CN114013453B - Ramp entry method and device for automatic driving vehicle - Google Patents

Ramp entry method and device for automatic driving vehicle Download PDF

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Publication number
CN114013453B
CN114013453B CN202111271427.1A CN202111271427A CN114013453B CN 114013453 B CN114013453 B CN 114013453B CN 202111271427 A CN202111271427 A CN 202111271427A CN 114013453 B CN114013453 B CN 114013453B
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ramp
vehicle
automatic driving
driving vehicle
distance
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CN114013453A (en
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张成阳
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Beijing Automotive Research Institute Co Ltd
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Beijing Automotive Research Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A30/00—Adapting or protecting infrastructure or their operation
    • Y02A30/60—Planning or developing urban green infrastructure

Abstract

The application discloses a ramp entry method and device for an automatic driving vehicle, wherein the method comprises the following steps: detecting whether the current position of the automatic driving vehicle enters a ramp entering range or not; when the entering ramp entering range is detected, collecting a current road image of an automatic driving vehicle, and extracting lane line characteristics from the current road image; and if the lane line features are the dotted line features, controlling the automatic driving vehicle to drive into the ramp corresponding to the dotted line lane line. According to the method and the device for controlling the vehicle to enter the ramp according to the lane line features extracted from the current road image, the control accuracy and reliability are improved, meanwhile, the safety of the automatic driving vehicle is guaranteed, and the driving experience is improved, so that the technical problems that in the related technology, the positioning accuracy is low, the reliability is poor, the vehicle is easy to miss the ramp, dangerous operation is carried out even after the ramp is missed, and serious potential safety hazards exist while the driving experience is reduced are solved.

Description

Ramp entry method and device for automatic driving vehicle
Technical Field
The application relates to the technical field of intelligent control of vehicles, in particular to a ramp entry method and device for an automatic driving vehicle.
Background
Along with the intelligent development of vehicles, the vehicles have an automatic driving function, and when running on a road, the automatic driving function is started without manual operation at any moment of a driver, so that the purpose of automatic driving, such as automatic running on a highway, can be realized, and the driving experience is improved.
In the related art, when a vehicle is automatically driven, there is a situation that road switching is performed according to a planned path, for example, when the vehicle is driven on an altitude road, the vehicle enters a ramp entrance, the automatic driving vehicle generally obtains position information of the vehicle through high-precision inertial navigation equipment, matches with pre-collected map information, plans a track curve of the entering ramp when approaching the set ramp entrance, and guides the vehicle to exit the entering ramp.
However, in the related art, once the vehicle positioning signal is interfered or when the vehicle speed information sent to the inertial navigation device is wrong, certain errors exist between the positioning information and the actual positioning of the vehicle, the accuracy and the reliability of positioning are reduced, the vehicle is easy to miss a ramp, and dangerous operation is performed even after missing the ramp, so that serious potential safety hazards exist while driving experience is reduced, and the problem is to be solved.
Disclosure of Invention
The application provides a ramp entry method and device for an automatic driving vehicle, which are used for solving the problems that in the related art, once a vehicle positioning signal is interfered or when vehicle speed information sent to inertial navigation equipment is wrong, certain errors exist between the positioning information and actual positioning of the vehicle, the accuracy and reliability of positioning are reduced, the vehicle is easy to miss a ramp, dangerous operation is carried out even after the ramp is missed, and serious potential safety hazards exist while driving experience is reduced.
An embodiment of a first aspect of the present application provides a ramp entry method for an automatically driven vehicle, including the steps of: detecting whether the current position of the automatic driving vehicle enters a ramp entering range or not; when the entering of the ramp entering range is detected, collecting a current road image of the automatic driving vehicle, and extracting lane line characteristics from the current road image; and if the lane line features are the dotted line features, controlling the automatic driving vehicle to drive into the ramp corresponding to the dotted line lane line.
Optionally, in one embodiment of the present application, the ramp entry method of the autonomous vehicle further includes: and if the lane line features are solid line features, displaying a take-over reminding signal, and controlling the automatic driving vehicle to continue running along the current lane when the take-over reminding signal is not taken over.
Optionally, in one embodiment of the present application, before detecting whether the current location of the autonomous vehicle enters the ramp entry range, the ramp entry method of the autonomous vehicle further includes: locating a current location of the autonomous vehicle; and controlling the automatic driving vehicle to enter a ramp entrance mode when the current position is within a preset distance from the ramp.
