CN114248783B - Vehicle auxiliary control method and device, map acquisition method and server - Google Patents
Vehicle auxiliary control method and device, map acquisition method and server Download PDFInfo
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- CN114248783B CN114248783B CN202011001261.7A CN202011001261A CN114248783B CN 114248783 B CN114248783 B CN 114248783B CN 202011001261 A CN202011001261 A CN 202011001261A CN 114248783 B CN114248783 B CN 114248783B
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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Abstract
The embodiment of the invention provides a vehicle auxiliary control method and device, a map acquisition method and a server, wherein the vehicle auxiliary control method comprises the following steps: acquiring a real-time safety map, vehicle pose information and vehicle structure data, wherein the real-time safety map comprises a plurality of real-time areas and real-time safety levels corresponding to the real-time areas; according to the vehicle pose information and the vehicle structure data, P pieces of key point position information of P preset key points on the vehicle are determined, the P preset key points are in one-to-one correspondence with the P pieces of key point position information, and P is a positive integer; determining real-time security levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time security map and the P key point position information; and determining an auxiliary control strategy of the vehicle according to the real-time security level corresponding to the real-time region where the P preset key points are respectively located. The embodiment of the invention can effectively improve the prevention effect on safety accidents and improve the driving safety of vehicles.
Description
Technical Field
The present invention relates to the field of vehicle security technologies, and in particular, to a vehicle auxiliary control method and device, a map acquisition method, and a server.
Background
In road traffic, there often occurs a situation that a vehicle deviates from a normal driving route or a safety accident occurs after driving into a specific road section, for example, the vehicle is driven into a non-motor vehicle lane or enters a school road section, and the safety accident is relatively easy to occur. In the prior art, corresponding danger levels are generally given to different geographical position ranges in advance, and the danger levels of the vehicle are determined according to the geographical position range corresponding to the running position of the vehicle for early warning so as to prevent the safety accidents. However, in the prior art, when determining a corresponding hazard level for a driving position of a vehicle, consideration of an actual driving situation of the vehicle is often lacking, resulting in poor safety accident prevention effect.
Disclosure of Invention
The embodiment of the invention provides a vehicle auxiliary control method and device, a map acquisition method and a server, which are used for solving the problem that the prior art often lacks consideration of actual driving conditions of vehicles when corresponding dangerous grades are determined according to driving positions of the vehicles, so that the safety accident prevention effect is poor.
In order to solve the technical problems, the invention is realized as follows:
In a first aspect, an embodiment of the present invention provides a vehicle auxiliary control method, including:
acquiring a real-time safety map, vehicle pose information and vehicle structure data, wherein the real-time safety map comprises a plurality of real-time areas and real-time safety levels corresponding to the real-time areas;
according to the vehicle pose information and the vehicle structure data, P pieces of key point position information of P preset key points on the vehicle are determined, the P preset key points are in one-to-one correspondence with the P pieces of key point position information, and P is a positive integer;
Determining real-time security levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time security map and the P key point position information;
and determining an auxiliary control strategy of the vehicle according to the real-time security level corresponding to the real-time area in which the P preset key points are respectively positioned.
In a second aspect, an embodiment of the present invention further provides a map obtaining method, which is applied to a server, where the method includes:
Acquiring an initial security map and adjustment information, wherein the initial security map comprises a plurality of initial areas and initial security levels corresponding to the initial areas;
Adjusting the initial safety map according to the adjustment information to obtain a real-time safety map;
and sending the real-time safety map to a vehicle, wherein the real-time safety map is used for determining a vehicle auxiliary control strategy according to the real-time safety map by the vehicle.
In a third aspect, an embodiment of the present invention further provides a vehicle auxiliary control device, including:
The system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a real-time safety map, vehicle pose information and vehicle structure data, and the real-time safety map comprises a plurality of real-time areas and real-time safety levels corresponding to the real-time areas;
The first determining module is used for determining P pieces of key point position information of P pieces of preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, the P pieces of preset key points are in one-to-one correspondence with the P pieces of key point position information, and P is a positive integer;
the second determining module is used for determining real-time security levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time security map and the P key point position information;
And the third determining module is used for determining an auxiliary control strategy of the vehicle according to the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located.
In a fourth aspect, an embodiment of the present invention further provides a server, including:
The second acquisition module is used for acquiring an initial safety map and adjustment information, wherein the initial safety map comprises a plurality of initial areas and initial safety levels corresponding to the initial areas;
the third acquisition module is used for adjusting the initial safety map according to the adjustment information to obtain a real-time safety map;
And the sending module is used for sending the real-time safety map to a vehicle, and the real-time safety map is used for determining a vehicle auxiliary control strategy according to the real-time safety map by the vehicle.
