CN114194217B - Automatic driving method and device for vehicle, electronic equipment and storage medium - Google Patents
Automatic driving method and device for vehicle, electronic equipment and storage medium Download PDFInfo
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- CN114194217B CN114194217B CN202210105338.8A CN202210105338A CN114194217B CN 114194217 B CN114194217 B CN 114194217B CN 202210105338 A CN202210105338 A CN 202210105338A CN 114194217 B CN114194217 B CN 114194217B
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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
Abstract
The embodiment of the invention discloses a vehicle automatic driving method, a device, electronic equipment and a storage medium. The method comprises the following steps: when the first vehicle is in an automatic driving state, acquiring a first position of the first vehicle in a high-precision map and a current vehicle speed corresponding to the first position, and calculating a pre-aiming distance according to the current vehicle speed and pre-aiming time; determining a speed limit value corresponding to the pre-aiming distance based on the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map, and taking the speed limit value as a target vehicle speed; a vehicle acceleration of the first vehicle is determined based on the current vehicle speed and the target vehicle speed, and the first vehicle is controlled to travel along the navigation travel path based on the vehicle acceleration. According to the technical scheme, the automatic driving vehicle can safely run on the accident-prone road section, so that the user experience is improved, and the life safety of the user is guaranteed.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobiles, in particular to a vehicle automatic driving method, a device, electronic equipment and a storage medium.
Background
With the development of intelligent automobile technology, automatic driving is widely applied to vehicles, and in the automatic driving process, once the vehicles exist around the automatic driving vehicles, the automatic driving vehicles need to be controlled, so that the vehicles existing around the automatic driving vehicles can be avoided, and the safety of automatic driving is further ensured.
Currently, the automatic driving method of a vehicle generally travels along a route planned in a high-precision map. However, during planned driving, when the autonomous vehicle is driven to an intersection or a curve, an emergency (e.g., collision or scratch) may easily occur between the autonomous vehicle and other vehicles. Therefore, the existing automatic driving method of the vehicle has the technical problem of potential driving safety hazards.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a vehicle automatic driving method, apparatus, electronic device, and storage medium, so as to achieve the technical effects of improving driving safety and improving user experience when an automatic driving vehicle can safely travel on an accident-prone road section.
In a first aspect, an embodiment of the present invention provides a vehicle autopilot method, including:
When a first vehicle is in an automatic driving state, acquiring a first position of the first vehicle in a high-precision map and a current vehicle speed corresponding to the first position, and calculating a pre-aiming distance according to the current vehicle speed and pre-aiming time;
determining a speed limit value corresponding to the pre-aiming distance based on a speed limit value of each position of the first vehicle on a navigation driving path of the high-precision map, and taking the speed limit value as a target vehicle speed;
and determining the vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed, and controlling the first vehicle to travel along the navigation travel path based on the vehicle acceleration.
In a second aspect, an embodiment of the present invention further provides a vehicle autopilot apparatus, including:
the pre-aiming distance calculation module is used for acquiring a first position of the first vehicle in the high-precision map and a current vehicle speed corresponding to the first position when the first vehicle is in an automatic driving state, and calculating a pre-aiming distance according to the current vehicle speed and the pre-aiming time;
the target vehicle speed determining module is used for determining a speed limit value corresponding to the pre-aiming distance based on the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map, which is planned in advance, and taking the speed limit value as a target vehicle speed;
And the first vehicle control module is used for determining the vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed and controlling the first vehicle to run along the navigation running path based on the vehicle acceleration.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a storage means for storing one or more programs;
the program, when executed by the processor, causes the processor to implement the vehicle autopilot method as provided by any embodiment of the present invention.
In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle autopilot method as provided by any embodiment of the present invention.
