CN113859251B - Vehicle speed planning method, driving control method and related equipment related to driving blind area - Google Patents
Vehicle speed planning method, driving control method and related equipment related to driving blind area Download PDFInfo
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- CN113859251B CN113859251B CN202111277308.7A CN202111277308A CN113859251B CN 113859251 B CN113859251 B CN 113859251B CN 202111277308 A CN202111277308 A CN 202111277308A CN 113859251 B CN113859251 B CN 113859251B
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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
- B60W2554/801—Lateral 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
The application discloses a vehicle speed planning method, a driving method and related equipment related to a driving blind area, comprising the following steps: acquiring information of a vehicle blind area of a host vehicle in running, wherein the vehicle blind area is generated by shielding of a static obstacle; determining collision points, safety distances and reaction time according to the information of the dead zone of the vehicle; and determining the recommended driving speed of the main vehicle according to the distance from the main vehicle to the collision point and combining the safety distance, the reaction time and the current speed. The method and the device consider the safety distance and the reaction time reserved for the vehicle, so that the recommended driving speed is calculated, collision with traffic participants in a blind area is avoided as much as possible, and driving safety is guaranteed to a certain extent.
Description
Technical Field
The application relates to the technical field of unmanned driving, in particular to a vehicle speed planning method, a driving control method and related equipment related to a driving blind area.
Background
In general, a blind area of a vehicle refers to a portion of an area where a driver is located at a normal driver seat position and his line of sight is blocked by a vehicle body from direct observation. For automatic driving, there are areas where a sensing member such as a camera or a laser radar cannot directly observe due to shielding of obstacles such as a static traffic vehicle, a green belt, or a wall.
When a vehicle is traveling on a road, it is necessary to consider the situation of traffic participants such as pedestrians and bicycles that suddenly run out of the blind area. In this case, since the occurrence of the event is abrupt, it is difficult for both the pedestrian and the vehicle to have enough time and space to perform the safe avoidance behavior, which is extremely likely to cause a safety accident. Therefore, it is necessary to develop a scheme that enables the host vehicle to safely pass through a blind area generated due to the shielding of a static obstacle.
Disclosure of Invention
In view of the above, the present application provides a vehicle speed planning method, a driving method and related devices related to a driving blind area, so as to calculate a recommended vehicle speed passing through the vehicle blind area, and control a host vehicle to perform defensive driving according to the recommended vehicle speed, so that the host vehicle can safely and comfortably pass through.
In order to achieve the above object, a first aspect of the present application provides a vehicle speed planning method related to a traveling blind area, including:
acquiring information of a vehicle blind area of a host vehicle in running, wherein the vehicle blind area is generated by shielding of a static obstacle;
determining collision points, safety distances and reaction time according to the information of the blind areas of the vehicles, wherein the collision points are the intersection points of the traffic paths of traffic participants in the blind areas and the driving paths of the main vehicles, the safety distances are the observable points of the blind areas in the view of the main vehicles on the driving paths, and the reaction time is the distance from the observable points of the blind areas to the collision points, and the reaction time is the time taken by the traffic participants in the blind areas to move from the blind areas to the collision points;
And determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point and combining the safety distance, the reaction time and the current speed of the host vehicle.
Preferably, the process of determining the recommended driving speed of the host vehicle according to the distance from the host vehicle to the collision point, in combination with the safe distance, the reaction time, the current speed of the host vehicle, the preset collision speed and the preset maximum deceleration, includes:
if the distance from the main vehicle to the collision point is greater than the safety distance, determining the recommended running speed of the main vehicle according to the safety distance, the reaction time and the preset maximum deceleration, wherein the recommended running speed is used for limiting the maximum running speed of the main vehicle;
if the distance from the main vehicle to the collision point is smaller than the safety distance, determining the recommended running speed of the main vehicle according to whether the main vehicle can pass through the collision point in the reaction time under the current speed.
Preferably, the process of determining the recommended traveling speed of the host vehicle according to whether the host vehicle can pass the collision point within the reaction time at the current speed includes:
if the host vehicle cannot pass through the collision point within the reaction time at the current speed, determining a recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point, the preset collision speed and the preset maximum deceleration, wherein the recommended running speed is used for limiting the maximum running speed of the host vehicle;
If the host vehicle can pass the collision point within the reaction time at the current speed, determining the current speed of the host vehicle as the recommended running speed of the host vehicle, wherein the recommended running speed is used for limiting the minimum running speed of the host vehicle.
Preferably, the process of determining the recommended driving speed of the host vehicle according to the safe distance, the reaction time and the preset maximum deceleration includes:
the recommended driving speed v of the host vehicle is determined by the following mathematical formula max ：
Wherein d safe Is a safe distance t react For the reaction time, combort_decel is a preset maximum deceleration.
Preferably, the process of determining the recommended traveling speed of the host vehicle according to the distance from the host vehicle to the collision point, the preset collision speed, and the preset maximum deceleration includes:
the recommended driving speed v of the host vehicle is determined by the following mathematical formula max ：
Wherein d is the distance from the main vehicle to the collision point, v safe For a preset collision velocity, combort_decel is a preset maximum deceleration.
Preferably, the process of acquiring information of a blind area of a vehicle in which the host vehicle is traveling includes:
acquiring static obstacles in an interested area, wherein the interested area is a preset area on the two sides of the front of a host vehicle in running;
The method comprises the steps of obtaining a shielding point and an interested edge in an obstacle, wherein the shielding point is a point which is located on the projection contour of the obstacle on the ground and farthest from a host vehicle in the longitudinal direction and is located in the field of view of the host vehicle; the interested side is a side which is positioned on the projection outline of the obstacle on the ground and is connected with the shielding point outside the view of the main vehicle;
determining a blind area along the driving direction of the main vehicle according to the interested edge;
wherein the blind area and the shielding point constitute information of the blind area of the vehicle.
