CN115273461A - Intersection driving method and device for vehicle, vehicle and storage medium - Google Patents

Intersection driving method and device for vehicle, vehicle and storage medium Download PDF

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Publication number
CN115273461A
CN115273461A CN202210747341.XA CN202210747341A CN115273461A CN 115273461 A CN115273461 A CN 115273461A CN 202210747341 A CN202210747341 A CN 202210747341A CN 115273461 A CN115273461 A CN 115273461A
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China
Prior art keywords
vehicle
intersection
state
driving
controlling
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CN202210747341.XA
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Chinese (zh)
Inventor
何临基
鲍鸣宇
卢斌
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202210747341.XA priority Critical patent/CN115273461A/en
Publication of CN115273461A publication Critical patent/CN115273461A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/085—Controlling traffic signals using a free-running cyclic timer
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application relates to a method and a device for crossing driving of a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: acquiring the actual state of a traffic signal lamp at an intersection, and acquiring the current driving state of a vehicle; generating a passable condition of the vehicle according to the actual state, and judging whether the vehicle running according to the current running state meets the passable condition; and if the passable condition is met, controlling the vehicle to keep the current running state to run, otherwise, controlling the vehicle to stop at the intersection to wait for permission to pass. According to the embodiment of the application, the vehicle can be controlled to safely and comfortably pass through the intersection according to the actual state of the intersection signal lamp and the current running state of the vehicle, intelligent driving of the vehicle at the intersection is achieved, the safety and the reliability of the vehicle are guaranteed, driving experience is effectively improved, and the use requirements of users are met.

Description

Intersection driving method and device for vehicle, vehicle and storage medium
Technical Field
The present disclosure relates to the field of intelligent driving technologies, and in particular, to a method and an apparatus for driving a vehicle at an intersection, a vehicle, and a storage medium.
Background
With the development of automobile technology, automobiles are developed from mechanical control to intelligent driving auxiliary control, but driving road environments are complex, particularly unstructured roads such as trunk roads in urban areas have the problems of more intersections and more pedestrians, so that the difficulty of intelligent driving is greatly increased in various complex scenes.
In the related art, the signal lamp state of the vehicle in front of the running can be generally acquired through a camera or an internet of vehicles, and then the vehicle is controlled to pass through the intersection according to the signal lamp state, so that intelligent driving of the vehicle intersection is realized.
However, in the related art, only the state of the signal lamp is considered, so that the influence of other elements at the intersection on the vehicle driving is ignored, the current state of the vehicle is ignored, and particularly, the vehicle is considered as a constant-speed driving state, so that the vehicle is difficult to deal with an emergency situation when driving at the intersection, the consistency of intelligent driving is reduced, the driving experience is influenced, meanwhile, the safety and the reliability of the vehicle cannot be effectively guaranteed, the use requirement of a user cannot be met, and improvement is urgently needed.
Disclosure of Invention
The application provides a method and a device for driving a vehicle at an intersection, the vehicle and a storage medium, which are used for solving the technical problems that other elements at the intersection and the influence of the current driving state of the vehicle on the driving of the vehicle at the intersection are neglected, the intelligentization level is low, and sudden accidents are difficult to deal with in the related art.
An embodiment of a first aspect of the present application provides a method for a vehicle to drive at an intersection, including the following steps: acquiring the actual state of a traffic signal lamp at an intersection, and acquiring the current driving state of a vehicle; generating a passable condition of the vehicle according to the actual state, and judging whether the vehicle running according to the current running state meets the passable condition; and if the passable condition is met, controlling the vehicle to keep the current running state to run, otherwise, controlling the vehicle to stop at the intersection and waiting for permission to pass.
According to the technical means, the traffic condition can be generated according to the actual state of the traffic signal lamp at the intersection, the current running state of the vehicle is combined, whether the vehicle can pass through the current intersection is judged, the running strategy is formulated according to the traffic signal lamp and the vehicle state, the running safety of the vehicle intersection can be improved, the emergency situation of the intersection can be conveniently dealt with, and the intelligent level of intelligent driving of the vehicle is improved.
Optionally, in an embodiment of the present application, before controlling the vehicle to stop at the intersection, the method further includes: when the passable condition is not met, generating a target running state of the vehicle meeting the passable condition according to the actual state and the current running state; detecting whether the target driving state meets a feasible condition; and when the target driving state is detected to meet the feasible condition, controlling the vehicle to pass through the intersection according to the target driving state.
