CN113830105A - Intersection auxiliary driving method, vehicle and computer readable storage medium - Google Patents
Intersection auxiliary driving method, vehicle and computer readable storage medium Download PDFInfo
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- CN113830105A CN113830105A CN202111132536.5A CN202111132536A CN113830105A CN 113830105 A CN113830105 A CN 113830105A CN 202111132536 A CN202111132536 A CN 202111132536A CN 113830105 A CN113830105 A CN 113830105A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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Abstract
The invention discloses an intersection auxiliary driving method, a vehicle and a computer readable storage medium, wherein the method comprises the following steps: collecting running environment information of a controlled vehicle; identifying signal lamp information of a front intersection according to the driving environment information; acquiring the driving distance of a controlled vehicle from a front intersection and the current speed of the controlled vehicle; judging whether the signal lamp state is a passing state or not when the controlled vehicle runs to the front intersection at the current speed according to the signal lamp information, the running distance and the current speed; and if the signal lamp state is not the passing state, controlling the controlled vehicle to decelerate and brake so as to stop at the front intersection for waiting. The invention can improve the intelligence of the auxiliary driving function.
Description
Technical Field
The invention relates to the technical field of driving assistance, in particular to an intersection auxiliary driving method, a vehicle and a computer-readable storage medium.
Background
The current automatic driving technology is rapidly developed, and the auxiliary driving function of the intelligent driving automobile is gradually known by people. However, the current driving assistance function is not mature enough and cannot adapt to complex and variable traffic environments, for example, when a road section with a front intersection is faced, the control of a vehicle with the driving assistance function is difficult, a traffic accident is easy to happen, great potential safety hazards exist, and a driver is often required to actively intervene to take over the vehicle so as to smoothly and safely pass through the front intersection. The intelligence of the driving assistance function is lower at present, and the use experience of a driver is seriously influenced.
Disclosure of Invention
The invention mainly aims to provide an intersection auxiliary driving method, a vehicle and a computer readable storage medium, aiming at improving the intelligence of an auxiliary driving function.
In order to achieve the above object, the present invention provides an intersection assistant driving method, including:
collecting running environment information of a controlled vehicle;
identifying signal lamp information of a front intersection according to the driving environment information;
acquiring the driving distance of a controlled vehicle from a front intersection and the current speed of the controlled vehicle;
judging whether the signal lamp state is a passing state or not when the controlled vehicle runs to the front intersection at the current speed according to the signal lamp information, the running distance and the current speed;
and if the signal lamp state is not the passing state, controlling the controlled vehicle to decelerate and brake so as to stop at the front intersection for waiting.
Optionally, if the signal lamp state is not the traffic state, the step of controlling deceleration and braking of the vehicle includes:
if the signal lamp state is not the passing state, judging whether the driving distance is greater than a first preset distance;
and if the running distance is greater than a first preset distance, controlling the controlled vehicle to run to a deceleration position where the running distance is the first preset distance at the current speed, and performing deceleration braking.
Optionally, after the step of collecting the running environment information of the controlled vehicle, the method further includes:
judging whether a front vehicle exists in a preset area in front of a lane where a controlled vehicle is located or not according to the running environment information;
if the front vehicle exists in the preset area, controlling the controlled vehicle to enter a following mode;
if the front vehicle does not exist in the preset area, executing: and identifying signal lamp information of the front intersection according to the driving environment information.
Optionally, the step of controlling the controlled vehicle to enter the following mode is preceded by:
identifying a driving speed of the leading vehicle;
judging whether the current vehicle speed is greater than the running speed or not;
if the current vehicle speed is greater than the running speed, judging whether the controlled vehicle meets a preset lane changing condition or not according to the running environment information;
if the controlled vehicle meets the preset lane changing condition, controlling the controlled vehicle to change the lane, and executing: the step of collecting the running environment information of the controlled vehicle;
if the controlled vehicle does not accord with the preset lane changing condition, executing: and controlling the controlled vehicle to enter a following mode.
Optionally, the step of determining whether the controlled vehicle meets a preset lane change condition according to the driving environment information includes:
judging whether the lane direction of the left lane is the driving intention direction of the driver or not and whether the rear part of the left lane meets the safety condition or not according to the driving environment information;
and determining whether the controlled vehicle meets a preset lane changing condition or not according to the judgment results of judging whether the lane direction of the left lane is the driving intention direction of the driver or not and whether the rear part of the left lane meets the safety condition or not.