According to the technical scheme, when the first vehicle is in an automatic driving state, a first position of the first vehicle in the high-precision map and a current vehicle speed corresponding to the first position are obtained, and the pre-aiming distance is calculated according to the current vehicle speed and the pre-aiming time. And determining a speed limit value corresponding to the pre-aiming distance based on the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map, and taking the speed limit value as a target vehicle speed. According to the embodiment of the invention, the speed limit value of the pretightening distance corresponding to the pretightening time can be more accurately determined through the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map, namely, the target speed can be more accurately determined. After the target vehicle speed is determined, the vehicle acceleration of the first vehicle can be determined based on the current vehicle speed and the target vehicle speed, and the first vehicle is controlled to travel along the navigation travel path based on the vehicle acceleration, so that the technical problem of low driving safety when the automatic driving vehicle travels to the accident-prone road section in the existing vehicle automatic driving method is solved, the safe travel of the automatic driving vehicle on the accident-prone road section is realized, the user experience is improved, and the life safety of a user is also ensured.
Drawings
In order to more clearly illustrate the technical solution of the exemplary embodiments of the present invention, a brief description is given below of the drawings required for describing the embodiments. It is obvious that the drawings presented are only drawings of some of the embodiments of the invention to be described, and not all the drawings, and that other drawings can be made according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a vehicle automatic driving method according to a first embodiment of the present invention;
FIG. 2 is an exemplary graph of target vehicle speed determination based on a vehicle autopilot method with respect to a relationship between pretighting distance and speed limit value provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic flow chart of a vehicle automatic driving method according to a second embodiment of the present invention;
fig. 4 is a diagram showing an example of a defending area of a first vehicle based on a vehicle automatic driving method according to a second embodiment of the present invention;
fig. 5 is a diagram showing a second vehicle based on the automatic driving method of the vehicle according to the second embodiment of the present invention;
fig. 6 is a diagram showing an example of a target vehicle based on a vehicle automatic driving method according to a second embodiment of the present invention;
Fig. 7 is an exemplary diagram of planning a speed limit value of a first vehicle based on a relationship between a pre-aiming distance and the speed limit value according to a vehicle autopilot method in accordance with a second embodiment of the present invention;
fig. 8 is an exemplary diagram of planning a speed limit value of a first vehicle based on a relationship between a pre-aiming distance and the speed limit value according to a vehicle autopilot method in accordance with a second embodiment of the present invention;
fig. 9 is a schematic structural view of a vehicle autopilot device according to a third embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a schematic flow chart of a vehicle automatic driving method according to an embodiment of the present invention, where the method may be implemented by a vehicle automatic driving device, and the device may be implemented in software and/or hardware, and may be integrated into an electronic device such as a computer or a server.
As shown in fig. 1, the method of the present embodiment includes:
s110, when the first vehicle is in an automatic driving state, acquiring a first position of the first vehicle in a high-precision map and a current vehicle speed corresponding to the first position, and calculating a pre-aiming distance according to the current vehicle speed and the pre-aiming time.
The first vehicle can understand the vehicle which is in the automatic driving state at the current moment. The first position may be understood as the position of the first vehicle in the high-precision map at the present moment. Preferably, the first position may be a position at a center of a rear axle of the first vehicle. The current vehicle speed may be a vehicle speed corresponding to the first position at the current time. The pre-aiming time may be an interval time set according to actual requirements, and the specific interval time is not specifically limited herein, for example, the pre-aiming time may be 3 seconds. The pre-aiming distance may be a distance calculated based on the current vehicle speed, the first position, and the pre-aiming time.
Specifically, the pre-aiming time is preset. When the first vehicle is in an automatic driving state, the position of the first vehicle in the high-precision map at the current moment can be acquired, namely the first position of the first vehicle in the high-precision map is acquired. And further acquiring the vehicle speed corresponding to the first position, namely acquiring the current vehicle speed of the first position. After the current vehicle speed is obtained, the pretightening distance can be calculated according to the current vehicle speed and preset pretightening time.
Alternatively, the pretighted distance may be calculated according to the following formula:
L pred ＝v×t pred
wherein L is pred The pretighting distance may be represented. v may be expressed as the current speed of the first vehicle. Alternatively, the current vehicle speed of the first vehicle may be in units of m/s. t is t pred The pre-aiming time may be represented. Alternatively, the unit of the pretightening time may be s. Preferably, the pretightening time may be 3s.
Specifically, the pre-aiming time is preset. And after the current speed of the first vehicle is obtained, multiplying the current speed and the pre-aiming time. And then a product result can be obtained, and the product result is used as the pretightening distance.
