CN114735029A - Control method and device for automatic driving vehicle - Google Patents
Control method and device for automatic driving vehicle Download PDFInfo
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- CN114735029A CN114735029A CN202210493166.6A CN202210493166A CN114735029A CN 114735029 A CN114735029 A CN 114735029A CN 202210493166 A CN202210493166 A CN 202210493166A CN 114735029 A CN114735029 A CN 114735029A
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
Abstract
The control method and device for the automatic driving vehicle, provided by the application, comprise the steps of firstly obtaining the steering lamp information and the transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle; subsequently, determining a lane changing direction of the first vehicle according to the turn light information and the transverse speed information; then, the autonomous vehicle is controlled to shift in a direction opposite to the lane change direction of the first vehicle. Through the mode, the self-vehicle can be controlled to shift according to the lane changing direction of the first vehicle, so that the shielding of the first vehicle on the self-vehicle is avoided, and whether a front vehicle exists or not can be monitored in time.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a control method and a control device for an automatic driving vehicle.
Background
Depending on the degree of automation that can be achieved, the autopilot technology can be classified into 6 levels of L0-L5. In recent years, the automatic driving technology of the L2 level has been spread for use on a large scale in the vehicle market.
The L2 level of autopilot technology refers to the partial automation of a vehicle, i.e., the system and the human needs to control the vehicle together, which can operate automatically in certain situations meeting preset conditions. For example, a vehicle equipped with an Adaptive Cruise Control (ACC) system may implement functions such as automatic following. In the process that the self vehicle runs along with the front vehicle, if the front vehicle is suddenly switched out, the control system needs to select the front vehicle as a following target in time and continue to run along with the front vehicle.
However, in the prior art, the front vehicle in the lane changing process may block a detection range of a front view sensor mounted on the self-vehicle, so that the self-vehicle cannot timely monitor whether the front vehicle exists, and further, the control system cannot control the running speed of the self-vehicle according to the running state of the front vehicle.
Disclosure of Invention
The application provides a control method and a control device for an automatic driving vehicle, which aim to solve the technical problem that whether a front vehicle exists or not cannot be monitored in time in the prior art.
In a first aspect, the present application provides a method of controlling an autonomous vehicle, the method comprising:
acquiring steering lamp information and transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle;
determining a lane changing direction of the first vehicle according to the turn light information and the transverse speed information;
controlling the autonomous vehicle to shift in a direction opposite to a lane change direction of the first vehicle.
In an alternative embodiment, the determining the lane change direction of the first vehicle includes:
if a left turn light of the first vehicle is turned on and the first vehicle has a lateral speed to the left, determining that the lane changing direction of the first vehicle is the left direction;
if the right turn light of the first vehicle is turned on and the first vehicle has a lateral velocity towards the right, determining that the lane changing direction of the first vehicle is the right direction.
In an alternative embodiment, said controlling said autonomous vehicle to shift in a direction opposite to a lane change direction of said first vehicle comprises:
and if the first vehicle runs in the current running lane of the automatic driving vehicle, controlling the automatic driving vehicle to deviate towards the direction opposite to the lane changing direction of the first vehicle.
In an optional embodiment, the method further comprises:
respectively acquiring longitudinal speed information and position information of the first vehicle and a second vehicle, wherein the second vehicle runs in a current running lane of the automatic driving vehicle and is positioned in front of the first vehicle;
determining a first longitudinal deceleration at which the autonomous vehicle travels following the first vehicle and a second longitudinal deceleration at which the autonomous vehicle travels following the second vehicle, based on the longitudinal speed information, the position information, and a preset following distance;
if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjusting a currently following vehicle of the autonomous vehicle to the second vehicle.
In an optional embodiment, after the adjusting the currently following vehicle of the autonomous vehicle to the second vehicle, the method further comprises:
controlling the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration.
In a second aspect, the present application provides a control apparatus for an autonomous vehicle, the apparatus comprising:
the automatic driving vehicle comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the turn light information and the transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle;
the control module is used for determining the lane changing direction of the first vehicle according to the steering lamp information and the transverse speed information; controlling the autonomous vehicle to shift in a direction opposite to a lane change direction of the first vehicle.
In an optional embodiment, the control module is specifically configured to determine that the lane change direction of the first vehicle is a left direction if a left turn light of the first vehicle is turned on and a lateral velocity of the first vehicle to the left exists; if the right turn light of the first vehicle is turned on and the first vehicle has a lateral velocity towards the right, determining that the lane changing direction of the first vehicle is the right direction.
