CN113815606A - Vehicle control method, device, system, automobile and computer readable storage medium - Google Patents
Vehicle control method, device, system, automobile and computer readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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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
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Abstract
The invention belongs to the technical field of automatic driving, and particularly relates to a vehicle control method, a vehicle control device, a vehicle control system, an automobile and a computer-readable storage medium. The vehicle control method comprises the following steps: acquiring external environment information, wherein the external environment information comprises at least one item of point cloud information and external image information; acquiring vehicle information, wherein the vehicle information comprises at least one item of vehicle attribute information, vehicle position information and driving authority information; and generating vehicle driving control information according to the vehicle information and the external environment information, and controlling the vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information. Therefore, the invention can enable the vehicle to better sense the surrounding environment, and realize the method for automatically locating, parking and avoiding the obstacle more efficiently and safely, thereby bringing great experience improvement to the user.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a vehicle control method, a vehicle control device, a vehicle control system, an automobile and a computer-readable storage medium.
Background
In daily life, an automatic parking system is usually installed on a vehicle, a driver can get off and leave a parking lot after stopping the vehicle on a parking lot road by collecting external environment data, the vehicle can search parking spaces and stop in corresponding parking spaces, a large amount of time of the driver is saved, and convenience is brought to the driver.
However, the automatic parking system is driver-free in the vehicle, and the environment around the parking lot is variable. Existing vehicle settings have limited ability to sense external environments, such as objects within blind zones, for example. If the parking system cannot sense the parking system well, the safety and the parking efficiency in the automatic parking process are greatly influenced.
In view of the above problems, those skilled in the art have sought solutions.
The foregoing description is provided for general background information and is not admitted to be prior art.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a vehicle control method, a vehicle control device, a vehicle control system, an automobile and a computer readable storage medium, which can better sense the surrounding environment, realize more efficient and safe methods for automatically locating, parking and avoiding obstacles of the vehicle, and bring great experience improvement to users.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the invention provides a vehicle control method, which comprises the following steps: acquiring external environment information, wherein the external environment information comprises at least one item of point cloud information and external image information; acquiring vehicle information, wherein the vehicle information comprises at least one item of vehicle attribute information, vehicle position information and driving authority information; and generating vehicle driving control information according to the vehicle information and the external environment information, and controlling the vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information.
Further, the step of acquiring the external environment information includes: acquiring point cloud information through a radar device, wherein the point cloud information comprises at least one item of radar ranging information and object contour information; and/or acquiring external image information through the image acquisition device, wherein the external image information comprises at least one of visual ranging information, object attribute information and object motion information.
Further, the vehicle control method described above, wherein the step of generating the vehicle driving control information based on the vehicle information and the external environment information, includes: establishing a parking space coordinate system according to the external environment information and the vehicle information; parameters of the point cloud information and/or the external image information are marked in a parking space coordinate system, and the parking space coordinate system is used for combining the point cloud information and the external image information to analyze the external environment of the vehicle.
Further, the step of generating the vehicle driving control information based on the vehicle information and the external environment information and controlling the vehicle based on the vehicle driving control information includes: generating vehicle driving control information including an automatic locating control message according to the vehicle information and the external environment information, and controlling the vehicle to control the vehicle to automatically drive and search for an empty parking space; and acquiring external environment information including empty parking space information.
Further, the step of generating the vehicle driving control information based on the vehicle information and the external environment information and controlling the vehicle based on the vehicle driving control information includes: and generating vehicle driving control information including automatic parking control information according to the empty parking space information and the vehicle information, and controlling the vehicle to control the vehicle to finish automatic parking operation.
Further, the step of generating the vehicle driving control information based on the vehicle information and the external environment information and controlling the vehicle based on the vehicle driving control information includes: acquiring obstacle information according to external environment information, wherein the obstacle information comprises at least one of obstacle position information and obstacle motion information; predicting the motion trail information of the obstacle according to the obstacle information; and generating vehicle driving control information including automatic obstacle avoidance control information according to the obstacle information and the motion track information, and controlling the vehicle so as to control the vehicle to automatically avoid the obstacle.
The invention also provides a vehicle control device, which is characterized by comprising a processor and a memory: the processor is adapted to execute a computer program stored in the memory to implement the vehicle control method steps as described above.
The invention also provides a vehicle control system which is characterized by comprising a vehicle control device and an environmental data acquisition device; the environment data acquisition device is used for acquiring external environment information, the external environment information comprises at least one item of point cloud information and external image information, and comprises a radar module and an image acquisition module, wherein the radar module is used for acquiring the point cloud information, the point cloud information comprises at least one item of radar ranging information and object contour information, the image acquisition module is used for acquiring the external image information, and the external image information comprises at least one item of visual ranging information, object attribute information and object motion information; the vehicle control device is used for acquiring vehicle information, wherein the vehicle information comprises at least one item of vehicle attribute information, vehicle position information and driving authority information, generating vehicle driving control information according to the vehicle information and external environment information, and controlling the vehicle according to the vehicle driving control information, and the vehicle driving control information comprises at least one item of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information.