S120, determining a speed limit value corresponding to the pre-aiming distance based on the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map, and taking the speed limit value as a target vehicle speed.
The speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map can be obtained through planning in advance. The target vehicle speed may be a speed limit value corresponding to the pretarget distance.
Specifically, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map is planned in advance. After the pre-aiming distance is determined, a speed limit value corresponding to the pre-aiming distance can be determined based on speed limit values of various positions of the first vehicle on the navigation driving path of the high-precision map. After determining the speed limit value corresponding to the pretightening distance, the speed limit value may be taken as the target vehicle speed.
By way of example, referring to fig. 2,the relationship between each position of the first vehicle on the navigation driving path of the high-precision map and the speed limit value, namely V curr In relation to L, when the pretightening distance is L pred When it is combined with L pred The corresponding speed limit value is Speedlimit pred I.e. the target vehicle speed is Speedlimit pred 。
And S130, determining the vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed, and controlling the first vehicle to run along the navigation running path based on the vehicle acceleration.
Specifically, after the current vehicle speed and the target vehicle speed are determined, the vehicle acceleration of the first vehicle may be calculated based on the current vehicle speed and the target vehicle speed. And thus vehicle acceleration can be determined. After determining the vehicle acceleration, the first vehicle may be controlled to travel along the navigation travel path based on the vehicle acceleration.
In order to more quickly and accurately determine the vehicle acceleration of the first vehicle, the vehicle acceleration of the first vehicle may be calculated by a PID algorithm (Proportion Integral Differential). Specifically, the vehicle acceleration of the first vehicle may be calculated according to the following formula:
a＝(Speedlimit pred -v)/p
wherein a may be expressed as the vehicle acceleration of the first vehicle, speedlimit pred The target vehicle speed of the first vehicle may be expressed, and v may be expressed as the current vehicle speed of the first vehicle. p may represent a PID parameter. Wherein, P may be an empirically set parameter, and specific values of the parameter are not limited herein.
Specifically, PID parameters are preset. After the current vehicle speed and the target vehicle speed of the first vehicle are determined, the difference value calculation processing can be performed on the target vehicle speed and the current vehicle speed, and then a difference value calculation result can be obtained. And dividing the difference value calculation result with a preset PID parameter, and taking the division result as the vehicle acceleration of the first vehicle.
According to the technical scheme, when the first vehicle is in an automatic driving state, a first position of the first vehicle in the high-precision map and a current vehicle speed corresponding to the first position are obtained, and the pre-aiming distance is calculated according to the current vehicle speed and the pre-aiming time. And determining a speed limit value corresponding to the pre-aiming distance based on the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map, and taking the speed limit value as a target vehicle speed. According to the embodiment of the invention, the speed limit value of the pretightening distance corresponding to the pretightening time can be more accurately determined through the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map, namely, the target speed can be more accurately determined. After the target vehicle speed is determined, the vehicle acceleration of the first vehicle can be determined based on the current vehicle speed and the target vehicle speed, and the first vehicle is controlled to travel along the navigation travel path based on the vehicle acceleration, so that the technical problem of low driving safety when the automatic driving vehicle travels to the accident-prone road section in the existing vehicle automatic driving method is solved, the safe travel of the automatic driving vehicle on the accident-prone road section is realized, the user experience is improved, and the life safety of a user is also ensured.
Example two
Fig. 3 is a schematic flow chart of a vehicle automatic driving method according to a second embodiment of the present invention, and on the basis of the foregoing embodiment, optionally, the vehicle automatic driving method according to the present embodiment may further include: judging whether the first vehicle is located in a defending area of the first vehicle at the current moment according to the first position, if so, determining whether a second vehicle with the running direction consistent with that of the first vehicle exists in the defending area; if so, planning speed limit values of the first vehicle at all positions on a navigation running path of the high-precision map according to the second position of the second vehicle, the first position and the motion state of the first vehicle. Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein.
As shown in fig. 3, the method of this embodiment may specifically include:
s210, when the first vehicle is in an automatic driving state, acquiring a first position of the first vehicle in a high-precision map and a current vehicle speed corresponding to the first position, and calculating a pre-aiming distance according to the current vehicle speed and the pre-aiming time.