In an alternative embodiment, the control module is specifically configured to control the autonomous vehicle to shift in a direction opposite to a lane change direction of the first vehicle if the first vehicle is traveling in a current lane of travel of the autonomous vehicle.
In an optional implementation manner, the obtaining module is further configured to obtain longitudinal speed information and position information of the first vehicle and a second vehicle, respectively, where the second vehicle runs in a current running lane of the autonomous vehicle and is located in front of the first vehicle; the control module is further used for determining a first longitudinal deceleration of the automatic driving vehicle to follow the first vehicle and a second longitudinal deceleration of the automatic driving vehicle to follow the second vehicle according to the longitudinal speed information, the position information and a preset vehicle following distance; if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjusting a currently following vehicle of the autonomous vehicle to the second vehicle.
In an alternative embodiment, the control module is further configured to control the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration.
In a third aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the method of any one of the first aspects.
In a fourth aspect, the present invention also provides a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method according to any one of the first aspect.
In a fifth aspect, the present application further provides an electronic device, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method according to any of the first aspects.
The control method and device for the automatic driving vehicle, provided by the application, comprise the steps of firstly obtaining the steering lamp information and the transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle; then, determining the lane changing direction of the first vehicle according to the steering lamp information and the transverse speed information; then, the autonomous vehicle is controlled to shift in a direction opposite to the lane change direction of the first vehicle. Through the mode, the self-vehicle can be controlled to shift according to the lane changing direction of the first vehicle, so that the shielding of the first vehicle on the self-vehicle is avoided, and whether a front vehicle exists or not can be monitored in time.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings needed to be used in the description of the embodiments or the prior art, and obviously, the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without inventive labor.
Fig. 1 is a system architecture diagram of a control system of an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating a control method for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating another control method for an autonomous vehicle according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of an application scenario of an autonomous vehicle according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a control device of an autonomous vehicle according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Depending on the degree of automation that can be achieved, the autopilot technology can be classified into 6 levels of L0-L5. In recent years, the L2-grade automatic driving technology has been spread for use on a large scale in the vehicle market.
The L2 level automatic driving technology refers to the partial automation of the vehicle, i.e., the system and the human needs to control the vehicle together, and the vehicle can automatically run under certain conditions meeting the preset conditions. For example, a vehicle equipped with an Adaptive Cruise Control (ACC) may implement an automatic following function, which automatically brakes and decelerates when the distance to the vehicle in front is short. In the process that the self vehicle runs along with the front vehicle, if the front vehicle is suddenly switched out, the control system needs to select the front vehicle as a following target in time and continue to run along with the front vehicle.
However, in the prior art, the front vehicle in the lane changing process may block a detection range of a front view sensor mounted on the self-vehicle, so that the self-vehicle cannot timely monitor whether the front vehicle exists, and further, the control system cannot control the running speed of the self-vehicle according to the running state of the front vehicle.
For example, after the current vehicle is suddenly cut out, the control system may control the vehicle to longitudinally accelerate first because whether the previous vehicle exists is not monitored in time; when the front vehicle is detected, if the speed difference between the vehicle and the front vehicle is large, the control system controls the vehicle to suddenly and longitudinally decelerate. The process of sudden acceleration and deceleration of the self-vehicle influences the use experience of the passenger on the vehicle and increases the collision risk of the vehicle.
In order to solve the technical problem, embodiments of the present application provide a control method and device for an autonomous driving vehicle, which control a host vehicle to shift according to a lane change direction of a host vehicle, so as to avoid an influence of the host vehicle on a detection range of the host vehicle, and further, can timely monitor whether the host vehicle exists.
The system architecture of a control system for an autonomous vehicle according to the present application will be described below. Fig. 1 is a system architecture diagram of a control system of an autonomous vehicle according to an embodiment of the present disclosure. As shown in fig. 1, the system architecture includes: a sensor assembly 101, a controller 102, a brake assembly 103, and a steering assembly 104.
The connection relationship between the parts is shown in fig. 1, and the controller 102 is connected with the sensor assembly 101, the brake assembly 103 and the steering assembly 104 respectively. The sensor assembly 101 is configured to acquire a preceding vehicle and driving state information of the preceding vehicle, and input the acquired driving state information to the controller 102, where the driving state information may include position information, speed information, lamp information, and the like. The controller 102 is used to control the traveling state of the host vehicle via the brake unit 103, the steering unit 104, and the like.