The invention also provides an automobile which is characterized by comprising the vehicle control system.
The invention also provides a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the vehicle control method as described above.
The invention also provides a vehicle control method, a vehicle control device, a vehicle control system, an automobile and a computer readable storage medium. The vehicle control method comprises the following steps: acquiring external environment information, wherein the external environment information comprises at least one item of point cloud information and external image information; acquiring vehicle information, wherein the vehicle information comprises at least one item of vehicle attribute information, vehicle position information and driving authority information; and generating vehicle driving control information according to the vehicle information and the external environment information, and controlling the vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information. Therefore, the invention can enable the vehicle to better sense the surrounding environment, and realize the method for automatically locating, parking and avoiding the obstacle more efficiently and safely, thereby bringing great experience improvement to the user. In addition, according to the vehicle control method provided by the embodiment of the invention, the vehicle can better identify the external environment through the combination of the radar and the image acquisition module, the parking space coordinate is established by the external information and the vehicle information, the point cloud information acquired by the radar device and the parameters of the external image information acquired by the image acquisition device are marked in the parking space coordinate system, and better data support is provided for 360-degree identification of the external environment of the vehicle from the aspects of long distance and short distance. In addition, in the process of identifying the environment, the detection of the attributes and the behavior tracks of nearby objects is completed, the behaviors of the objects are predicted, and better path planning is provided for obstacle avoidance of the vehicle, so that the operation of a user is reduced, the convenience of the user is increased, and the use experience of the user is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a vehicle control method according to a first embodiment of the invention;
FIG. 2 is a schematic diagram of a prior art vehicle ultrasonic radar detection structure;
FIG. 3 is a schematic diagram of ultrasonic ranging;
FIG. 4 is a schematic structural diagram of a vehicle all-round system according to a first embodiment of the present invention;
FIG. 5 is a schematic view of an image capture system for a vehicle around view according to a first embodiment of the present invention
Fig. 6 is a schematic view of a parking space coordinate system modeling provided in the first embodiment of the present invention;
fig. 7 is a flowchart illustrating a vehicle control method according to a second embodiment of the present invention;
fig. 8 is a schematic structural diagram of a vehicle control apparatus according to a third embodiment of the invention;
fig. 9 is a schematic structural diagram of a vehicle control system according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiments of the present invention will be described in detail with reference to the accompanying drawings.
First embodiment
Fig. 1 is a flowchart illustrating a vehicle control method according to a first embodiment of the present invention. For a clear description of the vehicle control method according to the first embodiment of the present invention, please refer to fig. 1 to 6.
The automatic parking system comprises an environmental data acquisition module, a central processing unit and a vehicle strategy control module, and realizes automatic identification of available parking spaces and automatic and correct parking space entering actions through a vehicle-mounted sensor (an ultrasonic radar and a camera) and a vehicle-mounted processor. However, due to the absence of a driver in the vehicle, the surroundings of the parking lot are variable, such as: a ground lock or an ice cream tube is arranged in the parking space; pedestrians come and go in front of the parking space; vehicles run through the parking space; these situations can lead to accidents. The existing automatic parking system uses the ultrasonic radar to detect the surrounding objects of the vehicle, specifically, the schematic diagram of the detection structure of the vehicle ultrasonic radar in the prior art can refer to fig. 2, which includes two types of ultrasonic radar: APA ultrasonic radar and UPA ultrasonic radar. Specifically, the range of the APA ultrasonic radar is 60cm to 500cm, the range of the UPA ultrasonic radar is 20cm to 90cm, 12 ultrasonic radars are assembled on the whole vehicle, dead angles exist for object detection, and the range of 8 UPA radars in the front and the rear of the vehicle is only 20cm to 90 cm. The distance measurement principle of ultrasound can be understood with the aid of fig. 3: the distance between the ultrasonic probe and the object is calculated through the time difference between the ultrasonic emission wave and the echo, and the product of the time difference and the wave speed of the ultrasonic wave is the propagation distance of the acoustic wave. The formula is as follows: s ═ C × T/2; in the formula: s is the distance, C is the propagation speed of the ultrasonic wave in the air, and T is the time difference. As can be seen from the above description, the prior art cannot detect a remote object, especially a vehicle and a pedestrian, which pass through the parking process, and cannot predict the motion trajectory of the remote object, which affects the safety of the automatic parking process. Therefore, a first embodiment of the present invention provides a vehicle control method to solve the above technical problem, and specifically includes the following steps:
step S1: and acquiring external environment information, wherein the external environment information comprises at least one of point cloud information and external image information.
