CN114179826A - Start control method, device and equipment for automatic driving vehicle and storage medium - Google Patents
Start control method, device and equipment for automatic driving vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18159—Traversing an intersection
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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Abstract
The application discloses a starting control method, a starting control device, starting control equipment and a storage medium of an automatic driving vehicle, wherein the method comprises the following steps: acquiring first obstacle information in a first preset area around a vehicle, second obstacle information in a second preset area and traffic signal lamp information in front of the vehicle, wherein the first preset area is a blind area of the vehicle, and the area ranges of the first preset area and the second preset area are not overlapped; calling a preset map, and determining a target running track of the vehicle; determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target driving track; determining a second obstacle result corresponding to a second preset area based on the second obstacle information and the target driving track; if the first obstacle result and the second obstacle result meet the first preset condition and the information of a traffic signal lamp in front of the vehicle meets the second preset condition, controlling the vehicle to start and drive on the basis of the target driving track; the method and the device can control the vehicle to start safely.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling starting of an automatic driving vehicle.
Background
With the development of the automatic driving technology, the acceptance of automobile users on automatic driving is greatly improved. According to statistics, in 2020, the market penetration rate of the domestic L2 intelligent networked passenger vehicle reaches 15%, while the intelligent networked automobile technical route 2.0 is clear, and the intelligent penetration rates of L2 and L3 new vehicles in 2025 are predicted to reach 50%. The improvement of the permeability is accompanied with the amplification of the driving safety problem of the automatic driving system; especially, urban road conditions have large uncertainty and complex scenes, such as intersection scenes, and motor vehicles, pedestrians, bicycles, battery cars, animals and other obstacles with movement capability are more, and when the vehicles wait for red light, various obstacles in front pass disorderly, and the red light turns to green light, the vehicles need to judge whether the surrounding environment meets starting conditions, so as to avoid accidents.
The safe starting of the intersection based on the traffic lights is a great challenge to an automatic driving system, and the intersection scene is one of indispensable scenes for realizing urban automatic driving; the current traffic light safe starting control system cannot detect the obstacles in the range of the blind area of the vehicle body, or the system is too complex and needs road end V2X information and the like, so that the cost is high and the vehicle cannot fall to the ground quickly.
Disclosure of Invention
In order to solve the technical problem, the application discloses a starting control method of an automatic driving vehicle, which determines the driving safety factor of the vehicle through monitoring barrier information in a vehicle blind area and an area outside the vehicle surrounding blind area in real time, further controls the vehicle to start safely and improves the driving safety.
In order to achieve the above object, the present application provides a method for controlling a start of an autonomous vehicle, the method including:
acquiring first obstacle information in a first preset area around a vehicle, second obstacle information in a second preset area and traffic light information in front of the vehicle, wherein the first preset area is a blind area of the vehicle, and the area ranges of the first preset area and the second preset area are not overlapped;
calling a preset map, and determining a target running track of the vehicle;
determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target running track;
determining a second obstacle result corresponding to the second preset area based on the second obstacle information and the target running track;
and if the first obstacle result and the second obstacle result meet a first preset condition and the information of the traffic signal lamp in front of the vehicle meets a second preset condition, controlling the vehicle to start and drive based on the target driving track.
In some embodiments, the determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target driving track includes:
determining a first driving track corresponding to each obstacle in the first preset area based on the first obstacle information;
judging whether at least one first driving track exists in each first driving track and whether an intersection point exists between the first driving track and the target driving track;
if not, judging that no obstacle interfering with the running of the vehicle exists in the first preset area;
and determining that no obstacle interfering with the running of the vehicle exists in the first preset area as a first obstacle result.
In some embodiments, the determining, based on the first obstacle information, the corresponding first travel track of each obstacle in the first preset area includes:
acquiring position information, speed, acceleration and advancing direction of each obstacle in the first preset area;
and calculating a driving track based on the position information, the speed, the acceleration and the advancing direction of each obstacle to obtain a first driving track corresponding to each obstacle.
In some embodiments, the determining a second obstacle result corresponding to the second preset area based on the second obstacle information and the target driving track includes:
determining a second driving track corresponding to each obstacle in the second preset area based on the second obstacle information;
judging whether at least one second running track exists in each second running track and the target running track to form an intersection;
if not, judging that no obstacle interfering with the running of the vehicle exists in the second preset area;
and determining that no obstacle interfering with the running of the vehicle exists in the second preset area as a first obstacle result.
In some embodiments, before the controlling the vehicle to start and to travel based on the target travel track if the first obstacle result and the second obstacle result satisfy a first preset condition and the traffic light information in front of the vehicle satisfies a second preset condition, the method further includes:
judging whether the first obstacle result and the second obstacle result meet a first preset condition or not;
if yes, judging whether the traffic signal lamp information in front of the vehicle meets a second preset condition;
if yes, the first obstacle result and the second obstacle result are judged to meet a first preset condition, and the information of the traffic signal lamp in front of the vehicle meets a second preset condition.