In a fifth aspect, an embodiment of the present invention further provides a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the method described above when executing the computer program.
In a sixth aspect, embodiments of the present invention also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements the above-described method.
According to the vehicle auxiliary control method provided by the embodiment of the invention, the real-time safety map and the vehicle pose information are obtained, the key point position information of each preset key point on the vehicle is determined according to the vehicle pose information and the vehicle structure data, the real-time safety level corresponding to each preset key point is determined according to the real-time area of the key point position information in the real-time safety map and the corresponding real-time safety level, and the vehicle auxiliary control strategy is determined according to the real-time safety level. The embodiment of the invention can dynamically determine the real-time area and the corresponding real-time safety level by utilizing the real-time safety map, thereby being beneficial to adapting to the changed running environment in the actual scene; meanwhile, the vehicle auxiliary control strategy is determined based on the real-time safety level corresponding to each preset key point on the vehicle, so that the actual running state of the whole vehicle can be better mastered; by fully considering actual running conditions such as running environment and actual running state of the vehicle, the prevention effect on safety accidents can be effectively improved, and running safety of the vehicle is improved.
Drawings
FIG. 1 is a flowchart of a vehicle assistance control method according to an embodiment of the present invention;
Fig. 2 is a flowchart of a map acquisition method according to an embodiment of the present invention;
FIG. 3 is a flowchart of a specific application scenario of a vehicle assistance control method according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a vehicle auxiliary control device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a server according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided merely to facilitate a thorough understanding of embodiments of the invention. It will therefore be apparent to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one.
As shown in fig. 1, the vehicle auxiliary control method provided by the embodiment of the invention includes:
Step 101, acquiring a real-time safety map, vehicle pose information and vehicle structure data, wherein the real-time safety map comprises a plurality of real-time areas and real-time safety levels corresponding to the real-time areas;
Step 102, determining P pieces of position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, wherein the P preset key points are in one-to-one correspondence with the P pieces of position information of the key points, and P is a positive integer;
step 103, determining real-time security levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time security map and the P key point position information;
and 104, determining an auxiliary control strategy of the vehicle according to the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located.
In this embodiment, the real-time security map may be considered as a security map that dynamically changes, that is, a range of a real-time area in the security map, and/or a security level (corresponding to the above-mentioned real-time security level) corresponding to the real-time area, etc., and may be dynamically changed. The safety level can be understood as the safety level, for example, the safety level can be expressed by a safety driving area, a warning area and a high-risk area from high to low; or the security level is expressed according to the first level, the second level and the like; or the security level can be embodied in the form of a score; the specific representation of the security level is not limited here.
As for the dynamic change process of the real-time security map, for example, for a school, in sunny weather and in the period of going up and down school, a vehicle lane in the range of 100m around the geographical position where the school is located can be determined as a real-time area, and the real-time security level corresponding to the real-time area is a warning area; in rainy days and in the period of going up and down, the range of the real-time area can be adjusted to 150m around the geographical position of the school; or under the non-upper and lower school time period, the real-time safety level of the real-time area is adjusted to be a safe driving area. Of course, this is merely an example of implementation of the real-time security map, and in practical application, the adjustment manner of the real-time security map may be determined according to needs.
The vehicle pose information mainly comprises the position information and the pose information of the vehicle, and can be acquired through a navigation positioning system of the vehicle, such as a GNSS/IMU system. For GNSS/IMU systems, it may be considered a high precision positioning system based on a global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS) and an inertial measurement unit (Inertial Measurement Unit, IMU).
Generally, the position information of the vehicle specifically corresponds to the position information of a positioning device, such as an on-board integrated navigation sensor, which is usually located at a central point of the vehicle; in an actual application scenario, a situation that an integrated navigation sensor on a vehicle is located in a safe area and part of key points on the vehicle body, such as a left front corner or a right front corner of the vehicle, are located in an unsafe area, may occur, so that a safety accident is caused. It is to be readily understood that the above-described secure area and non-secure area may be divided based on the above-described security level.
In this embodiment, the key point position information of the preset key point on the vehicle is determined according to the vehicle pose information and the vehicle structure data. Specifically, the preset key point may be several position points on the vehicle body, for example, at least one of the position points of the left front corner, the right front point, the left rear corner, the right rear corner, and the like of the vehicle. The vehicle structure data may be reflected as a relative positional relationship between the integrated navigation sensor on the vehicle and the above-described preset key points in the vehicle body coordinate system. After the position information of the on-board integrated navigation sensor, the gesture information of the vehicle and the vehicle structure data are determined, the geographic position of the preset key point can be determined through coordinate conversion and other modes, namely the position information of the key point is determined.
Of course, in practical application, the position of the integrated navigation sensor on the vehicle body can also be used as a preset key point.