Optionally, in one embodiment of the present application, after controlling the autonomous vehicle to enter the ramp-in mode, the ramp-in method of the autonomous vehicle further includes: judging whether the automatic driving vehicle is positioned on the rightmost lane of the current road or not; and if the vehicle is not positioned on the rightmost lane, controlling the automatic driving vehicle to drive into the rightmost lane under the condition of meeting the safe driving condition.
Optionally, in one embodiment of the present application, the controlling the driving vehicle to drive into the ramp corresponding to the dotted lane line includes: obtaining a first distance between the automatic driving vehicle and a turn road opening according to the current road image, and obtaining a second distance between the current position and the turn road opening; and comparing the first distance with the second distance, and decelerating the actual vehicle speed of the automatic driving to a preset vehicle speed while controlling the automatic driving vehicle to execute ramp-in action when the difference value between the first distance and the second distance is larger than a preset threshold value.
An embodiment of a second aspect of the present application provides a ramp entry device of an autonomous vehicle, including: the detection module is used for detecting whether the current position of the automatic driving vehicle enters a ramp entering range or not; the extraction module is used for collecting a current road image of the automatic driving vehicle when the entering of the ramp entering range is detected, and extracting lane line characteristics from the current road image; and the first control module is used for controlling the automatic driving vehicle to drive into the ramp corresponding to the dotted line lane line when the lane line characteristic is the dotted line characteristic.
Optionally, in one embodiment of the present application, the ramp entry device of the autonomous vehicle further includes: and the second control module is used for displaying a take-over reminding signal when the lane line characteristics are solid line characteristics and controlling the automatic driving vehicle to continue running along the current lane when the take-over reminding signal is not taken over.
Optionally, in one embodiment of the present application, the ramp entry device of the autonomous vehicle further includes: the positioning module is used for positioning the current position of the automatic driving vehicle before detecting whether the current position of the automatic driving vehicle enters the ramp driving range; and the third control module is used for controlling the automatic driving vehicle to enter a ramp entrance mode when the current position is within a preset distance from the ramp.
An embodiment of a third aspect of the present application provides a vehicle, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the ramp entry method of the automatic driving vehicle.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for implementing the ramp entry method of an autonomous vehicle as described in the above embodiment.
When a certain distance from the vehicle to the ramp entrance is detected, a current road image is acquired, so that when the lane line feature extracted from the current road image is a dotted line feature, the condition that the vehicle is allowed to drive into the ramp is judged, the condition that positioning information and actual positioning have errors is avoided when the vehicle is controlled to drive into the ramp corresponding to the dotted line lane line, the accuracy and reliability of control are improved, the safety of the vehicle is ensured, and the driving experience is improved, so that the technical problems that the accuracy of positioning in the related art is lower, the reliability is poor, the vehicle is easy to miss the ramp, dangerous operation is carried out even after the ramp is missed, and serious potential safety hazards exist while the driving experience is reduced are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a ramp entry method of an autonomous vehicle according to an embodiment of the present application;
FIG. 2 is a schematic view of a vehicle and ramp according to an embodiment of the present application;
FIG. 3 is an exemplary diagram of a ramp entry device for an autonomous vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Reference numerals illustrate:
the device comprises a detection module-100, a extraction module-200, a first control module-300, 401-memory, 402-processor and 403-communication interface.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The ramp entry method and apparatus of the autonomous vehicle according to the embodiments of the present application are described below with reference to the accompanying drawings. Aiming at the problems that once a vehicle positioning signal is interfered or when vehicle speed information sent to inertial navigation equipment is wrong, certain errors exist in positioning information and actual positioning of a vehicle, positioning accuracy and reliability are reduced, the vehicle is easy to miss a ramp, dangerous operation is carried out even after the ramp is missed, driving experience is reduced, and serious potential safety hazards exist at the same time, the application provides a ramp entrance method of an automatic driving vehicle, in the method, when a certain distance from the vehicle to a ramp entrance is detected, a current road image is acquired, and accordingly, when lane line characteristics extracted from the current road image are dotted line characteristics, the condition that the vehicle is allowed to enter the ramp is judged, so that the ramp corresponding to the dotted line lane line is controlled to be driven into by the automatic driving vehicle, the situation that errors exist in positioning information and actual positioning cannot occur is avoided, the accuracy and reliability of control are improved, and the driving experience of the automatic driving vehicle is ensured. Therefore, the problems that in the related technology, the positioning accuracy is low, the reliability is poor, a vehicle is easy to miss a ramp, dangerous operation is executed even after the ramp is missed, driving experience is reduced, and meanwhile, serious potential safety hazards exist are solved.