In some embodiments, the determining whether the first obstacle result and the second obstacle result satisfy a first preset condition includes:
judging whether the first obstacle result is that no obstacle interfering the vehicle running exists in the first preset area; judging whether the second obstacle result is that no obstacle interfering the vehicle running exists in the second preset area;
if yes, judging that the first obstacle result and the second obstacle result meet a first preset condition;
and the number of the first and second groups,
the judging whether the traffic signal lamp information in front of the vehicle meets a second preset condition comprises the following steps:
judging whether the traffic signal lamp information in front of the vehicle is in a green lamp state;
and if so, judging that the traffic signal lamp information in front of the vehicle meets a second preset condition.
In some embodiments, the invoking the preset map, and the determining the target travel track of the vehicle comprises:
acquiring current position information of a vehicle;
and calling a preset navigation map, and determining a target running track of the vehicle based on the current position information and the destination position information of the vehicle.
The present application further provides a starting control device for an autonomous vehicle, the device comprising:
the system comprises a first acquisition module, a second acquisition module and a traffic light control module, wherein the first acquisition module is used for acquiring first obstacle information in a first preset area around a vehicle, second obstacle information in a second preset area and traffic light information in front of the vehicle, the first preset area is a blind area of the vehicle, and the area ranges of the first preset area and the second preset area are not overlapped;
the first determination module is used for calling a preset map and determining a target running track of the vehicle;
the second determining module is used for determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target running track;
a third determining module, configured to determine a second obstacle result corresponding to the second preset area based on the second obstacle information and the target driving trajectory;
and the control module is used for controlling the vehicle to start and drive based on the target driving track if the first obstacle result and the second obstacle result meet a first preset condition and the information of the traffic signal lamp in front of the vehicle meets a second preset condition.
The application also provides a starting control device of the automatic driving vehicle, the device comprises a processor and a memory, wherein at least one instruction or at least one section of program is stored in the memory, and the at least one instruction or the at least one section of program is loaded and executed by the processor to realize the starting control method of the automatic driving vehicle.
The application also provides a computer readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executes the starting control method of the automatic driving vehicle.
The embodiment of the application has the following beneficial effects:
according to the starting control method of the automatic driving vehicle, the driving safety factor of the vehicle is determined through real-time monitoring of the information of the obstacles in the vehicle blind area and the area outside the blind area around the vehicle, so that the vehicle is controlled to start safely, and the driving safety is improved.
Drawings
In order to more clearly illustrate the method, device, apparatus and storage medium for controlling the start of an autonomous vehicle according to the present application, the following brief description of the drawings is provided for the embodiments, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for a person skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a launch control system for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a vehicle mounted with various devices provided by an embodiment of the present application;
fig. 3 is a schematic flowchart of a starting control method for an autonomous vehicle according to an embodiment of the present disclosure;
fig. 4 is a flowchart illustrating a method for determining a result of a first obstacle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a starting control device of an autonomous vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 shows a system that can be used to implement the solution of the embodiment of the present application, and as shown in fig. 1, the system includes a first obstacle detecting device 1, a second obstacle detecting device 2, a signal light detecting device 3, and a control device 4;
the first obstacle detection device 1, the second obstacle detection device 2 and the signal lamp detection device 3 are in communication connection with the control device 4;
in the embodiment of the present application, as shown in fig. 2, a schematic structural diagram of a vehicle mounted with various devices provided in the embodiment of the present application is shown;
the first obstacle detection device 1 is used for detecting first obstacle information in a first preset area around a vehicle;
the first obstacle detecting device 1 may include, but is not limited to, an ultrasonic radar 11 and a first camera 12; the first camera can be a panoramic camera;
specifically, the ultrasonic radar 11 and the first camera 12 can be arranged around the front end of the vehicle; the first camera 12 may also be provided at the side and rear end of the vehicle; the corresponding ultrasonic radar 11 and the first camera 12 may be used to detect first obstacle information within blind areas in a middle area in front of the vehicle, a left front area of the vehicle, and a right front area of the vehicle;
in the embodiment of the present application, the second obstacle detecting device 2 is configured to detect second obstacle information in a second preset area around the vehicle;
the second obstacle detection device 2 may include, but is not limited to, a millimeter wave radar 21 and a second camera 22; wherein the second camera 22 may be a side-view camera;
specifically, the millimeter wave radar 21 may be a forward millimeter wave radar, and is disposed at the front end of the vehicle, preferably, may be disposed below a license plate of the vehicle, and is not shielded by a metal object;
at least two second cameras 22 can be arranged and are respectively arranged below the left rear-view mirror and the right rear-view mirror of the vehicle;
the second obstacle detection device 2 may further include a third camera 31, where the third camera 31 is configured to detect obstacle information in a preset area in front of the vehicle;
the second obstacle detection device 2 detects second obstacle information in a preset second area through the three detection devices.
