CN114889650A - Method for driving vehicle and unmanned vehicle - Google Patents
Method for driving vehicle and unmanned vehicle Download PDFInfo
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- CN114889650A CN114889650A CN202210744368.3A CN202210744368A CN114889650A CN 114889650 A CN114889650 A CN 114889650A CN 202210744368 A CN202210744368 A CN 202210744368A CN 114889650 A CN114889650 A CN 114889650A
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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
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
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Abstract
The embodiment of the invention discloses a method for driving a vehicle, which comprises the steps of judging whether a driverless vehicle has a lane change requirement or not; if yes, acquiring a target lane corresponding to the lane change requirement; judging whether the length of the first merge-able road section is greater than or equal to a first preset threshold value or not; if so, controlling the unmanned vehicle to merge into the first merge road section; if not, judging whether the length of the second merge-able road section is greater than or equal to a first preset threshold value; if so, controlling the unmanned vehicle to merge into a second merge road section; if not, judging whether the length of the third merge-able road section is greater than or equal to a second preset threshold value or not; if so, controlling the unmanned vehicle to merge into the third merged road section, and merging the unmanned vehicle into the target lane at the road section which is closest to the trigger target of the lane change requirement and has the length larger than the first preset threshold value, so that the unmanned vehicle can successfully merge into the target lane and the running time of the unmanned vehicle is guaranteed.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned vehicles, in particular to a vehicle running method and an unmanned vehicle.
Background
The unmanned vehicle is one of intelligent automobiles, also called as a wheeled mobile robot, and mainly depends on an intelligent driver which is mainly a computer system in the automobile to realize the purpose of unmanned driving, namely the unmanned vehicle is a vehicle which can be started, driven and stopped without a driver. The intelligent driving instrument comprises a high-precision map, positioning, perception and the like. The appearance of the unmanned vehicle undoubtedly brings unprecedented experience to the traveling of people.
However, in the process of implementing the present invention, the inventors of the present invention found that: when the current driverless vehicle runs on a driving lane and needs to change the lane to a target lane, the lane change is usually performed on an incorporable road section nearest to a trigger target triggering the lane change requirement, but when the length of the nearest incorporable road section is too short, the driverless vehicle is easy to fail to merge the lane.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a method of driving a vehicle and an unmanned vehicle that overcome or at least partially address the above-mentioned problems.
According to an aspect of an embodiment of the present invention, there is provided a method of traveling a vehicle, the method including: judging whether the unmanned vehicle has a lane change requirement or not according to a preset running route of the unmanned vehicle; if yes, acquiring a target lane corresponding to the lane change requirement; when a first non-merged road section, a first merged road section, a second non-merged road section, a second merged road section, a third non-merged road section and a third merged road section are sequentially arranged on the target lane from a trigger target of the lane change requirement, the first non-merged road section, the first merged road section, the second non-merged road section, the second merged road section, the third non-merged road section and the third merged road section are all positioned in front of the unmanned vehicle, and the length of at least one of the first merged road section, the second merged road section and the third merged road section is greater than a first preset threshold value, judging whether the length of the first merged road section is greater than or equal to the first preset threshold value; if the length of the first merge-able road section is larger than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the first merge-able road section; if the length of the first merge-able road section is smaller than a first preset threshold value, judging whether the length of the second merge-able road section is larger than or equal to the first preset threshold value; if the length of the second merge-able road section is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section; if the length of the second merge-able road section is smaller than a first preset threshold value, judging whether the length of the third merge-able road section is larger than or equal to a second preset threshold value; if the length of the third merge-able road section is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the third merge-able road section; the step of controlling the unmanned vehicle to merge into the target lane at the first merge-able segment, further comprising: comparing the length of the first merge-able road section with a second preset threshold value, wherein the second preset threshold value is larger than the first preset threshold value; if the length of the first merge-able segment is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at the first merge-able segment at a reduced speed; if the length of the first merge-able section is greater than or equal to the second preset threshold value, controlling the unmanned vehicle to merge into the target lane at the first merge-able section at a normal speed.
In an alternative form, the step of controlling the unmanned vehicle to merge into the target lane at the second merges-able segment further includes: comparing the length of the second merge-able segment with the magnitude of the second preset threshold; if the length of the second merge-able segment is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at the second merge-able segment at a reduced speed; if the length of the second merge-able section is greater than or equal to the second preset threshold, controlling the unmanned vehicle to merge into the target lane on the second merge-able section at a normal speed.