Optionally, after the step of controlling the controlled vehicle to enter the following mode, the method further includes:
judging whether the driving distance is smaller than or equal to a second preset distance or not;
if the running distance is smaller than or equal to a second preset distance, judging whether the signal lamp state is a passing state or not when the controlled vehicle runs to the front intersection at the current speed according to the current signal lamp information, the running distance and the current speed;
and if the signal lamp state is not the passing state, controlling the controlled vehicle to decelerate and brake.
Optionally, the step of acquiring the driving distance of the controlled vehicle from the intersection ahead comprises:
acquiring intersection position information of a front intersection and vehicle position information of a controlled vehicle;
and determining the driving distance of the controlled vehicle from the front intersection according to the vehicle position information and the intersection position information.
Optionally, the intersection auxiliary driving method further includes:
identifying the current position and the moving speed of the obstacle in the peripheral area according to the driving environment information;
generating an obstacle predicted driving track according to the current position and the moving speed;
generating a self-vehicle predicted running track of the controlled vehicle according to the current speed and the vehicle position information of the controlled vehicle, and calculating the coincidence degree of the barrier predicted running track and the self-vehicle predicted running track;
and if the contact ratio is greater than a preset value, starting the functions of the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system.
The invention provides a vehicle, which comprises a memory, a processor and an intersection auxiliary driving program stored on the memory and capable of running on the processor, wherein the intersection auxiliary driving program realizes the steps of the intersection auxiliary driving method when being executed by the processor.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium stores an intersection auxiliary driving program, and the intersection auxiliary driving program realizes the steps of the intersection auxiliary driving method when being executed by a processor.
The method and the device have the advantages that through the step of collecting the running environment information of the controlled vehicle, the signal lamp information of the front intersection can be conveniently identified from the running environment information, and further through the steps of obtaining the running distance of the controlled vehicle from the front intersection and the current speed of the controlled vehicle; according to signal lamp information the distance of traveling and current speed of a motor vehicle, when judging that controlled vehicle goes to the place ahead intersection with current speed of a motor vehicle, whether the signal lamp state is the step of the state of passing to judge that controlled vehicle goes at the uniform velocity with current speed of a motor vehicle, whether can pass through the place ahead intersection smoothly, if again the signal lamp state is not the state of passing, then control controlled vehicle speed reduction braking to the step of parking waiting in place at the place ahead intersection, thereby avoid rushing the condition emergence of red light illegal action, improve the security of driving, rely on the supplementary driving function just can pass through the traffic lights intersection by oneself, do not need the driver to intervene frequently and take over the vehicle, realize unmanned driving, improve driver's driving experience, and then improved the intelligence of supplementary driving function.
Drawings
FIG. 1 is a schematic block diagram of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first exemplary embodiment of an assisted driving method for an intersection according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of an intersection driving assistance method according to the present invention;
FIG. 4 is a flowchart illustrating a third exemplary embodiment of an intersection driving assistance method according to the present invention;
FIG. 5 is a flowchart illustrating a fourth exemplary embodiment of an intersection driving assistance method according to the present invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic block diagram of a vehicle according to various embodiments of the present invention. The vehicle comprises a communication module 01, a memory 02, a processor 03 and the like. Those skilled in the art will appreciate that the vehicle shown in FIG. 1 may also include more or fewer components than shown, or some components may be combined, or a different arrangement of components. The processor 03 is connected to the memory 02 and the communication module 01, respectively, the memory 02 stores an intersection auxiliary driving program, and the intersection auxiliary driving program is executed by the processor 03 at the same time.
The communication module 01 may be connected to an external device through a network. The communication module 01 may receive data sent by an external device, and may also send data, instructions, and information to the external device, where the external device may be an electronic device such as a data management terminal, a mobile phone, a tablet computer, a notebook computer, and a desktop computer.
The memory 02 may be used to store software programs and various data. The memory 02 may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program required by at least one function (a target sub-process, a first monitoring sub-process and a shared file corresponding to the instruction are created based on a parent process), and the like; the storage data area may store data or information created by the behavior and running environment of the controlled vehicle and the phase change of the traffic signal, and the like. Further, the memory 02 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 03, which is a control center of the vehicle, connects various parts of the entire vehicle using various interfaces and lines, and performs various functions of the vehicle and processes data by operating or executing software programs and/or modules stored in the memory 02 and calling data stored in the memory 02. Processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor, which mainly handles operating systems, user interfaces, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 03. Although not shown in fig. 1, the vehicle may further include a circuit control module, where the circuit control module is configured to be connected to a mains power supply to implement power control and ensure normal operation of other components.