In the embodiment of the present application, the signal light detection device 3 is used for detecting traffic signal light information in front of the vehicle;
the signal light detection device 3 may include a third camera 31, wherein the third camera may be a forward camera;
specifically, the third camera 31 may be mounted on a front windshield of the vehicle, specifically, may be mounted in the middle of the front windshield and below the rearview mirror; specifically, during installation, the installation height, lateral deviation, yaw angle and pitch angle of the third camera can be calibrated on a straight road, the view of the third camera is guaranteed to be over against the front of the vehicle, the center of the view is overlapped with a road vanishing point, and the lower edge of the view is overlapped with the edge of the front hatch cover.
In the embodiment of the present application, the control device 4 is used to determine a target travel track of the vehicle; determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target running track; determining a second obstacle result corresponding to the second preset area based on the second obstacle information and the target running track; and if the first obstacle result and the second obstacle result meet a first preset condition and the information of the traffic signal lamp in front of the vehicle meets a second preset condition, controlling the vehicle to start and drive based on the target driving track.
The control means may include, but is not limited to, a processor and a memory; the processor may be configured to process information sent by the first obstacle detecting device 1, the second obstacle detecting device 2, and the signal light detecting device 3 to obtain a processing result; and the control module is used for controlling the vehicle to start or keep the current running state according to the processing result.
The control means 4 may comprise a display screen, a storage device and a processor connected by a data bus. The display screen is used for displaying an operation interface or interacting with a user and the like, and the display screen can be a touch screen of a vehicle machine, a mobile phone or a tablet computer and the like. The storage device is used for storing program codes, data and data of the shooting device, and the storage device may be a memory of the control device 4, and may also be a storage device such as a smart media card (smart media card), a secure digital card (secure digital card), and a flash memory card (flash card). The processor may be a single core or multi-core processor.
The system for implementing the scheme of the embodiment of the application detects the obstacle information in the blind areas around the vehicle and other areas through the arranged first obstacle detection device 1 and the second obstacle detection device 2, so that the starting safety of the vehicle is ensured, the implementability of the system is improved, and the cost is reduced.
The starting control method of the automatic driving vehicle is described below with reference to fig. 3, and may be applied to an automatic driving vehicle, and in particular, may be applied to safe starting of a vehicle when waiting for a traffic light; to improve the safety of the autonomous vehicle.
Referring to fig. 3, which is a schematic flow chart illustrating a method for controlling starting of an autonomous vehicle according to an embodiment of the present application, the present specification provides the method steps according to the embodiment or the flowchart, but based on the conventional method; or the inventive process may include additional or fewer steps. The step sequence recited in the embodiment is only one of the execution sequences of the steps, and does not represent the only execution sequence, and the starting control method of the automatic driving vehicle can be executed according to the method sequence shown in the embodiment or the attached drawings. Specifically, as shown in fig. 3, the method includes:
s301, acquiring first obstacle information in a first preset area around a vehicle, second obstacle information in a second preset area and traffic light information in front of the vehicle, wherein the first preset area is a blind area of the vehicle, and the area ranges of the first preset area and the second preset area are not overlapped;
it should be noted that, in the embodiment of the present application, the blind area of the vehicle may be a blind area of the field of vision of the driver;
the second preset area may be a monitoring area around the vehicle, particularly in front and in front of the vehicle, outside the first preset area;
in a preferred embodiment of the present application, the first preset area may be an area which is a short distance from the vehicle, for example, an area which is 1-3 meters away from the vehicle;
the second preset area may include an area outside the first preset area among the detection areas around the vehicle, and an area distant from the vehicle; for example, the area other than 3 m in front or front side of the vehicle; that is, the second preset area may be an area outside the first preset area closer to the vehicle, or may be an area farther from the vehicle; the non-overlapping of the corresponding first preset area and the second preset area may indicate that there is no intersection area between the first preset area and the second preset area.
In the embodiment of the present application, the first obstacle information may include, but is not limited to, information of obstacles in the first preset area; the second obstacle information may include, but is not limited to, information of obstacles within the second preset area; correspondingly, the information of each obstacle may include, but is not limited to, the position, volume, speed, acceleration, lateral distance, etc. of the obstacle;
specifically, the obstacle in the first obstacle information and the second obstacle information may include a vehicle, a pedestrian, a non-motor vehicle, an animal, or the like;
in the embodiment of the application, the traffic signal light information can be traffic light information;
specifically, the traffic signal lamp information can be acquired by adopting a Bell format image algorithm;
for example, the traffic signal information may include green light information and red light information; the red light information may include that the traffic signal light is in a red light state or a yellow light state; the green light information may include a traffic signal light being in a green light state.