It should be understood that the system architecture of the control system of the autonomous vehicle in the present disclosure may be the system architecture in fig. 1, but is not limited thereto, and may also be other types of system architectures.
It can be understood that the control method of the autonomous vehicle according to the technical solution of the present application may be implemented by the control device of the autonomous vehicle provided in the embodiment of the present application, and the control device of the autonomous vehicle may be a part or all of a certain device, such as a controller.
The following takes a controller integrated or installed with relevant execution codes as an example, and details the technical solution of the embodiment of the present application with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a flowchart illustrating a control method for an autonomous vehicle according to an embodiment of the present disclosure, where the present disclosure relates to a process of controlling an autonomous vehicle according to a lane change direction of a preceding vehicle. As shown in fig. 2, the method includes:
s201, obtaining the turn light information and the transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle.
In this embodiment of the application, the controller may first acquire the turn signal information and the lateral speed information of the preceding vehicle, and then control the driving state of the own vehicle according to the acquired information of the preceding vehicle.
Wherein the first vehicle is a following target of the autonomous vehicle. It will be appreciated that the first vehicle may be a leading vehicle within the same lane with the smallest distance to the autonomous vehicle. The turn signal information may include whether the left turn signal or the right turn signal is turned on, and the lateral velocity information may include a magnitude of the lateral velocity to the left or the right, which is not limited in this embodiment of the present application.
It is understood that the controller may acquire the turn signal information and the lateral velocity information through the sensor. The sensor can include camera sensor, laser radar sensor, millimeter wave radar sensor etc. this application embodiment does not do the restriction yet.
S202, determining the lane changing direction of the first vehicle according to the steering lamp information and the transverse speed information.
In this step, after the turn signal information and the lateral velocity information of the preceding vehicle are acquired, the controller may determine the lane change direction of the first vehicle according to the turn signal information and the lateral velocity information.
It is understood that if there is a lane change intention for the first vehicle, its lane change direction may include a left direction and a right direction. The embodiment of the application does not limit how to determine the lane changing direction of the first vehicle. In some embodiments, if the left turn light of the first vehicle is on and there is a lateral velocity of the first vehicle to the left, determining that the lane change direction of the first vehicle is a left direction; if a right turn light of the first vehicle is turned on and the first vehicle has a rightward transverse speed, determining that the lane changing direction of the first vehicle is a right direction; otherwise, it is determined that the first vehicle does not have lane change intent.
And S203, controlling the automatic driving vehicle to deviate in the direction opposite to the lane changing direction of the first vehicle.
In this step, after determining the lane change direction of the first vehicle, the controller may control the autonomous vehicle to shift in a direction opposite to the lane change direction of the first vehicle.
In some embodiments, the controller controls the autonomous vehicle to shift in a direction opposite to the direction of lane change of the first vehicle if the first vehicle that is changing lanes is still traveling in the current lane of travel of the autonomous vehicle. For example, if the lane change direction of the first vehicle is a left direction, the controller controls the autonomous vehicle to laterally shift to a right direction; if the lane change direction of the first vehicle is the right direction, the controller controls the autonomous vehicle to laterally shift to the left direction. It should be noted that the controller may control the reverse offset of the autonomous vehicle by sending lateral control commands to the steering assembly to bring the autonomous vehicle closer to the lane line. In other embodiments, the controller need not control the autonomous vehicle to laterally offset if the first vehicle has traveled off of its original lane.
In other embodiments, the controller may further obtain longitudinal speed information and location information of the first vehicle and the second vehicle, respectively, if the presence of the second vehicle is monitored. Wherein, when the first vehicle is still running in the original lane, the second vehicle may be a preceding vehicle in the original lane having the smallest distance from the first vehicle. The longitudinal speed information may include a longitudinal speed, a magnitude of longitudinal deceleration, and the like, and the longitudinal deceleration may be an amount of reduction in the longitudinal speed of the vehicle per unit time.
