CN113752941B - Unmanned vehicle steering lamp control method and device, unmanned vehicle and storage medium - Google Patents
Unmanned vehicle steering lamp control method and device, unmanned vehicle and storage medium Download PDFInfo
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- CN113752941B CN113752941B CN202011079181.3A CN202011079181A CN113752941B CN 113752941 B CN113752941 B CN 113752941B CN 202011079181 A CN202011079181 A CN 202011079181A CN 113752941 B CN113752941 B CN 113752941B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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Abstract
The embodiment of the invention discloses a control method and device for a steering lamp of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, wherein the method comprises the following steps: acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path; and determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current local path. The problem that turn signal lamp of current unmanned vehicles opens the opportunity later is solved.
Description
Technical Field
The embodiment of the invention relates to the field of vehicle control, in particular to a method and a device for controlling a steering lamp of an unmanned vehicle, the unmanned vehicle and a storage medium.
Background
In the prior art, the steering lamp of the unmanned vehicle is controlled by a control instruction received by the chassis of the unmanned vehicle, the control instruction is generated based on an environment image of a current frame acquired by a vision system of the unmanned vehicle, namely, the control instruction is generated based on a current environment image, so that the steering lamp of the prior unmanned vehicle is turned on later. The turn signal lamp is turned on later, so that a rear vehicle cannot make a correct driving strategy in time easily, and traffic accidents are caused.
In summary, in the process of implementing the present invention, the inventor finds that at least the following technical problems exist in the prior art: because the environment image of the current frame only contains the environment information of the current coordinate of the unmanned vehicle, the steering direction of the unmanned vehicle determined based on the environment image of the current frame has certain limitation and lower accuracy.
Disclosure of Invention
The embodiment of the invention provides a control method and device for a steering lamp of an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, and solves the problem that the steering direction of the unmanned aerial vehicle determined by the prior art is low in accuracy.
In a first aspect, an embodiment of the present invention provides a method for controlling a steering lamp of an unmanned vehicle, including:
acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path;
and determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current local path.
In a second aspect, an embodiment of the present invention further provides a control device for a steering lamp of an unmanned vehicle, including:
The acquisition module is used for acquiring a current local path and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path;
and the steering module is used for determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction and controlling the unmanned vehicle to run along the current local path.
In a third aspect, an embodiment of the present invention further provides an unmanned vehicle, where the unmanned vehicle includes:
a vehicle body;
the steering lamp is arranged on the vehicle body and used for outputting steering signals;
the running mechanism is arranged on the vehicle body and used for driving the vehicle body to run;
the controller is used for acquiring a current local path and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path; determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the running mechanism to drive the vehicle body to run along the current local path.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer controller, are configured to perform the method of controlling a turn signal of an unmanned vehicle according to any of the embodiments.
The technical scheme provided by the embodiment of the invention comprises the following steps: acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path; and determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current local path. The current global path and the local path not only comprise the current coordinate information of the unmanned vehicle, but also comprise the coordinate position information of the unmanned vehicle in a period of time in the future, so that the steering direction of the unmanned vehicle can be accurately determined in advance by combining the curvature change of the current global path and the trend of the current local path.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for controlling a turn signal lamp of an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a global path and a local path according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of an initial coordinate system and a target coordinate system according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for controlling a turn signal of an unmanned vehicle according to an embodiment of the present invention;
fig. 5 is a block diagram of a control device for a turn signal lamp of an unmanned vehicle according to a second embodiment of the present invention;
fig. 6 is a block diagram of an unmanned vehicle according to a third embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described by means of implementation examples with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Fig. 1 is a flowchart of a method for controlling a turn signal of an unmanned vehicle according to an embodiment of the present invention. The technical scheme of the embodiment is suitable for determining the steering direction of the unmanned vehicle on the current local path in advance according to the trend of the current local path and the curvature change of the current global path. The method can be executed by the unmanned vehicle turn signal lamp control device provided by the embodiment of the invention, and the device can be realized in a software and/or hardware mode and is configured to be applied in a controller of the unmanned vehicle. As shown in fig. 1, the method specifically includes the following steps:
S101, acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path.
When the road condition is good, the unmanned vehicle only needs to plan a global path 11 (see a dotted line path along the central line of the road in fig. 2) in the running process and can run along the global path; when the road condition is poor, such as when there is an obstacle on the road, the unmanned vehicle plans the global path, and simultaneously plans the local path 12 (see the solid line path of fig. 2 deviating from the center line of the road) in real time, and runs along the real-time planned local path, so that the unmanned vehicle safely bypasses the obstacle on the road. It will be appreciated that for each set of local paths corresponding to an obstacle, the ends are located on the global path, so that the drone, after bypassing the obstacle along the local path, re-enters the global path and continues to travel along the global path. Wherein each set of obstacles comprises one obstacle, or a plurality of connected or proximate obstacles.
The coordinate system where the current global path is located is an initial coordinate system, such as a cartesian coordinate system. The coordinate system where the current local path is located is a target coordinate system, the longitudinal axis of the target coordinate system is distributed along the central line of the road, and the transverse axis of the target coordinate system is perpendicular to the central line of the road. In this embodiment, the target coordinate system is preferably a Frenet coordinate system, that is, the local path is preferably optimized based on the Frenet coordinate system, as shown in fig. 2.