Preferably, the obstacle is a large vehicle, and the process of acquiring the shielding point and the interested edge in the obstacle includes:
the projection contour of the large vehicle on the ground is obtained, wherein the projection contour of the large vehicle on the ground is obtained by calculation according to information acquired by sensing equipment of a host vehicle;
confirming a point closest to the host vehicle in the transverse direction and farthest from the host vehicle in the longitudinal direction in the vertex of the projection profile as the shielding point;
and identifying the side which is connected with the shielding point and is farthest from the host vehicle in the longitudinal direction from the sides of the projection outline as the interested side.
Preferably, the obstacle is a wall on a broken road, and the process of obtaining the shielding point and the interested edge in the obstacle includes:
The projection outline of the wall body of the obstacle on the ground is obtained from a pre-configured semantic map, the semantic map marks broken roads and wall body information on the broken roads, and the wall body information at least comprises the projection outline of the wall body on the ground;
confirming a point closest to the host vehicle in the transverse direction and farthest from the host vehicle in the longitudinal direction in the vertex of the projection profile as the shielding point;
and identifying the side which is connected with the shielding point and is farthest from the host vehicle in the longitudinal direction from the sides of the projection outline as the interested side.
Preferably, the process of determining the blind area along the main vehicle traveling direction according to the side of interest includes:
taking the middle point of the interested side as a reference point, and determining a point at a preset distance in front of the reference point as a blind area center along the running direction of the main vehicle;
and determining a circular area with the center of the blind area as the center and the radius of the circular area as the preset length as the blind area.
Preferably, the process of determining the collision point, the safety distance and the reaction time according to the information of the dead zone of the vehicle comprises the following steps:
acquiring a blind area center of a blind area according to the information of the blind area of the vehicle, and determining a projection point from the blind area center to the central line of a main vehicle running path as a collision point;
Determining an intersection point of a connecting line formed by the collision point and the shielding point and the central line of the main vehicle running path as an observable point, and determining the distance from the observable point to the collision point as a safe distance;
and determining the distance from the center of the blind area to the collision point as the transverse distance between the blind area and the main vehicle, and determining the reaction time according to the transverse distance and the preset pedestrian speed.
A second aspect of the present application provides a vehicle speed planning apparatus relating to a travel blind area, including:
an information acquisition unit configured to acquire information of a vehicle blind area of a host vehicle while the host vehicle is traveling, wherein the vehicle blind area is generated by shielding by a stationary obstacle;
the parameter determining unit is used for determining collision points, safety distances and reaction time according to the information of the blind areas of the vehicles, wherein the collision points are the intersection points of the traffic paths of traffic participants in the blind areas and the driving paths of the main vehicles, the safety distances are the observable points of the blind areas in the view of the main vehicles on the driving paths, and the reaction time is the time taken by the traffic participants in the blind areas to move from the blind areas to the collision points;
and the speed limit calculation unit is used for determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point and combining the safety distance, the reaction time and the current speed of the host vehicle.
A third aspect of the present application provides a vehicle speed planning apparatus relating to a travel blind area, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the vehicle speed planning method related to the driving blind area.
A fourth aspect of the present application provides a storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the steps of the vehicle blind area processing method as described above.
A fourth aspect of the present application provides a driving control method through a blind area of a vehicle, including:
when the blind areas of the vehicles exist on the two sides in front of the main vehicle, acquiring the transverse distance between the main vehicle and the blind areas of the vehicles;
if the transverse distance is smaller than a preset threshold value, controlling the main vehicle to increase the transverse distance between the main vehicle and the dead zone of the vehicle to the preset threshold value;
the recommended running speed is determined by adopting the vehicle speed planning method related to the running blind area, and the main vehicle is controlled to run according to a preset strategy according to the recommended running speed.
As can be seen from the above technical solution, the present application first obtains information of a blind zone of a host vehicle during running, where the blind zone of the host vehicle is generated by shielding by a stationary obstacle. And then determining collision points, safety distances and reaction time according to the blind area information of the vehicle. The collision point is an intersection point of a traffic path of a traffic participant in the blind area and a running path of the host vehicle; the safety distance is the distance from an observable point of a blind area to a collision point in the visual field of the main vehicle on the driving path; the reaction time is the time it takes for a traffic participant in a blind zone to move from a blind zone to a collision point. And finally, determining the recommended running speed of the host vehicle according to different ranges of the distance from the host vehicle to the collision point and combining the safety distance, the reaction time, the current speed of the host vehicle, the preset collision speed and the preset maximum deceleration. The preset collision speed is the allowed maximum running speed during collision under the condition that the collision cannot be avoided; the preset maximum deceleration comes from the acceleration concept in mechanics, and reflects the deceleration condition of the vehicle. The method and the device consider the safety distance and the reaction time reserved for the vehicle, so that the recommended running speed of the host vehicle is calculated, collision with traffic participants in a blind area is avoided as much as possible, and running safety is guaranteed to a certain extent.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic diagram of a vehicle speed planning method related to a traveling blind area according to an embodiment of the present application;
FIG. 2 illustrates key parameters of host and vehicle blind zones disclosed in an embodiment of the present application;
FIG. 3 illustrates occlusion points and edges of interest of an obstacle as disclosed in an embodiment of the present application;
fig. 4 illustrates a case where the obstacle disclosed in the embodiment of the present application is a broken road;
FIG. 5 illustrates blind zone areas caused by obstacles in different positional relationships as disclosed in an embodiment of the present application;
fig. 6 is a schematic diagram of a driving control method through a blind area of a vehicle according to an embodiment of the present application;
fig. 7 is a schematic diagram of a vehicle speed planning apparatus related to a traveling blind area according to an embodiment of the present application;
fig. 8 is a schematic diagram of a vehicle speed planning apparatus related to a travel blind area according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The following describes a vehicle speed planning method related to a driving blind area. Referring to fig. 1, a vehicle speed planning method related to a driving blind area provided in an embodiment of the present application may include the following steps:
step S101, obtaining information of a blind area of a host vehicle while the host vehicle is running.