After obtaining the position information of a certain preset key point, combining a real-time safety map to determine a real-time area where the preset key point is located; because each real-time area has a corresponding real-time security level, the real-time security level corresponding to the real-time area where the preset key point is located can be determined.
For the P preset key points, each preset key point has a corresponding real-time security level, and the real-time security levels corresponding to the P preset key points respectively, determining the vehicle auxiliary control policy may refer to determining the vehicle auxiliary control policy according to the lowest security level of the P real-time security levels corresponding to the P preset key points, or according to the security level with the largest occurrence number of the P real-time security levels, or based on a manner similar to average value calculation, and the like, which is not specifically limited herein.
The vehicle auxiliary control strategy may be a prompt, an active deceleration, an emergency braking, etc., and is not particularly limited herein.
As can be seen from the above description, in the process of determining the auxiliary control strategy of the vehicle, the present embodiment considers two actual driving situations, namely, the external driving environment and the self driving state of the vehicle; specifically, on one hand, by acquiring a real-time dynamic map, the influence of factors such as weather, time and other external driving environments on the range division and the security level determination of a geographic position area is further considered; on the other hand, the key point position information of each preset key point of the vehicle and the corresponding real-time safety level are determined by combining the information such as the vehicle pose information and the like related to the running state of the vehicle.
It should be emphasized that the vehicle auxiliary control method in the present embodiment may be applied to a vehicle or may be applied to a server; in other words, the implementation of the vehicle assistance control method may be based on the operation of the hardware device on the vehicle, or may be based on the operation of the hardware device on the server, which is not particularly limited herein. The auxiliary control strategy of the vehicle, which is obtained through the implementation of the method, can be finally applied to the relevant actuating mechanism on the vehicle so as to ensure the running safety of the vehicle. Hereinafter, the details will be described.
According to the vehicle auxiliary control method provided by the embodiment of the invention, the real-time safety map and the vehicle pose information are obtained, the key point position information of each preset key point on the vehicle is determined according to the vehicle pose information and the vehicle structure data, the real-time safety level corresponding to each preset key point is determined according to the real-time area of the key point position information in the real-time safety map and the corresponding real-time safety level, and the vehicle auxiliary control strategy is determined according to the real-time safety level. The embodiment of the invention can dynamically determine the real-time area and the corresponding real-time safety level by utilizing the real-time safety map, thereby being beneficial to adapting to the changed running environment in the actual scene; meanwhile, the vehicle auxiliary control strategy is determined based on the real-time safety level corresponding to each preset key point on the vehicle, so that the actual running state of the whole vehicle can be better mastered; by fully considering actual running conditions such as running environment and actual running state of the vehicle, the prevention effect on safety accidents can be effectively improved, and running safety of the vehicle is improved.
Alternatively, the vehicle auxiliary control method may be applied to a vehicle, where in step 101, a real-time security map is acquired, including:
The method comprises the steps of receiving a real-time safety map sent by a server, wherein the server is used for dividing a plurality of initial areas for a high-precision map, determining a corresponding initial safety level for each initial area to obtain an initial safety map, and adjusting the initial safety map according to acquired adjustment information to obtain the real-time safety map.
In this embodiment, the real-time security map is from a server, that is, the server may be configured to generate the real-time security map and send data associated with the real-time security map to the vehicle.
Specifically, the server may perform division of the geographical location area in advance based on the high-precision map, for example, divide the locations of the regular motor vehicle lanes, the non-motor vehicle lanes, the sidewalk, the school nearby lanes, the bridge nearby lanes, and the like in the high-precision map, to the corresponding initial areas. Each initial zone may be assigned an initial security level.
The server herein may refer to a cloud platform, or a Road Side Unit (RSU), or a combination of the cloud platform and the Road Side Unit, and the like, which is not limited herein.
In one example, the above-described security level may be represented by a "safe driving zone", "warning zone" and a "high risk zone"; for example, an area where an accident is likely to occur after an entrance, which is not supposed to be entered by a vehicle such as a non-motor vehicle lane, may be divided into a warning area, an area where a serious safety accident is likely to occur after an entrance of a vehicle such as a sidewalk may be divided into a high-risk area, and an ordinary area where a vehicle such as a regular motor vehicle lane is allowed to travel may be divided into a safe traveling area.
And after the initial area division and the initial security level determination are carried out on the high-precision map, the initial security map can be obtained. Considering the real-time property and diversity of the traffic environment, the initial security map can be adjusted by combining some factors influencing the traffic environment. It is easy to understand that factors affecting the traffic environment may be, for example, weather, time, etc. as described above, and may be determined according to actual needs, which are not listed here. The information corresponding to these factors constitutes the adjustment information.