In still other embodiments, the controller may further determine the first longitudinal deceleration and the second longitudinal deceleration of the autonomous vehicle based on longitudinal speed information, position information, a preset following distance, running state information of the autonomous vehicle, and the like of the first vehicle and the second vehicle. If the second longitudinal deceleration is greater than the first longitudinal deceleration, the currently following vehicle of the autonomous vehicle is adjusted to be the second vehicle. If the second longitudinal deceleration is less than or equal to the first longitudinal deceleration, the first vehicle is still used as a vehicle following target; and adjusting the current following vehicle of the automatic driving vehicle into a second vehicle after the first vehicle drives away from the original lane. The first longitudinal deceleration and the second longitudinal deceleration are respectively the longitudinal deceleration required by the automatic driving vehicle to run along with the first vehicle and the second vehicle; the preset car following distance can be set according to the longitudinal speed of the car, and the embodiment of the application does not limit the car following distance. It can be understood that the greater the longitudinal speed of the vehicle, the greater the following distance that should be set to ensure driving safety.
Further, after the currently following vehicle is adjusted to the second vehicle, the controller may also control the automatically-driven vehicle to travel following the second vehicle in accordance with the second longitudinal deceleration. For example, the controller may send a deceleration command including the second longitudinal deceleration to a brake assembly of the autonomous vehicle, thereby controlling the autonomous vehicle to decelerate via the brake assembly.
In the embodiment of the application, the controller can control the self-vehicle to carry out reverse offset when the front vehicle is about to change lanes by judging the lane changing intention of the front vehicle, so that the front-view sensor on the self-vehicle can detect the motion state information of the front vehicle in advance, and can control the self-vehicle to carry out corresponding acceleration and deceleration or lane changing control in time, and the driving experience and the riding comfort of a user on the automatic driving vehicle are improved.
The control method of the automatic driving vehicle includes the steps that firstly, steering lamp information and transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle are obtained; subsequently, determining a lane changing direction of the first vehicle according to the turn light information and the transverse speed information; then, the autonomous vehicle is controlled to shift in a direction opposite to the lane change direction of the first vehicle. Through the mode, the self-vehicle can be controlled to shift according to the lane changing direction of the first vehicle, so that the shielding of the first vehicle on the self-vehicle is avoided, and whether a front vehicle exists or not can be monitored in time.
On the basis of the above-described embodiment, a description is given below as to how to determine a following target of an autonomous vehicle. Fig. 3 is a schematic flowchart of another control method for an autonomous vehicle according to an embodiment of the present application, where as shown in fig. 3, the method includes:
s301, after the lane changing direction of the first vehicle is determined, longitudinal speed information and position information of the first vehicle and the second vehicle are respectively obtained.
S302, according to the longitudinal speed information, the position information and the preset following distance, a first longitudinal deceleration and a second longitudinal deceleration of the automatic driving vehicle are respectively determined.
And S303, if the second longitudinal deceleration is larger than the first longitudinal deceleration, adjusting the current following vehicle of the automatic driving vehicle to be a second vehicle.
And S304, controlling the automatic driving vehicle to follow the second vehicle to run according to the second longitudinal deceleration.
The technical terms, technical effects, technical features and alternative embodiments of S301 to S304 can be understood by referring to S201 to S203 shown in fig. 2, and repeated descriptions thereof will not be repeated here.
It is understood that in the embodiment of the present application, the controller may control the autonomous vehicle to decelerate in advance by determining that a larger longitudinal deceleration is required when the autonomous vehicle travels following the second vehicle, thereby avoiding discomfort or a risk of collision to a passenger when the vehicle suddenly decelerates.
The control method of the automatic driving vehicle includes the steps that firstly, steering lamp information and transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle are obtained; subsequently, determining a lane changing direction of the first vehicle according to the turn light information and the transverse speed information; then, the autonomous vehicle is controlled to shift in a direction opposite to the lane change direction of the first vehicle. By the mode, the self vehicle can be controlled to perform reverse direction deviation according to the lane changing direction of the first vehicle, so that whether the second vehicle exists can be monitored timely, and the following target and the running speed of the automatic driving vehicle can be adjusted according to the speed information, the position information and the like of the first vehicle and the second vehicle.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer readable storage medium, and when executed, performs steps comprising the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
In addition to the above embodiments, an application scenario of the control method for an autonomous vehicle according to the present application will be described below.
Fig. 4 is a schematic view of an application scenario of an autonomous vehicle according to an embodiment of the present application. As shown in fig. 4, includes: autonomous vehicle 401, front vehicle 402, and front vehicle 403. Among them, the autonomous vehicle 401, the preceding vehicle 402, and the preceding vehicle 403 all run in the right lane of the road. It is appreciated that if the drive assist function is active, the autonomous vehicle 401 may be traveling at a set speed; when there is a preceding vehicle 402, the autonomous vehicle 401 can follow the preceding vehicle 402. If the preceding vehicle 402 is about to make a lane change to the left lane, the autonomous vehicle 401 may not detect the preceding vehicle 403 in time due to the obstruction of the preceding vehicle 402.