Wherein the vehicle blind area is created by the occlusion of a stationary obstacle. For example, large vehicles (e.g., buses, vans) parked at the roadside, broken roads with high walls built at the roadside, and the like.
The information of the blind area of the vehicle is used to describe the position of the blind area, the shielding condition of the obstacle, and the like.
Step S102, determining collision points, safety distances and reaction time according to the information of the dead zone of the vehicle.
Specifically, referring to fig. 2, the collision point is an intersection of a traffic path of a traffic participant in a blind area and a travel path of a host vehicle. In an alternative embodiment, it may be assumed that the traffic participant is traveling along a shortest path to the host vehicle, in which case the collision point is the projected point of the blind spot from the center point of the travel path.
The safety distance is the distance from the observable point of the blind area to the collision point in the visual field of the host vehicle on the driving path. The observable point is a position point where the blind area can be just seen when the blind point is crossed on the driving path, as shown in fig. 2. The road section in front of the observation point cannot see the blind area, and more parts in the blind area are gradually seen as the main vehicle moves forward.
The reaction time is the time it takes for traffic participants in the blind area to move from the blind area to the collision point. Wherein, different moving speeds can be preset for the traffic participants according to different properties of the traffic participants. On the basis, the reaction time can be known according to the distance from the dead zone to the collision point and the preset moving speed.
Step S103, determining the recommended driving speed of the main vehicle according to the distance from the main vehicle to the collision point and combining the safe distance, the reaction time and the current speed.
The current speed is the running speed of the main vehicle at the current moment, and the time when the main vehicle runs to the collision point at the constant speed can be estimated according to the current speed.
Specifically, different driving strategies can be adopted to control the vehicle speed according to different ranges of the distance from the host vehicle to the collision point, so that the host vehicle can pass through the blind area more safely.
For example, if the distance from the host vehicle to the collision point is greater than the safe distance, the speed of the host vehicle may be calculated such that at that speed, the host vehicle stops before the traffic participant in the blind zone reaches the collision point, avoiding a collision; if the distance from the host vehicle to the collision point is smaller than the safety distance, the other speed of the host vehicle can be calculated, so that the host vehicle can pass the collision point at the speed at first and cannot collide with traffic participants in the blind area in the front.
The recommended driving speed is calculated according to the safety distance, the reaction time and the current speed of the main vehicle under different driving strategies.
The method comprises the steps of firstly acquiring information of a vehicle blind area of a host vehicle in running, wherein the vehicle blind area is generated by shielding of a static obstacle. And then determining collision points, safety distances and reaction time according to the blind area information of the vehicle. The collision point is an intersection point of a traffic path of a traffic participant in the blind area and a running path of the host vehicle; the safety distance is the distance from an observable point of a blind area to a collision point in the visual field of the main vehicle on the driving path; the reaction time is the time it takes for a traffic participant in a blind zone to move from a blind zone to a collision point. And finally, determining the recommended running speed of the host vehicle according to different ranges of the distance from the host vehicle to the collision point and combining the safety distance, the reaction time, the current speed of the host vehicle, the preset collision speed and the preset maximum deceleration. The preset collision speed is the allowed maximum running speed during collision under the condition that the collision cannot be avoided; the preset maximum deceleration comes from the acceleration concept in mechanics, and reflects the deceleration condition of the vehicle. The method and the device consider the safety distance and the reaction time reserved for the vehicle, so that the recommended running speed of the host vehicle is calculated, collision with traffic participants in a blind area is avoided as much as possible, and running safety is guaranteed to a certain extent.
In some embodiments of the present application, the process of acquiring the information of the blind area of the vehicle while the host vehicle is traveling in step S101 may include:
s1, acquiring a static obstacle in a region of interest.
Referring to fig. 3, the region of interest is a preset region on two sides of the front of the host vehicle during driving. For example, for a front right region in the main vehicle traveling direction, the region of interest may be set as a region surrounded by a left boundary and a right boundary. Optionally, an upper boundary and a lower boundary may also be set for the region of interest.
S2, obtaining shielding points and interested edges in the obstacle.
Wherein the shielding point is a point which is positioned in the field of view of the host vehicle and is farthest from the host vehicle in the longitudinal direction on the projection contour of the obstacle on the ground; the interested side is the side which is positioned on the projection outline of the obstacle on the ground and is connected with the shielding point outside the view of the main vehicle.
The terms "transverse direction" and "longitudinal direction" used herein refer to the transverse axis direction and the longitudinal axis direction of the Frenet coordinate system constructed by taking the travel path of the host vehicle as a reference line. Taking the projection profile of the obstacle on the ground as a quadrangle as an example, referring to fig. 3, for the obstacle 1, the obstacle 2 and the obstacle 3, the shielding points are all the vertexes in the dashed circles, and the interested sides are the B side, the D side and the E side respectively.
S3, determining blind area areas along the driving direction of the main vehicle according to the interested edges.
