CN114694396A - Method, apparatus, electronic device, vehicle, and medium for controlling vehicle - Google Patents
Method, apparatus, electronic device, vehicle, and medium for controlling vehicle Download PDFInfo
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
Provided are a method, an apparatus, an electronic device, a vehicle, and a medium for controlling a vehicle. The method comprises the following steps: acquiring environment information and vehicle information, wherein the environment information comprises traffic signal information of an intersection in a driving path of a vehicle, and the vehicle information comprises speed limit information of the driving path of the vehicle and first distance information of the vehicle from the intersection; obtaining an ambient time window within which vehicles are allowed to pass through the intersection based on the traffic signal information; obtaining a vehicle time window based on the speed limit information and the first distance information, wherein the vehicle time window is used for representing a time period between the shortest time taken by the vehicle to travel the first distance in the maximum speed strategy and the longest time taken by the vehicle to travel the first distance in the minimum speed strategy; comparing and obtaining an overlapping area of the environment time window and the vehicle time window; and controlling the vehicle based on the result of the comparison.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method and an apparatus for controlling a vehicle, an electronic device, a vehicle, and a medium.
Background
With the progress of society, automobiles become almost necessary transportation means for each family, so that the life of people is more and more convenient. And with the development of various advanced technologies in the automotive field, various devices and functions that are more and more intelligent are integrated into the automobile.
Among them, an Adaptive Cruise Control (ACC) is an intelligent automatic Control system, which has been developed based on an already existing Cruise Control technology. In the running process of a vehicle, a vehicle distance sensor (radar) installed at the front part of the vehicle continuously scans the road in front of the vehicle, and meanwhile, a wheel speed sensor collects a vehicle speed signal.
However, the adaptive cruise control system often cannot respond to traffic light information, and cannot judge whether the vehicle can pass through the traffic intersection ahead in advance, so that certain risks exist when the vehicle passes through the traffic intersection.
The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.
Disclosure of Invention
According to an aspect of the present disclosure, there is provided a method of controlling a vehicle, including: acquiring environment information and vehicle information, wherein the environment information comprises traffic signal information of an intersection in a driving path of the vehicle, and the vehicle information comprises speed limit information of the driving path of the vehicle and first distance information of the vehicle from the intersection; obtaining an ambient time window within which the vehicle is permitted to pass through the intersection based on the traffic signal information; obtaining a vehicle time window based on the speed limit information and the first distance information, wherein the vehicle time window is used for representing a time period between the shortest time taken by the vehicle to drive the first distance with the maximum speed strategy and the longest time taken by the vehicle to drive the first distance with the minimum speed strategy; comparing the overlapping regions of the ambient time window and the vehicle time window; and controlling the vehicle based on a result of the comparison.
According to another aspect of the present disclosure, there is provided an apparatus for controlling a vehicle, including: an information acquisition unit configured to acquire environment information including traffic signal information of an intersection in a traveling path of the vehicle and vehicle information including speed limit information of the traveling path of the vehicle and first distance information of the vehicle from the intersection; an ambient time window acquisition unit configured to obtain an ambient time window within which the vehicle is allowed to pass through the intersection based on the traffic signal information; a vehicle time window obtaining unit configured to obtain a vehicle time window based on the speed limit information and the first distance information, the vehicle time window being a time period representing a time period between a shortest time taken for the vehicle to travel the first distance with a maximum speed strategy and a longest time taken for the vehicle to travel the first distance with a minimum speed strategy; a comparison unit configured for comparing an overlapping area of the ambient time window and the vehicle time window; and a control unit configured to control the vehicle based on a result of the comparison.
According to another aspect of the present disclosure, there is provided an electronic device including: a processor, and a memory storing a program comprising instructions that, when executed by the processor, cause the processor to perform the method described in the present disclosure.
According to another aspect of the present disclosure, there is provided a vehicle including: an apparatus or an electronic device as described in the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing a program, the program comprising instructions which, when executed by one or more processors, cause the one or more processors to perform the method described in the present disclosure.
According to one or more embodiments of the present disclosure, the present disclosure provides a method, an apparatus, an electronic device, a vehicle, and a medium for controlling a vehicle, which improve the accuracy and efficiency of vehicle control.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.