Upon detecting that the drone is currently located on the local path, the current location of the drone is taken as the starting location of the current local path (see f in fig. 2 0 ) And determining a current global path corresponding to the current local path according to the starting position. The corresponding mileage of the current global path in the initial coordinate system is the same as the longitudinal coordinate value of the current local path in the target coordinate system; the corresponding mileage of the end point of the current global path in the initial coordinate system is greater than or equal to the longitudinal coordinate value of the end point of the current local path in the target coordinate system. In this embodiment, the mileage corresponding to the end point of the current global path in the initial coordinate system is preferably greater than the longitudinal coordinate value of the end point of the current local path in the target coordinate system.
The method for determining the end point of the current local path comprises the following steps: and determining whether the coordinate value of the current gesture point on the longitudinal axis of the current local path is greater than or equal to a preset local threshold value, and if so, taking the previous gesture point of the current gesture point as the end point of the current local path.
The preset local threshold is the sum of the coordinate value of the current gesture point on the vertical axis and a preset interval threshold, the preset interval threshold is the minimum value of the total length of projection of the preset observation length and the current local path on the vertical axis, and the preset observation length is the maximum value of the actual observation length and the minimum observation length. The actual observation length is a component of the running distance of the vehicle in the preset observation time on the ordinate axis, and the minimum observation length is a component of the minimum observation distance on the ordinate axis.
In some embodiments, the local path generated based on the Frenet coordinate system includes N discrete gesture points, which may be expressed as: f= { F i (s i ,l i ) I=0, 1,.. 0 (s 0 ,l 0 ) For the attitude point of the initial position of the current local path, determining the end point of the current local path through the following formula, namely f N-1 (s N-1 ,l N-1 ) Is defined by the longitudinal coordinate values of (a):
max_s＝min(max(vt,min_d),D)+f 0 .s 0
wherein v is the initial speed of the unmanned vehicle on the longitudinal axis, t is the preset observation time, min_d is the minimum observation length, D is the projection length of the current local path on the longitudinal axis, and f 0 .s 0 Is the abscissa of the starting gesture point of the current local path.
Wherein the position coordinates of each attitude point can be converted between the initial coordinate system and the target coordinate system. As shown in fig. 3, the cartesian coordinate system is XMY and the Frenet coordinate system is SOL, and in the Frenet coordinate system, the S axis is along the road center line direction and the L axis is along the direction perpendicular to the road center line. The road centerline consists of a series of discrete points, and the coordinates of point p in Cartesian coordinate system can be expressed as p (x) p ,y p ). Two points closest to the point p are found on the road centerline, point s and point e, respectively. If the coordinates of the point s in the Frenet coordinate system are (s s 0), the coordinates of the point e in the Frenet coordinate system are (s e 0), then the step of determining the coordinate value of the point p in the target coordinate system (Frenet coordinate system) from the coordinate value of the point p in the initial coordinate system (cartesian coordinate system) is as follows:
the vector of points s pointing to point p can be expressed as:
the vector of points e to points p can be expressed as:
the vector is calculated by the following formulaVector->Conversion coefficients between;
thus s p Can be expressed as:
l p can be expressed as:
it will be appreciated that the coordinate values of the known pose point in the target coordinate system may also be derived from the coordinate values of the known pose point in the initial coordinate system.
S102, determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current path after the corresponding steering lamp is started.
In order to improve the control accuracy of the unmanned vehicle steering lamp, the embodiment mainly uses curvature change of the current global path and assists in determining the steering direction of the unmanned vehicle by taking the trend of the current local path. As shown in fig. 4, this step (S102) includes the steps of:
s1021, when the first steering direction corresponding to the current global path is determined according to the curvature change of the current global path, controlling the unmanned vehicle to run along the current local path after turning on the corresponding steering lamp according to the first steering direction.
If the current global path is not a straight path section but a turning path section corresponding to the first turning direction, the unmanned vehicle is directly controlled to turn on a corresponding turn light according to the first turning direction without detecting whether the current local path corresponds to the second turning direction, and the unmanned vehicle runs along the current local path.
Wherein the first steering direction of the current global path may be determined according to a curvature change of the current global path. Preferably, in the initial coordinate system, determining a steering evaluation angle of the unmanned vehicle according to the change amount of the orientation angle corresponding to each non-initial attitude point in the current global path; and determining a steering threshold section corresponding to the steering evaluation angle, and taking the running direction corresponding to the steering threshold section as a first steering direction.
When determining the steering evaluation angle of the unmanned vehicle, calculating the change amount of the direction angle caused by each non-initial attitude point on the current global path; respectively normalizing the change amounts of the orientation angles corresponding to all the non-initial attitude points; and calculating the cumulative sum of all the normalized change amounts of the direction angles, calculating the average value of the cumulative sum, and taking the average value as the steering evaluation angle of the unmanned vehicle.
Specifically, in the initial coordinate system, the current global path includes M pose points, which may be represented as r= { R i (x i ,y i ,θ i ,s i ) I=0, 1,..m-1 }, where (x i ,y i ) Representing the coordinate position, θ, of the ith pose point on the current target path i An orientation angle s representing an ith attitude point of a current target path i Representing the mileage between the ith pose point and the first pose point on the current target path. The orientation angle of the gesture point is an included angle between a tangent line at the gesture point on the current target path and a preset direction. In practical use, the preset direction may be selected as the X axis. The cumulative sum of the change amounts of the orientation angles corresponding to each non-start attitude point on the current global path is calculated by the following formula:
a_dθ＝a_dθ+normalize(r i .θ i -r i-1 .θ i-1 )
wherein (r) i .θ i -r i-1 .θ i-1 ) Represents the change amount of the orientation angle of the current non-initial attitude point relative to the previous attitude point, the function normal (r i .θ i -r i-1 .θ i-1 ) For normalizing the orientation angle change amount to [ -pi, pi),the average angle of orientation change is calculated by the following formula:
m_dθ＝a_dθ/n
where n is the total number of gesture points contained by the current local path.