S220, judging whether the first vehicle is located in a defending area of the first vehicle at the current moment according to the first position, if so, determining whether a second vehicle with the running direction consistent with that of the first vehicle exists in the defending area.
The defending area can be an area preset according to actual requirements. The second vehicle may be a vehicle having a traveling direction in the defending area that coincides with the traveling direction of the first vehicle. The number of second vehicles may be one, two or more than two.
Specifically, the defending area of the first vehicle is preset. After determining the first position of the first vehicle, it may be determined whether the first vehicle is located in the defending area at the current moment according to the first position and a preset defending area of the first vehicle. If the first vehicle is located in the defending area at the present time, it may be determined whether there is a second vehicle whose traveling direction coincides with the traveling direction of the first vehicle in the defending area.
Optionally, determining whether the first vehicle is located in the defending area of the first vehicle by the steps of:
step one, determining road information at a target position according to a first position and a navigation driving path.
The target position may be located in the first vehicle along the traveling direction and spaced apart from the first position by a preset distance on the navigation traveling path. The road information may be road condition information at the target position, and the road information may be an intersection or a curve.
Specifically, after the first position and the navigation travel path are determined, road information located at a predetermined distance from the first position in the traveling direction of the first vehicle and on the navigation travel path may be determined according to the first position and the navigation travel path.
And step two, if the road information is an intersection or a curve, determining a defending area based on the first position and the target position.
Specifically, if the road information at the target position is an intersection or a curve, the defending area of the first vehicle may be determined based on the target position and the first position. Wherein the curve includes at least one of a turning curve and a target curvature curve. Alternatively, the first position may be a rear axle center position of the first vehicle. Determining a defending area based on the first location and the target location by:
the transverse defense distance is preset. The defending area of the first vehicle is determined based on the lateral defending distance, the rear axle center position of the first vehicle, and the target position set in advance (see fig. 4). The preset lateral defending distance may be a lateral preset interval distance with a center position of a rear axle of the first vehicle as a starting point.
Optionally, the target curvature curve is determined by:
Acquiring the curvature of a road at a target position; and if the road curvature is greater than the preset road curvature threshold, taking the road at the preset interval distance in front of the first position as a target curvature curve.
The preset road curvature threshold may be a value preset according to actual requirements, and the specific value is not specifically limited herein.
Specifically, a road curvature threshold is preset. The curvature of the road at the target location is acquired. After the road curvature at the target position is obtained, the road curvature may be compared with a preset road curvature threshold. If the road curvature is greater than the preset road curvature threshold, the road at a preset separation distance in front of the first location may be taken as the target curvature curve. The method for obtaining the curvature of the road at the target position may include: and sending a road curvature acquisition request instruction for acquiring the road curvature at the target position, and receiving the road curvature corresponding to the road curvature acquisition request instruction.
If yes, planning speed limit values of the first vehicle at all positions on the navigation driving path of the high-precision map according to the second position of the second vehicle, the first position and the motion state of the first vehicle.
Specifically, if there is a second vehicle whose traveling direction matches the traveling direction of the first vehicle in the defending area, the speed limit value of each position of the first vehicle on the navigation traveling path of the high-precision map may be planned according to the moving state of the first vehicle, the first position of the first vehicle, and the second position of the second vehicle.
Optionally, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map is planned according to the second position of the second vehicle, the first position and the motion state of the first vehicle by the following method:
if two or more second vehicles with the running directions consistent with that of the first vehicle exist in the defending area, the second vehicle closest to the first vehicle is taken as a target vehicle, and the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map is planned according to the second position, the first position and the movement state of the first vehicle of the target vehicle.
The target vehicle may be a vehicle whose traveling direction coincides with the traveling direction of the first vehicle and is closest to the first vehicle, which is present in the defending area.
Specifically, if there are two or more second vehicles in the defending area whose traveling directions coincide with the traveling direction of the first vehicle (see fig. 5), the second vehicle closest to the first vehicle may be the target vehicle (see fig. 6). After the target vehicle is determined, the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map can be planned according to the second position of the target vehicle, the first position of the first vehicle and the movement state of the first vehicle.