Specifically, fig. 1 is a flowchart of a ramp entry method of an autonomous vehicle according to an embodiment of the present application.
As shown in fig. 1, the ramp entry method of the autonomous vehicle includes the steps of:
in step S101, it is detected whether the current position of the autonomous vehicle enters the ramp entry range.
It is understood that the ramp entrance range may refer to a road area within a certain distance from the ramp entrance. Before driving into the ramp driving-in range, the embodiment of the application can position the actual position of the vehicle by using a preset positioning technology, such as a positioning method used in the related technology, and after driving into the ramp driving-in range, if the vehicle is controlled to enter the ramp by using the positioning method of the related technology, the vehicle is easy to miss the ramp, and dangerous operation is performed even after the ramp is missed, so that the embodiment of the application takes the ramp driving-in range as a precondition to switch the intersection recognition mode, and the previous intersection recognition mode combined by the inertial navigation device and the map is switched into the image intersection recognition mode using the road image.
For example, a road area 50m away from the ramp entrance is taken as a ramp entrance range, the current position of the autonomous vehicle is detected, when the vehicle enters the range of 50m, the current vehicle can be considered to be in the ramp entrance range, and the intersection recognition mode combined by the inertial navigation device and the map is switched to an image intersection recognition mode using road images as described below so as to recognize whether the current position can enter the ramp through the images. The problem that the vehicle enters the ramp only through the vehicle position information and the danger is caused if the positioning information is wrong is avoided, and the safety of vehicle control is improved.
Optionally, in one embodiment of the present application, before detecting whether the current location of the autonomous vehicle enters the ramp-in range, the ramp-in method of the autonomous vehicle further includes: positioning the current position of the automatic driving vehicle; and when the current position is within a preset distance from the ramp, controlling the automatic driving vehicle to enter a ramp entering mode.
It is understood that the ramp entry mode of the vehicle may be when the condition of entering the ramp is satisfied, the vehicle automatically exits the main road entering the ramp. In order to enable a vehicle to automatically enter a ramp at a ramp entrance, the embodiment of the application can adjust the vehicle to a ramp entrance mode in advance according to the position of the vehicle before detecting whether the current position of the vehicle enters the ramp entrance range. As a possible implementation, the vehicle is set to the ramp entry mode when the vehicle enters the distance range, based on a certain distance from the ramp.
For example, taking the situation that the distance from the entrance of the ramp is 2km as an example, the current position of the automatic driving vehicle is obtained through inertial navigation equipment, and when the automatic driving vehicle enters the range of 2km, the automatic driving vehicle is adjusted to be in a ramp entrance mode, so that the automatic entrance of the vehicle into the ramp when the vehicle reaches the entrance position of the ramp is ensured, and the safety of vehicle control is improved.
It should be noted that, the preset distance from the ramp entrance may be set by a person skilled in the art according to actual situations, for example, when the current speed of the vehicle is fast, the preset distance may be appropriately increased, and when the current speed is slow, the preset distance may be appropriately decreased, without limitation.
Optionally, in one embodiment of the present application, after controlling the autonomous vehicle to enter the ramp entry mode, the ramp entry method of the autonomous vehicle further includes: judging whether the automatic driving vehicle is positioned on the rightmost lane of the current road or not; and if the vehicle is not positioned on the rightmost lane, controlling the automatic driving vehicle to drive into the rightmost lane under the condition of meeting the safe driving condition.