FIG. 1 shows a flow chart of a method of controlling a vehicle according to an exemplary embodiment;
FIG. 2 shows a schematic diagram of a speed strategy according to an example embodiment;
FIG. 3 shows a schematic diagram of a method of controlling a vehicle with a feedback mechanism according to an exemplary embodiment;
FIG. 4 is a block diagram showing the structure of an apparatus for controlling a vehicle according to an exemplary embodiment; and
fig. 5 shows a schematic view of an application scenario of a vehicle according to an exemplary embodiment of the present disclosure.
Detailed Description
In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, the timing relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.
The terminology used in the description of the various described examples in this disclosure is for the purpose of describing the particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.
In order to enable the active cruise control to react to traffic light information, the control method based on the time window is provided by the disclosure to realize control over the vehicle, and accuracy and efficiency of the active cruise control over vehicle control are improved.
FIG. 1 is a flowchart illustrating a method 100 of controlling a vehicle according to an exemplary embodiment.
At step 101, environment information and vehicle information are acquired, wherein the environment information comprises traffic signal information of an intersection in a driving path of a vehicle, and the vehicle information comprises speed limit information of the driving path of the vehicle and first distance information of the vehicle from the intersection.
Illustratively, the traffic signal information at the intersection includes a current traffic light color, a remaining time for the traffic light to change from the current color to another color, a remaining time for the traffic light to change color again, and the like.
For example, the current traffic light is red, and then turns green for the remaining 4 seconds, and then turns red again for the remaining 84 seconds, or the current traffic light is green, then turns red for the remaining 50 seconds, and then turns green again for the remaining 80 seconds.
Illustratively, the speed limit information in the vehicle travel path includes a highest limit speed or a lowest limit speed.
For example, in a certain city road section, the maximum limit speed is 80 km/h, and the minimum limit speed is 30 km/h.
Illustratively, the speed information in the vehicle information is related to the speed limit information, and the speed of the vehicle during running is restricted by the speed limit information.
Illustratively, the first distance information of the vehicle from the intersection represents the distance of the vehicle from the intersection corresponding to the traffic light, and the first distance information is related to the driving path. Here, the distance of the vehicle from the intersection corresponding to the traffic light may be understood as the distance of the vehicle from the stop line at the intersection.
At step 102, based on the traffic signal information, an ambient time window is obtained within which the vehicle is allowed to pass through the intersection.
Illustratively, the time period between two red lights, and thus the ambient time window, is obtained based on the current traffic light color at the intersection, the remaining time for the traffic light to change from the current color to another color, the remaining time for the traffic light to change color again, and so forth, during which time periods other than red lights the vehicle is allowed to pass through the intersection (the stop line).
For example, if the current traffic light is red, then 4 seconds remain to turn green, and 84 seconds remain to turn red again, then the vehicle is allowed to pass through the intersection for the time period of (4 seconds, 84 seconds), or if the current traffic light is green, then 50 seconds remain to turn red, then 80 seconds remain to turn green again, and green lasts 80 seconds, then the vehicle is allowed to pass through the intersection for the time periods of (0,50 seconds) and (80, 160 seconds).
At step 103, based on the speed limit information and the first distance information, a vehicle time window is obtained, the vehicle time window being a time period representing a time period between a shortest time for the vehicle to travel the first distance with a maximum speed strategy and a longest time for the vehicle to travel the first distance with a minimum speed strategy.
Illustratively, the distance between the vehicle and the intersection corresponding to the traffic light is obtained based on the first distance information, the shortest time and the longest time are calculated, and the time period corresponding to the vehicle time window is obtained based on the shortest time and the longest time, and the vehicle can pass through the intersection within the time period.
For example, 30 meters further from the intersection, the vehicle can arrive at the intersection 15 seconds the fastest, and the vehicle can arrive at the intersection 3.5 seconds the slowest, then the vehicle time window is the (3.5 seconds, 15 seconds) time period during which the vehicle has the ability to pass through the intersection.
At step 104, the comparison obtains an overlap region of the ambient time window and the vehicle time window.
Illustratively, the ambient time window and the vehicle time window are compared to obtain an overlap region of the two.