In some examples, the adjustment manner for the initial security map may be to adjust a region boundary between two adjacent initial regions in the plurality of initial regions to update to be a real-time region; or the initial security level of the specific initial area is adjusted to update to be the real-time security level; or directly increasing or decreasing the number of divided areas, etc.
And the server can obtain the real-time safety map after adjusting the initial safety map through the adjustment information and send the real-time safety map to the vehicle.
In this embodiment, the real-time security map is obtained through the server, which is conducive to integrating the initial security map and the adjustment information by means of the server with relatively strong computing power, so as to improve the generation efficiency of the real-time security map, and in addition, the real-time security map can be stored in the server, so that the update and the acquisition are facilitated; correspondingly, the vehicle needs to receive the data related to the real-time safety map sent by the server, and the vehicle does not need to calculate the adjustment information, so that the processing performance requirement of the hardware equipment carried by the vehicle is reduced.
In some preferred embodiments, the initial security map and the real-time security map obtained by adjusting the same can be obtained on the basis of the existing open-source high-precision map, so that the waste of manpower, material resources and time caused by huge workload of map acquisition can be avoided.
In a possible implementation manner, the vehicle can locally download an initial security map, and adjust the initial security map based on weather information acquired by a network by combining time to obtain a real-time security map; thereby adapting to applications in a server-less scenario, such as a test phase, or in a scenario where a network connection failure occurs between the vehicle and the server. In some examples, the initial security map may also be determined based on the vehicle type. For example, for some road areas near rivers, lakes, and the like, high-risk areas may be divided for types of vehicles such as school buses, and the like, and safe traveling areas may be divided for small-sized sedans.
In contrast to the above embodiment, in this embodiment, the above-mentioned vehicle auxiliary control method may also be applied to the server, and accordingly, the step 101 of obtaining the real-time security map, the vehicle pose information, and the vehicle structure data includes:
acquiring an initial safety map and adjustment information, and vehicle pose information and vehicle structure data sent by a vehicle, wherein the initial safety map comprises a plurality of initial areas and initial safety levels corresponding to the initial areas; adjusting the initial security map according to the adjustment information to obtain the real-time security map;
step 104, after determining the auxiliary control strategy of the vehicle according to the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located, the method further includes:
And sending the vehicle auxiliary control strategy to the vehicle.
The manner in which the initial security map is adjusted according to the adjustment information to obtain the real-time security map is described in detail in the above embodiment, and will not be described here again. The difference between this embodiment and the previous embodiment is that the determination process of the vehicle auxiliary control strategy is performed in the server, and the server may directly send the vehicle auxiliary control strategy to the vehicle for the vehicle to execute.
Specifically, the vehicle may send its own vehicle pose information and vehicle structure data to the server, and the server calculates preset key points of the vehicle and its position information, determines real-time security levels corresponding to the preset key points, so as to further determine a vehicle auxiliary control policy, and sends the vehicle auxiliary control policy to the vehicle.
It is easy to understand that in practical application, when the vehicle communicates with the server, the identity information of the vehicle can be simultaneously sent to the server, and the subsequent server can send the vehicle auxiliary control strategy to the corresponding vehicle based on the identity information.
Similar to the above embodiment, the server herein may refer to a cloud platform, or a road side unit, or a combination of a cloud platform and a road side unit, and the like, which is not limited herein.
Based on the above description, in this embodiment, the vehicle auxiliary control policy may be determined by the server with a relatively high computing capability, so as to further reduce the requirement for the computing capability of the vehicle.
Optionally, the adjustment information includes at least one of time information, weather information, traffic flow information, people flow information, and event information.
The following describes this embodiment in connection with some application scenarios:
According to the time information, the motor vehicle lane near the school in the up-down school time zone can be set as the warning zone, and the non-up-down school time zone can be set as the safe driving zone, so that the passing efficiency is improved.
According to weather information (the weather information at the current moment is acquired through networking), the weather condition is good, and under the condition of high visibility, the boundary of each initial area is kept unchanged; under the condition of severe weather conditions and low visibility, the range of the safety zone is required to be reduced, the range of the early warning zone is enlarged so as to ensure the driving safety and reduce the accident rate. At this time, each area boundary needs to be adaptively enlarged or reduced according to the severity of the weather, for example, two groups of boundary thresholds can be manually preset, and the quantized parameter values capable of representing the weather condition are used as coefficient values of a boundary formula, so that the area boundary adaptively adjusted according to the weather condition can be obtained.
According to special events or important activities known in advance in certain areas, such as examination, sports activities and the like, the manager of the server manually adjusts the area level of the corresponding time period, such as upgrading the motor vehicle lane near the school from a usual safe driving area to a warning area in the examination time period.