If m_dθ > Δθ is established, the steering direction corresponding to the current global path is left, i.e., the first steering direction is left, and if m_dθ < - Δθ is established, the steering direction corresponding to the current global path is right, i.e., the first steering direction is right. Wherein, being greater than Δθ, the left steering threshold interval is less than- Δθ, the steering threshold interval is. If the steering evaluation angle does not fall into the left steering threshold value interval or the right steering threshold value interval, the unmanned vehicle is judged to be free from steering and can go straight. The left steering threshold interval and the right steering threshold interval are experience thresholds, and can be set according to specific situations in actual use.
S1022, when the current global path is determined to be a straight path section according to the curvature change of the current global path, determining a second steering direction corresponding to the current local path according to the trend of the current local path, and controlling the unmanned vehicle to run along the current local path after turning on the corresponding steering lamp according to the second steering direction.
In the initial coordinate system, determining whether the current global path is a straight path section according to the curvature change of the current global path; if so, determining a second steering direction corresponding to the current local path according to the trend of the current local path in the target coordinate system, taking the second steering direction as the steering direction of the unmanned vehicle, and controlling the unmanned vehicle to run along the current local path after turning on the corresponding steering lamp.
The method for determining the second steering direction corresponding to the current local path according to the trend of the current local path comprises the following steps: determining the longitudinal left-turn accumulated length and the longitudinal right-turn accumulated length of the current local path in a target coordinate system; when the longitudinal left-turn accumulated length or the longitudinal right-turn accumulated length accords with the corresponding preset local steering conditions, taking the steering direction corresponding to the preset local steering conditions as a second steering direction of the unmanned vehicle on the current local path.
Wherein, when determining the longitudinal left-turn accumulated length and the longitudinal right-turn accumulated length: detecting whether the transverse change amount of the current gesture point on the current local path in the target coordinate system compared with the initial gesture point on the current local path is larger than a transverse neglect threshold value or not; if so, calculating the longitudinal change amount of the current attitude point compared with the corresponding previous attitude point to serve as the current longitudinal change amount; when the transverse change amount of the current attitude point is positive, calculating the sum of the longitudinal left-turn accumulated length and the current longitudinal change amount so as to update the longitudinal left-turn accumulated length; and when the transverse change amount of the current attitude point is negative, calculating the sum of the longitudinal-to-right rotation accumulated length and the current longitudinal change amount so as to update the longitudinal-to-right rotation accumulated length.
In one embodiment, the current pose point on the current local path satisfies |f i .l i -f 0 .l 0 When |Δl is not less than, the formula ds=f is used i .s i -f i-1 .s i-1 Calculating the distance of the current attitude point relative to the previous attitude point in the longitudinal direction, wherein f i .s i For the coordinate value of the current attitude point in the longitudinal direction, deltal is the transverse jitter neglect threshold value, f i-1 .s i-1 The coordinate value of the previous gesture point corresponding to the current gesture point in the longitudinal direction is obtained. If f i .l i -f 0 .l 0 If > 0.0 holds, it means that the component of the current gesture point in the transverse direction changes positively with respect to the component of the start gesture point in the transverse direction, so left_as=left_as+ds is performed, otherwise right_as=right_as+ds is performed, where left_as is the longitudinal left turn accumulated length and right_as is the longitudinal right turn accumulated length.
The method for determining the second steering direction of the unmanned vehicle based on the longitudinal left-turn accumulated length or the longitudinal right-turn accumulated length comprises the following steps: when the longitudinal left-turn accumulated length is detected to be greater than the longitudinal right-turn accumulated length and is greater than a longitudinal neglect threshold value, judging that the second steering direction of the unmanned vehicle on the current local path is left; and when the longitudinal right turn accumulated length is detected to be greater than the longitudinal left turn accumulated length and is greater than the longitudinal neglect threshold, judging that the second turning direction of the unmanned vehicle on the current local path is right.
In one embodiment, if left_as > right_as & left_as > Δs is true, the first steering direction corresponding to the current local path is left, if left_as < right_as & right_as > Δs is true, the second steering direction corresponding to the current local path is right, otherwise, the current local path segment is a straight path segment. Where Δs is the longitudinal ignore threshold.
It will be appreciated that if the longitudinal left turn accumulated length does not satisfy both greater than the longitudinal right turn accumulated length and the ignore threshold, and the longitudinal left turn accumulated length does not satisfy both greater than the longitudinal left turn accumulated length and the ignore threshold, then the current local path is a straight path, i.e., the drone is straight on the current local path.
The precondition that the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path is detected in the target coordinate system is that the coordinate value of the current gesture point on the vertical axis is smaller than the preset local threshold. And if the longitudinal coordinate value of the current gesture point is greater than or equal to the preset local threshold value, updating the current local path by taking the current gesture point as a starting position. It will be appreciated that the current global path must be updated simultaneously with the current local path so that the updated current global path corresponds to the updated current local path.