In one embodiment, at step S1: the step of acquiring the external environment information includes: acquiring point cloud information through a radar device, wherein the point cloud information comprises at least one item of radar ranging information and object contour information; and/or acquiring external image information through the image acquisition device, wherein the external image information comprises at least one of visual ranging information, object attribute information and object motion information.
In one embodiment, reference may be made to the prior art arrangement for the specific arrangement of the radar apparatus, i.e., the arrangement shown in fig. 2, which is a combination of the front and rear UPA ultrasonic radar and the left and right APA ultrasonic radar. The method comprises the steps of obtaining point cloud information through a radar device, wherein the point cloud information comprises at least one item of radar ranging information and object contour information. For radar ranging information, namely, relative distance data between the radar and each object in the external environment is obtained through an ultrasonic radar, and the radar ranging information is mainly the distance information of the object which is relatively close to a vehicle; object contour information is the ability to identify an object to determine its approximate contour. Further, the radar device is preferably an ultrasonic radar, and may be a laser radar, an infrared radar, or the like, without any technical limitation.
In one embodiment, the image capturing device may be a vehicle-mounted camera, such as an external camera, an internal vehicle recorder, an electronic rearview mirror, or the like, for collecting external image information. Wherein the external image information includes at least one of visual ranging information, object attribute information, and object motion information. Specifically, for the visual ranging information, mainly the range information such as the external farther range acquired complementary to the radar ranging information of the radar device is used to detect the object beyond the radar detection range, and the preferred detection range may be a range with a radius of 10 m. When the object attribute information is based on the image recognition technology, the specific attribute of each object can be analyzed according to the external image information, for example, whether each object in the underground parking lot environment belongs to other vehicles or pedestrians, or a ground lock or an ice cream cone in a parking space, and the like. The object motion information, that is, after identifying each individual object, determines the motion of each object, wherein the motion information may specifically include a motion direction, a relative speed of the motion, and the like, so as to avoid or prevent collision.
In an embodiment, reference may be made to fig. 4 for a specific installation manner of an image capturing device in a vehicle, and fig. 4 is a schematic structural diagram of a vehicle all-around system according to a first embodiment of the present invention. The vehicle 360-degree all-round looking system is formed by an image acquisition device and an ECU (electronic control unit) independently. The image acquisition device is a fisheye camera which is respectively arranged at four positions of a front air grid, a rear bumper, a left rearview mirror and a right rearview mirror of a vehicle body. The fisheye camera is connected with the ECU, and the ECU may be a controller installed in a vehicle body, belongs to a vehicle look-around system, and may also be a vehicle control device which will be used as a main execution body of the method of the present invention in the following. The distinction is only for convenience of separate understanding, and may actually be the same device. The ECU uses deep learning to identify objects in the images of the four cameras by acquiring images around the vehicle, predicts the behavior track of the distant objects, analyzes the attributes of the objects and estimates the relative distance so as to assist in completing the vehicle control method provided by the invention. Further, for the images collected by the vehicle look-around system for analysis, reference may be made to the schematic diagram of fig. 5. Therefore, the environment around the vehicle and the attributes of the surrounding objects, preferably the vehicle, can be identified by deep learning and by the camera.
Step S2: vehicle information is acquired, and the vehicle information comprises at least one item of vehicle attribute information, vehicle position information and driving authority information.
In one embodiment, the vehicle attribute information is information about the vehicle itself, such as vehicle width, vehicle length, and wheel track, so as to better plan an execution path or perform evasion when the vehicle is parked automatically; the vehicle position information is mainly used for judging the relative position of the vehicle and is used for subsequently planning a route, searching a parking space and the like; the driving authority information, that is, the driving authority information is required to be acquired to complete automatic driving when vehicle control is performed.
Step S3: and generating vehicle driving control information according to the vehicle information and the external environment information, and controlling the vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information.
In one embodiment, at step S3: the step of generating the vehicle driving control information based on the vehicle information and the external environment information includes: establishing a parking space coordinate system according to the external environment information and the vehicle information; parameters of the point cloud information and/or the external image information are marked in a parking space coordinate system, and the parking space coordinate system is used for combining the point cloud information and the external image information to analyze the external environment of the vehicle.