For example, the environmental time window is a (4 second, 84 second) time period, the vehicle time window is a (3.5 second, 15 second) time period, and the overlapping area of the two is obtained as (4 second, 15 second). Alternatively, the ambient time window is (0,50 seconds) and (80, 160 seconds) time periods, the vehicle time window is (3.5 seconds, 15 seconds) time period, and the overlapping area of the two is (3.5 seconds, 15 seconds) time period. Alternatively, the environmental time window is a (16 second, 84 second) time period and the vehicle time window is a (3.5 second, 15 second) time period, resulting in no time overlap region between the two.
At step 105, the vehicle is controlled based on the result of the comparison.
Illustratively, the vehicle is controlled according to an overlapping region of the ambient time window and the vehicle time window.
For example, when the overlapping area of the environmental time window and the vehicle time window is a (3.5 seconds, 15 seconds) time period, the vehicle is controlled to pass through the intersection within the (3.5 seconds, 15 seconds) time period. And when the environment time window and the vehicle time window have no time overlapping area, controlling the vehicle to stop at the corresponding position of the intersection.
Therefore, the method for controlling the vehicle based on the time window shown in fig. 1 can control the vehicle in a targeted manner by comparing the overlapping areas of the environmental time window and the vehicle time window in advance, so as to improve the accuracy and efficiency of the active cruise control on the vehicle control.
According to some embodiments, at step 101, traffic light signal information in environment information may be acquired by a roadside device, the environment information including traffic signal information of an intersection in a driving path of a vehicle, the vehicle information including speed limit information of the driving path of the vehicle and first distance information of the vehicle from the intersection, the speed limit information in the driving path may also be acquired from the roadside device.
For example, the speed limit information in the travel path may be obtained by the roadside device from the map data.
According to some embodiments, in the acquiring environmental information and vehicle information at step 101, the acquiring environmental information includes: acquiring traffic signal information identified by a camera device on a vehicle, and determining the accuracy of the traffic signal information of an intersection in a driving path obtained from a roadside apparatus based on the traffic signal information identified by the camera device
The vehicle is provided with a camera device, the camera device can shoot and identify traffic signal information (such as traffic light color) on a traveling path of the vehicle, and the shot traffic signal information is checked with the traffic signal information provided by the road side equipment, so that the accuracy of the traffic signal information provided by the road side equipment can be confirmed, and improper speed control of the vehicle can be avoided when the traffic signal provided by the road side equipment is wrong.
For example, when the traffic signal information and the speed limit information provided by the roadside device are confirmed, an accuracy standard may be preset, for example, the accuracy standard is that three times of signal contradiction need to occur in a confirmation period. If three contradictory situations occur between the captured information and the information provided by the roadside apparatus within a confirmation period (e.g., 100ms), consider the following steps:
when the traffic light provided by the roadside device is a red signal and the camera detects a green color, the vehicle should report a takeover request to the driver, stop control of the vehicle, and adjust back to the free-driving mode (e.g., slow down to idle).
If the traffic light provided by the wayside equipment is green and the camera is detected as red, the vehicle should report to the driver and make a take over request. Without detected driver intervention, the ACC will continue to control the vehicle to the first stop-line. When driver intervention is detected, the vehicle will stop control, switching according to the driver's instruction.
If the preset accuracy standard is not met, for example, in the confirmation period, the signals are shot only once, the traffic signal information or the speed limit information shot by the camera is considered as the sensor error of the camera and the traffic signal information or the speed limit information shot by the camera at the moment is ignored.
According to some embodiments, obtaining the vehicle information comprises: the method comprises the steps of acquiring speed limit information identified by a camera device on a vehicle, and determining the accuracy of the speed limit information in a driving path acquired from the roadside equipment based on the speed limit information identified by the camera device.
For example, the camera device may further identify speed limit information (e.g., a highest speed limit value or a lowest speed limit value) on the traveling path, check the captured speed limit information with the speed limit information provided by the roadside device, confirm the accuracy of the speed limit information provided by the roadside device, and avoid performing improper speed control on the vehicle when the speed limit information provided by the roadside device is wrong.
According to some embodiments, wherein the ambient time window comprises: the duration of the green light signal or the duration of the green light signal and the yellow light signal.
Illustratively, only vehicles are allowed to pass during green light, and not when yellow light. In other embodiments, the vehicle is allowed to pass during green lights, and the vehicle is also allowed to pass during yellow lights. The above criteria will result in different lengths of the two environmental time windows, enabling more flexible control of the vehicle through selection of different environmental time windows.