According to the technical means, the vehicle can be adjusted when the current state of the vehicle cannot normally pass through the intersection, and the response flexibility is improved, so that the intersection passing efficiency is increased, the intelligent driving consistency is improved, the intelligent level is improved, and the driving experience of a user is improved.
Optionally, in an embodiment of the present application, the controlling the vehicle to pass through the intersection according to the target driving state includes: sending a driving prompt of the target driving state to a user; and controlling the vehicle to pass through the intersection according to the target driving state according to a confirmation instruction generated by the user based on the driving reminder.
According to the technical means, interaction with the user can be increased, and the user confirmation process is added, so that the user can conveniently and timely stop intelligent driving when an emergency occurs, and the driving safety of the vehicle is improved.
Optionally, in an embodiment of the present application, while controlling the vehicle to keep running in the current running state, the method further includes: detecting traffic information and an actual intersection environment of the intersection; judging whether the interference factors of the vehicle exist or not according to the traffic flow information and the actual intersection environment; and if the interference factor does not exist, continuously controlling the vehicle to keep the current running state to pass through the intersection, otherwise, carrying out takeover prompt.
According to the technical means, the safety of vehicle passing can be improved by considering other interference factors at the intersection.
Optionally, in an embodiment of the present application, the determining whether there is an interference factor of the vehicle according to the traffic information and the actual intersection environment includes: collecting the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering wheel steering angle and the steering wheel steering angular velocity of the vehicle; identifying a running track of the vehicle according to the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering wheel steering angle and the steering wheel steering angular velocity; and determining whether the interference factors exist on the running track according to the traffic information and the actual intersection environment.
According to the technical means, the vehicle running track can be confirmed according to the actual state of the vehicle, the track prediction is carried out on the vehicle, whether interference factors exist on the predicted track of the vehicle or not is judged in advance, the vehicle state can be adjusted conveniently in time, and traffic accidents are prevented.
An embodiment of the second aspect of the present application provides a crossroad driving of a vehicle, including: the acquisition module is used for acquiring the actual state of a traffic signal lamp at the intersection and acquiring the current driving state of a vehicle; the judging module is used for generating a passable condition of the vehicle according to the actual state and judging whether the vehicle running according to the current running state meets the passable condition or not; and the first control module is used for controlling the vehicle to keep the current running state to run if the passable condition is met, otherwise, controlling the vehicle to stop at the intersection and waiting for permission to pass.
Optionally, in an embodiment of the present application, the method further includes: the generating module is used for generating a target running state of the vehicle meeting the passable condition according to the actual state and the current running state when the passable condition is not met; the detection module is used for detecting whether the target running state meets a feasible condition; and the second control module is used for controlling the vehicle to pass through the intersection according to the target driving state when the target driving state is detected to meet the feasible condition.
Optionally, in an embodiment of the present application, the second control module includes: the reminding unit is used for sending the driving reminding of the target driving state to a user; and the confirming unit is used for controlling the vehicle to pass through the intersection according to the target driving state according to a confirming instruction generated by the user based on the driving prompt.
Optionally, in an embodiment of the present application, the first control module is further configured to detect traffic information and an actual intersection environment of the intersection; judging whether the interference factors of the vehicle exist or not according to the traffic flow information and the actual intersection environment; and if the interference factor does not exist, continuously controlling the vehicle to keep the current running state to pass through the intersection, otherwise, taking over the prompt.
Optionally, in an embodiment of the present application, the first control module includes: the acquisition unit is used for acquiring the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering wheel steering angle and the steering wheel steering angular velocity of the vehicle; the identification unit is used for identifying the running track of the vehicle according to the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering wheel steering angle and the steering wheel steering angular speed; and the determining unit is used for determining whether the interference factors exist on the running track according to the traffic information and the actual intersection environment.
An embodiment of a third aspect of the present application provides a vehicle, comprising: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the intersection driving method of the vehicle according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the intersection traveling method of a vehicle as above.