The technical scheme provided by the embodiment of the invention comprises the following steps: acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position of the current local path; and determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current local path. The current global path and the local path not only comprise the current coordinate information of the unmanned vehicle, but also comprise the coordinate position information of the unmanned vehicle in a period of time in the future, so that the steering direction of the unmanned vehicle can be accurately determined in advance by combining the curvature change of the current global path and the trend of the current local path.
Example two
Fig. 5 is a block diagram of a control device for a turn signal of an unmanned vehicle according to an embodiment of the present invention. The device is used for executing the unmanned vehicle turn signal control method provided by any embodiment, and the device can be realized by software or hardware. The device comprises:
an obtaining module 21, configured to obtain a current local path, and determine a current global path corresponding to the current local path according to a starting position of the current local path;
the steering module 22 is configured to determine a steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, and turn on a corresponding steering lamp of the unmanned vehicle according to the steering direction and control the unmanned vehicle to travel along the current local path.
Optionally, when determining that the current global path corresponds to the first steering direction according to the curvature change of the current global path, controlling the unmanned vehicle to run along the current local path after turning on the corresponding steering lamp according to the first steering direction; when the current global path is determined to be a straight path section according to the curvature change of the current global path, determining a second steering direction corresponding to the current local path according to the trend of the current local path, and controlling the unmanned vehicle to run along the current local path after turning on the corresponding steering lamp according to the second steering direction.
Optionally, the steering module is specifically configured to: determining the longitudinal left-turn accumulated length and the longitudinal right-turn accumulated length of the current local path in a target coordinate system; when the longitudinal left-turn accumulated length or the longitudinal right-turn accumulated length accords with the corresponding preset local steering conditions, taking the steering direction corresponding to the preset local steering conditions as a second steering direction of the unmanned vehicle on the current local path.
Optionally, the steering module is specifically configured to: when the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path in the target coordinate system is detected to be larger than a transverse neglect threshold value, calculating the longitudinal change amount of the current gesture point compared with the corresponding previous gesture point as the current longitudinal change amount; when the transverse change amount of the current attitude point is positive, calculating the sum of the longitudinal left-turn accumulated length and the current longitudinal change amount to update the longitudinal left-turn accumulated length; and when the transverse change amount of the current attitude point is negative, calculating the sum of the longitudinal-to-right rotation accumulated length and the current longitudinal change amount to update the longitudinal-to-right rotation accumulated length.
Optionally, before calculating the current longitudinal change amount, the steering module is further configured to determine whether a longitudinal coordinate value of the current gesture point is less than a preset local threshold, where the preset local threshold is a sum of the longitudinal coordinate value of the current gesture point and a preset interval threshold, and the preset interval threshold is a minimum value of a preset observation length of the current local path on a longitudinal axis and a projection total length of the current local path on the longitudinal axis, and the preset observation length is a maximum value of an actual observation length and a minimum observation length; if yes, detecting whether the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path is larger than a transverse neglect threshold value or not in the target coordinate system; if not, the current local path is updated by taking the current gesture point as the initial position.
Optionally, the steering module is specifically configured to determine that the second steering direction of the unmanned vehicle on the current local path is left when the longitudinal left-turn accumulated length is detected to be greater than the longitudinal right-turn accumulated length and is greater than a longitudinal neglect threshold; and when the longitudinal right-turn accumulated length is detected to be larger than the longitudinal left-turn accumulated length and is larger than a longitudinal neglect threshold value, judging that the second steering direction of the unmanned vehicle on the current local path is right.
Optionally, the steering module is used for determining the steering evaluation angle of the unmanned vehicle according to the change amount of the orientation angle corresponding to each non-initial attitude point in the current global path in the initial coordinate system; and determining a steering threshold section corresponding to the steering evaluation angle, and taking the running direction corresponding to the steering threshold section as a first steering direction.
Optionally, the steering module is used for determining an orientation angle change amount caused by each non-initial attitude point on the current global path; respectively normalizing the change amounts of the orientation angles corresponding to all the non-initial attitude points; and calculating the average value of all the normalized change amounts of the orientation angles to determine the steering evaluation angle of the unmanned vehicle.
According to the technical scheme of the unmanned vehicle turn signal lamp control device, the current local path is obtained through the obtaining module, and the current global path corresponding to the current local path is determined according to the starting position and the ending position of the current local path; and determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path through the steering module, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current local path. The current global path and the local path not only comprise the current coordinate information of the unmanned vehicle, but also comprise the coordinate position information of the unmanned vehicle in a period of time in the future, so that the steering direction of the unmanned vehicle can be accurately determined in advance by combining the curvature change of the current global path and the trend of the current local path.
The unmanned aerial vehicle steering lamp control device provided by the embodiment of the invention can execute the unmanned aerial vehicle steering lamp control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 6 is a schematic structural diagram of an unmanned vehicle according to a fourth embodiment of the present invention, as shown in fig. 6, the unmanned vehicle includes a vehicle body, a turn signal 31 disposed on the vehicle body, a driving mechanism 32 and a controller 33; the steering lamp is used for outputting a steering signal according to the output; the running mechanism 32 is used for driving the vehicle body to run, the controller 33 is used for acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path; the steering direction of the unmanned vehicle is determined according to the trend of the current local path and the curvature change of the current global path, the corresponding steering lamp 31 of the unmanned vehicle is turned on according to the steering direction, and the unmanned vehicle is controlled to travel along the current local path after the corresponding steering lamp 31 is turned on.