According to some embodiments, in step 101, obtaining the environmental information and the vehicle information includes: acquiring a running path of the vehicle; acquiring a stop line corresponding to the driving path; determining the first distance information based on the stop line and a current location of the vehicle.
For example, the driving route of the vehicle includes driving expectations such as straight, left or right turns on the current road segment, and when the driving expectations are different, the corresponding stop lines are also different, and therefore, the obtained first distance information is different for the corresponding vehicles even based on the same vehicle position, corresponding to different driving expectations.
Thus, the vehicle can be precisely controlled according to different driving expectations (straight, left-turn, or right-turn).
According to some embodiments, wherein the stop line corresponding to the travel path comprises: a standard zone stop line, a straight wait zone stop line, or a left turn wait zone stop line.
Illustratively, corresponding to the driving expectation of straight driving, some road sections are provided with standard area stop lines, some road sections are provided with straight driving waiting area stop lines, corresponding to the driving expectation of left turning, some road sections are provided with left turning waiting area stop lines, some road sections share the standard area stop lines, corresponding to the driving expectation of right turning, some road sections do not need to wait, and can directly turn right according to the road condition, and some road sections need to wait for passing at the standard area stop lines.
For example, the stop line situation corresponding to the travel route may be provided by roadside equipment or may be obtained by shooting by an imaging device.
Therefore, the first distance can be precisely calculated to achieve precise control of the vehicle such that the vehicle passes through the intersection or stops at the corresponding stop line.
According to some embodiments, said controlling the vehicle based on a result of said comparing comprises:
controlling the vehicle with a first speed strategy based on an overlapping area of an ambient time window and a vehicle time window, wherein a speed value of the first speed strategy is not greater than a corresponding speed value of the maximum speed strategy and not less than a corresponding speed value of the minimum speed strategy at any time.
To facilitate understanding of the first speed strategy, the maximum speed strategy and the minimum speed strategy of the vehicle will be described first with reference to fig. 2. FIG. 2 shows a schematic diagram of a speed strategy according to an example embodiment.
In fig. 2, the horizontal axis T is a time axis, and the vertical axis V is a vehicle speed. V0Is the first speed, V, at which the vehicle is currently travellingmaxTo the highest limit speed value, VminFor minimum limiting speed value, VPmax(Velocity Profile) as maximum acceleration strategy, VPminIs the maximum negative acceleration strategy.
Wherein, based on the distance from the current position of the vehicle to the intersection, the maximum acceleration strategy VP of the vehicle can be calculatedmaxDuring running, at a first speed V0Accelerating at maximum acceleration for initial speed, and limiting speed value V when speed reaches maximummaxThen, the vehicle will travel at that speed and will be at time t1When the vehicle reaches the intersection, the strategy VP is carried out when the vehicle is in the maximum negative accelerationminDuring running, at a first speed V0At an initial speed of up toDeceleration is carried out at high negative acceleration (or maximum deceleration), and when the speed reaches the maximum limit speed value VminThen, the vehicle will travel at that speed and will be at time t2And (4) reaching the intersection.
Exemplarily, shown in FIG. 2 as (t)1，t2) Is a vehicle time window.
When the environment time window ST1(t3，t4) As shown in FIG. 2, the ambient time window and the vehicle time window have an overlapping region (t)3，t2) Indicating that the vehicle will be able to sequentially pass through the intersection if it reaches the intersection within the overlap region.
Therefore, at a first speed strategy VP1Controlling a vehicle, wherein, as shown in fig. 2, a first speed strategy VP1The speed value of the speed is smaller than the maximum speed strategy VP at any timemaxAnd greater than the minimum speed strategy VPmin。
It will be appreciated that VP is aligned on the T-axismax、VPminOr VP1The numerical values obtained by integration are the first distances from the current position of the vehicle to the intersection.
The vehicle can be accurately controlled by controlling acceleration or deceleration (negative acceleration) so that the vehicle smoothly passes through the intersection in the first speed strategy.
According to some embodiments, controlling the vehicle based on the result of the comparison comprises: responsive to the environmental time window and the vehicle time window not having an overlapping region, controlling the vehicle with a third speed strategy to stop the vehicle at the intersection.
With continued reference to FIG. 2, when the environment time window ST2(t5，t6) As shown in fig. 2, there is no overlap of the ambient time window and the vehicle time window, indicating that the vehicle will not be able to pass through the intersection within the current ambient time window.