In the embodiment of the present application, the controller in the autonomous vehicle 401 can recognize the lane change intention of the preceding vehicle 402 and determine the lane change direction of the preceding vehicle 402 by the turn lamp information and the lateral speed information of the preceding vehicle 402; if the front vehicle 402 does not leave the original lane, the automatic driving vehicle 401 is controlled to laterally shift in the opposite direction, so that the front vehicle 402 is prevented from shielding a sensor on the automatic driving vehicle 401, and the existence of the front vehicle 403 is timely monitored.
It should be understood that the application scenario of the present technical solution may be the control scenario of the autonomous vehicle in fig. 4, but is not limited thereto, and may also be applied to other scenarios requiring control of the autonomous vehicle.
Fig. 5 is a schematic structural diagram of a control device of an autonomous vehicle according to an embodiment of the present application. The control device of the autonomous vehicle may be implemented by software, hardware, or a combination of both, and may be, for example, the controller in the above-described embodiment to execute the control method of the autonomous vehicle in the above-described embodiment. As shown in fig. 5, the control device 500 of the autonomous vehicle includes:
an obtaining module 501, configured to obtain turn signal information and lateral speed information of a first vehicle that an autonomous vehicle currently follows;
the control module 502 is used for determining the lane changing direction of the first vehicle according to the turn light information and the transverse speed information; the autonomous vehicle is controlled to deflect in a direction opposite to a lane change direction of the first vehicle.
In an alternative embodiment, the control module 502 is specifically configured to determine that the lane change direction of the first vehicle is a left direction if a left turn light of the first vehicle is turned on and the first vehicle has a lateral speed to the left; if the right turn light of the first vehicle is turned on and the first vehicle has a lateral velocity to the right, determining that the lane change direction of the first vehicle is the right direction.
In an alternative embodiment, the control module 502 is specifically configured to control the autonomous vehicle to shift in a direction opposite to a lane change direction of the first vehicle if the first vehicle is traveling in a current lane of travel of the autonomous vehicle.
In an optional embodiment, the obtaining module 501 is further configured to obtain longitudinal speed information and position information of a first vehicle and a second vehicle, respectively, where the second vehicle runs in a current running lane of the autonomous vehicle and is located in front of the first vehicle; the control module 502 is further configured to determine a first longitudinal deceleration at which the autonomous vehicle travels following the first vehicle and a second longitudinal deceleration at which the autonomous vehicle travels following the second vehicle according to the longitudinal speed information, the position information, and the preset following distance; if the second longitudinal deceleration is greater than the first longitudinal deceleration, the currently following vehicle of the autonomous vehicle is adjusted to be the second vehicle.
In an alternative embodiment, the control module 502 is further configured to control the autonomous vehicle to follow the second vehicle based on the second longitudinal deceleration.
It should be noted that the control device for an autonomous vehicle provided in the embodiment shown in fig. 5 may be used to execute the control method for an autonomous vehicle provided in any of the above embodiments, and specific implementation manners and technical effects are similar and will not be described again here.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic device 600 may include: at least one processor 601 and memory 602. Fig. 6 shows an electronic device as an example of a processor.
The memory 602 is used for storing programs. In particular, the program may include program code including computer operating instructions.
The memory 602 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The processor 601 is used for executing computer-executed instructions stored in the memory 602 to implement the above-mentioned control method of the autonomous vehicle; the processor 601 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement the embodiments of the present Application.
Alternatively, in a specific implementation, if the communication interface, the memory 602 and the processor 601 are implemented independently, the communication interface, the memory 602 and the processor 601 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. Buses may be classified as address buses, data buses, control buses, etc., but do not represent only one bus or type of bus.
Alternatively, in a specific implementation, if the communication interface, the memory 602 and the processor 601 are integrated into a chip, the communication interface, the memory 602 and the processor 601 may complete communication through an internal interface.
The embodiment of the application also provides a chip which comprises a processor and an interface. Wherein the interface is used for inputting and outputting data or instructions processed by the processor. The processor is adapted to perform the method provided in the above method embodiments. The chip can be applied to a control device of an automatic driving vehicle.
Embodiments of the present application also provide a program that, when executed by a processor, is configured to perform the control method for an autonomous vehicle provided by the above method embodiments.