According to an aspect of an embodiment of the present invention, there is provided an apparatus for running a vehicle, the apparatus including: the first judgment module is used for judging whether the unmanned vehicle has a lane change requirement or not according to a preset running route of the unmanned vehicle; the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a target lane corresponding to a lane change requirement if the unmanned vehicle has the lane change requirement; a second determination module, configured to determine whether a length of the first merge-able road segment is greater than or equal to a first preset threshold value when a first non-merge-able road segment, a first merge-able road segment, a second non-merge-able road segment, a second merge-able road segment, a third non-merge-able road segment, and a third merge-able road segment are sequentially provided on the target lane from a trigger target of the lane change request, where the first non-merge-able road segment, the first merge-able road segment, the second non-merge-able road segment, the second merge-able road segment, the third non-merge-able road segment, and the third merge-able road segment are all located in front of the unmanned vehicle, and a length of at least one of the first merge-able road segment, the second merge-able road segment, and the third merge-able road segment is greater than the first preset threshold value; the first control module is used for controlling the unmanned vehicle to merge into the target lane on the first merge-able road section if the length of the first merge-able road section is greater than or equal to a first preset threshold value; the third judging module is used for judging whether the length of the second merge-able road section is greater than or equal to a first preset threshold value or not if the length of the first merge-able road section is smaller than the first preset threshold value; the second control module is used for controlling the unmanned vehicle to merge into the target lane on the second merge-able road section if the length of the second merge-able road section is greater than or equal to a first preset threshold value; the fourth judging module is used for judging whether the length of the third merge-able road section is greater than or equal to a second preset threshold value or not if the length of the second merge-able road section is less than the first preset threshold value; a third control module, configured to control the unmanned vehicle to merge into the target lane on the third merge-able road segment if the length of the third merge-able road segment is greater than or equal to a first preset threshold; the first control module includes: the first comparison unit is used for comparing the length of the first merge-into road section with a second preset threshold value, wherein the second preset threshold value is larger than the first preset threshold value; a first control unit, configured to control the unmanned vehicle to merge into the target lane at the first merge-able road segment at a reduced speed if the length of the first merge-able road segment is less than the second preset threshold; a second control unit, configured to control the unmanned vehicle to merge into the target lane on the first merge-able road segment at a normal speed if the length of the first merge-able road segment is greater than or equal to the second preset threshold.
In an alternative form, the second control module includes: the second comparison unit is used for comparing the length of the second merge-able road section with the size of the second preset threshold value; a third control unit, configured to control the unmanned vehicle to merge into the target lane at the second merge-able segment at a reduced speed if the length of the second merge-able segment is less than the second preset threshold; a fourth control unit, configured to control the unmanned vehicle to merge into the target lane on the second merge-able road segment at a normal speed if the length of the second merge-able road segment is greater than or equal to the second preset threshold.
According to an aspect of an embodiment of the present invention, there is provided an unmanned vehicle including: at least one processor, and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform a method as described above.
The embodiment of the invention has the beneficial effects that: different from the existing method for driving the vehicle, the method for driving the vehicle in the embodiment of the invention can realize that the unmanned vehicle merges into the target lane at the road section which is closest to the triggering target of the lane change requirement and has the length larger than the first preset threshold value, thereby not only realizing that the unmanned vehicle successfully merges before the triggering target of the lane change requirement, but also ensuring the driving time of the unmanned vehicle.
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One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic flow chart diagram of a method of operating a vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram illustrating one implementation of determining whether a lane change is required for an unmanned vehicle in accordance with an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for controlling an unmanned vehicle to merge into a target lane at a first merge-able road segment according to an embodiment of the invention;
FIG. 4 is a schematic flow chart diagram of another method for operating a vehicle provided by an embodiment of the present invention;
FIG. 5 is a schematic flow chart diagram of yet another method for operating a vehicle provided by an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a method for controlling an unmanned vehicle to merge into a target lane at a second merge-able road segment according to an embodiment of the invention;
FIG. 7 is a schematic flow chart diagram illustrating a method for driving a vehicle according to an embodiment of the present invention
Fig. 8 is a flowchart illustrating a method for controlling an unmanned vehicle to merge into a target lane at a third merge-able road segment according to an embodiment of the invention.
Fig. 9 is a schematic view of an apparatus for running a vehicle according to an embodiment of the present invention;
fig. 10 is a schematic diagram of a hardware structure of an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. 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 invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for driving a vehicle according to an embodiment of the present invention, the method including the following steps:
step S101, judging whether the unmanned vehicle has a lane change requirement or not according to a preset running route of the unmanned vehicle, and if so, executing step S102.
If the unmanned vehicle does not have the lane change requirement, the unmanned vehicle is only required to be controlled to run on the current running lane, and after the preset time, the step S101 is executed, namely after the preset time, whether the unmanned vehicle has the lane change requirement is judged.
When the user uses the unmanned vehicle, a preset travel route from the starting point to the destination will be generated. The preset driving route can be a driving route recommended by the unmanned vehicle according to the vehicle using time, the starting point, the destination and the vehicle using habits of the user, and can also be a driving route selected by the user according to the starting point, the destination and the like.
For example, the preset driving route includes going straight on the a road, going straight to the B turn intersection, then turning right to go straight on the C road, going straight to the D turn intersection, then turning left to go on the E road … …
Typically, the unmanned vehicle has a lane change requirement at a traffic light or at a turning intersection.
For example, when the unmanned vehicle needs to turn at a B-turn intersection, the unmanned vehicle needs to merge into a turning lane, and a lane change request exists.
In some embodiments, the step of determining whether the unmanned vehicle has a lane change requirement may refer to fig. 2, and step S101 includes the following steps:
step S1011, acquiring a driving lane on which the unmanned vehicle is currently driving.