In an embodiment, a parking space coordinate system is established according to the external environment information and the vehicle information, and specifically, referring to fig. 6, fig. 6 is a schematic view of modeling a parking space coordinate system according to a first embodiment of the present invention. Parameters of the point cloud information and/or the external image information are marked in a parking space coordinate system, and the parking space coordinate system is used for combining the point cloud information and the external image information to analyze the external environment of the vehicle. As can be seen from fig. 6, a three-dimensional model is built based on the point cloud information obtained by the radar device, the environmental conditions around the vehicle are identified, and the attribute of the surrounding object is analyzed by the image acquisition device to be preferably the vehicle. And a trajectory prediction derived from analysis of object motion information, as will be described in detail later, and will not be expanded upon herein. Therefore, by establishing a parking space coordinate system, the vehicle can know the external environment of the vehicle more accurately by the near-range point cloud information and the remote external image information, so that the vehicle control is realized in a targeted manner, and collision is prevented, the vehicle is controlled, and a path is planned.
In one embodiment, at step S3: the step of generating vehicle driving control information based on the vehicle information and the external environment information and controlling the vehicle based on the vehicle driving control information includes: generating vehicle driving control information including an automatic locating control message according to the vehicle information and the external environment information, and controlling the vehicle to control the vehicle to automatically drive and search for an empty parking space; and acquiring external environment information including empty parking space information.
In one embodiment, the vehicle control method according to the first embodiment of the present invention is to implement automatic parking, and the empty space needs to be determined first before automatic parking, and the implementation step of determining the empty space may be implemented by automatic driving. Therefore, in this embodiment, it is preferable that when the user leaves the vehicle and starts the vehicle control method, the vehicle is controlled to automatically drive to search for an empty space after the vehicle clearly understands the external environment through the established space coordinate system, so as to obtain the external environment information including the empty space information. In the step of searching for the empty parking space, the vehicle information and the empty parking space information further include right information, that is, the searched empty parking spaces are not all capable of parking, and the right information of the vehicle is matched with the right information of the empty parking space, so that the vehicle can be controlled to park, and parking in other parking spaces or in inappropriate parking spaces is prevented, for example, a fuel vehicle is parked in a new energy parking space, a general vehicle is parked in a disabled parking space, and the like.
In one embodiment, at step S3: the step of generating vehicle driving control information based on the vehicle information and the external environment information and controlling the vehicle based on the vehicle driving control information includes: and generating vehicle driving control information including automatic parking control information according to the empty parking space information and the vehicle information.
In one embodiment, after the vehicle automatically drives and searches for an empty parking space, and after the environment is clearly known according to the established parking space coordinate system, the vehicle is controlled to plan a parking path according to the external environment, the empty parking space and the position of the vehicle, so that the vehicle is controlled to automatically drive along the parking path to finish automatic parking. Specifically, referring to the modeling schematic diagram of the parking space coordinate system provided in fig. 6, the collision point of the vehicle is determined according to the vehicle information, the parking path is planned to enter the empty parking space, and other vehicles or obstacles determined by the radar ranging point cloud are avoided.
In one embodiment, at step S3: the step of generating vehicle driving control information based on the vehicle information and the external environment information and controlling the vehicle based on the vehicle driving control information includes: acquiring obstacle information according to external environment information, wherein the obstacle information comprises at least one of obstacle position information and obstacle motion information; predicting the motion trail information of the obstacle according to the obstacle information; and generating vehicle driving control information including automatic obstacle avoidance control information according to the obstacle information and the motion track information, and controlling the vehicle so as to control the vehicle to automatically avoid the obstacle.
In an embodiment, specifically, referring to the parking space coordinate system modeling diagram provided in fig. 6, during automatic parking or automatic locating, the movement trajectory of the external object collected by the image capture device is determined according to the object attribute information and the object movement information contained in the external image information, where the obstacle information includes at least one of obstacle position information and obstacle movement information, and preferably, in terms of an underground parking lot environment, the most common obstacle is a vehicle or a pedestrian. Ground locks, ice cream tubes, are also counted as obstacles, but since such obstacles are immobile, they may not be counted as preferred obstacles, but rather are considered to be part of the environment. After determining a plurality of obstacles in the environment, for example, a passing obstacle vehicle, the predicted trajectory of the obstacle is predicted to be the movement trajectory information with the support of the deep learning technology according to the movement information of the obstacle, that is, the relative speed and the movement direction of the parked vehicle. After the movement track information of the obstacle is determined, the vehicle can be controlled to plan an obstacle avoidance path in a parking space coordinate system, and collision with the passing obstacle is prevented, so that vehicle driving control information including automatic obstacle avoidance control information is generated and the vehicle is controlled, and the vehicle is controlled to achieve automatic obstacle avoidance.