Those skilled in the art will appreciate that the vehicle module configuration shown in FIG. 1 does not constitute a limitation of the vehicle and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.
According to the above module structure, various embodiments of the method of the present invention are provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of the invention, and the intersection auxiliary driving method includes:
step S100, collecting running environment information of a controlled vehicle;
those skilled in the art will appreciate that the running environment information around the controlled vehicle may be sensed by various vehicle-mounted sensors, where the running environment information represents environment information in the peripheral area of the vehicle (a preset distance range from the vehicle), and the vehicle-mounted sensors include a camera, a front millimeter wave radar, an ultrasonic radar, a speed sensor, an acceleration sensor, and the like.
Step S200, identifying signal lamp information of a front intersection according to the driving environment information;
it should be noted that the signal light information includes a signal light state and a remaining time period corresponding to the signal light state. The traffic light states include a traffic state and a non-traffic state, and it can be understood that in the existing traffic regulations, the traffic light generally includes a red light, a yellow light and a green light, wherein the green light represents the traffic state, the red light represents the non-traffic state, and the embodiment also puts the yellow light into the non-traffic state.
The intersection ahead is the first intersection ahead of the controlled vehicle in the traveling direction. The signal lamp information of the front intersection can be captured and identified through a camera in the vehicle-mounted sensor.
Step S300, acquiring the driving distance of the controlled vehicle from the intersection ahead and the current speed of the controlled vehicle;
the vehicle passes through the GPS positioning function and then is fused with map information, the running distance between the front intersection and the controlled vehicle can be calculated, and the current speed of the controlled vehicle is acquired through a speed sensor in the vehicle-mounted sensor.
Specifically, the step of acquiring the driving distance of the controlled vehicle from the intersection ahead comprises the following steps:
step a, acquiring intersection position information of a front intersection and vehicle position information of a controlled vehicle;
the vehicle Position information can be obtained by a GPS (global Position system) positioning function, and the intersection Position information of the first intersection in front of the driving direction of the controlled vehicle is obtained by fusing the map information in the navigation function.
And b, determining the driving distance of the controlled vehicle from the front intersection according to the vehicle position information and the intersection position information.
After the step S300, step S400 is executed: judging whether the signal lamp state is a passing state or not when the controlled vehicle runs to the front intersection at the current speed according to the signal lamp information, the running distance and the current speed;
if the traffic light state is the traffic state, step S500 is executed: controlling the controlled vehicle to run through the intersection ahead at the current speed;
if the signal lamp state is the traffic state, the signal lamp is a green lamp and can directly pass through the intersection when the controlled vehicle drives to the intersection at the current speed.
If the signal lamp state is not the traffic state, executing step S600: the controlled vehicle is controlled to decelerate and brake to stop at the intersection ahead for waiting.
If the passing state is not the passing state, the controlled vehicle is driven to the intersection at the current speed, and the signal lamp is a red lamp or a yellow lamp and needs to stop for waiting. It is understood that when the controlled vehicle stops at the stop line of the intersection ahead and waits, if the signal lamp state is converted into the traffic state, the controlled vehicle is controlled to pass through the intersection.
Further, if the signal lamp state is not the passing state, the step of controlling the deceleration and braking of the vehicle comprises the following steps:
c, if the signal lamp state is not a passing state, judging whether the running distance is greater than a first preset distance;
it should be noted that, the first preset distance is not specifically limited in this embodiment, and a person skilled in the art can set the first preset distance according to actual conditions to better realize smooth operation of the controlled vehicle, that is, the controlled vehicle can be decelerated gently and stopped just before the stop line of the intersection ahead. In one embodiment, the first predetermined distance is 20 meters.
And d, if the running distance is larger than the first preset distance, controlling the controlled vehicle to run to a deceleration position with the running distance as the first preset distance at the current speed, and performing deceleration braking.
And if the running distance is less than or equal to a first preset distance, directly controlling the controlled vehicle to decelerate and brake.
In the embodiment, if the signal lamp state is not the passing state, whether the driving distance is greater than a first preset distance is judged; if the running distance is larger than the first preset distance, controlling the controlled vehicle to run to a deceleration position where the running distance is the first preset distance at the current vehicle speed, and performing deceleration braking, so that the vehicle can stop smoothly in front of a stop line of the intersection under the condition that the signal lamp state is not in a passing state, and avoiding the condition that the vehicle stops already due to too early vehicle braking and a long distance exists between the controlled vehicle and the stop line of the intersection ahead, and meanwhile, through the adaptive setting of the first preset distance, avoiding the condition that the vehicle brakes too late, causing the controlled vehicle to stop in order to stop at the stop line of the intersection ahead, and the condition that the deceleration is too large to cause discomfort of a user, and improving the running smoothness of the vehicle.