The driving lanes may be a straight lane, a turning lane turning to the left, and a right-turning lane turning to the right.
Step S1012, obtaining the nearest first turning intersection that needs to be turned from the preset driving route of the unmanned vehicle.
In some embodiments, the first turn intersection is provided with a traffic light, and the traffic light is a traffic light that allows turning.
Step S1013, a first turning lane corresponding to the first turning intersection is acquired.
The first turning lane corresponding to the first turning intersection corresponds to a driving route of 'turning'. For a single row of turning lanes, for example, a right turn, the turning lane is the lane furthest from the lane line. For example, turning left, the turning lane is the lane closest to the lane line.
It should be noted that, for a double row of turning lanes or a multiple row of turning lanes, all the turning lanes need to be acquired.
Step S1014, determining whether the first turning lane is the same as the driving lane, if not, executing step S1015, otherwise, executing step S1016.
For example, if the driving lane of the unmanned vehicle is a straight driving lane, the first turning lane is different from the driving lane, and step S1015 is executed to determine that there is a lane change requirement for the unmanned vehicle.
For example, if the driving lane of the unmanned vehicle is a turning lane turning to the left and the first turning lane is a turning lane turning to the right, the first turning lane is different from the driving lane, and step S1015 is executed to determine that the unmanned vehicle has a lane change requirement.
For example, if the driving lane of the unmanned vehicle is a turning lane for turning to the right and the first turning lane is a turning lane for turning to the right, the first turning lane is the same as the driving lane, and step S1016 is performed.
Step S1015, determining that the unmanned vehicle has a lane change requirement, where the first turning lane is a target lane corresponding to the lane change requirement.
Step S1016, obtaining a second turning intersection needing to turn, which is closest to the first turning intersection, from a preset driving route of the unmanned vehicle.
And step S1017, acquiring a second turning lane corresponding to the second turning intersection.
Step S1018, determining whether the second turning lane is the same as the driving lane, and if not, executing step S1019.
Step S1019, determining that the unmanned vehicle has a lane change requirement, wherein the second turning lane is a target lane corresponding to the lane change requirement.
And if the second turning lane is the same as the driving lane, determining that the unmanned vehicle has no lane change requirement.
And step S102, acquiring a target lane corresponding to the lane change requirement.
According to the above steps S1011 to S1019, when the first turning lane is different from the driving lane, the target lane is the first turning lane, and the trigger target of the lane change requirement is the first turning lane; the first turning lane is the same as the driving lane, when the second turning lane is different from the driving lane, the target lane is the second turning lane, and the triggering target of the lane change requirement is the second turning lane.
Step S103, when the target lane has a first non-merge section, a first merge-able section, a second non-merge section, a second merge-able section, a third non-merge section and a third merge-able section in sequence from the trigger target of the lane change demand, the first non-merge segment, first merge segment, second non-merge segment, second merge segment, third non-merge segment, and third merge segment are all located forward of the unmanned vehicle, at least one of the first merge segment, the second merge segment, and the third merge segment has a length greater than a first preset threshold, judging whether the length of the first merge-able road segment is greater than or equal to the first preset threshold, if so, executing step S104, otherwise, executing step S105.
Wherein the first non-merged road segment, the second non-merged road segment, and the third non-merged road segment include a congested road segment and a solid road segment, respectively.
Wherein the first, second, and third mergeable segments are not congested segments and are not solid segments.
Wherein one achievable measurement method of the length of the first incorporable segment is: the unmanned vehicle is provided with a vehicle-mounted radar, the vehicle-mounted radar continuously transmits signals and receives echo signals of objects, the distance between the objects and the vehicle-mounted radar can be determined according to the transmitted signals and the echo signals of the objects, the vehicle-mounted radar determines a first distance between the unmanned vehicle and the first non-merging road section and a second distance between the unmanned vehicle and the second non-merging road section, and the length of the first merging road section is obtained by subtracting the second distance from the first distance.
The first preset threshold is a merging safety distance, and for a vehicle running normally, the merging safety distance can be set to be 50 meters.
And only when the length of the first non-merging road section is greater than or equal to the merging safety distance, the unmanned vehicle is merged into the first non-merging road section, so that the driving safety of the unmanned vehicle can be guaranteed.
Step S104, controlling the unmanned vehicle to merge into the target lane on the first merge-able road section.
In some embodiments, referring to fig. 3, step S104 includes the following steps:
step S1041, comparing the length of the first merge-able road segment with a second preset threshold, where the second preset threshold is greater than the first preset threshold, if the length of the first merge-able road segment is less than the second preset threshold, executing step S1042, otherwise executing step S1043.
In some embodiments, the second preset threshold is a merge safety distance plus a braking distance, and generally, the merge safety distance may be set to 50 meters, and the braking distance may be set to 35 meters, and then the second preset threshold may be set to 85 meters.
Of course, the merge safety distance or the braking distance may be set to other values.
Step S1042, controlling the unmanned vehicle to merge into the target lane at the first merge-able segment at a reduced speed.