For example, first, a region within a preset range in front of the side of interest may be taken as the blind area candidate, as exemplarily shown by a solid line circle in fig. 5.
By the method, the vehicle blind area information can be acquired, wherein the blind area and the shielding point form the information of the vehicle blind area. The vehicle blind area information will be used for calculation of the recommended travel speed of the host vehicle.
Specifically, the stationary obstacle may be a wall of a broken road junction marked in the semantic map, as shown in fig. 4; an obstacle having a convex polygon projected in a contour of a large vehicle or the like may be used as shown in fig. 2. In the case where the obstacle is a broken road, wall information, which is road surface information of the broken road, may be described in the semantic map. In the case where the obstacle is a large vehicle, information such as the position and shape of the obstacle can be perceived by a sensor such as a camera or a laser radar.
Based on this, in some embodiments of the present application, referring to fig. 2, the process of obtaining the occlusion point and the interested edge in the obstacle in S2 may include:
s21, acquiring the projection contour of the large vehicle on the ground.
The projection contour of the large vehicle on the ground is calculated according to information acquired by sensing equipment of the main vehicle;
s22, selecting a point which is closest to the host vehicle in the transverse direction and farthest from the host vehicle in the longitudinal direction from the vertex of the projection profile, and confirming the point as the shielding point.
S23, selecting the edge which is connected with the shielding point and is farthest from the host vehicle in the longitudinal direction from the edges of the projection outline, and identifying the edge as the interested edge.
In other embodiments of the present application, referring to fig. 4, the step S2 of obtaining the shielding point and the interested edge in the obstacle may include:
s21, acquiring the projection outline of the wall body of the obstacle on the ground from a pre-configured semantic map.
The semantic map marks broken roads and wall information on broken roads, and the wall information at least comprises projection outlines of the walls on the ground.
S22, selecting a point which is closest to the host vehicle in the transverse direction and farthest from the host vehicle in the longitudinal direction from the vertex of the projection profile, and confirming the point as the shielding point;
s23, selecting the edge which is connected with the shielding point and is farthest from the host vehicle in the longitudinal direction from the edges of the projection outline, and confirming the edge as the interested edge.
In some embodiments of the present application, the determining, in step S3, the blind area along the main vehicle driving direction according to the interested edge may include:
s31, taking the middle point of the interested side as a reference point, and determining a point at a preset distance in front of the reference point as a blind area center along the running direction of the main vehicle.
S32, determining a circular area with the center of the blind area as the center and the radius of the circular area as the preset length as the blind area.
For example, a circle may be drawn with a blind area center being 1.5 meters in front of the reference point, the blind area center being the center of the circle, and a radius being 2.4 meters, and the circular area being the blind area.
In addition, the blind area may be a polygonal area such as a square, and accordingly, the polygonal area may be determined by taking the centroid of the blind area as a reference point.
Further, further verification can be performed on the blind area through a laser radar, so that the recognition accuracy of the blind area is improved. Specifically, the point cloud density of the blind area is obtained, for example, the point cloud density of the blind area candidate is detected by a sensor such as a laser radar, and if the point cloud density of the blind area candidate reaches a preset density value, the area where the blind area candidate is located is confirmed to be the blind area; otherwise, the blind area is considered to be still within the visible range, and the blind area can be perceived by a sensing device such as a camera or a laser radar.
By determining the blind area, it is possible to estimate information about the intersection with the host vehicle after the traffic participant in the blind area has left the blind area.
In some embodiments of the present application, the determining the collision point, the safety distance, and the reaction time in step S102 according to the information of the dead zone of the vehicle may include:
s1, acquiring a blind area center of a blind area according to information of the blind area of the vehicle, and determining a projection point from the blind area center to a central line of a main vehicle driving path as a collision point.
S2, determining an intersection point of a connecting line formed by the collision point and the shielding point and the central line of the main vehicle running path as an observable point, and determining the distance from the observable point to the collision point as a safe distance.
S3, determining the distance from the center of the blind area to the collision point as the transverse distance between the blind area and the host vehicle, and determining the reaction time according to the transverse distance and the preset pedestrian speed.
In some embodiments of the present application, the determining the recommended driving speed of the host vehicle in step S103 according to the distance between the host vehicle and the collision point and in combination with the safe distance, the reaction time, the current speed, the preset collision speed, and the preset maximum deceleration may include:
S1, if the distance from the main vehicle to the collision point is larger than the safety distance, determining the recommended running speed of the main vehicle according to the safety distance, the reaction time and the preset maximum deceleration.
Wherein the recommended travel speed is used to limit the maximum travel speed of the host vehicle.
S2, if the distance from the main vehicle to the collision point is smaller than the safety distance, determining the recommended running speed of the main vehicle according to whether the main vehicle can pass through the collision point in the reaction time under the current speed.
For example, if the distance from the host vehicle to the collision point is greater than the safe distance, the speed of the host vehicle may be calculated such that at that speed, the host vehicle stops before the traffic participant in the blind zone reaches the collision point, avoiding a collision; if the distance from the host vehicle to the collision point is smaller than the safety distance, the other speed of the host vehicle can be calculated, so that the host vehicle can pass the collision point at the speed at first and cannot collide with traffic participants in the blind area in the front.
Specifically, different driving strategies can be adopted to control the vehicle speed according to different ranges of the distance from the host vehicle to the collision point, so that the host vehicle can pass through the blind area safely and comfortably.
Based on this, the step S2 may include a process of determining the recommended driving speed of the host vehicle according to whether the host vehicle can pass through the collision point in the reaction time at the current speed, which may include:
S21, if the host vehicle cannot pass through the collision point within the reaction time at the current speed, determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point, the preset collision speed and the preset maximum deceleration.