When the traffic signal light information is red light information, the vehicle is prohibited from advancing; when the traffic signal light information is green light information, the vehicle is allowed to proceed.
In the embodiment of the application, when a vehicle waits for a traffic light at an intersection, first obstacle information in a first preset area around the vehicle, second obstacle information in a second preset area and traffic light information in front of the vehicle can be acquired in real time.
S302, calling a preset map, and determining a target running track of the vehicle;
in the embodiment of the application, the target running track of the vehicle can be calculated based on the current position information and the destination position information of the vehicle and a preset navigation map.
Specifically, invoking the preset map and determining the target driving trajectory of the vehicle may include:
acquiring current position information of a vehicle;
and calling a preset navigation map, and determining a target running track of the vehicle based on the current position information and the destination position information of the vehicle.
In the embodiment of the application, the preset navigation map may be a map for determining a driving path of the vehicle based on initial position information and destination position information of the vehicle;
specifically, the position of the vehicle in the preset navigation map can be determined according to the current position information of the vehicle, and the steering information and the running track of the vehicle after starting are determined based on the position and the destination position.
In another embodiment of the present application, the driving trajectory of the vehicle may also be determined based on a turn signal of the autonomous vehicle.
S303, determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target running track;
in the embodiment of the application, the first driving track corresponding to each obstacle in the first obstacle information may be compared with the target driving track to obtain a comparison result, and the first obstacle result corresponding to the first preset area is determined based on the comparison result;
the first obstacle result may be, but is not limited to, that no obstacle interfering with the vehicle traveling exists in the first preset area and that a target obstacle interfering with the vehicle traveling exists in the first preset area.
In the embodiment of the present application, as shown in fig. 4, a flowchart of a method for determining a result of a first obstacle provided in the embodiment of the present application is shown; the method specifically comprises the following steps:
s401, determining a first running track corresponding to each obstacle in a first preset area based on first obstacle information;
in this embodiment, the first obstacle information may include a position, a volume, a speed, an acceleration, a lateral distance, and the like of each obstacle in the first preset area;
the calculation processing may be performed based on information such as the position, speed, acceleration, and heading direction of each obstacle in the obstacle information, and the first travel locus corresponding to each obstacle may be obtained.
In the embodiment of the application, based on the first obstacle information, determining the corresponding first driving track of each obstacle in the first preset area includes
Acquiring position information, speed, acceleration and advancing direction of each obstacle in the first preset area;
in the embodiment of the present application, the position information, the speed, the acceleration, and the advancing direction of each obstacle in the first preset area may be acquired from the first obstacle information.
And calculating a driving track based on the position information, the speed, the acceleration and the advancing direction of each obstacle to obtain a first driving track corresponding to each obstacle.
S402, judging whether at least one first driving track and a target driving track have an intersection in each first driving track;
in the embodiment of the application, the first running tracks of all obstacles in a first preset area are respectively compared with the target running track to judge whether the first running track of at least one obstacle exists in the first running tracks corresponding to all the obstacles or not and whether the intersection point exists between the first running track and the target running track is judged;
s403, if not, judging that no obstacle interfering with vehicle running exists in the first preset area;
in the embodiment of the application, if the first driving track of each obstacle in the first preset area and the target driving track do not have an intersection, that is, each obstacle in the first preset area and the vehicle do not have a collision risk; judging that each obstacle in the first preset area does not cause interference to the running of the vehicle;
in another embodiment of the present application, if there is an intersection between a first travel track of an obstacle and a target travel track of a vehicle in a first preset area, that is, there is a collision risk between the obstacle and the vehicle in the first preset area, it may be determined that there is a target obstacle interfering with the travel of the vehicle in the first preset area. At this time, even if the traffic light is in the green state, the vehicle cannot be allowed to start and go forward.
S404, determining that no obstacle interfering with the running of the vehicle exists in the first preset area as a first obstacle result.
In the embodiment of the present application, when it is determined that there is no obstacle interfering with the traveling of the vehicle in the first preset zone, the determination result may be used as a first obstacle result corresponding to the first preset zone.
S304, determining a second obstacle result corresponding to a second preset area based on the second obstacle information and the target running track;
in the embodiment of the application, the second driving track corresponding to each obstacle in the second obstacle information may be compared with the target driving track to obtain a comparison result, and a second obstacle result corresponding to the second preset area is determined based on the comparison result;
the second obstacle result may be, but is not limited to, that no obstacle interfering with the vehicle traveling exists in the second preset area and that a target obstacle interfering with the vehicle traveling exists in the second preset area.