A vehicle control method according to a first embodiment of the present invention includes the steps of: step S1: acquiring external environment information, wherein the external environment information comprises at least one item of point cloud information and external image information; step S2: acquiring vehicle information, wherein the vehicle information comprises at least one item of vehicle attribute information, vehicle position information and driving authority information; step S3: and generating vehicle driving control information according to the vehicle information and the external environment information, and controlling the vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information. Therefore, the invention can enable the vehicle to better sense the surrounding environment, and realize the method for automatically locating, parking and avoiding the obstacle more efficiently and safely, thereby bringing great experience improvement to the user. In addition, according to the vehicle control method provided by the embodiment of the invention, the vehicle can better identify the external environment through the combination of the radar and the image acquisition module, the parking space coordinate is established by the external information and the vehicle information, the point cloud information acquired by the radar device and the parameters of the external image information acquired by the image acquisition device are marked in the parking space coordinate system, and better data support is provided for 360-degree identification of the external environment of the vehicle from the aspects of long distance and short distance. In addition, in the process of identifying the environment, the detection of the attributes and the behavior tracks of nearby objects is completed, the behaviors of the objects are predicted, and better path planning is provided for obstacle avoidance of the vehicle, so that the operation of a user is reduced, the convenience of the user is increased, and the use experience of the user is improved.
Second embodiment
Fig. 7 is a flowchart illustrating a vehicle control method according to a second embodiment of the present invention. For a clear description of the vehicle control method according to the first embodiment of the present invention, please refer to fig. 1 and 7.
Step S211: the radar device acquires point cloud information, wherein the point cloud information comprises at least one item of radar ranging information and object contour information.
Step S212: the image acquisition device acquires external image information, wherein the external image information comprises at least one item of visual ranging information, object attribute information and object motion information.
In one embodiment, the radar device may be preferably a sonic radar device, and more specifically, may be two types of APA ultrasonic radar and UPA ultrasonic radar respectively disposed at two sides of the vehicle and at the front and rear of the vehicle, and in other embodiments, may further include, but is not limited to, a laser radar, an infrared induction radar, etc.; the image acquisition device may preferably be an in-vehicle camera, and more specifically may be a fisheye camera installed around the front, rear, left, and right of the vehicle. The range of APA ultrasonic radar is 60 cm-500 cm, the range of UPA ultrasonic radar is 20 cm-90 cm, and the information capture range of the fisheye camera is 10 m. The method is characterized in that the method comprises the steps of obtaining the environmental information of the short range of the vehicle through a radar, capturing the environmental information of the long range in the vehicle through an image acquisition device, and obtaining the more perfect external environmental information of the vehicle through the combination of the radar device and the image acquisition device.
In an embodiment, specific meanings of various types of information specifically included in the point cloud information and the external image information have been described in detail in the first embodiment of the present invention, and are not repeated herein.
Step S22: and establishing a parking space coordinate system, marking the parameters of the point cloud information and the external image information in the parking space coordinate system, and analyzing the external environment of the vehicle according to the parking space coordinate system.
In one embodiment, it is understood that, in this embodiment, the parking space coordinate system is not established by the external environment information and the vehicle information, but the coordinate system is established by the point cloud information and the external image information. According to the implementation mode provided by the embodiment, the vehicle can clearly know the external environment of the vehicle, and the parking space coordinate system is directly established through the acquired data, so that the parking space coordinate system is generated more directly and quickly, and the parking efficiency and the parking safety of automatic parking are greatly improved.
Step S23: and acquiring obstacle information and empty parking space information in a parking space coordinate system according to the point cloud information and the external image information, wherein the obstacle information comprises at least one of obstacle position information and obstacle motion information.
In one embodiment, the obstacle information is obtained mainly by obtaining external image information, and according to an image recognition technology and a deep learning technology, a moving object can be rapidly analyzed, and attributes, relative speed, moving direction and the like of the object can be recognized. And then, the behavior track of the obstacle can be predicted according to the motion track of the obstacle, so that the risk can be avoided in time when the future motion track of the obstacle possibly collides with the planned path of the vehicle. In other embodiments, the vehicle automatic parking obstacle avoidance early warning method may further include a mode that the radar device and the image acquisition device are matched with each other, for example, the image acquisition device can identify each object or obstacle in the acquired external image information through deep learning, the behavior track of the object in a distance is predicted, and then the radar ranging information acquired by the radar device is combined to achieve and enhance the safety of the vehicle automatic parking obstacle avoidance early warning function.
In an embodiment, in the driving control information of the vehicle provided in this embodiment, the manner of acquiring the empty space information may be to search for an empty space in the automatic position searching described in step S24. In still another embodiment, the vehicle can obtain the empty parking space information from the network by directly making a communication link with the parking lot system in a vehicle network or other modes, without searching for the empty parking space in the automatic locating process. Furthermore, the empty parking space information comprises empty parking space position information and empty parking space ownership information. The former is information for determining that the vehicle can be parked and how it is parked, and the latter is information for determining whether the vehicle can be parked.
Step S24: and generating vehicle driving control information according to the point cloud information, the external image information, the obstacle information and the empty parking space information, and controlling the vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information.