And acquiring the traffic flow and the traffic flow in the road environment by using the road side unit, and automatically adjusting the security level of the corresponding area according to the change of the traffic flow and the traffic flow. For example, when the traffic flow in the safe driving area increases to be greater than a set threshold value, the safe driving area is automatically upgraded to a warning area; when the traffic flow in the zone falls below the threshold value, the traffic flow is automatically reduced from the guard zone to the safe driving zone.
In combination with the above application scenario, the embodiment can select the type of the adjustment information according to actual needs, which is helpful to cope with complex traffic environment and improves the rationality of the determination process of the auxiliary control strategy of the vehicle.
Optionally, the vehicle pose information comprises position pose information of an on-board integrated navigation sensor;
Step 102, determining P key point position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, including:
Determining the relative offset of each preset key point and the on-board integrated navigation sensor according to the vehicle structure data;
and determining the position information of each preset key point according to the relative offset and the position and posture information of the on-board integrated navigation sensor.
As described above, the vehicle pose information may directly embody the position information and the pose information of the positioning device, such as the integrated navigation sensor on the vehicle, that is, the position and pose information described herein. Because the vehicle body is basically a rigid body, the relative position relation between the on-board integrated navigation sensor and each preset key point is always fixed in the vehicle coordinate system, so that the vehicle structure data can be expressed as the position of each preset key point of the vehicle relative to the on-board integrated navigation sensor. The gesture of each preset key point of the vehicle is consistent with that of the on-board integrated navigation sensor, so that the actual position of each preset key point on the safety map can be obtained only by simple three-dimensional translation, for example, by utilizing the three-dimensional coordinates of the on-board integrated navigation sensor in the real-time safety map and adding the three-dimensional offset of each preset key point of the vehicle relative to the integrated navigation sensor in the vehicle coordinate system, namely, the position information of each preset key point is determined.
According to the embodiment, the actual positions of the preset key points of the vehicle in the safety map can be calculated only through the structural data of the vehicle and the installation positions of the positioning equipment on the vehicle, and the calculation process is relatively simple.
Of course, in some possible embodiments, the positioning device may also be set at a plurality of preset key points, and the position information of the preset key points in the security map may be directly determined; but relatively increases the purchase and installation costs of the positioning device.
Optionally, in step 104, determining the vehicle auxiliary control policy according to the real-time security level corresponding to the real-time region where the P preset key points are respectively located includes:
acquiring the lowest security level in the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located;
And determining an auxiliary control strategy of the vehicle according to the corresponding relation between the lowest security level and the auxiliary control strategy of the preset security level.
In an actual application scene, the situation that the central position of a vehicle and some preset key points of the vehicle are located in areas with different safety levels may occur; for example, the left or right front corner of the vehicle has reached the warning zone, whereas the integrated navigation sensor on the vehicle indicates that the vehicle is in a safe driving zone, etc. In these cases, the vehicle may actually be in a state where a safety accident is liable to occur, however, the vehicle cannot timely give an early warning to the driver or autonomously adjust the driving strategy.
In this embodiment, on the one hand, the real-time security levels corresponding to the real-time areas where the P preset key points are located are respectively obtained, so that compared with the case that only the location of the central position of the vehicle is known, the security level area where the whole vehicle body is located can be more accurately determined, and accidents caused by making wrong or delayed decisions are avoided. On the other hand, aiming at the P finally obtained real-time safety levels, the lowest safety level is selected to determine the auxiliary control strategy of the vehicle, so that the safety of the running of the vehicle is effectively ensured.
The above-mentioned corresponding relation of the preset security level auxiliary control strategy can be understood as the corresponding relation between the preset security level and the vehicle auxiliary control strategy.
For example, when the safety level is a safe driving region, the vehicle auxiliary control strategy is to not perform any operation; when the safety level is the guard zone, the auxiliary control strategy of the vehicle prompts to reduce speed; when the safety level is a warning zone, the vehicle auxiliary control strategy is warning and actively decelerating; when the safety level is in a high-risk area, the auxiliary control strategy of the vehicle is emergency braking and alarming. Accordingly, the process of determining the auxiliary control strategy of the vehicle in this embodiment is as follows: when the preset key point of the vehicle is completely in the safe driving area, no operation is executed; and when the lowest safety level corresponding to the P preset key points of the vehicle is not the safe driving area, the vehicle is controlled according to the vehicle auxiliary control strategy corresponding to the lowest safety level.
As shown in fig. 2, the embodiment of the present invention further provides a map obtaining method applied to a server, including:
Step 201, acquiring an initial security map and adjustment information, wherein the initial security map comprises a plurality of initial areas and initial security levels corresponding to each initial area;
step 202, adjusting the initial security map according to the adjustment information to obtain a real-time security map;
And step 203, the real-time safety map is sent to a vehicle, and the real-time safety map is used for determining a vehicle auxiliary control strategy according to the real-time safety map by the vehicle.