When the road condition is good, the controller only needs to plan the global path 11 (see the dotted line path of the central line of the road in fig. 2) and drive along the global path in the process of driving the unmanned vehicle; when the road condition is poor, for example, when an obstacle exists on the road, the controller plans the global path, simultaneously plans the local path 21 (see the solid line path of fig. 2 deviating from the central line of the road) in real time, and controls the unmanned vehicle to run along the real-time planned local path, so that the unmanned vehicle can safely bypass the obstacle on the road. It will be appreciated that for each set of local paths corresponding to an obstacle, the ends are located on the global path, so that the drone, after bypassing the obstacle along the local path, re-enters the global path and continues to travel along the global path. Wherein each set of obstacles comprises one obstacle, or a plurality of connected or proximate obstacles.
The coordinate system where the current global path is located is an initial coordinate system, such as a cartesian coordinate system. The coordinate system where the current local path is located is a target coordinate system, the longitudinal axis of the target coordinate system is distributed along the central line of the road, and the transverse axis of the target coordinate system is perpendicular to the central line of the road. In this embodiment, the target coordinate system is preferably a Frenet coordinate system, that is, the local path is preferably optimized based on the Frenet coordinate system.
The controller takes the current position of the unmanned vehicle as the starting position of the current local path when detecting that the unmanned vehicle is currently located on the local path (see f in fig. 2 0 ) And determining a current global path corresponding to the current local path according to the starting position. The corresponding mileage of the current global path in the initial coordinate system is the same as the longitudinal coordinate value of the current local path in the target coordinate system; the corresponding mileage of the end point of the current global path in the initial coordinate system is greater than or equal to the longitudinal coordinate value of the end point of the current local path in the target coordinate system. In this embodiment, the mileage corresponding to the end point of the current global path in the initial coordinate system is preferably greater than the longitudinal coordinate value of the end point of the current local path in the target coordinate system.
When determining the end point of the current local path, the controller firstly determines whether the coordinate value of the current gesture point on the vertical axis of the current local path is greater than or equal to a preset local threshold value, and if so, takes the previous gesture point of the current gesture point as the end point of the current local path.
The preset local threshold is the sum of the coordinate value of the current gesture point on the vertical axis and a preset interval threshold, the preset interval threshold is the minimum value of the total length of projection of the preset observation length and the current local path on the vertical axis, and the preset observation length is the maximum value of the actual observation length and the minimum observation length. The actual observation length is a component of the running distance of the vehicle in the preset observation time on the ordinate axis, and the minimum observation length is a component of the minimum observation distance on the ordinate axis.
In some embodiments, the local path generated by the controller based on the Frenet coordinate system includes N discrete gesture points, which may be expressed as: f= { F i (s i ,l i ) I=0, 1,.. 0 (s 0 ,l 0 ) For the attitude point of the initial position of the current local path, determining the end point of the current local path through the following formula, namely f N-1 (s N-1 ,l N-1 ) Is defined by the longitudinal coordinate values of (a):
max_s＝min(max(vt,min_d),D)+f 0 .s 0
wherein v is the initial speed of the unmanned vehicle on the longitudinal axis, t is the preset observation time, min_d is the minimum observation length, D is the projection length of the current local path on the longitudinal axis, and f 0 .s 0 Is the abscissa of the starting gesture point of the current local path.
In order to improve the control accuracy of the unmanned vehicle steering lamp, the controller mainly changes the curvature of the current global path and determines the steering direction of the unmanned vehicle by taking the trend of the current local path as an auxiliary.
On the one hand, a first steering direction corresponding to the current global path is determined according to curvature change of the current global path, and the unmanned vehicle is controlled to run along the current local path after the corresponding steering lamp is started according to the first steering direction.
If the current global path is not a straight path section but a turning path section corresponding to the first turning direction, the unmanned vehicle is directly controlled to turn on a corresponding turn light according to the first turning direction without detecting whether the current local path corresponds to the second turning direction, and the unmanned vehicle runs along the current local path.
Wherein the first steering direction of the current global path may be determined according to a curvature change of the current global path. Preferably, in the initial coordinate system, determining a steering evaluation angle of the unmanned vehicle according to the change amount of the orientation angle corresponding to each non-initial attitude point in the current global path; and determining a steering threshold section corresponding to the steering evaluation angle, and taking the running direction corresponding to the steering threshold section as a first steering direction.
When determining the steering evaluation angle of the unmanned vehicle, calculating the change amount of the direction angle caused by each non-initial attitude point on the current global path; respectively normalizing the change amounts of the orientation angles corresponding to all the non-initial attitude points; and calculating the cumulative sum of all the normalized change amounts of the direction angles, calculating the average value of the cumulative sum, and taking the average value as the steering evaluation angle of the unmanned vehicle.