In one embodiment, after the vehicle completely knows the external environment, the vehicle can be automatically controlled to automatically drive, wherein the specific control modes comprise automatic locating, automatic parking and automatic obstacle avoidance. For the automatic position finding control information, namely, after the user starts the vehicle control method provided by the invention, a parking space coordinate system is established by acquiring point cloud information and external image information, and after the external environment of the vehicle is clearly known, the vehicle is controlled to automatically cruise and drive within a certain range, for example, within the range of an underground parking lot, and an empty parking space is found to realize automatic parking of the vehicle.
And after the empty parking space is determined, generating vehicle control information comprising automatic parking control information and controlling the vehicle so as to control the vehicle to finish automatic parking operation. Specifically, in the process of determining an empty parking space, it may be first determined whether the parking space is matched with a current vehicle, for example, whether the empty parking space is enough to be taken into the vehicle, and whether a vehicle attribute is matched with a parking space attribute, for example, a fuel vehicle corresponds to a fuel parking space, and a new energy vehicle corresponds to a new energy parking space; the conditions that the ordinary vehicle corresponds to the ordinary parking space and the disabled vehicle owner corresponds to the disabled parking space, etc. After the empty parking space is determined, the vehicle can be controlled to automatically back and enter the garage so as to park the vehicle.
In one embodiment, the automatic locating and parking process further comprises automatic obstacle avoidance operation control. The automatic obstacle avoidance actually includes two types of situations, which respectively correspond to two types of situations whether the obstacle moves or not. For example, for an immobile object, such as an obstacle like a ground lock and a popsicle canister in a parking lot, the generated automatic obstacle avoidance control information can directly plan a driving path for avoiding the obstacle so as to bypass the stationary obstacle. In another embodiment, for moving obstacles, specifically, taking a parking lot as an example, for example, two moving obstacles, i.e., a passing vehicle and a passing pedestrian, may be classified, which also correspond to the object attribute information in the external image information. It can be understood that the vehicles and pedestrians have different volumes and larger behavior logics, so that the risks of the vehicles and the pedestrians are different, and different attitudes or logics can be adopted in the process of parking and obstacle avoidance. For example, pedestrians have low moving speed, strong flexibility and can actively avoid, so that the pedestrians have lower safety threats, and generally, automatic obstacle avoidance measures are not taken for the pedestrians and the like, but the running path of automatic driving is kept, and only when approaching or before approaching, prompts such as flashing lights or whistling are actively sent to the pedestrians to prompt the pedestrians to avoid. For vehicles passing through the parking lot, the vehicles are high in moving speed, large in size and flexible, and the attitude of whether the vehicles can actively avoid is uncertain, so that the vehicles have greater safety threat compared with pedestrians. Therefore, in the step of automatically avoiding the obstacle, the behavior track needs to be predicted at a relatively far place according to the movement speed, the movement direction and the like of the vehicle, and if the predicted track has collision possibility with a planned path of automatic locating and/or automatic parking, vehicle driving control information including the automatic obstacle avoiding control information is generated and the vehicle is controlled so as to control the vehicle to automatically avoid the obstacle. Specifically, when the originally planned automatic locating path and/or automatic parking path intersect with the predicted track, the automatic locating path and/or automatic parking path may be re-planned to prevent intersection of the paths, and further, may include, but is not limited to, detour, stop waiting for passing, advance passing, and the like. It should be understood that the embodiments and specific embodiments of the automatic obstacle avoidance are not limited to the above examples, and the above is only an illustration of the technology and not a limitation of the technology.
A vehicle control method according to a second embodiment of the present invention includes the steps of: step S211: the method comprises the steps that a radar device obtains point cloud information, wherein the point cloud information comprises at least one item of radar ranging information and object contour information; step S212: the image acquisition device acquires external image information, wherein the external image information comprises at least one item of visual ranging information, object attribute information and object motion information; step S22: establishing a parking space coordinate system, marking parameters of the point cloud information and the external image information in the parking space coordinate system, and analyzing the external environment of the vehicle according to the parking space coordinate system; step S23: acquiring obstacle information and empty parking space information in a parking space coordinate system according to the point cloud information and the external image information, wherein the obstacle information comprises at least one of obstacle position information and obstacle motion information; step S24: and generating vehicle driving control information according to the point cloud information, the external image information, the obstacle information and the empty parking space information, and controlling the vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information. Therefore, the vehicle control method provided by the second embodiment of the present invention is developed as detailed and detailed description of the vehicle control method provided by the first embodiment of the present invention, and specific beneficial effects can refer to the description in the foregoing, and are not repeated herein.
Third embodiment
Fig. 8 is a schematic structural diagram of a vehicle control apparatus according to a third embodiment of the invention; fig. 9 is a schematic structural diagram of a vehicle control system according to a third embodiment of the present invention. For a clear description of a vehicle control apparatus 110 according to a third embodiment of the present invention, please refer to fig. 1, fig. 7, fig. 8, and fig. 9.