In the embodiment of the present application, the determination method of the second obstacle result may be the same as the determination method of the first obstacle result; the difference is only in the area;
specifically, the method for determining the second obstacle result may include:
determining a second driving track corresponding to each obstacle in the second preset area based on the second obstacle information;
in this embodiment, the second obstacle information may include a position, a volume, a speed, an acceleration, a lateral distance, and the like of each obstacle in the second preset area;
the calculation process may be performed based on information such as the position, speed, acceleration, and heading of each obstacle in the obstacle information, and the second travel locus corresponding to each obstacle may be obtained.
In the embodiment of the application, based on the second obstacle information, determining the corresponding second driving track of each obstacle in the second preset area includes
Acquiring position information, speed, acceleration and advancing direction of each obstacle in the second preset area;
in the embodiment of the present application, the position information, the speed, the acceleration, and the advancing direction of each obstacle in the second preset area may be acquired from the second obstacle information.
And calculating a driving track based on the position information, the speed, the acceleration and the advancing direction of each obstacle to obtain a second driving track corresponding to each obstacle.
Judging whether at least one second running track exists in each second running track and the target running track to form an intersection;
in the embodiment of the application, the second running tracks of all the obstacles in the second preset area are respectively compared with the target running track to judge whether the second running track of at least one obstacle exists in the second running tracks corresponding to all the obstacles or not and whether the intersection point exists between the second running track and the target running track;
if not, judging that no obstacle interfering with the running of the vehicle exists in the second preset area;
in the embodiment of the application, if the second driving track of each obstacle in the second preset area does not have a cross point with the target driving track, that is, each obstacle in the second preset area does not have a collision risk with the vehicle; then it can be determined that each obstacle in the second preset area does not cause interference to the driving of the vehicle;
in another embodiment of the present application, if there is a crossing point between a second driving trajectory of an obstacle and a target driving trajectory of a vehicle in a second preset area, that is, there is a collision risk between the obstacle and the vehicle in the second preset area, it may be determined that a target obstacle interfering with the driving of the vehicle exists in the second preset area. At this time, even if the traffic light is in the green state, the vehicle cannot be allowed to start and go forward.
And determining that no obstacle interfering with the running of the vehicle exists in the second preset area as a second obstacle result.
In the embodiment of the present application, when it is determined that there is no obstacle interfering with the vehicle traveling in the second preset zone, the determination result may be used as a second obstacle result corresponding to the second preset zone.
In the embodiment of the application, the first obstacle result and the second obstacle result may be presented on a vehicle display device;
specifically, the display picture may include information of the vehicle, a first preset area and a second preset area of the vehicle, and positions of obstacles in the first preset area and the second preset area;
for example, information such as the position of an obstacle in the first preset area and the second preset area may be highlighted or displayed with an early warning.
S305, if the first obstacle result and the second obstacle result meet a first preset condition and the information of a traffic signal lamp in front of the vehicle meets a second preset condition, controlling the vehicle to start and drive based on a target driving track;
in the embodiment of the present application, the first preset condition may be that the first obstacle results in that no obstacle interfering with the running of the vehicle exists in the first preset area; and the second obstacle result is that no obstacle interfering with the vehicle running exists in the second preset area.
The second preset condition may be that the traffic signal light is in a green state.
In the embodiment of the application, if the first obstacle result and the second obstacle result meet a first preset condition and the traffic signal lamp information in front of the vehicle meets a second preset condition, controlling the vehicle to start and drive based on the target driving track; the method also comprises the following steps:
judging whether the first obstacle result and the second obstacle result meet a first preset condition and whether the traffic signal lamp information in front of the vehicle meets a second preset condition;
specifically, the method comprises the following steps:
judging whether the first obstacle result and the second obstacle result meet a first preset condition or not;
in this embodiment of the application, the determining whether the first obstacle result and the second obstacle result satisfy a first preset condition may include:
judging whether the first obstacle result is that no obstacle interfering the vehicle running exists in the first preset area; judging whether the second obstacle result is that no obstacle interfering the vehicle running exists in the second preset area;
if yes, judging that the first obstacle result and the second obstacle result meet a first preset condition;
if yes, judging whether the traffic signal lamp information in front of the vehicle meets a second preset condition;
in the embodiment of the application, when the first obstacle result and the second obstacle result are judged to meet the first preset condition, whether the front traffic signal lamp information meets the second preset condition is judged.
In this embodiment of the application, the determining whether the traffic signal light information in front of the vehicle meets a second preset condition may include:
judging whether the traffic signal lamp information in front of the vehicle is in a green lamp state;
and if so, judging that the traffic signal lamp information in front of the vehicle meets a second preset condition.