Optionally, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map is planned according to the second position, the first position and the motion state of the first vehicle of the target vehicle by the following modes:
determining a separation distance between the first vehicle and the target vehicle according to the second position and the first position of the target vehicle; and planning the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map based on the motion state and the interval distance of the first vehicle.
Specifically, the distance between the first vehicle and the target vehicle may be determined based on the second position of the target vehicle and the first position of the first vehicle, i.e., the difference between the first position and the second position is the distance between the first vehicle and the target vehicle. After the distance is determined, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map can be planned based on the distance between the first vehicle and the target vehicle and the motion state of the first vehicle.
Optionally, planning the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map based on the motion state and the interval distance of the first vehicle may include the following cases:
If the interval distance is between the preset deceleration safety distance and the preset deceleration keeping distance, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map is planned based on the current vehicle speed and the first position, wherein the preset deceleration safety distance is smaller than the preset deceleration keeping distance.
The preset deceleration safety distance may be a distance preset according to actual requirements, and specific numerical values thereof are not limited herein. The preset deceleration keeping distance may be a distance preset according to actual needs, and specific values thereof are not limited herein. The relationship between the preset deceleration safety distance and the preset deceleration holding distance may be that the preset deceleration safety distance is smaller than the preset deceleration holding distance.
Specifically, a deceleration safety distance is preset, and a deceleration holding distance is preset, wherein the preset deceleration safety distance is smaller than the preset deceleration holding distance. After the interval distance is determined, comparing the interval distance with a preset deceleration safety distance and a preset deceleration keeping distance respectively, and if the interval distance is between the preset deceleration safety distance and the preset deceleration keeping distance, planning the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map according to the current speed of the first vehicle and the first position of the first vehicle.
It should be noted that, since the distance between the first vehicle and the target vehicle is between the preset deceleration safety distance and the preset deceleration holding distance, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map may be planned as the current speed of the first vehicle (see fig. 7).
And secondly, if the interval distance is smaller than the preset deceleration safety distance, planning the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map based on the preset deceleration, the current vehicle speed and the first position.
The preset deceleration may be understood as a deceleration of the first vehicle preset according to actual demand.
Specifically, the deceleration guard distance is preset, and the deceleration of the first vehicle is preset. If the distance between the first vehicle and the target vehicle is smaller than the preset deceleration safety distance, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map can be planned based on the preset deceleration, the current speed of the first vehicle and the first position of the first vehicle (see fig. 8), and further a second vehicle closest to the first vehicle can be avoided in the avoidance defense area, so that the technical effect of improving driving safety is achieved.
It should be noted that, because the distance between the first vehicle and the target vehicle is smaller than the preset deceleration safety distance, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map may be planned according to the following formula:
wherein dec expect Can be expressed as a preset deceleration, V curr Can be expressed as the current vehicle speed, L future May be expressed as the location of the first vehicle on the navigational travel path. V (V) future The speed limit value may be expressed as a position of the first vehicle on the navigation travel path.
On the basis, if the interval distance is larger than the preset deceleration keeping distance, the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map is not planned.
S240, determining a speed limit value corresponding to the pre-aiming distance based on the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map, and taking the speed limit value as a target vehicle speed.
S250, determining the vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed, and controlling the first vehicle to run along the navigation running path based on the vehicle acceleration.
According to the technical scheme, whether the first vehicle is located in the defending area of the first vehicle at the current moment or not is judged according to the first position, if yes, whether a second vehicle with the running direction consistent with the running direction of the first vehicle exists in the defending area or not is determined; if so, according to the second position, the first position and the motion state of the first vehicle of the second vehicle, the speed limiting value of each position of the first vehicle on the navigation driving path of the high-precision map is planned, and the technical effect of determining the defending area of the first vehicle is realized, so that the speed limiting value of each position of the first vehicle on the navigation driving path of the high-precision map is planned more reasonably.
Example III
Fig. 9 is a schematic structural diagram of a vehicle autopilot device according to a third embodiment of the present invention, where the present invention provides a vehicle autopilot device, and the device includes: a pretighted distance calculation module 310, a target vehicle speed determination module 320, and a first vehicle control module 330.