It should be noted that, when the length of the first merge-able road segment is smaller than a second preset threshold, the unmanned vehicle is controlled to reduce the speed, and when the first merge-able road segment merges into the target lane, the driving safety of the unmanned vehicle can be further ensured.
Step S1043, controlling the unmanned vehicle to merge into the target lane at the first merge-able road segment at a normal speed.
It should be noted that, when the length of the first merge-able road segment is greater than or equal to a second preset threshold, the unmanned vehicle is controlled to have a normal speed, and when the first merge-able road segment merges into the target lane, the driving speed of the unmanned vehicle and the time for the unmanned vehicle to reach the destination are not affected.
Step S105, determining whether the length of the second merge-able segment is greater than or equal to a first preset threshold, if the length of the second merge-able segment is greater than or equal to the first preset threshold, executing step S106, otherwise executing step S107.
When the length of the first merge-able road section is smaller than a first preset threshold value, whether the second merge-able road section is suitable for a merge road can be detected in order to guarantee the merging safety of the unmanned vehicle and the driving safety of the unmanned vehicle. Specifically, it may be determined whether the length of the second merge-able segment is greater than or equal to a first preset threshold, if the length of the second merge-able segment is greater than or equal to the first preset threshold, step S106 may be executed to control the unmanned vehicle to merge into the target lane at the second merge-able segment, if the length of the second merge-able segment is less than the first preset threshold, whether the third merge-able segment is suitable for a merge-way may be detected, and specifically, step S107 may be executed.
In some embodiments, when the target lane has a first non-merged road segment, a first mergeable road segment, a second non-merged road segment, a second mergeable road segment, a third non-merged road segment and a third mergeable road segment in sequence from the trigger target of the lane change request, and the first non-merged road segment, the first mergeable road segment, the second non-merged road segment, the second mergeable road segment, the third non-merged road segment and the third mergeable road segment are all located in front of the unmanned vehicle, then there may be a traffic light in front of the second non-merged road segment that does not allow turning, or there may be a traffic accident in front of the second non-merged road segment, or the second non-merged road segment is a solid road segment.
When there is a traffic accident in front of the second non-merged road segment, it is necessary to avoid merging the target lane in the second merged road segment so as to avoid delaying driving, and before step S105, it may be determined whether there is a traffic accident in front of the second non-merged road segment, and if so, it is determined that the target lane cannot be merged in the second merged road segment, or the target lane cannot be merged in the third merged road segment.
When the second non-merged road segment is the solid road segment, it may be determined whether the second non-merged road segment is the solid road segment before step S105 when the second merge-able road segment merges into the target lane, and if so, step S105 may be performed.
When there is a traffic light that does not allow turning in front of the second non-merged road segment, the second merged road segment may merge into the target lane, and referring to fig. 4, before step S105, the method may further include the steps of:
step S201, detecting whether a first traffic light exists between the first merge-able road section and the second non-merge-able road section, and if the first traffic light exists between the first merge-able road section and the second non-merge-able road section, executing step S202.
In some embodiments, if there is no first traffic light between the first merge-able segment and the second non-merge segment, then it is determined whether the second non-merge segment is a solid segment, it is determined whether there is a traffic accident ahead of the second non-merge segment, and so on.
Step S202, determining whether the first merge-able road segment is located in a turning lane, and if the first merge-able road segment is located in the turning lane, executing step S203.
Step S203, judging whether the vehicle is allowed to turn at the first traffic light, and if the vehicle is not allowed to turn at the first traffic light, executing the step S105.
When a first traffic light is arranged between the first merge-able road section and the second non-merge-able road section, the first merge-able road section is positioned on a turning lane, and the first traffic light does not allow the vehicle to turn, the unmanned vehicle can only run according with the traffic rules when the second merge-able road section merges into the target lane and the unmanned vehicle sequentially passes through the second non-merge-able road section, the first merge-able road section and the first non-merge-able road section and turns at the trigger target.
In some embodiments, when the target lane has a first non-merge section, a first merge section, a second non-merge section, a second merge section, a third merge section, and a third merge section in order from the trigger target of the lane change request, and the first non-merge section, the first merge section, the second non-merge section, the second merge section, the third merge section, and the third merge section are all located in front of the unmanned vehicle, and when the length of the first merge section is less than a first preset threshold, it may be detected whether the second merge section fits into a merge lane, that is, step S105 is performed, or, referring to fig. 5, the following steps are performed before step S105 is performed:
step S301, detecting whether the unmanned vehicle has an optional route from the target point, if the unmanned vehicle has no optional route from the target point, executing step S105, and if the unmanned vehicle has an optional route from the target point, executing step S302.
For example, the preset driving route is that the vehicle travels straight on the road b at the turn intersection a, and the vehicle travels straight to reach the turn intersection at the target point c after the triggering target turns, and the selectable route may be that the vehicle travels straight on the road d at the turn intersection a, and travels straight to reach the turn intersection at the target point c after the vehicle passes through the turn intersection e.
The target point is a position point in front of the trigger target, for example, the target point may be a turning intersection in front of the trigger target, which needs to turn.