A vehicle control device 110 according to a third embodiment of the present invention includes: a processor a101 and a memory a201, wherein the processor a101 is configured to execute a computer program a6 stored in the memory a201 to implement the steps of the vehicle control method as described in the first embodiment or the second embodiment. Specifically, the Vehicle Control device 110 may be an on-Vehicle terminal such as an ECU (Electronic Control Unit, on-Vehicle computer), a VCU (Vehicle Control Unit), or the like.
In one embodiment, the vehicle control apparatus 110 provided in the present embodiment includes at least one processor a101 and at least one memory a 201. Wherein, at least one processor A101 may be referred to as a processing unit A1, and at least one memory A201 may be referred to as a memory unit A2. Specifically, the storage unit a2 stores a computer program A6 that, when executed by the processing unit a1, causes the vehicle control apparatus 110 provided by the present embodiment to implement the steps of the vehicle control method as described in the first embodiment or the second embodiment. For example, step S1 shown in fig. 1: acquiring external environment information, wherein the external environment information comprises at least one item of point cloud information and external image information; step S2: acquiring vehicle information, wherein the vehicle information comprises at least one item of vehicle attribute information, vehicle position information and driving authority information; step S3: and generating vehicle driving control information according to the vehicle information and the external environment information, and controlling the vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information.
In one embodiment, the vehicle control apparatus 110 provided in the present embodiment may include a plurality of memories a201 (simply referred to as a storage unit A2).
Storage unit a2 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRmb Access), and Random Access Memory (DRAM). The memory unit a2 described in the embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The vehicle control apparatus 110 provided by the third embodiment of the present invention includes a memory a101 and a processor a201, and the processor a101 is configured to execute the computer program a6 stored in the memory a201 to implement the steps of the vehicle control method described in the first embodiment or the second embodiment, so that the vehicle control apparatus 110 provided by this embodiment can make the vehicle better sense the surrounding environment, and implement a more efficient and safe method for implementing automatic vehicle locating, parking and obstacle avoidance, thereby bringing about a great experience improvement to the user. In addition, according to the vehicle control method provided by the embodiment of the invention, the vehicle can better identify the external environment through the combination of the radar and the image acquisition module, the parking space coordinate is established by the external information and the vehicle information, the point cloud information acquired by the radar device and the parameters of the external image information acquired by the image acquisition device are marked in the parking space coordinate system, and better data support is provided for 360-degree identification of the external environment of the vehicle from the aspects of long distance and short distance. In addition, in the process of identifying the environment, the detection of the attributes and the behavior tracks of nearby objects is completed, the behaviors of the objects are predicted, and better path planning is provided for obstacle avoidance of the vehicle, so that the operation of a user is reduced, the convenience of the user is increased, and the use experience of the user is improved.
The third embodiment of the invention also provides a vehicle control system, which comprises a vehicle control device 110 and an environmental data acquisition device 100.
In an embodiment, the environment data collecting apparatus 100 is configured to obtain external environment information, the external environment information includes at least one of point cloud information and external image information, and includes a radar module 101 and an image collecting module 102, where the radar module 101 is configured to obtain the point cloud information, the point cloud information includes at least one of radar ranging information and object contour information, and the image collecting module 102 is configured to obtain the external image information, and the external image information includes at least one of visual ranging information, object attribute information and object motion information.
In an embodiment, the vehicle control device 110 is configured to obtain vehicle information, where the vehicle information includes at least one of vehicle attribute information, vehicle location information, and driving authority information, generate vehicle driving control information according to the vehicle information and external environment information, and control the vehicle according to the vehicle driving control information, where the vehicle driving control information includes at least one of automatic locating control information, automatic parking control information, and automatic obstacle avoidance control information.
The third embodiment of the invention also provides an automobile comprising the vehicle control system.
In an embodiment, specifically, for a structural schematic of a vehicle control system and an arrangement of each device in an automobile provided by a third embodiment of the present invention, reference may be made to fig. 9. Specifically, the radar device 101 may be a vehicle body provided with four UPA radars, four in total, of which the range ranges are 20cm to 90cm, respectively, and two APA ultrasonic radars of which the range ranges are 60cm to 500cm, respectively, on the left side and the right side of the vehicle; an image acquisition device 102, preferably a fisheye camera, is respectively installed at four positions of a front air grid, a rear bumper, a left rear view mirror and a right rear view mirror of a vehicle body, and the detection range is approximately a range with the radius of 10 m. The radar device 101 or the image acquisition device 102 is connected to the vehicle control device 110. Specifically, the installation position of the radar device 101 or the image capturing device 102 in the vehicle may not be limited to the above example.