Wherein the recommended travel speed is used to limit the maximum travel speed of the host vehicle.
Under the condition that traffic participants in the blind area, such as pedestrians and the like, suddenly jump out from the blind area and inevitably collide with the main vehicle, a collision speed can be pre-assumed for the main vehicle, so that the main vehicle collides with the traffic participants not too severely, and the pre-assumed collision speed is the preset collision speed. For example, in the event that a high probability of collision is predicted, the traffic participant may choose to collide with the side of the host vehicle, rather than front impact by the host vehicle and the traffic participant, thereby mitigating the injury from the impact. In order to further reduce the impact degree when the side impact occurs, the preset impact speed is set, so that the front impact can be avoided and the severe side impact can be avoided.
The deceleration refers to the deceleration generated by the braking of the main vehicle during running, and the larger the deceleration is, the worse the experience brought to the rider is. By presetting a maximum deceleration, the comfort of the rider can be improved.
S22, if the host vehicle can pass through the collision point in the reaction time at the current speed, determining the current speed as the recommended running speed of the host vehicle.
Wherein the recommended travel speed is used to limit a minimum travel speed of the host vehicle. By setting the travel speed to be not less than the recommended travel speed, it is possible to enable the host vehicle to pass through the blind area as soon as possible, avoiding collision with the traffic participants in the blind area.
In some embodiments of the present application, the determining the recommended driving speed of the host vehicle in step S1 according to the safe distance, the reaction time, and the preset maximum deceleration may include:
the host vehicle is determined by the following mathematical formulaRecommended travel speed v of (2) max ：
Wherein d safe Is a safe distance t react For the reaction time, combort_decel is a preset maximum deceleration.
In some embodiments of the present application, the determining the recommended driving speed of the host vehicle in step S21 according to the distance from the host vehicle to the collision point, the preset collision speed, and the preset maximum deceleration may include:
the recommended driving speed v of the host vehicle is determined by the following mathematical formula max ：
Wherein d is the distance from the main vehicle to the collision point, v safe For a preset collision velocity, combort_decel is a preset maximum deceleration.
Based on the above vehicle speed planning method related to the driving blind area, the present application further provides a driving control method through the vehicle blind area, referring to fig. 6, the driving control method through the vehicle blind area provided by the present application may include:
step S201, when the existence of blind areas of the vehicle on two sides of the front of the main vehicle is detected, the transverse distance between the main vehicle and the blind areas of the vehicle is obtained.
And step S202, if the transverse distance is smaller than a preset threshold value, controlling the main vehicle to increase the transverse distance between the main vehicle and the dead zone of the vehicle to the preset threshold value.
By increasing the lateral distance between the host vehicle and the blind zone of the vehicle, the reaction time can be increased accordingly, so that the host vehicle has more time to handle the moving traffic participants in the blind zone.
Step S203, determining a recommended running speed, and controlling the main vehicle to control the vehicle speed according to a preset strategy according to the recommended running speed.
Specifically, the vehicle speed planning method related to the driving blind area provided by any one of the embodiments is adopted to determine a recommended driving speed, and the host vehicle is controlled to control the vehicle speed according to a preset strategy according to the recommended driving speed.
Specifically, if the distance from the host vehicle to the collision point is greater than the safe distance, or if the distance from the host vehicle to the collision point is less than the safe distance, and the current speed cannot pass through the collision point within the reaction time, the host vehicle is controlled to travel at a speed not greater than the recommended travel speed; if the distance from the host vehicle to the collision point is smaller than the safety distance and the current speed can pass through the collision point in the reaction time, the host vehicle is controlled to travel at the recommended travel speed at a constant speed.
The following describes a vehicle speed planning device related to a driving blind area provided by the embodiment of the present application, and a cloud playing device of a bag file described below and a vehicle speed planning method related to the driving blind area described above may be referred to correspondingly with each other.
Referring to fig. 7, a vehicle speed planning device related to a traveling blind area provided in an embodiment of the present application may include:
an information acquisition unit 21 for acquiring information of a vehicle blind area of a host vehicle while the host vehicle is traveling, wherein the vehicle blind area is generated by shielding of a stationary obstacle;
a parameter determining unit 22, configured to determine a collision point, a safe distance, and a reaction time according to information of a blind area of the vehicle, where the collision point is an intersection point of a traffic path of a traffic participant in a blind area and a travel path of a host vehicle, the safe distance is a observable point of the blind area in a view of the host vehicle on the travel path, and the reaction time is a time taken for the traffic participant in the blind area to move from the blind area to the collision point;
and the speed limit calculating unit 23 is used for determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point and combining the safety distance, the reaction time and the current speed.
In some embodiments of the present application, the process of the above-described information acquisition unit 21 acquiring the information of the blind area of the host vehicle while the host vehicle is traveling may include:
acquiring static obstacles in an interested area, wherein the interested area is a preset area on the two sides of the front of a host vehicle in running;
the method comprises the steps of obtaining a shielding point and an interested edge in an obstacle, wherein the shielding point is a point which is located on the projection contour of the obstacle on the ground and farthest from a host vehicle in the longitudinal direction and is located in the field of view of the host vehicle; the interested side is a side which is positioned on the projection outline of the obstacle on the ground and is connected with the shielding point outside the view of the main vehicle;
determining a blind area along the driving direction of the main vehicle according to the interested edge;
wherein the blind area and the shielding point constitute information of the blind area of the vehicle.