Specifically, in the initial coordinate system, the current global path includes M pose points, which may be represented as r= { R i (x i ,y i ,θ i ,s i ) I=0, 1,..m-1 }, where (x i ,y i ) Representing the coordinate position, θ, of the ith pose point on the current target path i An orientation angle s representing an ith attitude point of a current target path i Representing the mileage between the ith pose point and the first pose point on the current target path. The orientation angle of the gesture point is an included angle between a tangent line at the gesture point on the current target path and a preset direction. In practical use, the preset direction may be selected as the X axis. The cumulative sum of the change amounts of the orientation angles corresponding to each non-start attitude point on the current global path is calculated by the following formula:
a_dθ＝a_dθ+normalize(r i .θ i -r i-1 .θ i-1 )
Wherein (r) i .θ i -r i-1 .θ i-1 ) Represents the change amount of the orientation angle of the current non-initial attitude point relative to the previous attitude point, the function normal (r i .θ i -r i-1 .θ i-1 ) For normalizing the change in orientation angle to [ -pi, pi), the average change in orientation angle is calculated by the following formula:
m_dθ＝a_dθ/n
where n is the total number of gesture points contained by the current local path.
If m_dθ > Δθ is established, the steering direction corresponding to the current global path is left, i.e., the first steering direction is left, and if m_dθ < - Δθ is established, the steering direction corresponding to the current global path is right, i.e., the first steering direction is right. Wherein, being greater than Δθ, the left steering threshold interval is less than- Δθ, the steering threshold interval is. If the steering evaluation angle does not fall into the left steering threshold value interval or the right steering threshold value interval, the unmanned vehicle is judged to be free from steering, and the unmanned vehicle can go straight. The left steering threshold interval and the right steering threshold interval are experience thresholds, and can be set according to specific situations in actual use.
On the other hand, in the initial coordinate system, when the current global path is determined to be a straight path section according to the curvature change of the current global path, a second steering direction corresponding to the current local path is determined according to the trend of the current local path, and the unmanned vehicle is controlled to run along the current local path after the corresponding steering lamp is started according to the second steering direction.
The method for determining the second steering direction corresponding to the current local path according to the trend of the current local path comprises the following steps: determining the longitudinal left-turn accumulated length and the longitudinal right-turn accumulated length of the current local path in a target coordinate system; when the longitudinal left-turn accumulated length or the longitudinal right-turn accumulated length accords with the corresponding preset local steering conditions, taking the steering direction corresponding to the preset local steering conditions as a second steering direction of the unmanned vehicle on the current local path.
Wherein, when determining the longitudinal left-turn accumulated length and the longitudinal right-turn accumulated length: detecting whether the transverse change amount of the current gesture point on the current local path in the target coordinate system compared with the initial gesture point on the current local path is larger than a transverse neglect threshold value or not; if so, calculating the longitudinal change amount of the current attitude point compared with the corresponding previous attitude point to serve as the current longitudinal change amount; when the transverse change amount of the current attitude point is positive, calculating the sum of the longitudinal left-turn accumulated length and the current longitudinal change amount so as to update the longitudinal left-turn accumulated length; and when the transverse change amount of the current attitude point is negative, calculating the sum of the longitudinal-to-right rotation accumulated length and the current longitudinal change amount so as to update the longitudinal-to-right rotation accumulated length.
In one embodiment, the current pose point on the current local path satisfies |f i .l i -f 0 .l 0 When |Δl is not less than, the formula ds=f is used i .s i -f i-1 .s i-1 Calculating the distance of the current attitude point relative to the previous attitude point in the longitudinal direction, wherein f i .s i For the coordinate value of the current attitude point in the longitudinal direction, deltal is the transverse jitter neglect threshold value, f i-1 .s i-1 The coordinate value of the previous gesture point corresponding to the current gesture point in the longitudinal direction is obtained. If f i .l i -f 0 .l 0 If > 0.0 holds, it means that the component of the current gesture point in the transverse direction changes positively with respect to the component of the start gesture point in the transverse direction, so left_as=left_as+ds is performed, otherwise right_as=right_as+ds is performed, where left_as is the longitudinal left turn accumulated length and right_as is the longitudinal right turn accumulated length.
The method for determining the second steering direction of the unmanned vehicle based on the longitudinal left-turn accumulated length or the longitudinal right-turn accumulated length comprises the following steps: when the longitudinal left-turn accumulated length is detected to be greater than the longitudinal right-turn accumulated length and is greater than a longitudinal neglect threshold value, judging that the second steering direction of the unmanned vehicle on the current local path is left; and when the longitudinal right turn accumulated length is detected to be greater than the longitudinal left turn accumulated length and is greater than the longitudinal neglect threshold, judging that the second turning direction of the unmanned vehicle on the current local path is right.
In one embodiment, if left_as > right_as & left_as > Δs is true, the first steering direction corresponding to the current local path is left, if left_as < right_as & right_as > Δs is true, the second steering direction corresponding to the current local path is right, otherwise, the current local path segment is a straight path segment. Where Δs is the longitudinal ignore threshold.
It will be appreciated that if the longitudinal left turn accumulated length does not satisfy both greater than the longitudinal right turn accumulated length and the ignore threshold, and the longitudinal left turn accumulated length does not satisfy both greater than the longitudinal left turn accumulated length and the ignore threshold, then the current local path is a straight path, i.e., the drone is straight on the current local path.
The precondition that the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path is detected in the target coordinate system is that the coordinate value of the current gesture point on the vertical axis is smaller than the preset local threshold. And if the longitudinal coordinate value of the current gesture point is greater than or equal to the preset local threshold value, updating the current local path by taking the current gesture point as a starting position. It will be appreciated that the current global path must be updated simultaneously with the current local path so that the updated current global path corresponds to the updated current local path.