For the initial security map, the geographic location area may be divided in advance with respect to an existing map, for example, the positions of a regular motor vehicle lane, a non-motor vehicle lane, a sidewalk, a school nearby lane, a bridge nearby lane, and the like in a high-precision map are divided to corresponding initial areas. Each initial zone may be assigned an initial security level. In one example, the existing map may be an open source high precision map of the type such as a hundred degree map, google map, or a Gordon map.
The adjustment information may refer to information of factors affecting the traffic environment, such as weather information, time information, etc., and may be determined according to actual needs, which are not listed here.
In some examples, the adjustment for the initial security map may be to adjust a region boundary between two adjacent initial regions of the plurality of initial regions; or adjusting the initial security level of the specific initial area; or directly increasing or decreasing the number of divided regions, etc.
And the server can obtain the real-time safety map after adjusting the initial safety map through the adjustment information and send the real-time safety map to the vehicle. The subsequent vehicle may determine a vehicle auxiliary control strategy based on the received real-time safety map. For example, the real-time security map may include a plurality of real-time regions and real-time security levels corresponding to the real-time regions, and the vehicle may determine the vehicle auxiliary control policy according to the real-time security map and the real-time security level of the real-time region where the vehicle is located. It should be noted that, in practical applications, the initial area and the real-time area respectively correspond to the area division in the initial security map and the real-time security map, and the two areas are usually different, but in some cases may be the same; accordingly, the connection between the initial security level and the real-time security level is also similar to the connection between the two areas, and will not be described again here.
The map acquisition method applied to the server provided by the embodiment of the invention acquires the initial security map and the adjustment information, adjusts the initial security map by using the adjustment information to obtain the real-time security map, and sends the real-time security map to the vehicle for the vehicle to determine the vehicle auxiliary control strategy. The embodiment of the invention uses the adjustment information to adjust the initial area and the initial safety level in the initial safety map, is beneficial to fully considering various factors influencing the running environment in the actual scene, and dynamically adjusts the safety map for area division and safety classification, thereby effectively improving the prevention effect on safety accidents and improving the running safety of vehicles.
Optionally, the adjustment information includes at least one of time information, weather information, traffic flow information, people flow information, and event information.
Taking time information as an example, according to the time information, a motor vehicle lane near a school in a period of up-down school can be set as a warning area, and a period other than the period of up-down school can be set as a safe driving area, so that the passing efficiency is improved.
Similarly, other types of adjustment information may be used to adjust the initial area and the initial security level, and reference is specifically made to the above description, which is not illustrated herein.
The embodiment can select the type of the adjustment information according to actual needs, is beneficial to coping with complex traffic environments and improves the rationality of the determination process of the auxiliary control strategy of the vehicle.
The following describes a specific implementation procedure of the vehicle auxiliary control method in the above embodiment in connection with a specific application scenario. Referring to fig. 3, in this specific application scenario, the server is a cloud platform, and specifically includes the following implementation steps:
1) The cloud platform acquires an existing map, such as an existing open-source high-precision map;
2) The cloud platform dynamically classifies the security map, specifically, the cloud platform can dynamically determine the region division and the security level of each region in the security map according to factors such as time, weather and the like;
3) The cloud platform sends the dynamic grading safety map to the vehicle, and the vehicle can acquire vehicle positioning information while acquiring the dynamic grading safety map;
4) The vehicle can combine the vehicle positioning information and the positions of the key points of the vehicle body on the vehicle body to calculate the positions of the key points of the vehicle body in the safety map;
5) Judging the area where each key point is located, namely determining the security level corresponding to the area of each key point in the security map;
6) All key points are positioned in a safe driving area, so that the vehicle is not limited;
7) Prompting deceleration when at least one key point is positioned in the warning zone;
8) Warning and actively decelerating when at least one key point is located in the warning zone;
9) When at least one key point is positioned in a high-risk area, emergency braking is performed and an alarm condition is given.
In combination with the above embodiments and examples of specific application scenarios, in the vehicle auxiliary control method provided by the embodiment of the present invention, in a first aspect, it is provided to construct a dynamic classified security map, and dynamically adjust security levels and region boundaries of each region according to different actual requirements, time periods, weather conditions and road conditions on the basis of classifying the existing high-precision map. Compared with the public transportation environment in which the traditional grading map is difficult to cope with transient variation, the dynamic grading form is more flexible and intelligent, is more beneficial to improving the passing efficiency and reduces the accident rate. In a second aspect, it is proposed that based on the positioning of each key point of the vehicle body, the actual position of each key point of the vehicle in the map can be calculated only by the structural data of the vehicle body and the installation position of the positioning device on the vehicle. Compared with the method only knowing the positioning of the central position of the vehicle, the method can more accurately judge the safety level region of the whole vehicle body, and avoid accidents caused by making wrong or lagged decisions. In the third aspect, based on the existing network open source map, the waste of manpower, material resources and time caused by huge workload of map acquisition is avoided.