Therefore, strategy VP at the third speed3And controlling the vehicle and stopping the vehicle at the intersection.
Therefore, different speed strategies can be provided for the vehicle according to different comparison results, and accurate control over the vehicle is achieved.
According to some embodiments, the environmental time window and the vehicle time window are considered to have no overlapping area when the length of the overlapping area of the environmental time window and the vehicle time window is less than a predetermined length.
Illustratively, when the length of the overlap region is less than a predetermined length of time, for example, 0.5 seconds, in which case the length of time allowed for the vehicle to pass is too short, it may cause the vehicle to accelerate or decelerate quickly, and in the case of more complex road conditions, the vehicle may pose a safety hazard by passing through the intersection in the overlap region of the shorter time windows, and therefore, when the overlap length is less than the predetermined length of time, there is no overlap region between the environmental window and the vehicle time window, and the vehicle is considered to be unable to pass through the intersection.
Thus, by setting the predetermined period of time, the safety of the vehicle control can be improved.
According to some embodiments, further comprising: acquiring the distance between the vehicle and the front vehicle and the speed of the front vehicle; and determining the speed limit information based on the distance between the vehicle and the front vehicle and the speed of the front vehicle.
Illustratively, the speed limit information includes at least one of a maximum limit speed value, a minimum limit speed value, a distance of the preceding vehicle, and a speed of the preceding vehicle.
For example, since other passing vehicles may exist on the traveling path, in order to ensure safe traveling and avoid collision with the preceding vehicle, the speed limit information needs to consider the distance between the current vehicle and the preceding vehicle on the traveling path and the speed of the preceding vehicle.
For example, the maximum speed limit on the traveling path is 80 km/h, the speed of the preceding vehicle is 50 km/h, and the current traveling speed of the vehicle is 30 km/h, so that the speed limit information of the vehicle needs to be limited to 50 km/h.
In order to avoid a collision with the preceding vehicle, the speed of the preceding vehicle is selected as the highest speed limit value when calculating the vehicle time window.
Illustratively, the distance of the vehicle from the leading vehicle also needs to be considered, and if the distance of the vehicle from the leading vehicle is closer, the accelerating vehicle is not considered any more at the current position when calculating the first speed strategy.
By taking the traveling situation of the preceding vehicle into consideration, the possibility of occurrence of danger can be reduced.
According to some embodiments, there is further provided: controlling the vehicle based on a second speed strategy, wherein second distance information of the vehicle from the intersection and current running speed information of the vehicle are acquired after a preset time interval; determining a second speed strategy based on the second distance information and the speed information that the vehicle is currently traveling; controlling the vehicle based on the second speed strategy.
FIG. 3 shows a schematic diagram of a method 300 of controlling a vehicle with a feedback mechanism according to an exemplary embodiment.
At step 306, second distance information of the vehicle from the intersection and current running speed information of the vehicle are acquired after a predetermined time interval.
At step 307, a second speed strategy is determined based on the second distance information and the speed information that the vehicle is currently traveling.
At step 308, the vehicle is controlled based on the second speed strategy.
Through the feedback mechanism, the vehicle can be controlled more accurately.
According to some embodiments, in the vehicle control method with the feedback mechanism, it may further include: acquiring the distance between the vehicle and the front vehicle and the speed of the front vehicle; and determining speed limit information corresponding to the current running speed information of the vehicle based on the distance between the vehicle and the front vehicle and the speed of the front vehicle.
Since the position and speed of the preceding vehicle change with time, reconsidering the distance between the vehicle and the preceding vehicle and the speed of the preceding vehicle in the vehicle control method with the feedback mechanism can further achieve accurate vehicle control and more reduce the possibility of occurrence of danger.
Fig. 4 is a block diagram showing the structure of an apparatus 400 for controlling a vehicle according to an exemplary embodiment. As shown in fig. 4, there is provided an apparatus 400 for controlling a vehicle, including:
an information obtaining unit 410 configured to obtain environment information including traffic signal information of an intersection in a traveling path of the vehicle and vehicle information including speed limit information of the traveling path of the vehicle and first distance information of the vehicle from the intersection;
an ambient time window obtaining unit 420 configured to obtain an ambient time window within which the vehicle is allowed to pass through the intersection based on the traffic signal information;
a vehicle time window obtaining unit 430 configured to obtain a vehicle time window based on the speed limit information and the first distance information, the vehicle time window being a time period between a shortest time taken for the vehicle to travel the first distance with a maximum speed strategy and a longest time taken for the vehicle to travel the first distance with a minimum speed strategy;
a comparison unit 440 configured to obtain an overlap region of the environmental time window and the vehicle time window by comparison;
a control unit 450 configured for controlling the vehicle based on a result of the comparison.