When the third non-merged road segment is a road segment from the unmanned vehicle and the target point is a turning intersection that needs to be turned ahead of the trigger target, it is obvious that there is no alternative route, and then only step S105 can be executed.
When a turning intersection is arranged between the third non-merged road section and the unmanned vehicle and no lane change requirement exists between the unmanned vehicle and the turning intersection, the unmanned vehicle has an optional route from the target point, and then step S302 is executed.
Step S302, predicting a first driving time of the unmanned vehicle to reach the target point through the preset driving route, and predicting a second driving time of the unmanned vehicle to reach the target point through the selectable route.
The first driving time and the second driving time may refer to historical data of the vehicle at the current time.
Step S303, determining whether the first driving time is less than or equal to the second driving time, and if the first driving time is less than or equal to the second driving time, executing step S105.
And when the first driving time is less than or equal to the second driving time, namely the time for the unmanned vehicle to reach the target point through the preset driving route is less than or equal to the time for the unmanned vehicle to reach the target point through the selectable route, the unmanned vehicle still selects to drive according to the preset driving route.
And when the first driving time is longer than the second driving time, the unmanned vehicle can be selected to drive according to an optional route so as to guarantee the driving time of the unmanned vehicle.
Step S106, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section.
When the length of the first merge-able segment is smaller than a first preset threshold and the length of the second merge-able segment is greater than or equal to the first preset threshold, step S106 is executed. In some embodiments, referring to fig. 6, step S106 includes the following steps:
step S1061, comparing the length of the second merge-able segment with the second preset threshold.
In step S1062, if the length of the second merge-able road segment is less than the second preset threshold, the unmanned vehicle is controlled to merge into the target lane at the second merge-able road segment at a reduced speed.
In step S1063, if the length of the second merge-able road segment is greater than or equal to the second preset threshold, the unmanned vehicle is controlled to merge into the target lane at the second merge-able road segment at a normal speed.
The implementation process and beneficial effects of steps S1061 to S1063 may refer to steps S1041 to S1043, which are not described herein again.
Step S107, determining whether the length of the third merge-able segment is greater than or equal to a second preset threshold, and if the length of the third merge-able segment is greater than or equal to the first preset threshold, performing step S108.
When the length of the first merge-able road segment is smaller than a first preset threshold and the length of the second merge-able road segment is smaller than the first preset threshold, it is detected whether a third merge-able road segment is suitable for the unmanned vehicle to merge into the target lane, and step S107 is executed.
In some embodiments, when the target lane has a first non-merged road segment, a first mergeable road segment, a second non-merged road segment, a second mergeable road segment, a third non-merged road segment and a third mergeable road segment in sequence from the trigger target of the lane change request, and the first non-merged road segment, the first mergeable road segment, the second non-merged road segment, the second mergeable road segment, the third non-merged road segment and the third mergeable road segment are all located in front of the unmanned vehicle, then there may be a traffic light in front of the third non-merged road segment that does not allow turning, or there may be a traffic accident in front of the third non-merged road segment, or the third non-merged road segment is a solid road segment.
When a traffic accident occurs in front of the third non-merged road section, merging into the target lane at the third merged road section needs to be avoided so as to avoid delaying driving, before step S105, it may be determined whether a traffic accident occurs in front of the third non-merged road section, and if yes, the traffic accident cannot be merged into the target lane at the third merged road section.
When the third non-merged road segment is the solid road segment, it may be determined whether the third non-merged road segment is the solid road segment before step S107 if the third non-merged road segment is merged into the target lane, and if so, step S107 is performed.
When there is a traffic light that does not allow turning ahead of the third non-merged road segment, the third merged road segment may merge into the target lane, please refer to fig. 7, before step S107, the method may further include the steps of:
step S401, detecting whether there is a second traffic light between the second merge-able road segment and the third non-merge road segment, and if there is a second traffic light between the second merge-able road segment and the third non-merge road segment, executing step S402.
In some embodiments, if there is no second traffic light between the second merge-able segment and the third non-merge segment, then a determination is made as to whether the third non-merge segment is a solid segment, whether there is a traffic accident ahead of the third non-merge segment, and so on.
Step S402, judging whether the vehicle is allowed to turn at the second traffic light, and if the vehicle is not allowed to turn at the second traffic light, executing step S107.
When a second traffic light is arranged between the second merge-able road section and a third non-merge-able road section, and the second traffic light does not allow the vehicle to turn, the third merge-able road section merges into the target lane, and the unmanned vehicle sequentially passes through the third merge-able road section, the third non-merge-able road section, the second non-merge-able road section, the first merge-able road section and the first non-merge-able road section, and turns at the trigger target, then the unmanned vehicle is driven to meet the traffic regulation.
Step S108, controlling the unmanned vehicle to merge into the target lane at the third merge-able road section.
When the length of the first merge-able section is smaller than a first preset threshold, the length of the second merge-able section is smaller than the first preset threshold, and the length of the third merge-able section is greater than or equal to the first preset threshold, the unmanned vehicle may be controlled to merge into the target lane at the third merge-able section, that is, step S108 is performed to ensure driving safety of the unmanned vehicle. In some embodiments, referring to fig. 8, step S108 includes the following steps:
step S1081, comparing the length of the third merge-able road segment with the second preset threshold.