If yes, the first obstacle result and the second obstacle result are judged to meet a first preset condition, and the information of the traffic signal lamp in front of the vehicle meets a second preset condition.
In the embodiment of the application, if the traffic signal light information in front meets the second preset condition, it may be determined that the first obstacle result and the second obstacle result meet the first preset condition, and the traffic signal light information in front of the vehicle meets the second preset condition.
In another embodiment of the present application, it may also be:
judging whether the traffic signal lamp information in front of the vehicle meets a second preset condition or not;
if the information of the traffic signal lamp in front of the vehicle meets a second preset condition, judging whether the first obstacle result and the second obstacle result meet the first preset condition or not;
if yes, the first obstacle result and the second obstacle result are judged to meet a first preset condition, and the information of the traffic signal lamp in front of the vehicle meets a second preset condition.
In the embodiment of the application, the control of the vehicle starting can be releasing the brake and increasing the opening degree of the accelerator so as to realize the starting of the vehicle; correspondingly, the vehicle after starting runs based on the determined target running track.
In another embodiment of the present application, if the first obstacle result and the second obstacle result satisfy a first preset condition, and the traffic signal light information in front of the vehicle satisfies a second preset condition; if any one of the two conditions is not met, the real-time monitoring of the obstacle information in the first preset area and the second preset area around the vehicle is continuously carried out.
As can be seen from the embodiments of the method, the device, the equipment and the storage medium for controlling starting of the autonomous vehicle provided by the application, in the embodiments of the application, first obstacle information in a first preset area around the vehicle, second obstacle information in a second preset area and traffic signal light information in front of the vehicle are obtained, wherein the first preset area is a blind area of the vehicle, and area ranges of the first preset area and the second preset area are not overlapped; calling a preset map, and determining a target running track of the vehicle; determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target running track; determining a second obstacle result corresponding to the second preset area based on the second obstacle information and the target running track; if the first obstacle result and the second obstacle result meet a first preset condition and the information of the traffic signal lamp in front of the vehicle meets a second preset condition, controlling the vehicle to start and drive on the basis of the target driving track; by using the technical scheme provided by the embodiment of the specification, the driving safety factor of the vehicle is determined by monitoring the information of the obstacles in the vehicle blind area and the areas except the blind areas around the vehicle in real time, so that the vehicle is controlled to start safely, and the driving safety is improved.
The embodiment of the application also provides a starting control device of the automatic driving vehicle, as shown in fig. 5, which is a schematic structural diagram of the starting control device of the automatic driving vehicle provided by the embodiment of the application; specifically, the device comprises:
the first obtaining module 510 is configured to obtain first obstacle information in a first preset area around a vehicle, second obstacle information in a second preset area, and traffic light information in front of the vehicle, where the first preset area is a blind area of the vehicle, and area ranges of the first preset area and the second preset area are not overlapped;
the first determining module 520 is configured to invoke a preset map and determine a target driving track of the vehicle;
a second determining module 530, configured to determine a first obstacle result corresponding to the first preset area based on the first obstacle information and the target driving trajectory;
a third determining module 540, configured to determine a second obstacle result corresponding to the second preset area based on the second obstacle information and the target driving trajectory;
and a control module 550, configured to control the vehicle to start and drive based on the target driving track if the first obstacle result and the second obstacle result meet a first preset condition and the traffic light information in front of the vehicle meets a second preset condition.
In an embodiment of the present application, the second determining module 530 includes:
a first determining unit, configured to determine, based on the first obstacle information, first traveling tracks corresponding to obstacles in the first preset area;
the first judging unit is used for judging whether at least one first running track exists in each first running track and the target running track has an intersection;
a first determination unit, configured to determine that an obstacle interfering with the vehicle traveling does not exist in the first preset area if any intersection point between one first traveling track and a target traveling track does not exist in each first traveling track;
and the second determining unit is used for determining that no obstacle interfering with the running of the vehicle exists in the first preset area as a first obstacle result.
In an embodiment of the present application, the first determination unit includes:
the acquisition subunit is used for acquiring the position information, the speed, the acceleration and the advancing direction of each obstacle in the first preset area;
and the processing subunit is configured to perform travel track calculation based on the position information, the speed, the acceleration, and the heading direction of each obstacle, so as to obtain a first travel track corresponding to each obstacle.