Embodiments of the present application also provide a program product, such as a computer-readable storage medium, having instructions stored therein, which when executed on a computer, cause the computer to execute the method for controlling an autonomous vehicle provided by the above method embodiments.
The present application also provides a computer-readable storage medium, which may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium has stored therein program information for the control method of the above-described autonomous vehicle.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the invention are brought about in whole or in part when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method of an autonomous vehicle, the method comprising:
acquiring steering lamp information and transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle;
determining a lane changing direction of the first vehicle according to the turn light information and the transverse speed information;
controlling the autonomous vehicle to shift in a direction opposite to a lane change direction of the first vehicle.
2. The method of claim 1, wherein the determining the lane change direction of the first vehicle comprises:
if a left turn light of the first vehicle is turned on and the first vehicle has a lateral speed to the left, determining that the lane changing direction of the first vehicle is the left direction;
if the right turn light of the first vehicle is turned on and the first vehicle has a lateral speed towards the right, determining that the lane changing direction of the first vehicle is the right direction.
3. The method of claim 1 or 2, wherein said controlling the autonomous vehicle to shift in a direction opposite to the lane change direction of the first vehicle comprises:
and if the first vehicle runs in the current running lane of the automatic driving vehicle, controlling the automatic driving vehicle to deviate towards the direction opposite to the lane changing direction of the first vehicle.
4. The method of claim 1, further comprising:
acquiring longitudinal speed information and position information of the first vehicle and a second vehicle respectively, wherein the second vehicle runs in a current running lane of the automatic driving vehicle and is positioned in front of the first vehicle;
determining a first longitudinal deceleration at which the autonomous vehicle travels following the first vehicle and a second longitudinal deceleration at which the autonomous vehicle travels following the second vehicle, based on the longitudinal speed information, the position information, and a preset following distance;
if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjusting a currently following vehicle of the autonomous vehicle to the second vehicle.
5. The method of claim 4, wherein after the adjusting the currently following vehicle of the autonomous vehicle to the second vehicle, the method further comprises:
controlling the autonomous vehicle to follow the second vehicle according to the second longitudinal deceleration.
6. A control apparatus of an autonomous vehicle, the apparatus comprising:
the automatic driving vehicle comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the turn light information and the transverse speed information of a first vehicle which is currently followed by the automatic driving vehicle;
the control module is used for determining the lane changing direction of the first vehicle according to the steering lamp information and the transverse speed information; controlling the autonomous vehicle to shift in a direction opposite to a lane change direction of the first vehicle.
7. The apparatus of claim 6, wherein the control module is configured to determine that the lane change direction of the first vehicle is a left direction if a left turn light of the first vehicle is on and there is a lateral velocity of the first vehicle to the left; if the right turn light of the first vehicle is turned on and the first vehicle has a lateral velocity towards the right, determining that the lane changing direction of the first vehicle is the right direction.
8. The device according to claim 6 or 7, characterized in that the control module is configured to control the autonomous vehicle to shift in a direction opposite to a lane change direction of the first vehicle, in particular if the first vehicle is travelling in a current travelling lane of the autonomous vehicle.
9. The apparatus of claim 6, wherein the obtaining module is further configured to obtain longitudinal speed information and position information of the first vehicle and a second vehicle, respectively, the second vehicle traveling in a current lane of travel of the autonomous vehicle and located in front of the first vehicle; the control module is further used for determining a first longitudinal deceleration of the automatic driving vehicle to follow the first vehicle and a second longitudinal deceleration of the automatic driving vehicle to follow the second vehicle according to the longitudinal speed information, the position information and a preset vehicle following distance; if the second longitudinal deceleration is greater than the first longitudinal deceleration, adjusting a currently following vehicle of the autonomous vehicle to the second vehicle.
10. The apparatus of claim 9, wherein the control module is further configured to control the autonomous vehicle to follow the second vehicle based on the second longitudinal deceleration.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115056755A (en) * | 2022-08-19 | 2022-09-16 | 理工雷科智途(泰安)汽车科技有限公司 | Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115056755A (en) * | 2022-08-19 | 2022-09-16 | 理工雷科智途(泰安)汽车科技有限公司 | Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded |
| CN115056755B (en) * | 2022-08-19 | 2022-11-15 | 理工雷科智途(泰安)汽车科技有限公司 | Emergency braking control method and system for self-vehicle under condition that front vehicle is shielded |
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