It is understood that a general road has a plurality of driving lanes, and when a vehicle needs to exit the main road and enter the ramp, the vehicle needs to travel on the rightmost lane to directly change the lane at the ramp entrance to enter the ramp. After the vehicle is adjusted to the ramp entrance mode, if the current vehicle is in the rightmost lane, the vehicle does not need to be changed, the vehicle is waited to enter the ramp entrance range, and if the current vehicle does not travel in the rightmost lane, the embodiment of the application can change the current vehicle to the rightmost lane under the safe traveling condition. The safe driving condition may be that no other vehicle or obstacle exists in a certain range of the current vehicle, or that the speed of the current vehicle and the speed of the other vehicle meet the overtaking condition, etc., which are not limited in particular, and may be adjusted by a person skilled in the art according to actual situations.
In some embodiments, in order to meet the driving speed requirement of the ramp while the vehicle enters the ramp, the vehicle may be decelerated according to the current speed of the vehicle after the vehicle changes to the rightmost lane.
In step S102, when an entering ramp entry range is detected, a current road image of the autonomous vehicle is acquired, and lane line features are extracted from the current road image.
It can be understood that various road marks for assisting the driver to drive, such as a crosswalk mark, a deceleration mark, a straight or turning mark, a lane mark and the like, are arranged on the road, and the mark features on the road can be extracted by collecting the road image. In order to increase the accuracy of ramp entrance identification, the embodiment of the application can identify the ramp entrance according to the lane line characteristics in the road identification, so that the accuracy and reliability of ramp identification are improved, the problem that the ramp identification is inaccurate when the positioning information is wrong due to the fact that the vehicle position information is matched with a map in the related technology is avoided, and the lane line characteristics can be solid lines or broken lines used for distinguishing lanes or intersections.
By positioning the vehicle in the above-described manner, when the current vehicle enters the ramp entrance range, the embodiment of the application can acquire the lane line characteristics of the current road image, so that whether the current vehicle reaches the ramp entrance can be determined according to the lane line characteristics. For the acquisition of the current road image, the vehicle can be independently provided or the existing image acquisition equipment such as a camera of the vehicle can be used for acquisition, and then the deep learning algorithms such as image recognition, feature extraction and the like are used for extracting the lane line features in the current road image.
In some embodiments, a deep learning model may be trained in advance, input as a current road image, output as a current road image after marking the lane line, and simultaneously mark the lane line type.
In step S103, if the lane line characteristic is a dotted line characteristic, the driving vehicle is controlled to drive into the ramp corresponding to the dotted line lane line.
It can be understood that in the running process, the solid line indicates that the vehicle can not change lanes, the dotted line indicates that the vehicle can change lanes, and in general, a section of dotted line is arranged on a ramp mouth road, the vehicle can enter the ramp by pressing lines, and the embodiment of the application can control the automatic driving vehicle to enter the ramp corresponding to the dotted line lane according to the dotted line characteristic of the lane line characteristic.
As shown in fig. 2, the autonomous vehicle 1 travels in the rightmost lane, the right lane line in front of the ramp entrance is a solid line, and a broken line through which the vehicle can enter the ramp is provided at the ramp entrance 2.
Optionally, in one embodiment of the present application, controlling the autopilot vehicle to drive into the ramp corresponding to the dotted lane line includes: obtaining a first distance between an automatic driving vehicle and a ramp mouth according to a current road image, and obtaining a second distance between a current position and the ramp mouth; and comparing the first distance with the second distance, and decelerating the actual vehicle speed of the automatic driving to a preset vehicle speed while controlling the automatic driving vehicle to execute the ramp entering action when the difference value between the first distance and the second distance is larger than a preset threshold value.
In the actual implementation process, when the automatic driving vehicle runs to a position close to the ramp entrance, such as a position of about 50m, the vehicle-mounted camera can accurately identify the information of the lane line of the position of 50m in front, including the type of the lane line of the ramp mouth and the distance between the ramp mouth and the automatic driving vehicle.
And recording the distance information between the automatic driving vehicle and the ramp mouth, which is obtained by the identification of the camera, as a first distance, recording the distance information between the automatic driving vehicle and the ramp mouth, which is obtained by calculation through the inertial navigation device and the map information, as a second distance, comparing the first distance with the second distance, and if the difference between the first distance and the second distance is larger, controlling the automatic driving vehicle to execute the ramp entering action, and simultaneously slowing down the speed of the automatic driving vehicle again so as to ensure the driving safety and improve the driving experience.
Optionally, in one embodiment of the present application, the ramp entry method of the autonomous vehicle further includes: and if the lane line features are solid line features, displaying a take-over reminding signal, and controlling the automatic driving vehicle to continue running along the current lane when the take-over reminding signal is not taken over.