The beneficial effects of the embodiment of the application are as follows:
(1) According to the embodiment of the application, the interference factors and the vehicle states of the intersection can be combined, the traffic signal lamp passing control of the vehicle intersection can be realized, the running consistency of vehicles is increased, the crossing passing efficiency is improved, the intelligent level is improved, and therefore the user experience is improved;
(2) According to the embodiment of the application, the running track of the vehicle is predicted, and whether interference factors exist on the running track or not is judged in advance, so that the emergency situation in front of the vehicle in running can be responded to in time;
(3) The embodiment of the application can increase the interaction between the user and the vehicle, is convenient for the user to adjust the driving strategy in time, takes over the driving of the vehicle when needed, and further increases the safety of vehicle crossing traffic.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method for driving a vehicle at an intersection according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a method of cross-road travel of a vehicle according to one embodiment of the present application;
FIG. 3 is a flow chart of a method of cross-driving a vehicle according to one embodiment of the present application;
fig. 4 is a schematic structural diagram of an intersection driving device of a vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
The system comprises a control system 1, a traffic signal lamp information analysis system 2, a vehicle driving state detection system 3, a take-over control system 4, a sensing system 5, an execution system 6 and a human-vehicle interaction system 7; 10-a crossing driving device of the vehicle; 100. the device comprises an acquisition module 200, a judgment module 300 and a first control module.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A crossroad traveling method and apparatus for a vehicle, and a storage medium according to an embodiment of the present application are described below with reference to the drawings. Aiming at the technical problems that other elements of the intersection and the influence of the current running state of the vehicle on the running of the vehicle intersection are ignored in the related technology mentioned in the background technology center, the intelligent level is low, and the accident is difficult to deal with. Therefore, the technical problems that other elements of the intersection and the influence of the current running state of the vehicle on the running of the vehicle intersection are ignored, the intelligent level is low, and sudden accidents are difficult to deal with in the related technology are solved.
Specifically, fig. 1 is a schematic flowchart of a method for driving a vehicle at an intersection according to an embodiment of the present disclosure.
As shown in fig. 1, the intersection driving method of the vehicle includes the steps of:
in step S101, the actual state of the traffic light at the intersection is acquired, and the current driving state of the vehicle is acquired.
In the actual implementation process, the embodiment of the application can firstly judge whether the current vehicle is in an intelligent driving state, namely whether a user actively takes over the control right of the vehicle.
After the current vehicle is confirmed to be in the intelligent driving state, the embodiment of the application can judge whether the front of a road is a traffic signal lamp intersection or not by means of a front camera of the vehicle or a vehicle networking and the like, and detect the traffic flow condition around the vehicle by means of devices such as an ultrasonic radar and the like.
Further, the embodiment of the application can acquire the actual state of the traffic signal lamp at the intersection, such as whether the traffic signal lamp is a red light signal or a green light signal, and the duration of the current signal of the traffic signal lamp, and acquire the current driving state of the vehicle, including the current speed, acceleration, whether there is a steering intention, and the like of the vehicle. Such as but not limited to, acquiring video data through a camera or acquiring the actual state of a traffic signal lamp of a corresponding intersection from a traffic network
In step S102, a passable condition of the vehicle is generated based on the actual state, and it is determined whether or not the vehicle traveling in the current traveling state satisfies the passable condition.
As a possible implementation manner, the embodiment of the present application may generate the passable condition of the vehicle according to the actual state of the traffic light at the intersection, and specifically, the embodiment of the present application may obtain the actual state of the traffic light corresponding to the current lane of the vehicle, so as to obtain the passable condition of the vehicle, for example, a condition required for the vehicle to pass through the intersection of the traffic light in a green light signal state, and further determine whether the vehicle is driven according to the current state and meets the passable condition.
In step S103, if the passable condition is satisfied, the vehicle is controlled to keep running in the current running state, otherwise, the vehicle is controlled to stop at the intersection to wait for permission of passage.
Specifically, when the current driving state of the vehicle meets the passable condition, the embodiment of the application can control the vehicle to keep the current driving state to continue driving until the vehicle passes through the intersection, and on the contrary, when the current driving state of the vehicle does not meet the passable condition, the embodiment of the application can control the vehicle to decelerate and stop at the intersection until the passable condition is met.