As shown in fig. 4, an embodiment of the present invention further provides a vehicle auxiliary control device, including:
A first obtaining module 401, configured to obtain a real-time security map, vehicle pose information, and vehicle structure data, where the real-time security map includes a plurality of real-time regions and a real-time security level corresponding to each of the real-time regions;
The first determining module 402 is configured to determine P pieces of location information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, where the P preset key points are in one-to-one correspondence with the P pieces of location information of key points, and P is a positive integer;
A second determining module 403, configured to determine, according to the real-time security map and the P key point location information, a real-time security level corresponding to a real-time area where the P preset key points are respectively located;
And a third determining module 404, configured to determine a vehicle auxiliary control policy according to the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located.
Optionally, in the case where the above vehicle auxiliary control device is applied to a vehicle, the first obtaining module 401 is further configured to receive a real-time security map sent by a server, where the server is configured to divide a plurality of initial areas for a high-precision map, determine a corresponding initial security level for each of the initial areas to obtain an initial security map, and adjust the initial security map according to the obtained adjustment information to obtain the real-time security map.
Optionally, in the case where the above vehicle auxiliary control device is applied to a server, the first obtaining module 401 is specifically configured to obtain an initial security map and adjustment information, and vehicle pose information and vehicle structure data sent by a vehicle, where the initial security map includes a plurality of initial areas and an initial security level corresponding to each of the initial areas; adjusting the initial security map according to the adjustment information to obtain the real-time security map;
meanwhile, the above-mentioned vehicle auxiliary control device further includes:
and the second sending module is used for sending the vehicle auxiliary control strategy to the vehicle.
Optionally, the adjustment information includes at least one of time information, weather information, traffic flow information, people flow information, and event information.
Optionally, the vehicle pose information comprises position pose information of an on-board integrated navigation sensor;
The first determining module 402 includes:
the first determining unit is used for determining the relative offset of each preset key point and the on-board integrated navigation sensor according to the vehicle structure data;
And the second determining unit is used for determining the position information of each preset key point according to the relative offset and the position and posture information of the on-board integrated navigation sensor.
Optionally, the third determining module 403 includes:
The acquisition unit is used for acquiring the lowest security level in the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located;
and the third determining unit is used for determining the auxiliary control strategy of the vehicle according to the corresponding relation between the lowest security level and the preset auxiliary control strategy of the security level.
The vehicle auxiliary control device is a device corresponding to the vehicle auxiliary control method, and all the implementation manners in the method embodiment are applicable to the embodiment of the device, so that the same technical effects can be achieved.
As shown in fig. 5, an embodiment of the present invention further provides a server, including:
a second obtaining module 501, configured to obtain an initial security map and adjustment information, where the initial security map includes a plurality of initial areas and an initial security level corresponding to each of the initial areas;
The third obtaining module 502 is configured to adjust the initial security map according to the adjustment information to obtain a real-time security map;
A first sending module 503, configured to send the real-time security map to a vehicle, where the real-time security map is used for the vehicle to determine a vehicle auxiliary control policy according to the real-time security map.
Optionally, the adjustment information includes at least one of time information, weather information, traffic flow information, people flow information, and event information.
It should be noted that, the server is a server corresponding to the map acquisition method, and all implementation manners in the method embodiment are applicable to the embodiment of the server, so that the same technical effects can be achieved.
Optionally, the embodiment of the invention further provides a terminal device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the vehicle auxiliary control method or the map acquisition method applied to the server when executing the computer program.
Optionally, an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor implements the above-mentioned vehicle auxiliary control method, or implements the above-mentioned map acquisition method applied to a server.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (12)
1. A vehicle assist control method, characterized by comprising:
acquiring a real-time safety map, vehicle pose information and vehicle structure data, wherein the real-time safety map comprises a plurality of real-time areas and real-time safety levels corresponding to the real-time areas;
according to the vehicle pose information and the vehicle structure data, P pieces of key point position information of P preset key points on the vehicle are determined, the P preset key points are in one-to-one correspondence with the P pieces of key point position information, and P is a positive integer;
Determining real-time security levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time security map and the P key point position information;
and determining an auxiliary control strategy of the vehicle according to the real-time security level corresponding to the real-time area in which the P preset key points are respectively positioned.
2. The method of claim 1, wherein the method is applied to a vehicle, and the acquiring a real-time security map comprises:
The method comprises the steps of receiving a real-time safety map sent by a server, wherein the server is used for dividing a plurality of initial areas for a high-precision map, determining a corresponding initial safety level for each initial area to obtain an initial safety map, and adjusting the initial safety map according to acquired adjustment information to obtain the real-time safety map.