The technical scheme of the unmanned vehicle provided by the embodiment of the invention comprises the following steps: acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position of the current local path; and determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current local path. The current global path and the local path not only comprise the current coordinate information of the unmanned vehicle, but also comprise the coordinate position information of the unmanned vehicle in a period of time in the future, so that the steering direction of the unmanned vehicle can be accurately determined in advance by combining the curvature change of the current global path and the trend of the current local path.
Example IV
The embodiment of the invention also provides a storage medium containing computer executable instructions, which when executed by a computer controller, are used for executing a method for controlling a steering lamp of an unmanned vehicle, and the method comprises the following steps:
acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path;
And determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current local path.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present invention is not limited to the method operations described above, and may also perform the related operations in the method for controlling the turn signal of the unmanned vehicle provided in any embodiment of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and the like, and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method for controlling the turn signal lamp of the unmanned vehicle according to the embodiments of the present invention.
It should be noted that, in the embodiment of the unmanned vehicle turn signal control device, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be realized; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A method for controlling a turn signal lamp of an unmanned vehicle, comprising:
acquiring a current local path, and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path;
Determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the unmanned vehicle to run along the current local path;
the method for determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path comprises the following steps: when the current global path is determined to be a straight path section according to the curvature change of the current global path, determining a second steering direction corresponding to the current local path according to the trend of the current local path, and controlling the unmanned vehicle to run along the current local path after turning on a corresponding steering lamp according to the second steering direction;
the determining the second steering direction corresponding to the current local path according to the trend of the current local path comprises the following steps: determining the longitudinal left-turn accumulated length and the longitudinal right-turn accumulated length of the current local path in a target coordinate system; when the longitudinal left-turn accumulated length or the longitudinal right-turn accumulated length accords with the corresponding preset local steering conditions, taking the steering direction corresponding to the preset local steering conditions as a second steering direction of the unmanned vehicle on the current local path;
Wherein determining the longitudinal left turn accumulated length and the longitudinal right turn accumulated length of the current local path in a target coordinate system comprises:
determining whether the longitudinal coordinate value of the current gesture point is smaller than a preset local threshold value, wherein the preset local threshold value is the sum of the longitudinal coordinate value of the current gesture point and a preset interval threshold value, the preset interval threshold value is the minimum value of the preset observation length of the current local path on a longitudinal axis and the projection total length of the current local path on the longitudinal axis, and the preset observation length is the maximum value of the actual observation length and the minimum observation length;
if yes, detecting whether the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path is larger than a transverse neglect threshold value or not in the target coordinate system;
when the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path in the target coordinate system is detected to be larger than a transverse neglect threshold value, calculating the longitudinal change amount of the current gesture point compared with the corresponding previous gesture point as the current longitudinal change amount;
when the transverse change amount of the current attitude point is positive, calculating the sum of the longitudinal left-turn accumulated length and the current longitudinal change amount to update the longitudinal left-turn accumulated length;
And when the transverse change amount of the current attitude point is negative, calculating the sum of the longitudinal-to-right rotation accumulated length and the current longitudinal change amount to update the longitudinal-to-right rotation accumulated length.
2. The method of claim 1, wherein the determining the steering direction of the drone from the trend of the current local path and the change in curvature of the current global path further comprises:
when the first steering direction corresponding to the current global path is determined according to the curvature change of the current global path, controlling the unmanned vehicle to run along the current local path after turning on the corresponding steering lamp according to the first steering direction.
3. The method according to claim 1, wherein after determining whether the longitudinal coordinate value of the current pose point is less than the preset local threshold, further comprising:
if not, the current local path is updated by taking the current gesture point as the initial position.
4. The method according to claim 1, wherein when the longitudinal left-turn cumulative length or the longitudinal right-turn cumulative length meets a corresponding preset local steering condition, the steering direction corresponding to the preset local steering condition is used as a second steering direction of the unmanned vehicle on the current local path, and the method comprises:
When the longitudinal left-turn accumulated length is detected to be larger than the longitudinal right-turn accumulated length and is larger than a longitudinal neglect threshold value, judging that a second steering direction of the unmanned vehicle on the current local path is left;
and when the longitudinal right-turn accumulated length is detected to be larger than the longitudinal left-turn accumulated length and is larger than a longitudinal neglect threshold value, judging that the second steering direction of the unmanned vehicle on the current local path is right.
5. The method according to claim 2, wherein the method of determining the first steering direction comprises:
in an initial coordinate system, determining a steering evaluation angle of the unmanned vehicle according to the change amount of the orientation angle corresponding to each non-initial attitude point in the current global path;
and determining a steering threshold section corresponding to the steering evaluation angle, and taking the running direction corresponding to the steering threshold section as a first steering direction.
6. The method of claim 5, wherein determining the steering evaluation angle of the unmanned vehicle according to the change amount of the orientation angle corresponding to each non-start attitude point in the current global path comprises:
determining the change amount of the orientation angle brought by each non-initial attitude point on the current global path;
Respectively normalizing the change amounts of the orientation angles corresponding to all the non-initial attitude points;
and calculating the average value of all the normalized change amounts of the orientation angles to determine the steering evaluation angle of the unmanned vehicle.