The pre-aiming distance calculating module 310 is configured to obtain a first position of a first vehicle in a high-precision map and a current vehicle speed corresponding to the first position when the first vehicle is in an automatic driving state, and calculate a pre-aiming distance according to the current vehicle speed and a pre-aiming time; a target vehicle speed determining module 320, configured to determine a speed limit value corresponding to the pre-aiming distance based on a speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map, where the speed limit value is planned in advance, and take the speed limit value as a target vehicle speed; a first vehicle control module 330 for determining a vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed, and controlling the first vehicle to travel along the navigation travel path based on the vehicle acceleration.
According to the technical scheme, when the first vehicle is in an automatic driving state, the pre-aiming distance calculating module obtains the first position of the first vehicle in the high-precision map and the current vehicle speed corresponding to the first position, and calculates the pre-aiming distance according to the current vehicle speed and the pre-aiming time. And determining a speed limit value corresponding to the pre-aiming distance based on the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map through the target vehicle speed determining module, and taking the speed limit value as the target vehicle speed. According to the embodiment of the invention, the speed limit value of the pretightening distance corresponding to the pretightening time can be more accurately determined through the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map, namely, the target speed can be more accurately determined. After the target vehicle speed is determined, the vehicle acceleration of the first vehicle can be determined based on the current vehicle speed and the target vehicle speed, and the first vehicle is controlled to travel along the navigation travel path based on the vehicle acceleration, so that the technical problem of low driving safety when the automatic driving vehicle travels to the accident multiple road section in the existing vehicle automatic driving method is solved, the safe travel of the automatic driving vehicle on the accident multiple road section is realized, the user experience is improved, and the life safety of a user is also ensured.
Optionally, the apparatus further comprises: the speed limit value planning module is used for judging whether the first vehicle is located in a defending area of the first vehicle at the current moment according to the first position, and if so, determining whether a second vehicle with the running direction consistent with the running direction of the first vehicle exists in the defending area; if so, planning speed limit values of the first vehicle at all positions on a navigation running path of the high-precision map according to the second position of the second vehicle, the first position and the motion state of the first vehicle.
Optionally, the speed limit value planning module is configured to plan, if two or more second vehicles with driving directions consistent with the driving directions of the first vehicle exist in the defending area, a second vehicle closest to the first vehicle as a target vehicle, and according to a second position of the target vehicle, the first position and a movement state of the first vehicle, a speed limit value of each position of the first vehicle on a navigation driving path of the high-precision map.
Optionally, the speed limit value planning module is configured to determine a separation distance between the first vehicle and the target vehicle according to the second position and the first position of the target vehicle; and planning the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map based on the motion state of the first vehicle and the interval distance.
Optionally, the speed limit value planning module is configured to plan, based on the current vehicle speed and the first position, a speed limit value of each position of the first vehicle on a navigation driving path of the high-precision map if the separation distance is between a preset deceleration safety distance and a preset deceleration keeping distance, where the preset deceleration safety distance is smaller than the preset deceleration keeping distance.
Optionally, the speed limit value planning module is further configured to plan, if the distance is smaller than the preset deceleration safety distance, a speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map based on a preset deceleration, the current vehicle speed and the first position.
Optionally, the speed limit value planning module includes: a defending area determining unit, configured to determine road information at a target location according to the first location and the navigation driving path, where the target location is located in the first vehicle along the driving direction and is spaced from the first location by a preset distance on the navigation driving path; and if the road information is an intersection or a curve, determining a defending area based on the first position and the target position, wherein the curve comprises at least one of a turning curve and a target curvature curve.
Optionally, the defending area determining unit includes: a target curvature curve subunit determining module, configured to obtain a road curvature at the target position; and if the road curvature is greater than a preset road curvature threshold, taking the road at the preset interval distance in front of the first position as a target curvature curve.
The device can execute the vehicle automatic driving method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the vehicle automatic driving method.
It should be noted that each unit and module included in the vehicle automatic driving device are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present invention.
Example IV
Fig. 10 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. Fig. 10 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing any of the embodiments of the invention. The electronic device 12 shown in fig. 10 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention. Device 12 is typically an electronic device that undertakes the processing of configuration information.