Based on the apparatus 400 for controlling a vehicle shown in fig. 4, it is possible to control the vehicle in a targeted manner by comparing the overlapping regions of the environmental time window and the vehicle time window in advance, thereby improving the accuracy and efficiency of the active cruise control for vehicle control.
Additionally, while particular functionality is discussed above with reference to particular modules, it should be noted that the functionality of the various modules discussed herein may be separated into multiple modules and/or at least some of the functionality of multiple modules may be combined into a single module. Performing an action by a particular module discussed herein includes the particular module itself performing the action, or alternatively the particular module invoking or otherwise accessing another component or module that performs the action (or performs the action in conjunction with the particular module). Thus, a particular module that performs an action can include the particular module that performs the action itself and/or another module that the particular module invokes or otherwise accesses that performs the action.
More generally, various techniques may be described herein in the general context of software hardware elements or program modules. The various modules described above with respect to fig. 4 may be implemented in hardware or in hardware in combination with software and/or firmware. For example, the modules may be implemented as computer program code/instructions configured to be executed in one or more processors and stored in a computer-readable storage medium. Alternatively, the modules may be implemented as hardware logic/circuitry. For example, in some embodiments, one or more of the information acquisition unit 410, the environmental time window acquisition unit 420, the vehicle time window acquisition unit 430, the comparison unit 440, and the control unit 450 may be implemented together in a system on chip (SoC). The SoC may include an integrated circuit chip including one or more components of a processor (e.g., a Central Processing Unit (CPU), microcontroller, microprocessor, Digital Signal Processor (DSP), etc.), memory, one or more communication interfaces, and/or other circuitry, and may optionally execute received program code and/or include embedded firmware to perform functions.
According to one aspect of the present disclosure, an electronic device is provided. The electronic device includes: a processor, and a memory storing a program comprising instructions that, when executed by the processor, cause the processor to perform the aforementioned method for controlling a vehicle.
According to one aspect of the present disclosure, a vehicle is provided. The vehicle includes the aforementioned apparatus or electronic device for controlling the vehicle.
According to one aspect of the present disclosure, a storage medium is provided. For example, the storage medium is a non-transitory computer readable storage medium storing a program comprising instructions which, when executed by one or more processors, cause the one or more processors to perform the aforementioned method for upgrading existing software in a vehicle. Fig. 5 shows an application scenario diagram 5100 including a motor vehicle 5010 and a communication and control system for the motor vehicle 5010. It is noted that the structure and function of the vehicle 5010 illustrated in fig. 5 is merely an example, and that the vehicle of the present disclosure may include one or more of the structure and function of the vehicle 5010 illustrated in fig. 5, depending on the particular implementation. According to some embodiments, the vehicle 5010 may be a vehicle involved in the method of controlling a vehicle described above with respect to fig. 1.
The motor vehicle 5010 can include sensors 5110 for sensing the surrounding environment. The sensor 5110 may include one or more of the following sensors: ultrasonic sensors, millimeter wave radar, LiDAR (LiDAR), vision cameras, and infrared cameras. Different sensors may provide different detection accuracies and ranges. The ultrasonic sensors can be arranged around the vehicle and used for measuring the distance between an object outside the vehicle and the vehicle by utilizing the characteristics of strong ultrasonic directionality and the like. The millimeter wave radar may be installed in front of, behind, or other positions of the vehicle for measuring the distance of an object outside the vehicle from the vehicle using the characteristics of electromagnetic waves. The lidar may be mounted in front of, behind, or otherwise in the vehicle for detecting object edges, shape information, and thus object identification and tracking. The radar apparatus can also measure a speed variation of the vehicle and the moving object due to the doppler effect. The camera may be mounted in front of, behind, or otherwise on the vehicle. The visual camera may capture conditions inside and outside the vehicle in real time and present to the driver and/or passengers. In addition, by analyzing the picture captured by the visual camera, information such as traffic light indication, intersection situation, other vehicle running state, and the like can be acquired. The infrared camera can capture objects under night vision conditions.