In the embodiment, through the step of collecting the running environment information of the controlled vehicle, the signal lamp information of the intersection ahead is conveniently identified from the running environment information, and further, the running distance of the controlled vehicle from the intersection ahead and the current speed of the controlled vehicle are obtained; according to signal lamp information the distance of traveling and current speed of a motor vehicle, when judging that controlled vehicle goes to the place ahead intersection with current speed of a motor vehicle, whether the signal lamp state is the step of the state of passing to judge that controlled vehicle goes at the uniform velocity with current speed of a motor vehicle, whether can pass through the place ahead intersection smoothly, if again the signal lamp state is not the state of passing, then control controlled vehicle speed reduction braking to the step of parking waiting in place at the place ahead intersection, thereby avoid rushing the condition emergence of red light illegal action, improve the security of driving, rely on the supplementary driving function just can pass through the traffic lights intersection by oneself, do not need the driver to intervene frequently and take over the vehicle, realize unmanned driving, improve driver's driving experience, and then improved the intelligence of supplementary driving function.
Further, referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of the present invention, and based on the first embodiment, after the step of collecting the driving environment information of the controlled vehicle, the method further includes:
step S700, judging whether a front vehicle exists in a preset area in front of a lane where a controlled vehicle is located or not according to the running environment information;
if the preceding vehicle exists in the preset area, executing step S800: and controlling the controlled vehicle to enter a following mode.
If the preceding vehicle does not exist in the preset area, executing step S200: and identifying signal lamp information a of the front intersection according to the driving environment information.
According to the embodiment, whether a front vehicle exists in a preset area in front of a lane where a controlled vehicle is located is judged according to the running environment information; if the front vehicle exists in the preset area, the controlled vehicle is controlled to enter a following mode, robustness and safety of the intersection auxiliary driving method are improved, and influence of a driving environment on vehicle control is fully considered, so that driving safety is improved, and intelligence of an auxiliary driving function is improved.
Further, after the step of controlling the controlled vehicle to enter the following mode, the method further includes:
step e, judging whether the driving distance is smaller than or equal to a second preset distance;
if the running distance is smaller than or equal to a second preset distance, judging whether the state of the signal lamp is a passing state or not when the controlled vehicle runs to the front intersection at the current speed according to the current signal lamp information, the running distance and the current speed;
and g, if the signal lamp state is not the passing state, controlling the controlled vehicle to decelerate and brake.
It should be noted that the second preset distance may be equal to the first preset distance, or may not be equal to the first preset distance. In one embodiment, the second predetermined distance is 5 meters. Under the condition that the signal lamp state is not the passing state, the controlled vehicle can be stably stopped before the stop line of the intersection at the front side through the adaptive setting of the second preset distance.
The embodiment determines whether the driving distance is less than or equal to a second preset distance; if the running distance is smaller than or equal to a second preset distance, judging whether the signal lamp state is a passing state or not when the controlled vehicle runs to the front intersection at the current speed according to the current signal lamp information, the running distance and the current speed; if the signal lamp state is not the traffic state, the step of controlling the controlled vehicle to decelerate and brake is carried out, the situation that the front vehicle suddenly brakes at the intersection, the controlled vehicle runs along with the front vehicle, the situation that the operation is not stable and the user discomfort is caused due to sudden braking is also carried out, meanwhile, the situation that the front vehicle runs through the red light, the controlled vehicle runs along with the front vehicle and the situation that the red light runs and the higher potential safety hazard is caused is also avoided, therefore, the robustness and the safety of the intersection auxiliary driving method provided by the embodiment of the invention are improved, the influence of the running environment on vehicle control is fully considered, the running safety is improved, and the intelligence of the auxiliary driving function is further improved.
Further, referring to fig. 4, fig. 4 is a flowchart illustrating a third embodiment of the present invention, and based on the second embodiment, the step S800 includes:
step S810, identifying the running speed of the vehicle in front;
step S830, judging whether the current vehicle speed is greater than the running speed;
if the current vehicle speed is greater than the driving speed, executing step S840: judging whether the controlled vehicle meets a preset lane changing condition or not according to the running environment information;
the preset lane changing condition can be set by a technician in the field according to actual needs, so that the safety of the controlled vehicle for changing lanes is better realized.