The third embodiment of the invention also provides a computer-readable storage medium storing a computer program a6 which, when executed by the processor a101, implements the steps of the vehicle control method as described in the first embodiment or the second embodiment.
In an embodiment, the computer readable storage medium provided by the embodiment may include any entity or device capable of carrying computer program code, a recording medium, such as ROM, RAM, magnetic disk, optical disk, flash memory, and the like.
The beneficial effects that can be achieved by the computer program a6 stored in the computer-readable storage medium provided by the third embodiment of the present invention when being executed by the processor a101 are already described in detail above, and for this, reference is made to the foregoing description, and therefore, the details are not repeated herein.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment. As used herein, the meaning of "a plurality" or "a plurality" is two or more unless otherwise specified.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or sub-steps of other steps.
It will be understood by those skilled in the art that all or part of the steps of implementing the above method embodiments may be implemented by hardware associated with program instructions, and the program may be stored in a computer readable storage medium, and when executed, performs the steps including the above method embodiments. The foregoing storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A vehicle control method characterized by comprising the steps of:
acquiring external environment information, wherein the external environment information comprises at least one item of point cloud information and external image information;
acquiring vehicle information, wherein the vehicle information comprises at least one item of vehicle attribute information, vehicle position information and driving authority information;
and generating vehicle driving control information according to the vehicle information and the external environment information, and controlling a vehicle according to the vehicle driving control information, wherein the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information.
2. The vehicle control method according to claim 1, wherein the step of acquiring the external environment information includes:
acquiring the point cloud information through a radar device, wherein the point cloud information comprises at least one item of radar ranging information and object contour information; and/or the presence of a gas in the gas,
and acquiring the external image information through an image acquisition device, wherein the external image information comprises at least one of visual ranging information, object attribute information and object motion information.
3. The vehicle control method according to claim 1, wherein the step of generating vehicle driving control information based on the vehicle information and the external environment information includes:
establishing a parking space coordinate system according to the external environment information and the vehicle information;
marking parameters of the point cloud information and/or the external image information in the parking space coordinate system, wherein the parking space coordinate system is used for combining the point cloud information and the external image information to analyze the external environment of the vehicle.
4. The vehicle control method according to claim 1, wherein the step of generating vehicle driving control information based on the vehicle information and the external environment information, and controlling the vehicle based on the vehicle driving control information, comprises:
generating the vehicle driving control information including the automatic position searching control information according to the vehicle information and the external environment information, and controlling the vehicle to control the vehicle to automatically drive and search for an empty parking space;
and acquiring the external environment information including the empty parking space information.
5. The vehicle control method according to claim 4, wherein the step of generating vehicle driving control information based on the vehicle information and the external environment information, and controlling the vehicle based on the vehicle driving control information, comprises:
and generating the vehicle driving control information including the automatic parking control information according to the vacant parking space information and the vehicle information, and controlling the vehicle to control the vehicle to finish the automatic parking operation.
6. The vehicle control method according to claim 1, wherein the step of generating vehicle driving control information based on the vehicle information and the external environment information, and controlling the vehicle based on the vehicle driving control information, comprises:
acquiring obstacle information according to the external environment information, wherein the obstacle information comprises at least one of obstacle position information and obstacle motion information;
predicting the motion trail information of the obstacle according to the obstacle information;
and generating the vehicle driving control information including the automatic obstacle avoidance control information according to the obstacle information and the motion track information, and controlling the vehicle so as to control the vehicle to automatically avoid obstacles.
7. A vehicle control apparatus, comprising a processor and a memory:
the processor is adapted to execute a computer program stored in the memory to implement the vehicle control method steps of any of claims 1 to 6.
8. A vehicle control system is characterized by comprising a vehicle control device and an environmental data acquisition device;
the environment data acquisition device is used for acquiring external environment information, the external environment information comprises at least one item of point cloud information and external image information, and comprises a radar module and an image acquisition module, wherein the radar module is used for acquiring the point cloud information, the point cloud information comprises at least one item of radar ranging information and object contour information, the image acquisition module is used for acquiring the external image information, and the external image information comprises at least one item of visual ranging information, object attribute information and object motion information;
the vehicle control device is used for acquiring vehicle information, generating vehicle driving control information according to the vehicle information and the external environment information, and controlling a vehicle according to the vehicle driving control information, wherein the vehicle information comprises at least one of vehicle attribute information, vehicle position information and driving authority information, and the vehicle driving control information comprises at least one of automatic locating control information, automatic parking control information and automatic obstacle avoidance control information.
9. An automobile, characterized by comprising the vehicle control system according to claim 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the steps of the vehicle control method according to any one of claims 1 to 6.
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Application publication date: 20211221 |