The motor vehicle 5010 can also include an output device 5120. Output devices 5120 include, for example, a display, a speaker, and the like, to present various outputs or instructions. Furthermore, the display may be implemented as a touch screen, so that input may also be detected in different ways. A user graphical interface may be presented on the touch screen to enable a user to access and control the corresponding controls.
The motor vehicle 5010 can also include one or more controllers 5130. The controller 5130 may include a processor, such as a Central Processing Unit (CPU) or a Graphics Processing Unit (GPU), or other special-purpose processor, or the like, in communication with various types of computer-readable storage devices or media. A computer-readable storage apparatus or medium may include any non-transitory storage device, which may be non-transitory and may implement any storage device that stores data, and may include, but is not limited to, a magnetic disk drive, an optical storage device, solid state memory, floppy disk, flexible disk, hard disk, magnetic tape, or any other magnetic medium, an optical disk or any other optical medium, a Read Only Memory (ROM), a Random Access Memory (RAM), a cache memory, and/or any other memory chip or cartridge, and/or any other medium from which a computer may read data, instructions, and/or code. Some of the data in the computer readable storage device or medium represents executable instructions used by the controller 5130 to control the vehicle. The controller 5130 may include an autopilot system for automatically controlling various actuators in a vehicle. The autopilot system is configured to control the powertrain, steering system, and braking system, etc. of the motor vehicle 5010 via a plurality of actuators in response to inputs from a plurality of sensors 5110 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or limited human intervention. Part of the processing functions of the controller 5130 may be implemented by cloud computing. For example, some processing may be performed using an onboard processor while other processing may be performed using the computing resources of the cloud. According to some embodiments, the processor may be configured to perform the method described in connection with fig. 1. The processor and its associated computer-readable storage are one example of the apparatus 400 of fig. 4 above. The computer-readable storage device associated with the processor may be one example of the non-transitory computer-readable storage medium described above. The processor and its associated computer-readable storage may constitute one example of an electronic device.
The motor vehicle 5010 also includes a communication device 5140. The communication device 5140 includes a satellite positioning module capable of receiving satellite positioning signals from the satellites 5012 and generating coordinates based on these signals. The communication device 5140 also includes modules to communicate with the mobile communication network 5013, which may implement any suitable communication technology, such as GSM/GPRS, CDMA, LTE, etc., current or evolving wireless communication technologies (e.g., 5G technologies). The communication device 5140 may also have a Vehicle-to-Vehicle (V2X) module configured to enable Vehicle-to-Vehicle (V2V) communication with other vehicles 5011 and Vehicle-to-Infrastructure (V2I) communication with the outside world, for example. In addition, the communication device 5140 may also have a module configured to communicate with the user terminal 5014 (including but not limited to a smartphone, a tablet, or a wearable device such as a watch) by, for example, wireless local area network using IEEE802.11 standards or bluetooth. With the communications device 5140, the motor vehicle 5010 can access the online server 5015 or the cloud server 5016 via the wireless communication system, and the online server or the cloud server is configured to provide corresponding data processing, data storage, and data transmission services to the motor vehicle.
In addition, the motor vehicle 5010 includes a powertrain, a steering system, a brake system, and the like, which are not shown in fig. 5, for implementing a driving function of the motor vehicle.
Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.
Claims (15)
1. A method of controlling a vehicle, comprising:
acquiring environment information and vehicle information, wherein the environment information comprises traffic signal information of an intersection in a driving path of the vehicle, and the vehicle information comprises speed limit information of the driving path of the vehicle and first distance information of the vehicle from the intersection;
obtaining an ambient time window within which the vehicle is permitted to pass through the intersection based on the traffic signal information;
obtaining a vehicle time window based on the speed limit information and the first distance information, wherein the vehicle time window is used for representing a time period between the shortest time taken by the vehicle to drive the first distance with the maximum speed strategy and the longest time taken by the vehicle to drive the first distance with the minimum speed strategy;
comparing and obtaining an overlapping area of the environment time window and the vehicle time window; and is
Controlling the vehicle based on a result of the comparison.