If the controlled vehicle meets the preset lane change condition, executing step S850: controlling the controlled vehicle to change lanes and executing: the step of collecting the running environment information of the controlled vehicle;
if the controlled vehicle does not meet the preset lane change condition, executing step S800: and controlling the controlled vehicle to enter a following mode.
Further, the step of judging whether the controlled vehicle meets the preset lane change condition according to the running environment information comprises:
step h, judging whether the lane direction of the left lane is the driving intention direction of the driver or not and whether the rear part of the left lane meets the safety condition or not according to the driving environment information;
and i, determining whether the controlled vehicle meets a preset lane changing condition or not according to the judgment results of judging whether the lane direction of the left lane is the driving intention direction of the driver or not and whether the rear part of the left lane meets the safety condition or not.
It should be noted that if the lane direction of the left lane is the driving intention direction of the driver and the rear of the left lane meets the safety condition, it is determined that the controlled vehicle meets the preset lane change condition, otherwise, the controlled vehicle does not meet the preset lane change condition.
The embodiment judges whether the lane direction of the left lane is the driving intention direction of the driver and whether the rear part of the left lane meets the safety condition according to the driving environment information; and determining whether the controlled vehicle meets the preset lane changing condition according to the judgment result of judging whether the lane direction of the left lane is the driving intention direction of the driver and whether the rear part of the left lane meets the safety condition, so that the identification accuracy of identifying whether the controlled vehicle meets the preset lane changing condition is improved, and the lane changing safety of the controlled vehicle is further improved.
The embodiment identifies the running speed of the vehicle in front; judging whether the current vehicle speed is greater than the running speed, judging whether the controlled vehicle needs to change the lane so that the controlled vehicle can continuously keep running at the current vehicle speed, and judging whether the controlled vehicle meets a preset lane changing condition according to the running environment information if the current vehicle speed is greater than the running speed; if the controlled vehicle meets the preset lane changing condition, the controlled vehicle is controlled to change the lane, if the controlled vehicle does not meet the preset lane changing condition, the controlled vehicle is controlled to enter a following mode, whether the controlled vehicle can safely and smoothly change the lane is judged, and the lane is changed under the condition that the controlled vehicle can safely and smoothly change the lane is determined, so that the robustness of the intersection auxiliary driving method is improved.
Further, referring to fig. 5, fig. 5 is a flowchart illustrating a fourth embodiment of the present invention, and based on the above embodiment, the intersection auxiliary driving method further includes:
step S910, identifying the current position and the moving speed of the obstacle in the peripheral area according to the driving environment information;
step S920, generating an obstacle predicted driving track according to the current position and the moving speed;
step S930, generating a self-vehicle predicted running track of the controlled vehicle according to the current speed and the vehicle position information of the controlled vehicle, and calculating the coincidence degree of the obstacle predicted running track and the self-vehicle predicted running track;
if the contact ratio is greater than the preset value, executing step S940: and starting the functions of the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system.
The anti-collision early warning system can recognize and judge various potential dangerous conditions based on intelligent video analysis and processing through a dynamic video shooting technology and a computer image processing technology, and realize the early warning function through different sound and visual reminding so as to help a driver to avoid or slow down collision accidents. The automatic emergency braking system can detect and identify vehicles, pedestrians or other obstacles in front through a camera or a radar, and when collision possibly occurs, a driver is reminded of braking operation through sound and warning lamps to avoid the collision. If the driver is still not braking, the vehicle system will automatically brake to avoid the collision or reduce the collision.
The pre-crash warning system and the automatic emergency braking system have been studied in depth in the prior art and are not described in detail herein.
The influence of other vehicles or/and pedestrians on vehicle control when the vehicle runs is considered, the dangerous condition that the vehicle is likely to collide is predicted in real time, and when the vehicle is predicted to collide, a vehicle system timely controls the controlled vehicle to start the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system, so that the vehicle control system can adapt to complex and variable traffic environments and improve driving safety. The embodiment improves the safety and robustness of the intersection auxiliary driving method by considering the interference of pedestrians and other vehicles on the vehicle driving, and further improves the intelligence of the auxiliary driving function.
The invention also provides a computer readable storage medium having stored thereon an intersection assisting driving program. The computer-readable storage medium may be the Memory 02 in the terminal of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes several pieces of information for enabling the terminal to perform the intersection auxiliary driving method according to the embodiments of the present invention.