In some embodiments of the present application, the obstacle is a large vehicle, and the process of acquiring the occlusion point and the interested edge in the obstacle by the information acquiring unit 21 may include:
the projection contour of the large vehicle on the ground is obtained, wherein the projection contour of the large vehicle on the ground is obtained by calculation according to information acquired by sensing equipment of a host vehicle;
Confirming a point closest to the host vehicle in the transverse direction and farthest from the host vehicle in the longitudinal direction in the vertex of the projection profile as the shielding point;
and identifying the side which is connected with the shielding point and is farthest from the host vehicle in the longitudinal direction from the sides of the projection outline as the interested side.
In other embodiments of the present application, the obstacle is a wall on a broken road, and the process of acquiring the occlusion point and the interested edge in the obstacle by the information acquiring unit 21 may include:
the projection outline of the wall body of the obstacle on the ground is obtained from a pre-configured semantic map, the semantic map marks broken roads and wall body information on the broken roads, and the wall body information at least comprises the projection outline of the wall body on the ground;
confirming a point closest to the host vehicle in the transverse direction and farthest from the host vehicle in the longitudinal direction in the vertex of the projection profile as the shielding point;
and identifying the side which is connected with the shielding point and is farthest from the host vehicle in the longitudinal direction from the sides of the projection outline as the interested side.
In some embodiments of the present application, the process of determining the blind area along the traveling direction of the host vehicle by the information acquisition unit 21 according to the side of interest includes:
Taking the middle point of the interested side as a reference point, and determining a point at a preset distance in front of the reference point as a blind area center along the running direction of the main vehicle;
a round area with the center of the blind area as the center and the radius as the preset length is determined as a candidate blind area;
and acquiring the point cloud density of the candidate blind area, and if the point cloud density of the candidate blind area reaches a preset density value, confirming that the candidate blind area is a blind area.
In some embodiments of the present application, the process of determining the collision point, the safety distance, and the reaction time by the parameter determining unit 22 according to the information of the dead zone of the vehicle may include:
acquiring a blind area center of a blind area according to the information of the blind area of the vehicle, and determining a projection point from the blind area center to the central line of a main vehicle running path as a collision point;
determining an intersection point of a connecting line formed by the collision point and the shielding point and the central line of the main vehicle running path as an observable point, and determining the distance from the observable point to the collision point as a safe distance;
and determining the distance from the center of the blind area to the collision point as the transverse distance between the blind area and the main vehicle, and determining the reaction time according to the transverse distance and the preset pedestrian speed.
In some embodiments of the present application, the process of determining the recommended driving speed of the host vehicle by the speed limit calculating unit 23 according to the distance between the host vehicle and the collision point, in combination with the safe distance, the reaction time, the current speed, the preset collision speed, and the preset maximum deceleration may include:
if the distance from the main vehicle to the collision point is greater than the safety distance, determining the recommended running speed of the main vehicle according to the safety distance, the reaction time and the preset maximum deceleration, wherein the recommended running speed is used for limiting the maximum running speed of the main vehicle;
if the distance from the main vehicle to the collision point is smaller than the safety distance, determining the recommended running speed of the main vehicle according to whether the main vehicle can pass through the collision point in the reaction time under the current speed.
In some embodiments of the present application, the process of determining the recommended driving speed of the host vehicle by the speed limit calculating unit 23 according to whether the host vehicle can pass through the collision point in the reaction time at the current speed may include:
if the host vehicle cannot pass through the collision point within the reaction time at the current speed, determining a recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point, the preset collision speed and the preset maximum deceleration, wherein the recommended running speed is used for limiting the maximum running speed of the host vehicle;
If the host vehicle can pass the collision point within the reaction time at the current speed, determining the current speed as the recommended running speed of the host vehicle, wherein the recommended running speed is used for limiting the minimum running speed of the host vehicle.
In some embodiments of the present application, the process of determining the recommended driving speed of the host vehicle by the speed limit calculating unit 23 according to the safe distance, the reaction time and the preset maximum deceleration may include:
the recommended driving speed v of the host vehicle is determined by the following mathematical formula max ：
Wherein d safe Is a safe distance t react For the reaction time, combort_decel is a preset maximum deceleration.
In some embodiments of the present application, the process of determining the recommended driving speed of the host vehicle by the speed limit calculating unit 23 according to the distance from the host vehicle to the collision point, the preset collision speed, and the preset maximum deceleration may include:
the recommended driving speed v of the host vehicle is determined by the following mathematical formula max ：
Wherein d is the distance from the main vehicle to the collision point, v safe For a preset collision velocity, combort_decel is a preset maximum deceleration.
The vehicle speed planning device related to the driving blind area can be applied to vehicle speed planning equipment related to the driving blind area. Alternatively, fig. 8 shows a hardware configuration block diagram of the vehicle speed planning apparatus relating to the travel blind area, and referring to fig. 8, the hardware configuration of the vehicle speed planning apparatus relating to the travel blind area may include: at least one processor 31, at least one communication interface 32, at least one memory 33 and at least one communication bus 34.