As shown in fig. 10, the electronic device 12 is in the form of a general purpose computing device. Components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a memory 28, and a bus 18 connecting the different components, including the memory 28 and the processing unit 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include industry standard architecture (Industry Standard Architecture, ISA) bus, micro channel architecture (Micro Channel Architecture, MCA) bus, enhanced ISA bus, video electronics standards association (Video Electronics Standards Association, VESA) local bus, and peripheral component interconnect (Peripheral Component Interconnect, PCI) bus.
Electronic device 12 typically includes a variety of computer-readable media. Such media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
Memory 28 may include computer device readable media in the form of volatile memory, such as random access memory (Random Access Memory, RAM) 30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in the figures and commonly referred to as a "hard disk drive"). Although not shown in the drawings, a disk drive for reading from and writing to a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from and writing to a removable nonvolatile optical disk (e.g., a Compact Disc-Read Only Memory (CD-ROM), digital versatile Disc (Digital Video Disc-Read Only Memory, DVD-ROM), or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. Memory 28 may include at least one program product 40, with program product 40 having a set of program modules 42 configured to perform the functions of embodiments of the present invention. Program product 40 may be stored, for example, in memory 28, such program modules 42 include, but are not limited to, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, mouse, camera, etc., and display), with one or more devices that enable a user to interact with the electronic device 12, and/or with any device (e.g., network card, modem, etc.) that enables the electronic device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., local area network (Local Area Network, LAN), wide area network Wide Area Network, WAN) and/or a public network, such as the internet) via the network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 over the bus 18. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk array (Redundant Arrays of Independent Disks, RAID) devices, tape drives, data backup storage devices, and the like.
The processing unit 16 executes various functional applications and data processing by running a program stored in the memory 28, for example, to implement the vehicle automatic driving method provided by the above-described embodiment of the present invention, the method including:
When a first vehicle is in an automatic driving state, acquiring a first position of the first vehicle in a high-precision map and a current vehicle speed corresponding to the first position, and calculating a pre-aiming distance according to the current vehicle speed and pre-aiming time; determining a speed limit value corresponding to the pre-aiming distance based on a speed limit value of each position of the first vehicle on a navigation driving path of the high-precision map, and taking the speed limit value as a target vehicle speed; and determining the vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed, and controlling the first vehicle to travel along the navigation travel path based on the vehicle acceleration.
Of course, those skilled in the art will understand that the processor may also implement the technical solution of the vehicle automatic driving method provided in any embodiment of the present invention.
Example five
A fifth embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, is a vehicle automatic driving method provided in the foregoing embodiment of the present invention, for example, the method includes:
when a first vehicle is in an automatic driving state, acquiring a first position of the first vehicle in a high-precision map and a current vehicle speed corresponding to the first position, and calculating a pre-aiming distance according to the current vehicle speed and pre-aiming time; determining a speed limit value corresponding to the pre-aiming distance based on a speed limit value of each position of the first vehicle on a navigation driving path of the high-precision map, and taking the speed limit value as a target vehicle speed; and determining the vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed, and controlling the first vehicle to travel along the navigation travel path based on the vehicle acceleration.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (7)
1. A method of automatically driving a vehicle, comprising:
when a first vehicle is in an automatic driving state, acquiring a first position of the first vehicle in a high-precision map and a current vehicle speed corresponding to the first position, and calculating a pre-aiming distance according to the current vehicle speed and pre-aiming time;
determining a speed limit value corresponding to the pre-aiming distance based on a speed limit value of each position of the first vehicle on a navigation driving path of the high-precision map, and taking the speed limit value as a target vehicle speed;
Determining a vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed, and controlling the first vehicle to travel along the navigation travel path based on the vehicle acceleration;
further comprises: judging whether the first vehicle is located in a defending area of the first vehicle at the current moment according to the first position, if so, determining whether a second vehicle with the running direction consistent with that of the first vehicle exists in the defending area; if yes, planning speed limit values of the first vehicle at all positions on a navigation running path of the high-precision map according to the second position of the second vehicle, the first position and the motion state of the first vehicle;
further comprises: determining road information at a target position according to the first position and the navigation driving path, wherein the target position is positioned in the first vehicle along the driving direction and is spaced from the first position by a preset distance on the navigation driving path; determining a defending area based on the first location and the target location if the road information is an intersection or a curve, wherein the curve includes at least one of a turning curve and a target curvature curve;
Further comprises: acquiring the curvature of the road at the target position; and if the road curvature is greater than a preset road curvature threshold, taking the road at the preset interval distance in front of the first position as a target curvature curve.