2. The method of claim 1, said controlling the vehicle based on the result of the comparison, comprising:
controlling the vehicle in a first speed strategy based on the environment time window and the vehicle time window having an overlapping area, wherein a speed value of the first speed strategy is not greater than a corresponding speed value of the maximum speed strategy and not less than a corresponding speed value of the minimum speed strategy at any time, wherein the maximum speed strategy is that the vehicle travels the first distance starting from an initial speed and accelerating to a highest speed limit value of the speed limit information with a maximum acceleration, the minimum speed strategy is that the vehicle travels the first distance starting from an initial speed and decelerating to a lowest speed limit value of the speed limit information with a maximum negative acceleration, and wherein the initial speed is the first speed at which the vehicle is currently traveling.
3. The method of claim 2, further comprising:
acquiring the distance between the vehicle and the front vehicle and the speed of the front vehicle;
and determining the speed limit information based on the distance between the vehicle and the front vehicle and the speed of the front vehicle.
4. The method of claim 2, further comprising: controlling the vehicle based on a second speed strategy,
acquiring second distance information of the vehicle from the intersection and current running speed information of the vehicle after a preset time interval;
determining a second speed strategy based on the second distance information and the speed information that the vehicle is currently traveling; and is
Controlling the vehicle based on the second speed strategy.
5. The method of claim 4, further comprising:
acquiring the distance between the vehicle and the front vehicle and the speed of the front vehicle;
and determining speed limit information corresponding to the current running speed information of the vehicle based on the distance between the vehicle and the front vehicle and the speed of the front vehicle.
6. The method of claim 1, wherein the obtaining of the environmental information and the vehicle information comprises:
acquiring a running path of the vehicle;
acquiring a stop line corresponding to the driving path; and is
Determining the first distance information based on the stop line and a current location of the vehicle.
7. The method of claim 6, wherein,
and the stop line corresponding to the running path is a standard area stop line, a straight-going waiting area stop line or a left-turning waiting area stop line.
8. The method according to claim 1, wherein the obtaining of the environmental information and the vehicle information,
acquiring the environmental information includes:
the method comprises the steps of acquiring traffic signal information identified by a camera device on the vehicle, and determining the accuracy of the traffic signal information of the intersection in the driving path obtained from the roadside equipment based on the traffic signal information identified by the camera device.
9. The method according to claim 1, wherein the obtaining of the environmental information and the vehicle information,
the acquiring of the vehicle information includes:
and acquiring the speed limit information identified by a camera device on the vehicle, and determining the accuracy of the speed limit information in the driving path acquired from the roadside equipment based on the speed limit information identified by the camera device.
10. The method of claim 8, wherein controlling the vehicle based on the result of the comparison comprises:
responsive to the environmental time window and the vehicle time window not having an overlapping region, controlling the vehicle with a third speed strategy to stop the vehicle at the intersection.
11. The method of claim 10, wherein,
and when the length of the overlapping area of the environment time window and the vehicle time window is less than a preset length, determining that the environment time window and the vehicle time window have no overlapping area.
12. An apparatus for controlling a vehicle, comprising:
an information acquisition unit configured to acquire environment information including traffic signal information of an intersection in a traveling path of the vehicle and vehicle information including speed limit information of the traveling path of the vehicle and first distance information of the vehicle from the intersection;
an ambient time window obtaining unit configured to obtain an ambient time window within which the vehicle is allowed to pass through the intersection based on the traffic signal information;
a vehicle time window obtaining unit configured to obtain a vehicle time window based on the speed limit information and the first distance information, the vehicle time window being a time period representing a time period between a shortest time taken for the vehicle to travel the first distance with a maximum speed strategy and a longest time taken for the vehicle to travel the first distance with a minimum speed strategy;
a comparison unit configured to obtain an overlap region of the environmental time window and the vehicle time window by comparison; and
a control unit configured to control the vehicle based on a result of the comparison.
13. An electronic device, comprising:
a processor, and
a memory storing a program comprising instructions that, when executed by the processor, cause the processor to perform the method of any of claims 1 to 11.
14. A vehicle, comprising:
an apparatus as claimed in claim 12 or an electronic device as claimed in claim 13.
15. A non-transitory computer-readable storage medium storing a program, the program comprising instructions that when executed by one or more processors cause the one or more processors to perform the method of any one of claims 1-11.
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| CN202011592187.0A CN114694396A (en) | 2020-12-29 | 2020-12-29 | Method, apparatus, electronic device, vehicle, and medium for controlling vehicle |
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