In the embodiment of the present application, the number of the processor 31, the communication interface 32, the memory 33, and the communication bus 34 is at least one, and the processor 31, the communication interface 32, and the memory 33 complete communication with each other through the communication bus 34;
the processor 31 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present application, etc.;
the memory 32 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory 33 stores a program, the processor 31 may call the program stored in the memory 33, the program being for:
acquiring information of a vehicle blind area of a host vehicle in running, wherein the vehicle blind area is generated by shielding of a static obstacle;
determining collision points, safety distances and reaction time according to the information of the blind areas of the vehicles, wherein the collision points are the intersection points of the traffic paths of traffic participants in the blind areas and the driving paths of the main vehicles, the safety distances are the observable points of the blind areas in the view of the main vehicles on the driving paths, and the reaction time is the distance from the observable points of the blind areas to the collision points, and the reaction time is the time taken by the traffic participants in the blind areas to move from the blind areas to the collision points;
And determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point and combining the safe distance, the reaction time and the current speed.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
The embodiment of the application also provides a storage medium, which may store a program adapted to be executed by a processor, the program being configured to:
acquiring information of a vehicle blind area of a host vehicle in running, wherein the vehicle blind area is generated by shielding of a static obstacle;
determining collision points, safety distances and reaction time according to the information of the blind areas of the vehicles, wherein the collision points are the intersection points of the traffic paths of traffic participants in the blind areas and the driving paths of the main vehicles, the safety distances are the observable points of the blind areas in the view of the main vehicles on the driving paths, and the reaction time is the distance from the observable points of the blind areas to the collision points, and the reaction time is the time taken by the traffic participants in the blind areas to move from the blind areas to the collision points;
and determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point and combining the safe distance, the reaction time and the current speed.
Alternatively, the refinement function and the extension function of the program may be described with reference to the above.
To sum up:
as can be seen from the above technical solution, the present application first obtains information of a blind zone of a host vehicle during running, where the blind zone of the host vehicle is generated by shielding by a stationary obstacle. And then determining collision points, safety distances and reaction time according to the blind area information of the vehicle. The collision point is an intersection point of a traffic path of a traffic participant in the blind area and a running path of the host vehicle; the safety distance is the distance from an observable point of a blind area to a collision point in the visual field of the main vehicle on the driving path; the reaction time is the time it takes for a traffic participant in a blind zone to move from a blind zone to a collision point. And finally, determining the recommended running speed of the main vehicle according to different ranges of the distance from the main vehicle to the collision point and combining the safety distance, the reaction time, the current speed, the preset collision speed and the preset maximum deceleration. The preset collision speed is the allowed maximum running speed during collision under the condition that the collision cannot be avoided; the preset maximum deceleration comes from the acceleration concept in mechanics, and reflects the deceleration condition of the vehicle. On one hand, the method and the device consider the safety distance and the reaction time reserved for the vehicle, so as to calculate the recommended running speed of the host vehicle and avoid collision with traffic participants in the blind area as much as possible; on the other hand, when a collision is calculated to occur, the speed at the time of the collision is considered so that the injury of traffic participants in the blind area due to the collision is not excessive; in addition, the maximum deceleration is considered in the calculation of the recommended running speed, so that the condition of sudden hard braking is avoided, and the comfort of passengers on the vehicle is ensured.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (13)
1. An automatic driving vehicle speed planning method related to a driving blind area is characterized by comprising the following steps:
acquiring information of a vehicle blind area of a host vehicle in running, wherein the vehicle blind area is generated by shielding of a static obstacle;
determining collision points, safety distances and reaction time according to the information of the blind areas of the vehicles, wherein the collision points are the intersection points of the traffic paths of traffic participants in the blind areas and the driving paths of the main vehicles, the safety distances are the observable points of the blind areas which can be observed for the first time in the view of the main vehicles on the driving paths, and the reaction time is the time taken by the traffic participants in the blind areas to move from the blind areas to the collision points;
According to the distance from the main vehicle to the collision point, determining the recommended running speed of the main vehicle by combining the safety distance, the reaction time and the current speed of the main vehicle;
and determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point and combining the safe distance, the reaction time and the current speed of the host vehicle, wherein the process comprises the following steps of:
if the distance from the main vehicle to the collision point is greater than the safety distance, determining the recommended running speed of the main vehicle according to the safety distance, the reaction time and the preset maximum deceleration, wherein the recommended running speed is used for limiting the maximum running speed of the main vehicle;
if the distance from the main vehicle to the collision point is smaller than the safety distance, determining the recommended running speed of the main vehicle according to whether the main vehicle can pass through the collision point in the reaction time under the current speed.
2. The method of claim 1, wherein determining the recommended travel speed of the host vehicle based on whether the host vehicle is able to pass the collision point within the reaction time at the current speed comprises:
if the host vehicle cannot pass through the collision point within the reaction time at the current speed, determining a recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point, the preset collision speed and the preset maximum deceleration, wherein the recommended running speed is used for limiting the maximum running speed of the host vehicle;
If the host vehicle can pass the collision point within the reaction time at the current speed, determining the current speed of the host vehicle as the recommended running speed of the host vehicle, wherein the recommended running speed is used for limiting the minimum running speed of the host vehicle.
3. The method of claim 1, wherein determining the recommended travel speed of the host vehicle based on the safe distance, the reaction time, and the preset maximum deceleration comprises:
the recommended driving speed v of the host vehicle is determined by the following mathematical formula max ：
Wherein d safe Is a safe distance t react For the reaction time, combort_decel is a preset maximum deceleration.
4. The method according to claim 2, wherein the process of determining the recommended travel speed of the host vehicle based on the distance of the host vehicle from the collision point, the preset collision speed, and the preset maximum deceleration, comprises:
the recommended driving speed v of the host vehicle is determined by the following mathematical formula max ：
Wherein d is the distance from the main vehicle to the collision point, v safe For a preset collision velocity, combort_decel is a preset maximum deceleration.