It can be understood that the green light signal of the traffic signal light represents that the traffic signal light can pass, the red light signal represents that the traffic signal light is forbidden to pass, the distance S between the vehicle and the front crossing can be judged, and the time T when the vehicle passes through the crossing can be calculated by combining the vehicle speed V of the vehiclePassage way：
TPassage way＝S/V，
If T is the green light signal of the traffic signal lightPassage way＜TCountdown 1-. DELTA.T, wherein TCountdown 1In order to count down the detected traffic signal lamp to be converted into a red light signal, the embodiment of the application can control the vehicle to pass through the intersection if the delta T is a time deviation value;
if TPassage way＞TCountdown 1Δ T, the embodiment of the present application may control the vehicle to decelerate until stopping.
Similarly, if T is the red light signal of the traffic signal lightPassage way＜TCountdown 2-. DELTA.T, wherein TCountdown 2In order to count down the detected traffic signal lamp to become a green signal lamp, the embodiment of the application can control the vehicle to decelerate until the vehicle stops;
if TPassage way＞TCountdown 2And Δ T, the embodiment of the present application can control the vehicle to pass through the intersection.
Optionally, in an embodiment of the present application, before controlling the vehicle to stop at the intersection, the method further includes: when the passable condition is not met, generating a target running state of the vehicle meeting the passable condition according to the actual state and the current running state; detecting whether the target driving state meets a feasible condition; and when the target driving state is detected to meet the feasible condition, controlling the vehicle to pass through the intersection according to the target driving state.
In the actual implementation process, when the vehicle does not meet the passable condition, that is, the current traffic signal lamp is a red light, or the vehicle runs at the current speed and cannot pass through the intersection when the traffic signal lamp is a green light, the embodiment of the application can generate the target running state meeting the passable condition according to the actual state of the traffic signal lamp and the current running state of the vehicle, and further control the vehicle to pass through the intersection.
Specifically, T may be setTolerable timeTo allow a vehicle to properly accelerate by controlling, thereby passing through the intersection, the tolerable time:
if T is the green light signal of the traffic signal lightPassage way-TCountdown 1＜TTolerable timeThe embodiment of the application can calculate the passable acceleration, the accelerator opening and the like to accelerate the passing of the intersection.
If TPassage way-TCountdown 1The tolerable time is more than T, and the embodiment of the application can control the vehicle to decelerate.
Similarly, if T is the red light signal of the traffic signal lightPassage way-TCountdown 2＜TTolerable timeThen the embodiment of the present application can control the vehicle to decelerate.
If TPassage way-TCountdown 2＞TTolerable timeThe embodiment of the application can calculate the passable acceleration, the accelerator opening and the like to accelerate the passing of the intersection.
Further, according to the embodiment of the application, the traffic signal lamp counts down and judges that the vehicle cannot pass through the intersection according to the current actual vehicle speed, and when the user does not intend to change lanes, the recommended target deceleration is calculated and sent out so as to ensure that the vehicle does not run the red light.
Optionally, in an embodiment of the present application, controlling the vehicle to pass through the intersection according to the target driving state includes: sending a driving prompt of a target driving state to a user; and controlling the vehicle to pass through the intersection according to a confirmation instruction generated by the user based on the driving reminding.
In some embodiments, the calculated acceleration or deceleration strategy can be used for reminding the user through voice or instrument display and the like, and after the user confirms the acceleration or deceleration strategy, the safety of the embodiment of the application is improved through increasing human-computer interaction, and meanwhile, the user trip burden caused by the fact that the current driving strategy does not accord with the user intention can be avoided.
Optionally, in an embodiment of the present application, while controlling the vehicle to keep running in the current running state, the method further includes: detecting traffic information and an actual intersection environment of an intersection; judging whether the interference factors of the vehicle exist or not according to the traffic flow information and the actual intersection environment; if no interference factor exists, the vehicle is continuously controlled to keep the current running state to pass through the intersection, otherwise, the taking-over prompt is carried out.
It can be understood that the intersection environment is complex, besides the traffic lights, there are various factors that can interfere with the driving of the vehicle, such as pedestrians crossing in violation of traffic regulations, vehicles changing lanes suddenly in front, slower speed of the vehicle in front, or speed limit indication at the intersection. The embodiment of the application can judge whether the interference factors exist or not by detecting the traffic flow information and the actual intersection environment of the intersection, if not, a set driving strategy can be executed, and if so, a user can be reminded to drive to take over, thereby avoiding traffic accidents caused by complex conditions of the intersection.