In an embodiment of the present application, the third determining module 540 includes:
a third determining unit, configured to determine, based on the second obstacle information, second driving trajectories corresponding to obstacles in the second preset area, respectively;
a second judging unit, configured to judge whether at least one second travel track exists in each second travel track, and whether an intersection exists between the target travel track and the at least one second travel track;
a second determination unit, configured to determine that an obstacle interfering with the vehicle traveling does not exist in the second preset area if any intersection point between any one of the second traveling trajectories and the target traveling trajectory does not exist in each of the second traveling trajectories;
and the fourth determining unit is used for determining that no obstacle interfering with the running of the vehicle exists in the second preset area as a first obstacle result.
In the embodiment of the present application, the method further includes:
the first judgment module is used for judging whether the first obstacle result and the second obstacle result meet a first preset condition or not;
the second judgment module is used for judging whether the information of the traffic signal lamp in front of the vehicle meets a second preset condition or not if the first obstacle result and the second obstacle result meet the first preset condition;
and the judging module is used for judging that the first barrier result and the second barrier result meet the first preset condition and the traffic signal lamp information in front of the vehicle meets the second preset condition if the traffic signal lamp information in front of the vehicle meets the second preset condition.
In this embodiment of the present application, the first determining module includes:
a third judging unit, configured to judge whether the first obstacle result is that no obstacle interfering with the vehicle traveling exists in the first preset area; judging whether the second obstacle result is that no obstacle interfering the vehicle running exists in the second preset area;
and a third determination unit, configured to determine that the first obstacle result and the second obstacle result satisfy a first preset condition if the first obstacle result indicates that no obstacle interfering with vehicle driving exists in the first preset area, and the second obstacle result indicates that no obstacle interfering with vehicle driving exists in the second preset area.
In an embodiment of the present application, the second determining module includes:
the fourth judging unit is used for judging whether the traffic signal lamp information in front of the vehicle is in a green lamp state;
and the fourth judging unit is used for judging that the traffic signal lamp information in front of the vehicle meets a second preset condition if the traffic signal lamp information in front of the vehicle is in a green lamp state.
In an embodiment of the present application, the first determining module 520 includes:
an acquisition unit configured to acquire current position information of a vehicle;
and the fifth determining unit is used for calling a preset navigation map and determining the target running track of the vehicle based on the current position information and the destination position information of the vehicle.
It should be noted that the device and method embodiments in the device embodiment are based on the same inventive concept.
The embodiment of the application provides a starting control device of an automatic driving vehicle, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the starting control method of the automatic driving vehicle according to the embodiment of the method.
Further, fig. 6 is a schematic diagram of a hardware structure of an electronic device for implementing the starting control method of the autonomous vehicle provided in the embodiment of the present application, where the electronic device may participate in or constitute or include the starting control apparatus of the autonomous vehicle provided in the embodiment of the present application. As shown in fig. 6, the electronic device 60 may include one or more (shown as 602a, 602b, … …, 602 n) processors 602 (the processors 602 may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 604 for storing data, and a transmission device 606 for communication functions. Besides, the method can also comprise the following steps: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power source, and/or a camera. It will be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration and is not intended to limit the structure of the electronic device. For example, electronic device 60 may also include more or fewer components than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
It should be noted that the one or more processors 602 and/or other data processing circuitry described above may be referred to generally herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the data processing circuit may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the electronic device 60 (or mobile device). As referred to in the embodiments of the application, the data processing circuit acts as a processor control (e.g. selection of a variable resistance termination path connected to the interface).
The memory 604 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the starting control method of the autonomous vehicle described in the embodiments of the present application, and the processor 602 executes various functional applications and data processing by running the software programs and modules stored in the memory 604, so as to implement the above-mentioned starting control method of the autonomous vehicle. The memory 604 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 604 may further include memory located remotely from processor 602, which may be connected to electronic device 60 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 606 is used for receiving or sending data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the electronic device 60. In one example, the transmission device 606 includes a network adapter (NIC) that can be connected to other network devices through a base station so as to communicate with the internet. In one embodiment, the transmission device 606 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the electronic device 60 (or mobile device).
Embodiments of the present application further provide a computer-readable storage medium, where the storage medium may be disposed in an electronic device to store at least one instruction or at least one program for implementing a method for controlling starting of an autonomous vehicle in the method embodiments, where the at least one instruction or the at least one program is loaded and executed by the processor to implement the method for controlling starting of an autonomous vehicle provided in the method embodiments.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device and electronic apparatus embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A method for controlling a launch of an autonomous vehicle, said method comprising:
acquiring first obstacle information in a first preset area around a vehicle, second obstacle information in a second preset area and traffic light information in front of the vehicle, wherein the first preset area is a blind area of the vehicle, and the area ranges of the first preset area and the second preset area are not overlapped;
calling a preset map, and determining a target running track of the vehicle;
determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target running track;
determining a second obstacle result corresponding to the second preset area based on the second obstacle information and the target running track;
and if the first obstacle result and the second obstacle result meet a first preset condition and the information of the traffic signal lamp in front of the vehicle meets a second preset condition, controlling the vehicle to start and drive based on the target driving track.