5. The method according to claim 1, wherein the process of acquiring information of the blind area of the vehicle while the host vehicle is traveling, includes:
Acquiring static obstacles in an interested area, wherein the interested area is a preset area on the two sides of the front of a host vehicle in running;
the method comprises the steps of obtaining a shielding point and an interested edge in an obstacle, wherein the shielding point is a point which is located on the projection contour of the obstacle on the ground and farthest from a host vehicle in the longitudinal direction and is located in the field of view of the host vehicle; the interested side is a side which is positioned on the projection outline of the obstacle on the ground and is connected with the shielding point outside the view of the main vehicle;
determining a blind area along the driving direction of the main vehicle according to the interested edge;
wherein the blind area and the shielding point constitute information of the blind area of the vehicle.
6. The method of claim 5, wherein the obstacle is a large vehicle and the step of obtaining the occlusion point and the edge of interest in the obstacle comprises:
the projection contour of the large vehicle on the ground is obtained, wherein the projection contour of the large vehicle on the ground is obtained by calculation according to information acquired by sensing equipment of a host vehicle;
confirming a point closest to the host vehicle in the transverse direction and farthest from the host vehicle in the longitudinal direction in the vertex of the projection profile as the shielding point;
and identifying the side which is connected with the shielding point and is farthest from the host vehicle in the longitudinal direction from the sides of the projection outline as the interested side.
7. The method of claim 5, wherein the obstacle is a wall on a broken road, and the step of obtaining the occlusion point and the edge of interest in the obstacle comprises:
the projection outline of the wall body of the obstacle on the ground is obtained from a pre-configured semantic map, the semantic map marks broken roads and wall body information on the broken roads, and the wall body information at least comprises the projection outline of the wall body on the ground;
confirming a point closest to the host vehicle in the transverse direction and farthest from the host vehicle in the longitudinal direction in the vertex of the projection profile as the shielding point;
and identifying the side which is connected with the shielding point and is farthest from the host vehicle in the longitudinal direction from the sides of the projection outline as the interested side.
8. The method of claim 5, wherein determining the blind zone region along the host vehicle travel direction based on the edge of interest comprises:
taking the middle point of the interested side as a reference point, and determining a point at a preset distance in front of the reference point as a blind area center along the running direction of the main vehicle;
and determining a circular area with the center of the blind area as the center and the radius of the circular area as the preset length as the blind area.
9. The method of claim 5, wherein determining the collision point, the safe distance, and the reaction time based on the information of the dead zone of the vehicle comprises:
acquiring a blind area center of a blind area according to the information of the blind area of the vehicle, and determining a projection point from the blind area center to the central line of a main vehicle running path as a collision point;
determining an intersection point of a connecting line formed by the collision point and the shielding point and the central line of the main vehicle running path as an observable point, and determining the distance from the observable point to the collision point as a safe distance;
and determining the distance from the center of the blind area to the collision point as the transverse distance between the blind area and the main vehicle, and determining the reaction time according to the transverse distance and the preset pedestrian speed.
10. An automatic driving vehicle speed planning device relating to a traveling blind area, characterized by comprising:
an information acquisition unit configured to acquire information of a vehicle blind area of a host vehicle while the host vehicle is traveling, wherein the vehicle blind area is generated by shielding by a stationary obstacle;
the parameter determining unit is used for determining collision points, safety distances and reaction time according to the information of the blind areas of the vehicles, wherein the collision points are the intersection points of the traffic paths of traffic participants in the blind areas and the driving paths of the main vehicles, the safety distances are the observable points of the blind areas in the view of the main vehicles on the driving paths, and the reaction time is the time taken by the traffic participants in the blind areas to move from the blind areas to the collision points;
The speed limit calculation unit is used for determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point and combining the safety distance, the reaction time and the current speed of the host vehicle;
and determining the recommended running speed of the host vehicle according to the distance from the host vehicle to the collision point and combining the safe distance, the reaction time and the current speed of the host vehicle, wherein the process comprises the following steps of:
if the distance from the main vehicle to the collision point is greater than the safety distance, determining the recommended running speed of the main vehicle according to the safety distance, the reaction time and the preset maximum deceleration, wherein the recommended running speed is used for limiting the maximum running speed of the main vehicle;
if the distance from the main vehicle to the collision point is smaller than the safety distance, determining the recommended running speed of the main vehicle according to whether the main vehicle can pass through the collision point in the reaction time under the current speed.
11. An automatic driving vehicle speed planning apparatus relating to a travel blind area, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the respective steps of the automatic driving vehicle speed planning method relating to a travel blind area as claimed in any one of claims 1 to 9.
12. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for autopilot speed planning involving a travel blind area according to any one of claims 1 to 9.
13. A driving control method through a blind area of a vehicle, characterized by comprising:
when the blind areas of the vehicles exist on the two sides in front of the main vehicle, acquiring the transverse distance between the main vehicle and the blind areas of the vehicles;
if the transverse distance is smaller than a preset threshold value, controlling the main vehicle to increase the transverse distance between the main vehicle and the dead zone of the vehicle to the preset threshold value;
an automatic driving speed planning method relating to a driving blind area according to any one of claims 1 to 9 is adopted to determine a recommended driving speed, and a host vehicle is controlled to drive according to a preset strategy according to the recommended driving speed.
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| JP5613398B2 (en) * | 2009-10-29 | 2014-10-22 | 富士重工業株式会社 | Intersection driving support device |
| CN103703496B (en) * | 2011-08-10 | 2016-01-20 | 丰田自动车株式会社 | Drive assistance device |
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| CN110481526B (en) * | 2019-07-22 | 2021-05-25 | 江苏大学 | Intelligent automobile sensor blind area pedestrian detection and active collision avoidance method |
| CN111186437B (en) * | 2019-12-25 | 2021-07-30 | 北京三快在线科技有限公司 | Vehicle track risk determination method and device |
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