7. An unmanned vehicle turn signal control device, comprising:
the acquisition module is used for acquiring a current local path and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path;
a steering module for determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting the corresponding steering lamp of the unmanned vehicle according to the steering direction and controlling the unmanned vehicle to run along the current local path,
the method for determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path comprises the following steps: when the current global path is determined to be a straight path section according to the curvature change of the current global path, determining a second steering direction corresponding to the current local path according to the trend of the current local path, and controlling the unmanned vehicle to run along the current local path after turning on a corresponding steering lamp according to the second steering direction;
The determining the second steering direction corresponding to the current local path according to the trend of the current local path comprises the following steps: determining the longitudinal left-turn accumulated length and the longitudinal right-turn accumulated length of the current local path in a target coordinate system; when the longitudinal left-turn accumulated length or the longitudinal right-turn accumulated length accords with the corresponding preset local steering conditions, taking the steering direction corresponding to the preset local steering conditions as a second steering direction of the unmanned vehicle on the current local path;
wherein determining the longitudinal left turn accumulated length and the longitudinal right turn accumulated length of the current local path in a target coordinate system comprises:
determining whether the longitudinal coordinate value of the current gesture point is smaller than a preset local threshold value, wherein the preset local threshold value is the sum of the longitudinal coordinate value of the current gesture point and a preset interval threshold value, the preset interval threshold value is the minimum value of the preset observation length of the current local path on a longitudinal axis and the projection total length of the current local path on the longitudinal axis, and the preset observation length is the maximum value of the actual observation length and the minimum observation length;
if yes, detecting whether the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path is larger than a transverse neglect threshold value or not in the target coordinate system;
When the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path in the target coordinate system is detected to be larger than a transverse neglect threshold value, calculating the longitudinal change amount of the current gesture point compared with the corresponding previous gesture point as the current longitudinal change amount;
when the transverse change amount of the current attitude point is positive, calculating the sum of the longitudinal left-turn accumulated length and the current longitudinal change amount to update the longitudinal left-turn accumulated length;
and when the transverse change amount of the current attitude point is negative, calculating the sum of the longitudinal-to-right rotation accumulated length and the current longitudinal change amount to update the longitudinal-to-right rotation accumulated length.
8. An unmanned vehicle, the unmanned vehicle comprising:
a vehicle body;
the steering lamp is arranged on the vehicle body and used for outputting steering signals;
the running mechanism is arranged on the vehicle body and used for driving the vehicle body to run;
the controller is used for acquiring a current local path and determining a current global path corresponding to the current local path according to the starting position and the ending position of the current local path; determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path, starting a corresponding steering lamp of the unmanned vehicle according to the steering direction, and controlling the running mechanism to drive the vehicle body to run along the current local path;
The method for determining the steering direction of the unmanned vehicle according to the trend of the current local path and the curvature change of the current global path comprises the following steps: when the current global path is determined to be a straight path section according to the curvature change of the current global path, determining a second steering direction corresponding to the current local path according to the trend of the current local path, and controlling the unmanned vehicle to run along the current local path after turning on a corresponding steering lamp according to the second steering direction;
the determining a second steering direction corresponding to the current local path according to the trend of the current local path comprises the following steps: determining the longitudinal left-turn accumulated length and the longitudinal right-turn accumulated length of the current local path in a target coordinate system; when the longitudinal left-turn accumulated length or the longitudinal right-turn accumulated length accords with the corresponding preset local steering conditions, taking the steering direction corresponding to the preset local steering conditions as a second steering direction of the unmanned vehicle on the current local path;
wherein determining the longitudinal left turn accumulated length and the longitudinal right turn accumulated length of the current local path in a target coordinate system comprises:
determining whether the longitudinal coordinate value of the current gesture point is smaller than a preset local threshold value, wherein the preset local threshold value is the sum of the longitudinal coordinate value of the current gesture point and a preset interval threshold value, the preset interval threshold value is the minimum value of the preset observation length of the current local path on a longitudinal axis and the projection total length of the current local path on the longitudinal axis, and the preset observation length is the maximum value of the actual observation length and the minimum observation length;
If yes, detecting whether the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path is larger than a transverse neglect threshold value or not in the target coordinate system;
when the transverse change amount of the current gesture point on the current local path compared with the initial gesture point on the current local path in the target coordinate system is detected to be larger than a transverse neglect threshold value, calculating the longitudinal change amount of the current gesture point compared with the corresponding previous gesture point as the current longitudinal change amount;
when the transverse change amount of the current attitude point is positive, calculating the sum of the longitudinal left-turn accumulated length and the current longitudinal change amount to update the longitudinal left-turn accumulated length;
and when the transverse change amount of the current attitude point is negative, calculating the sum of the longitudinal-to-right rotation accumulated length and the current longitudinal change amount to update the longitudinal-to-right rotation accumulated length.
9. A storage medium containing computer executable instructions, which when executed by a computer controller are for performing the method of unmanned vehicle turn signal control of any of claims 1-6.
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| EP3342671A1 (en) * | 2016-12-30 | 2018-07-04 | Hyundai Motor Company | Apparatus and method for implementing a lane change decision aid system |
| CN110758232A (en) * | 2019-10-15 | 2020-02-07 | 中国第一汽车股份有限公司 | Vehicle steering lamp control method, vehicle and storage medium |
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| CN107161075A (en) * | 2017-05-24 | 2017-09-15 | 东风汽车公司 | A kind of turn signal lamp autocontrol method and system based on automatic Pilot |
| CN110758232A (en) * | 2019-10-15 | 2020-02-07 | 中国第一汽车股份有限公司 | Vehicle steering lamp control method, vehicle and storage medium |
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