Optionally, in an embodiment of the present application, determining whether there is an interference factor of the vehicle according to the traffic information and the actual intersection environment includes: collecting the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering angle of a steering wheel and the steering angular velocity of the steering wheel of the vehicle; identifying the running track of the vehicle according to the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering angle of the steering wheel and the steering angular speed of the steering wheel; and determining whether the interference factors exist on the running track according to the traffic flow information and the actual intersection environment.
In the actual implementation process, the embodiment of the application can identify the running track of the vehicle according to the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering angle of the steering wheel and the steering angular speed of the steering wheel of the vehicle, judge the driving intention of the vehicle, infer the future running track of the vehicle, determine whether interference factors exist on the future running track according to the traffic flow information and the actual intersection environment, realize the prejudgment on the interference factors, and accordingly increase the safety and efficiency of intersection traffic.
Specifically, the working principle of the intersection driving method of the vehicle according to the embodiment of the present application is explained in detail with reference to fig. 2 and fig. 3.
As shown in fig. 2, the embodiment of the present application may include: the system comprises a control system 1, a traffic signal lamp information analysis system 2, a vehicle running state detection system 3, a take-over control system 4, a sensing system 5, an execution system 6 and a human-vehicle interaction system 7.
The control system 1 can realize vehicle control, can receive data obtained by the traffic signal lamp information analysis system 2 and the perception system 5, processes the data, and makes a decision control instruction by combining the data of the vehicle driving state detection system 3, the state of the take-over control system 4 and the state of the human-vehicle interaction system 7, and outputs the instruction execution to the execution system 6.
The traffic signal light information analysis system 2 can recognize the traffic signal light in front and the state thereof through the forward-looking camera, and obtain traffic information interaction. Specifically, the traffic signal light information analysis system 2 may process the traffic signal light information identified and detected by the forward-looking camera, or cooperatively transmit the traffic signal light through the vehicle and road, perform fusion and then output to the control system 1, and determine whether the vehicle driving path is limited by the intersection traffic signal light.
The vehicle driving state detection system 3 may determine whether the vehicle is in an intelligent driving state, determine a current vehicle speed of the vehicle, and determine a turning state of the vehicle, determine a driving state of the vehicle through a sensor of the vehicle, for example, determine a driving path of the vehicle through navigation information, determine a turning intention of the vehicle, may more accurately determine information such as a traffic signal required by the vehicle, and may output the information such as the current driving state of the vehicle to the control system 1.
The takeover control system 4 can receive the control instruction of the control system 1 and control the vehicle to change the driving state, such as acceleration and deceleration, lane change, detour driving, obstacle avoidance and the like.
The sensing system 5 may include an angle radar, a front radar, a forward looking camera, and a look-around camera, to assist in the collection of data information, such as traffic light status, traffic flow status, intersection environment, etc.
The execution system 6 may include a brake pedal, an accelerator pedal, steering wheel control and switch control, and in the embodiment of the present application, the execution system 6 may complete control of the vehicle, or the execution system 6 may determine whether the driver takes over control of the vehicle.
The human-vehicle interaction system 7 can take over the reminding and the reminding of the state change of the vehicle such as acceleration and deceleration for the user.
As shown in fig. 3, the embodiment of the present application may include the following steps:
step S301: and starting the intelligent driving system to pass through the intersection with the traffic signal lamp.
Step S302: and judging whether the driving path is limited by a traffic signal lamp. The embodiment of the application can detect whether a traffic signal lamp is limited at a crossing in front of a vehicle running path according to the traffic signal lamp information analysis system 2, if so, the step goes to S304, and if not, the step goes to S303.
Step S303: and the traffic light control logic is not entered. The embodiment of the application can control the vehicle to stably pass through the intersection, or the user takes over driving to control the vehicle to stably pass through the intersection.
Step S304: and judging the state of the traffic signal lamp. The embodiment of the application can detect the color of the traffic signal lamp in front, the distance of the stop line, countdown information and the like according to the traffic signal lamp information analysis system 2, and if a vehicle-road cooperative function exists, the traffic signal lamp can be received by the vehicle running state detection system 3 and is fused with the information detected by the front-view camera.
Step S305: and judging whether the traffic signal lamp is a no-pass traffic signal lamp. If yes, the process proceeds to S307, otherwise, the process proceeds to S306.