It can be understood that when the lane line on the right side of the current vehicle is detected to be a solid line, the current vehicle is not allowed to change lanes, and the embodiment of the application can prompt the driver to take over the vehicle, and the prompting mode can be various, such as sounding by using sound equipment to prompt, or prompting through an instrument panel identifier, or prompting through a vehicle-mounted display screen, and the prompting mode can be one or a combination of various modes, and is not particularly limited. Before the driver takes over the vehicle, in order to avoid danger, the vehicle continues to travel along the current lane until the driver takes over the vehicle.
As a possible implementation manner, when the second distance between the automatic driving vehicle and the ramp mouth is calculated through inertial navigation equipment and map information to be 0, the vehicle is indicated to be positioned at the ramp mouth, lane line information is identified according to a camera, if the lane line information is a dotted line, a right lane change is executed, and the vehicle enters the ramp from a main road; and if the line is a solid line, reminding the driver to take over, and enabling the automatic driving vehicle to continue to run along the current lane line.
According to the ramp entrance method of the automatic driving vehicle, when the distance between the vehicle and the ramp entrance is detected, the current road image is acquired, so that when the lane line feature extracted from the current road image is the dotted line feature, the condition that the vehicle is allowed to enter the ramp is judged, the condition that the automatic driving vehicle enters the ramp corresponding to the dotted line lane line is controlled, errors of positioning information and actual positioning cannot occur, the accuracy and reliability of control are improved, the safety of the automatic driving vehicle is ensured, the driving experience is improved, the technical problems that the positioning accuracy is low and the reliability is poor in the related technology, the vehicle is easy to miss the ramp, dangerous operation is executed even after the ramp is missed, the driving experience is reduced, and meanwhile serious potential safety hazards exist are solved.
Next, a ramp entry device for an autonomous vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is an exemplary diagram of a ramp entry device of an autonomous vehicle according to an embodiment of the present application.
As shown in fig. 3, the ramp entry device 10 of the autonomous vehicle includes: the device comprises a detection module 100, an extraction module 200 and a first control module 300.
The detection module 100 is configured to detect whether a current location of the autonomous vehicle enters a ramp entrance range. The extracting module 200 is configured to collect a current road image of an autonomous vehicle when an entering ramp entering range is detected, and extract lane line features from the current road image. The first control module 300 is configured to control the automatic driving vehicle to drive into the ramp corresponding to the dotted lane line when the lane line features are the dotted line features.
Optionally, in one embodiment of the present application, the ramp entry device 10 of the autonomous vehicle further includes: and the second control module is used for displaying a take-over reminding signal when the lane line characteristics are solid line characteristics and controlling the automatic driving vehicle to continue running along the current lane when the take-over reminding signal is not taken over.
Optionally, in one embodiment of the present application, the ramp entry device 10 of the autonomous vehicle further includes: the positioning module is used for positioning the current position of the automatic driving vehicle before detecting whether the current position of the automatic driving vehicle enters a ramp driving range; and the third control module is used for controlling the automatic driving vehicle to enter a ramp entrance mode when the current position is within a preset distance from the ramp.
Optionally, in one embodiment of the present application, the ramp entry device 10 of the autonomous vehicle further includes: the judging module is used for judging whether the automatic driving vehicle is positioned on the rightmost lane of the current road or not after the automatic driving vehicle is controlled to enter a ramp entering mode; and the fourth control module is used for controlling the automatic driving vehicle to drive into the rightmost lane under the condition of meeting the safe driving condition when the automatic driving vehicle is not positioned in the rightmost lane.
Optionally, in an embodiment of the present application, the first control module is further configured to obtain a first distance from the automatic driving vehicle to the turn road according to the current road image, and obtain a second distance between the current location and the turn road; and comparing the first distance with the second distance, and decelerating the actual vehicle speed of the automatic driving to a preset vehicle speed while controlling the automatic driving vehicle to execute the ramp entering action when the difference value between the first distance and the second distance is larger than a preset threshold value.
It should be noted that the explanation of the foregoing embodiment of the ramp entry method of the autonomous vehicle is also applicable to the ramp entry device of the autonomous vehicle in this embodiment, and will not be repeated here.