Step S1082, if the length of the third merge-able road segment is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at the third merge-able road segment at a reduced speed.
Step S1083, if the length of the third merge-able road segment is greater than or equal to the second preset threshold, controlling the unmanned vehicle to merge into the target lane at the third merge-able road segment at a normal speed.
The implementation process and beneficial effects of steps S1081 to S1083 may refer to steps S1041 to S1043, which are not described herein again.
It should be noted that, no matter which of the first mergeable road segment, the second mergeable road segment and the third mergeable road segment the unmanned vehicle merges into the target lane, by comparing the length of the unmanned vehicle with the size of the second preset threshold value and further controlling the speed of the unmanned vehicle, the driving safety of the unmanned vehicle can be sufficiently ensured.
In the embodiment of the invention, whether the unmanned vehicle has a lane change requirement is judged according to a preset running route of the unmanned vehicle; if yes, acquiring a target lane corresponding to the lane changing requirement; when a first non-merged road section, a first merged road section, a second non-merged road section, a second merged road section, a third non-merged road section and a third merged road section are sequentially arranged on the target lane from a trigger target of the lane change requirement, the first non-merged road section, the first merged road section, the second non-merged road section, the second merged road section, the third non-merged road section and the third merged road section are all positioned in front of the unmanned vehicle, and the length of at least one of the first merged road section, the second merged road section and the third merged road section is greater than a first preset threshold value, judging whether the length of the first merged road section is greater than or equal to the first preset threshold value; if the length of the first merge-able road section is larger than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the first merge-able road section; if the length of the first merge-able road section is smaller than a first preset threshold value, judging whether the length of the second merge-able road section is larger than or equal to the first preset threshold value; if the length of the second merge-able road section is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section; if the length of the second merge-able road section is smaller than a first preset threshold value, judging whether the length of the third merge-able road section is larger than or equal to a second preset threshold value; if the length of the third merge-able road section is greater than or equal to a first preset threshold value, the unmanned vehicle is controlled to merge into the target lane in the third merge-able road section, so that the unmanned vehicle can merge into the target lane in the road section which is closest to the trigger target of the lane change requirement and has the length greater than the first preset threshold value, and therefore the unmanned vehicle can successfully merge into the target lane before the trigger target of the lane change requirement and the running time of the unmanned vehicle is guaranteed.
Example two
Referring to fig. 9, fig. 9 is a schematic view of an apparatus for driving a vehicle according to an embodiment of the present invention, where the apparatus 400 includes: the device comprises a first judgment module 401, an acquisition module 402, a second judgment module 403, a first control module 404, a third judgment module 405, a second control module 406, a fourth judgment module 407 and a third control module 408. The first judging module 401 is configured to judge whether the unmanned vehicle has a lane change requirement according to a preset driving route of the unmanned vehicle; an obtaining module 402, configured to obtain a target lane corresponding to a lane change requirement if the unmanned vehicle has the lane change requirement; a second determining module 403, configured to determine whether a length of the first merge-able segment is greater than or equal to a first preset threshold value when a first non-merge-able segment, a first merge-able segment, a second non-merge-able segment, a second merge-able segment, a third non-merge-able segment, and a third merge-able segment are sequentially located on the target lane from a trigger target of the lane change request, where the first non-merge-able segment, the first merge-able segment, the second non-merge-able segment, the second merge-able segment, the third non-merge-able segment, and the third merge-able segment are all located in front of the unmanned vehicle, and a length of at least one of the first merge-able segment, the second merge-able segment, and the third merge-able segment is greater than the first preset threshold value; a first control module 404, configured to control the unmanned vehicle to merge into the target lane on the first merge-able road segment if the length of the first merge-able road segment is greater than or equal to a first preset threshold; a third determining module 405, configured to determine whether the length of the second merge-able road segment is greater than or equal to a first preset threshold if the length of the first merge-able road segment is smaller than the first preset threshold; a second control module 406, configured to control the unmanned vehicle to merge into the target lane on the second merge-able road segment if the length of the second merge-able road segment is greater than or equal to a first preset threshold; a fourth determining module 407, configured to determine whether the length of the third merge-able road segment is greater than or equal to a second preset threshold if the length of the second merge-able road segment is less than the first preset threshold; a third control module 408, configured to control the unmanned vehicle to merge into the target lane in the third merge-able road segment if the length of the third merge-able road segment is greater than or equal to a first preset threshold.
In some embodiments, the first control module 404 includes: a first comparison unit 4041, a first control unit 4042, and a second control unit 4043. The first comparing unit 4041 is configured to compare the length of the first merge-into road segment with a second preset threshold, where the second preset threshold is greater than the first preset threshold; a first control unit 4042, configured to control the unmanned vehicle to merge into the target lane at the first merge-able segment at a reduced speed if the length of the first merge-able segment is smaller than the second preset threshold; a second control unit 4043, configured to control the unmanned vehicle to merge into the target lane on the first merge-able road segment at a normal speed if the length of the first merge-able road segment is greater than or equal to the second preset threshold.
