third vehicle network broadcasting information.
Specifically, the third distance may be 100 meters to 200 meters.
The second vehicle may broadcast a third internet of vehicles broadcast message to the internet of vehicles to inform other vehicles in the internet of vehicles of their own driving conditions (e.g., information about the current autonomous driving route, the current vehicle speed, and/or whether the current vehicle has a fault).
Other vehicles can learn that the second vehicle has the driver fatigue driving condition after receiving the third internet of vehicles broadcast information, and then can change its autopilot operation in advance, slow down to dodge or accelerate and keep away from the second vehicle, reduce the influence of second vehicle to its security.
Based on the same inventive concept as the method, an embodiment of the present invention further provides an automatic driving control device for a vehicle, as shown in fig. 4, which is a schematic structural diagram of an embodiment of the device, and the device includes:
the third judging module 61 is used for judging whether the second vehicle has an abnormal tire pressure fault or not when the second vehicle is driven automatically;
and a fifth control module 62, configured to broadcast second vehicle network broadcast information to an area within a second distance from the second vehicle when the tire pressure abnormal fault occurs, so that after receiving the second vehicle network broadcast information, vehicles within the area within the second distance from the second vehicle change the automatic driving operation of the vehicles.
In a possible embodiment, the apparatus further comprises:
the fourth judgment module is used for judging whether the second vehicle has the driver fatigue driving condition or not when the tire pressure abnormal fault does not occur;
and the sixth control module is used for broadcasting third vehicle network broadcasting information to an area within a third distance from the second vehicle when the driver fatigue driving condition occurs, so that the automatic driving operation of the vehicles within the area within the third distance from the second vehicle is changed after the vehicles receive the third vehicle network broadcasting information.
Based on the same inventive concept as the foregoing embodiment, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of any one of the foregoing vehicle automatic driving control methods when executing the program.
Based on the same inventive concept as in the previous embodiments, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the steps of any of the vehicle automatic driving control methods described above.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
according to the embodiment of the invention, when the first vehicle is automatically driven, the first vehicle networking broadcast information can be received, whether a vehicle with abnormal tire pressure exists in surrounding vehicles can be known according to the first vehicle networking broadcast information, if yes, the automatic driving operation of the first vehicle is changed, and the influence of the vehicle with the abnormal tire pressure on the first vehicle is reduced, so that the risk of the abnormal tire pressure fault of the vehicle is reduced, and the driving safety of the vehicle is improved.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
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