2. The method of claim 1, wherein the planning the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map according to the second position of the second vehicle, the first position and the movement state of the first vehicle comprises:
and if two or more second vehicles with the running directions consistent with the running directions of the first vehicles exist in the defending area, taking the second vehicle closest to the first vehicle as a target vehicle, and planning the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map according to the second position of the target vehicle, the first position and the movement state of the first vehicle.
3. The method according to claim 2, wherein the planning the speed limit value of each position of the first vehicle on the navigation travel path of the high-precision map according to the second position of the target vehicle, the first position, and the movement state of the first vehicle includes:
Determining a separation distance between the first vehicle and the target vehicle according to the second position of the target vehicle and the first position;
and planning the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map based on the motion state of the first vehicle and the interval distance.
4. A method according to claim 3, wherein the planning of the speed limit value of each position of the first vehicle on the navigation travel path of the high-precision map based on the movement state of the first vehicle and the separation distance includes:
and if the interval distance is between a preset deceleration safety distance and a preset deceleration keeping distance, planning the speed limit value of each position of the first vehicle on the navigation running path of the high-precision map based on the current vehicle speed and the first position, wherein the preset deceleration safety distance is smaller than the preset deceleration keeping distance.
5. The method as recited in claim 4, further comprising:
and if the interval distance is smaller than the preset deceleration safety distance, planning the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map based on the preset deceleration, the current vehicle speed and the first position.
6. An automatic driving apparatus for a vehicle, comprising:
the pre-aiming distance calculation module is used for acquiring a first position of the first vehicle in the high-precision map and a current vehicle speed corresponding to the first position when the first vehicle is in an automatic driving state, and calculating a pre-aiming distance according to the current vehicle speed and the pre-aiming time;
the target vehicle speed determining module is used for determining a speed limit value corresponding to the pre-aiming distance based on the speed limit value of each position of the first vehicle on the navigation driving path of the high-precision map, which is planned in advance, and taking the speed limit value as a target vehicle speed;
a first vehicle control module configured to determine a vehicle acceleration of the first vehicle based on the current vehicle speed and the target vehicle speed, and control the first vehicle to travel along the navigation travel path based on the vehicle acceleration;
further comprises: the speed limit value planning module is used for judging whether the first vehicle is located in a defending area of the first vehicle at the current moment according to the first position, and if so, determining whether a second vehicle with the running direction consistent with the running direction of the first vehicle exists in the defending area; if yes, planning speed limit values of the first vehicle at all positions on a navigation running path of the high-precision map according to the second position of the second vehicle, the first position and the motion state of the first vehicle;
The speed limit value planning module further comprises: a defending area determining unit, configured to determine road information at a target location according to the first location and the navigation driving path, where the target location is located in the first vehicle along the driving direction and is spaced from the first location by a preset distance on the navigation driving path; determining a defending area based on the first location and the target location if the road information is an intersection or a curve, wherein the curve includes at least one of a turning curve and a target curvature curve;
the defending area determination unit further includes: a target curvature curve subunit determining module, configured to obtain a road curvature at the target position; and if the road curvature is greater than a preset road curvature threshold, taking the road at the preset interval distance in front of the first position as a target curvature curve.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the vehicle autopilot method according to any one of claims 1-5.
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| CN115593439B (en) * | 2022-11-25 | 2023-03-14 | 小米汽车科技有限公司 | Vehicle control method, vehicle control device, vehicle and storage medium |
| CN116238497B (en) * | 2023-05-11 | 2024-01-26 | 安徽蔚来智驾科技有限公司 | Vehicle speed limit control method, electronic device, storage medium and vehicle |
| CN116853288B (en) * | 2023-06-21 | 2024-04-02 | 广州汽车集团股份有限公司 | Vehicle driving method and device, vehicle and storage medium |
| CN117549897A (en) * | 2023-12-28 | 2024-02-13 | 上海保隆汽车科技股份有限公司 | Vehicle over-bending control method, system, storage medium and electronic equipment |
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