In some embodiments, the second control module 406 includes: a second comparing unit 4061, a third control unit 4062 and a fourth control unit 4063. The second comparing unit 4061 is configured to compare the length of the second merge-able segment with the size of the second preset threshold; a third control unit 4062, configured to control the unmanned vehicle to merge into the target lane at the second merge-able road segment at a reduced speed if the length of the second merge-able road segment is smaller than the second preset threshold; a fourth control unit 4063, configured to control the unmanned vehicle to merge into the target lane on the second merge-able road segment at a normal speed if the length of the second merge-able road segment is greater than or equal to the second preset threshold.
In some embodiments, the third control module 408 includes: a third comparing unit 4081, a fifth control unit 4082, and a sixth control unit 4083. The third comparing unit 4081 is configured to compare the length of the third merge-able segment with the size of the second preset threshold; a fifth control unit 4082, configured to control the unmanned vehicle to merge into the target lane on the third merge-able segment at the reduced speed if the length of the third merge-able segment is smaller than the second preset threshold; a sixth control unit 4083, configured to control the unmanned vehicle to merge into the target lane on the third merge-able segment at a normal speed if the length of the third merge-able segment is greater than or equal to the second preset threshold.
In some embodiments, before entering the third determining module 405, the apparatus further includes: a first detection module 409, a fifth determination module 410 and a sixth determination module 411. Wherein the first detecting module 409 is used for detecting whether a first traffic light exists between the first merge-able road segment and the second non-merge road segment; a fifth judging module 410, configured to judge whether the first merge able road segment is located in a turning lane if a first traffic light exists between the first merge able road segment and a second non-merge able road segment; a sixth determining module 411, configured to determine whether the vehicle is allowed to turn at the first traffic light if the first merge-able road segment is located in a turning lane, and enter the third determining module 405 if the vehicle is not allowed to turn at the first traffic light.
In some embodiments, before entering the fourth determining module 407, the apparatus further includes: a second detection module 412 and a seventh determination module 413. Wherein a second detection module 412 is configured to detect whether a second traffic light is present between the second merge able segment and a third non-merge segment; a seventh determining module 413, configured to determine whether a vehicle is allowed to turn at a second traffic light if the second merge road segment and a third non-merge road segment have the second traffic light therebetween, and enter the fourth determining module 407 if the vehicle is not allowed to turn at the second traffic light.
In some embodiments, the triggering object has a target point in front of it, and before entering the third determining module 405, the apparatus further includes: a second detection module 414, a prediction module 415, and an eighth determination module 416. The second detecting module 414 is configured to detect whether the unmanned vehicle has a selectable route from the target point, and if the unmanned vehicle has no selectable route from the target point, enter the third determining module; a prediction module 415, configured to predict a first driving time when the unmanned vehicle reaches the target point through the preset driving route and predict a second driving time when the unmanned vehicle reaches the target point through the selectable route if the unmanned vehicle has the selectable route from the target point; an eighth determining module 416, configured to determine whether the first driving time is less than or equal to the second driving time, and if the first driving time is less than or equal to the second driving time, enter the third determining module 405.
In the embodiment of the invention, whether the unmanned vehicle has a lane change requirement is judged by a first judging module 401 according to a preset driving route of the unmanned vehicle; if the unmanned vehicle has a lane change requirement, a target lane corresponding to the lane change requirement is acquired through an acquisition module 402; when a first non-merge section, a first merge section, a second non-merge section, a second merge section, a third non-merge section, and a third merge section are sequentially arranged on the target lane from the trigger target of the lane change requirement, where the first non-merge section, the first merge section, the second merge section, the third merge section, and the third merge section are all located in front of the unmanned vehicle, and at least one of the first merge section, the second merge section, and the third merge section has a length greater than a first preset threshold, determining, by a second determining module 403, whether the length of the first merge section is greater than or equal to the first preset threshold; if the length of the first merge-able segment is greater than or equal to a first preset threshold, controlling, by the first control module 404, the unmanned vehicle to merge into the target lane on the first merge-able segment; if the length of the first merge-able road segment is smaller than a first preset threshold, the third determining module 405 determines whether the length of the second merge-able road segment is greater than or equal to the first preset threshold; if the length of the second merge-able road segment is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the second merge-able road segment through a second control module 406; if the length of the second merge-able road segment is smaller than a first preset threshold, a fourth determining module 407 determines whether the length of the third merge-able road segment is greater than or equal to a second preset threshold; if the length of the third merge-able road segment is greater than or equal to the first preset threshold, the third control module 408 controls the unmanned vehicle to merge into the target lane at the third merge-able road segment, so that the unmanned vehicle merges into the target lane at the road segment which is closest to the trigger target of the lane change requirement and has the length greater than the first preset threshold, and the unmanned vehicle can successfully merge before the trigger target of the lane change requirement and the running time of the unmanned vehicle is guaranteed.