2. The method according to claim 1, wherein the determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target travel track includes:
determining a first driving track corresponding to each obstacle in the first preset area based on the first obstacle information;
judging whether at least one first driving track exists in each first driving track and whether an intersection point exists between the first driving track and the target driving track;
if not, judging that no obstacle interfering with the running of the vehicle exists in the first preset area;
and determining that no obstacle interfering with the running of the vehicle exists in the first preset area as a first obstacle result.
3. The method according to claim 2, wherein the determining, based on the first obstacle information, the first travel locus corresponding to each obstacle in the first preset area comprises:
acquiring position information, speed, acceleration and advancing direction of each obstacle in the first preset area;
and calculating a driving track based on the position information, the speed, the acceleration and the advancing direction of each obstacle to obtain a first driving track corresponding to each obstacle.
4. The method according to claim 1, wherein the determining a second obstacle result corresponding to the second preset area based on the second obstacle information and the target travel track includes:
determining a second driving track corresponding to each obstacle in the second preset area based on the second obstacle information;
judging whether at least one second running track exists in each second running track and the target running track to form an intersection;
if not, judging that no obstacle interfering with the running of the vehicle exists in the second preset area;
and determining that no obstacle interfering with the running of the vehicle exists in the second preset area as a first obstacle result.
5. The method as claimed in claim 1, wherein if the first obstacle result and the second obstacle result satisfy a first preset condition and the traffic light information in front of the vehicle satisfies a second preset condition, the method further comprises:
judging whether the first obstacle result and the second obstacle result meet a first preset condition or not;
if yes, judging whether the traffic signal lamp information in front of the vehicle meets a second preset condition;
if yes, the first obstacle result and the second obstacle result are judged to meet a first preset condition, and the information of the traffic signal lamp in front of the vehicle meets a second preset condition.
6. The method for starting control of an autonomous vehicle as claimed in claim 5, characterized in that said judging whether or not said first obstacle result and said second obstacle result satisfy a first preset condition comprises:
judging whether the first obstacle result is that no obstacle interfering the vehicle running exists in the first preset area; judging whether the second obstacle result is that no obstacle interfering the vehicle running exists in the second preset area;
if yes, judging that the first obstacle result and the second obstacle result meet a first preset condition;
and the number of the first and second groups,
the judging whether the traffic signal lamp information in front of the vehicle meets a second preset condition comprises the following steps:
judging whether the traffic signal lamp information in front of the vehicle is in a green lamp state;
and if so, judging that the traffic signal lamp information in front of the vehicle meets a second preset condition.
7. The method of claim 1, wherein the invoking of the preset map and the determining of the target travel path of the vehicle comprises:
acquiring current position information of a vehicle;
and calling a preset navigation map, and determining a target running track of the vehicle based on the current position information and the destination position information of the vehicle.
8. A starting control apparatus for an autonomous vehicle, said apparatus comprising:
the system comprises a first acquisition module, a second acquisition module and a traffic light control module, wherein the first acquisition module is used for acquiring first obstacle information in a first preset area around a vehicle, second obstacle information in a second preset area and traffic light information in front of the vehicle, the first preset area is a blind area of the vehicle, and the area ranges of the first preset area and the second preset area are not overlapped;
the first determination module is used for calling a preset map and determining a target running track of the vehicle;
the second determining module is used for determining a first obstacle result corresponding to the first preset area based on the first obstacle information and the target running track;
a third determining module, configured to determine a second obstacle result corresponding to the second preset area based on the second obstacle information and the target driving trajectory;
and the control module is used for controlling the vehicle to start and drive based on the target driving track if the first obstacle result and the second obstacle result meet a first preset condition and the information of the traffic signal lamp in front of the vehicle meets a second preset condition.
9. A take-off control apparatus for an autonomous vehicle, the apparatus comprising a processor and a memory, the memory having stored therein at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement a take-off control method for an autonomous vehicle as claimed in any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, which is loaded by a processor and executes a method for controlling take-off of an autonomous vehicle according to any of claims 1 to 7.
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| CN115348712A (en) * | 2022-08-30 | 2022-11-15 | 中国第一汽车股份有限公司 | Light control method and control device for vehicle starting |
| CN115762139A (en) * | 2022-10-31 | 2023-03-07 | 中汽创智科技有限公司 | Method, device and equipment for filtering predicted track of intersection and storage medium |
| CN115468579A (en) * | 2022-11-03 | 2022-12-13 | 广汽埃安新能源汽车股份有限公司 | Path planning method, path planning device, electronic equipment and computer readable medium |
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