According to the ramp entrance device of the automatic driving vehicle, when a certain distance from a vehicle to a ramp entrance is detected, a current road image is acquired, so that when the lane line feature extracted by the current road image is a dotted line feature, the condition that the vehicle is allowed to enter the ramp is judged, the automatic driving vehicle is controlled to enter the ramp corresponding to the dotted line lane line, the situation that errors exist in positioning information and actual positioning cannot occur, the accuracy and reliability of control are improved, the safety of the automatic driving vehicle is ensured, the driving experience is improved, the technical problems that the positioning accuracy is low and the reliability is poor in the related technology, the vehicle is easy to miss the ramp, dangerous operation is executed even after the ramp is missed, the driving experience is reduced, and meanwhile serious potential safety hazards exist are solved.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.
The processor 402 implements the ramp entry method of the autonomous vehicle provided in the above embodiment when executing the program.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
Memory 401 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may perform communication with each other through internal interfaces.
The processor 402 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the ramp entry method of an autonomous vehicle as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

Claims (7)

1. A ramp entry method for an autonomous vehicle, comprising the steps of:
detecting whether the current position of the automatic driving vehicle enters a ramp entering range or not;
when the entering of the ramp entering range is detected, collecting a current road image of the automatic driving vehicle, and extracting lane line characteristics from the current road image; and
if the lane line features are the dotted line features, controlling the automatic driving vehicle to drive into the ramp corresponding to the dotted line lane line;
before detecting whether the current position of the automatic driving vehicle enters the ramp driving range, the method further comprises the following steps: locating a current location of the autonomous vehicle; when the current position is within a preset distance from the ramp, controlling the automatic driving vehicle to enter a ramp entrance mode;
the controlling the automatic driving vehicle to drive into the ramp corresponding to the dotted line lane line comprises the following steps: obtaining a first distance between the automatic driving vehicle and a turn road opening according to the current road image, and obtaining a second distance between the current position and the turn road opening; and comparing the first distance with the second distance, and decelerating the actual vehicle speed of the automatic driving to a preset vehicle speed while controlling the automatic driving vehicle to execute ramp-in action when the difference value between the first distance and the second distance is larger than a preset threshold value.
2. The method as recited in claim 1, further comprising:
and if the lane line features are solid line features, displaying a take-over reminding signal, and controlling the automatic driving vehicle to continue running along the current lane when the take-over reminding signal is not taken over.
3. The method of claim 1, further comprising, after controlling the autonomous vehicle to enter the ramp entry mode:
judging whether the automatic driving vehicle is positioned on the rightmost lane of the current road or not;
and if the vehicle is not positioned on the rightmost lane, controlling the automatic driving vehicle to drive into the rightmost lane under the condition of meeting the safe driving condition.
4. A ramp entry device for an autonomous vehicle, comprising:
the detection module is used for detecting whether the current position of the automatic driving vehicle enters a ramp entering range or not;
the extraction module is used for collecting a current road image of the automatic driving vehicle when the entering of the ramp entering range is detected, and extracting lane line characteristics from the current road image; and
the first control module is used for controlling the automatic driving vehicle to drive into a ramp corresponding to the dotted line lane line when the lane line characteristics are the dotted line characteristics;
the positioning module is used for positioning the current position of the automatic driving vehicle before detecting whether the current position of the automatic driving vehicle enters the ramp driving range; the third control module is used for controlling the automatic driving vehicle to enter a ramp entrance mode when the current position is within a preset distance from the ramp;
the first control module is further used for obtaining a first distance between the automatic driving vehicle and the turn road junction according to the current road image, and obtaining a second distance between the current position and the turn road junction; and comparing the first distance with the second distance, and decelerating the actual vehicle speed of the automatic driving to a preset vehicle speed while controlling the automatic driving vehicle to execute the ramp entering action when the difference value between the first distance and the second distance is larger than a preset threshold value.
5. The apparatus as recited in claim 4, further comprising:
and the second control module is used for displaying a take-over reminding signal when the lane line characteristics are solid line characteristics and controlling the automatic driving vehicle to continue running along the current lane when the take-over reminding signal is not taken over.
6. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the ramp entry method of an autonomous vehicle as claimed in any one of claims 1 to 3.
7. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the ramp entry method of an autonomous vehicle as claimed in any one of claims 1 to 3.
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