The specific embodiment of the computer-readable storage medium of the present invention is substantially the same as the embodiments of the intersection driving assistance method described above, and is not described herein again.
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 system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An intersection auxiliary driving method is characterized by comprising the following steps:
collecting running environment information of a controlled vehicle;
identifying signal lamp information of a front intersection according to the driving environment information;
acquiring the driving distance of a controlled vehicle from a front intersection and the current speed of the controlled vehicle;
judging whether the signal lamp state is a passing state or not when the controlled vehicle runs to the front intersection at the current speed according to the signal lamp information, the running distance and the current speed;
and if the signal lamp state is not the passing state, controlling the controlled vehicle to decelerate and brake so as to stop at the front intersection for waiting.
2. The intersection driving assistance method according to claim 1, wherein the step of controlling the deceleration braking of the vehicle if the signal lamp state is not the traffic state comprises:
if the signal lamp state is not the passing state, judging whether the driving distance is greater than a first preset distance;
and if the running distance is greater than a first preset distance, controlling the controlled vehicle to run to a deceleration position where the running distance is the first preset distance at the current speed, and performing deceleration braking.
3. The intersection driving assistance method according to claim 1, further comprising, after the step of collecting the running environment information of the controlled vehicle:
judging whether a front vehicle exists in a preset area in front of a lane where a controlled vehicle is located or not according to the running environment information;
if the front vehicle exists in the preset area, controlling the controlled vehicle to enter a following mode;
if the front vehicle does not exist in the preset area, executing: and identifying signal lamp information of the front intersection according to the driving environment information.
4. The intersection driving assistance method of claim 3, wherein the step of controlling the controlled vehicle to enter a follow-up mode is preceded by the step of:
identifying a driving speed of the leading vehicle;
judging whether the current vehicle speed is greater than the running speed or not;
if the current vehicle speed is greater than the running speed, judging whether the controlled vehicle meets a preset lane changing condition or not according to the running environment information;
if the controlled vehicle meets the preset lane changing condition, controlling the controlled vehicle to change the lane, and executing: the step of collecting the running environment information of the controlled vehicle;
if the controlled vehicle does not accord with the preset lane changing condition, executing: and controlling the controlled vehicle to enter a following mode.
5. The intersection auxiliary driving method according to claim 4, wherein the step of judging whether the controlled vehicle meets a preset lane change condition according to the running environment information comprises:
judging whether the lane direction of the left lane is the driving intention direction of the driver or not and whether the rear part of the left lane meets the safety condition or not according to the driving environment information;
and determining whether the controlled vehicle meets a preset lane changing condition or not according to the judgment results of judging whether the lane direction of the left lane is the driving intention direction of the driver or not and whether the rear part of the left lane meets the safety condition or not.
6. The intersection driving assistance method according to any one of claims 3 to 5, wherein the step of controlling the controlled vehicle to enter a follow-up mode is followed by further comprising:
judging whether the driving distance is smaller than or equal to a second preset distance or not;
if the running distance is smaller than or equal to a second preset distance, judging whether the signal lamp state is a passing state or not when the controlled vehicle runs to the front intersection at the current speed according to the current signal lamp information, the running distance and the current speed;
and if the signal lamp state is not the passing state, controlling the controlled vehicle to decelerate and brake.
7. The intersection driving assistance method according to claim 1, wherein the step of acquiring a travel distance of the controlled vehicle from the intersection ahead comprises:
acquiring intersection position information of a front intersection and vehicle position information of a controlled vehicle;
and determining the driving distance of the controlled vehicle from the front intersection according to the vehicle position information and the intersection position information.
8. The intersection auxiliary driving method according to any one of claims 1 to 5 and 7, characterized by further comprising:
identifying the current position and the moving speed of the obstacle in the peripheral area according to the driving environment information;
generating an obstacle predicted driving track according to the current position and the moving speed;
generating a self-vehicle predicted running track of the controlled vehicle according to the current speed and the vehicle position information of the controlled vehicle, and calculating the coincidence degree of the barrier predicted running track and the self-vehicle predicted running track;
and if the contact ratio is greater than a preset value, starting the functions of the self-adaptive forward anti-collision early warning system and/or the cooperative automatic emergency braking system.
9. A vehicle comprising a memory, a processor, and an intersection assisting driving program stored on the memory and executable on the processor, the intersection assisting driving program when executed by the processor implementing the steps of the intersection assisting driving method according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon an intersection assisting driving program, which when executed by a processor, implements the steps of the intersection assisting driving method according to any one of claims 1 to 8.
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