EXAMPLE III
Referring to fig. 10, fig. 10 is a schematic hardware structure diagram of an unmanned vehicle according to an embodiment of the present invention. The unmanned vehicle 500 includes: one or more processors 501 and memory 502, one for example in fig. 10.
The processor 501 and the memory 502 may be connected by a bus or other means, and in the embodiment of the present invention, the bus connection is taken as an example.
The memory 502, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules (e.g., the various modules shown in fig. 9) corresponding to the method of traveling a vehicle in an embodiment of the present invention. The processor 501 executes various functional applications of the device of the traveling vehicle and data processing, that is, the method of traveling a vehicle of the above-described method embodiment, by executing the nonvolatile software program, instructions, and modules stored in the memory 502.
The memory 502 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a device of the traveling vehicle, and the like. Further, the memory 502 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 502 optionally includes memory located remotely from processor 501, which may be connected to control unmanned vehicle devices via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 502 and, when executed by the one or more processors 501, perform a method of traveling a vehicle in any of the method embodiments described above.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
Embodiments of the present invention provide a non-transitory computer-readable storage medium having stored thereon computer-executable instructions for an unmanned vehicle to perform a method of traveling the vehicle in any of the above method embodiments.
Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform a method of traveling a vehicle in any of the method embodiments described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some 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 (5)
1. A method of traveling a vehicle, applied to an unmanned vehicle, the method comprising:
judging whether the unmanned vehicle has a lane change requirement or not according to a preset running route of the unmanned vehicle;
if yes, acquiring a target lane corresponding to the lane change requirement;
when a first non-merged road section, a first merged road section, a second non-merged road section, a second merged road section, a third non-merged road section and a third merged road section are sequentially arranged on the target lane from a trigger target of the lane change requirement, the first non-merged road section, the first merged road section, the second non-merged road section, the second merged road section, the third non-merged road section and the third merged road section are all positioned in front of the unmanned vehicle, and the length of at least one of the first merged road section, the second merged road section and the third merged road section is greater than a first preset threshold value, judging whether the length of the first merged road section is greater than or equal to the first preset threshold value;
wherein in the first, second, and third merge able segments, the third merge able segment is closest to the unmanned vehicle, the first merge able segment is furthest from the unmanned vehicle;
if the length of the first merge-able road section is larger than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the first merge-able road section;
if the length of the first merge-able road section is smaller than a first preset threshold value, judging whether the length of the second merge-able road section is larger than or equal to the first preset threshold value;
if the length of the second merge-able road section is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the second merge-able road section;
if the length of the second merge-able road section is smaller than a first preset threshold value, judging whether the length of the third merge-able road section is larger than or equal to the first preset threshold value;
and if the length of the third merge-able road section is greater than or equal to a first preset threshold value, controlling the unmanned vehicle to merge into the target lane on the third merge-able road section.
2. The method of claim 1, wherein the step of controlling the unmanned vehicle to merge into the target lane at the second merges-able segment further comprises:
comparing the length of the second merge-able segment with the magnitude of the second preset threshold;
if the length of the second merge-able segment is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at the second merge-able segment at a reduced speed;
if the length of the second merge-able section is greater than or equal to the second preset threshold, controlling the unmanned vehicle to merge into the target lane on the second merge-able section at a normal speed.
3. The method of claim 1, wherein the step of controlling the unmanned vehicle to merge into the target lane at the first merge-able segment further comprises:
comparing the length of the first merge-able road section with a second preset threshold value, wherein the second preset threshold value is larger than the first preset threshold value;
if the length of the first merge-able segment is less than the second preset threshold, controlling the unmanned vehicle to merge into the target lane at the first merge-able segment at a reduced speed;
if the length of the first merge-able section is greater than or equal to the second preset threshold value, controlling the unmanned vehicle to merge into the target lane on the first merge-able section at a normal speed.
4. The method of claim 1, wherein there is a turn intersection between the unmanned vehicle and a third non-merging segment and there is no lane change requirement for the unmanned vehicle to the turn intersection, then the unmanned vehicle has an alternative route from the destination point, predicts a first driving time for the unmanned vehicle to reach the destination point through the preset driving route, and predicts a second driving time for the unmanned vehicle to reach the destination point through the alternative route, the method further comprising:
comparing the magnitude of the first driving time and the second driving time, wherein the first driving time and the second driving time can refer to historical data of the vehicle at the current moment;
when the first driving time is less than or equal to the second driving time, the vehicle still selects to drive according to a preset driving route;
and when the first driving time is longer than the second driving time, the vehicle can be selected to drive according to an alternative route.
5. An unmanned vehicle, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the method of any of claims 1-4.
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| CN115512559A (en) * | 2022-09-29 | 2022-12-23 | 上汽通用五菱汽车股份有限公司 | Intelligent driving assistance evaluation method, equipment and storage medium |
| CN115512559B (en) * | 2022-09-29 | 2023-12-29 | 上汽通用五菱汽车股份有限公司 | Intelligent driving assistance evaluation method, device and storage medium |
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| CN112874524A (en) | 2021-06-01 |
| CN112874524B (en) | 2022-08-23 |
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