3. The method of claim 1, wherein the method is applied to a server, and the acquiring the real-time security map, the vehicle pose information, and the vehicle structure data comprises:
acquiring an initial safety map and adjustment information, and vehicle pose information and vehicle structure data sent by a vehicle, wherein the initial safety map comprises a plurality of initial areas and initial safety levels corresponding to the initial areas; adjusting the initial security map according to the adjustment information to obtain the real-time security map;
After determining the vehicle auxiliary control strategy according to the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located, the method further comprises:
And sending the vehicle auxiliary control strategy to the vehicle.
4. A method according to claim 2 or 3, wherein the adjustment information comprises at least one of time information, weather information, traffic information, people traffic information and event information.
5. A method according to any one of claims 1 to 3, wherein the vehicle pose information comprises position pose information of an on-board integrated navigation sensor;
The determining P key point position information of P preset key points on the vehicle according to the vehicle pose information and the vehicle structure data includes:
Determining the relative offset of each preset key point and the on-board integrated navigation sensor according to the vehicle structure data;
and determining the position information of each preset key point according to the relative offset and the position and posture information of the on-board integrated navigation sensor.
6. A method according to any one of claims 1 to 3, wherein determining the vehicle auxiliary control strategy according to the real-time security level corresponding to the real-time region in which the P preset key points are respectively located includes:
acquiring the lowest security level in the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located;
And determining an auxiliary control strategy of the vehicle according to the corresponding relation between the lowest security level and the auxiliary control strategy of the preset security level.
7. A map acquisition method applied to a server, the method comprising:
Acquiring an initial security map and adjustment information, wherein the initial security map comprises a plurality of initial areas and initial security levels corresponding to the initial areas;
Adjusting the initial safety map according to the adjustment information to obtain a real-time safety map;
Transmitting the real-time safety map to a vehicle, wherein the real-time safety map is used for determining a vehicle auxiliary control strategy according to the real-time safety map by the vehicle;
the vehicle auxiliary control strategy is determined based on the vehicle auxiliary control method according to any one of claims 1 to 6.
8. The method of claim 7, wherein the adjustment information includes at least one of time information, weather information, traffic information, people flow information, and event information.
9. A vehicle assist control apparatus, characterized by comprising:
The system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a real-time safety map, vehicle pose information and vehicle structure data, and the real-time safety map comprises a plurality of real-time areas and real-time safety levels corresponding to the real-time areas;
The first determining module is used for determining P pieces of key point position information of P pieces of preset key points on the vehicle according to the vehicle pose information and the vehicle structure data, the P pieces of preset key points are in one-to-one correspondence with the P pieces of key point position information, and P is a positive integer;
the second determining module is used for determining real-time security levels corresponding to real-time areas where the P preset key points are respectively located according to the real-time security map and the P key point position information;
And the third determining module is used for determining an auxiliary control strategy of the vehicle according to the real-time security levels corresponding to the real-time areas where the P preset key points are respectively located.
10. A server, comprising:
The second acquisition module is used for acquiring an initial safety map and adjustment information, wherein the initial safety map comprises a plurality of initial areas and initial safety levels corresponding to the initial areas;
the third acquisition module is used for adjusting the initial safety map according to the adjustment information to obtain a real-time safety map;
the first sending module is used for sending the real-time safety map to a vehicle, wherein the real-time safety map is used for determining a vehicle auxiliary control strategy according to the real-time safety map by the vehicle;
The vehicle auxiliary control strategy is determined based on the vehicle auxiliary control method according to any one of claims 1 to 6 or based on the vehicle auxiliary control apparatus according to claim 9.
11. Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 6 or the method according to claim 7 or 8 when executing the computer program.
12. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 6 or the method according to claim 7 or 8.
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| JP2019091283A (en) * | 2017-11-15 | 2019-06-13 | オムロン株式会社 | Concentration degree determination device, concentration degree determination method, and program for concentration degree determination |
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| JP7156206B2 (en) * | 2018-08-31 | 2022-10-19 | 株式会社デンソー | Map system, vehicle side device, and program |
| JP6784734B2 (en) * | 2018-08-31 | 2020-11-11 | 株式会社Ｓｕｂａｒｕ | Automatic driving support device |
| DE102018216110A1 (en) * | 2018-09-21 | 2020-03-26 | Volkswagen Aktiengesellschaft | Method and device for providing an environment image of an environment of a mobile device and motor vehicle with such a device |
| CN109733391A (en) * | 2018-12-10 | 2019-05-10 | 北京百度网讯科技有限公司 | Control method, device, equipment, vehicle and the storage medium of vehicle |
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