Step S306: and controlling the vehicle to slow down and brake. If the traffic signal lamp is a red light signal which is forbidden to pass, the embodiment of the application can control the vehicle to slow down and finally stop before the stop line, and simultaneously remind a user of currently performing speed reduction control in the speed reduction process through modes such as voice, vision and the like.
Step S307: and calculating whether the intersection can be passed or not according to the traffic prohibition countdown. If the traffic signal lamp is a green light signal pass, the two scenes are divided, and if the green light signal pass has no countdown information, the embodiment of the application can control the vehicle to keep the current speed and other states to stably pass through the intersection; if the green light passes through the countdown, the passing time needs to be calculated by combining the current speed and the distance of the traffic light.
Further, if the current vehicle speed is kept to be in uniform speed running and can pass through the intersection, the vehicle speed is kept to be stable in running; if the current vehicle speed cannot pass through the intersection, whether the vehicle can pass through the intersection before the green light signal is finished or not is judged, and if the vehicle cannot pass through the intersection before the green light signal is finished through acceleration, the vehicle can be controlled to stably decelerate and stop before a stop line.
Step S308: and judging whether the interference factors exist or not. The accelerated running of the vehicle takes the highest vehicle speed set by the intelligent driving system as the upper limit, and when the vehicle passes through the intersection, the embodiment of the application can remind a user that the vehicle passes through the intersection and the conditions of deceleration, acceleration and the like can exist. When the vehicle passes through the intersection, the driving environment, such as factors of traffic flow interference, obstacle interference and the like, can be judged through the sensing system 5, the vehicle state needs to be further controlled, and a user is reminded to take over to control the vehicle.
Step S309: and (6) ending.
Step S310: and taking over by the newspaper user.
Step S311: and controlling to pass through the intersection. The vehicle control is taken over by the user, and the vehicle is manually controlled to pass through the intersection, so that the condition that the vehicle is complex at the intersection and is difficult to automatically respond to time is ensured, the user can take over the vehicle control, and the vehicle running adjustment is convenient for the user, so that the intersection passing efficiency is increased, and the passing safety of the intersection is improved.
According to the intersection driving method of the vehicle, the intersection passing condition of the vehicle can be generated based on the actual state of the intersection traffic signal lamp, and whether the vehicle can pass through the current intersection or not is judged according to the current driving state of the vehicle, so that the passing pre-judgment of the vehicle intersection is realized, the passing safety of the vehicle intersection is improved, and the intelligent driving level of the vehicle is improved. Therefore, the technical problems that other elements at the intersection and the influence of the current running state of the vehicle on the running of the vehicle intersection are ignored, the intelligentization level is low, and sudden accidents are difficult to deal with in the related technology are solved. .
Next, a crossing travel device of a vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 4 is a block diagram schematically illustrating a crossroad traveling apparatus of a vehicle according to an embodiment of the present application.
As shown in fig. 4, the intersection traveling apparatus 10 of the vehicle includes: the device comprises an acquisition module 100, a judgment module 200 and a first control module 300.
Specifically, the acquiring module 100 is configured to acquire an actual state of a traffic light at an intersection and acquire a current driving state of a vehicle.
The determining module 200 is configured to generate a passable condition of the vehicle according to the actual state, and determine whether the vehicle running according to the current driving state meets the passable condition.
And the first control module 300 is used for controlling the vehicle to keep running in the current running state if the passable condition is met, otherwise controlling the vehicle to stop at the intersection and waiting for permission to pass.
Optionally, in an embodiment of the present application, the intersection traveling apparatus 10 of the vehicle further includes: the device comprises a generating module, a detecting module and a second control module.
And the generating module is used for generating a target running state of the vehicle meeting the passable condition according to the actual state and the current running state when the passable condition is not met.
And the detection module is used for detecting whether the target running state meets the feasible condition.
And the second control module is used for controlling the vehicle to pass through the intersection according to the target driving state when the target driving state is detected to meet the feasible condition.
Optionally, in an embodiment of the present application, the second control module includes: the device comprises a reminding unit and a confirming unit.
The reminding unit is used for sending the driving reminding of the target driving state to the user.
And the confirming unit is used for controlling the vehicle to pass through the intersection according to a confirming instruction generated by the user based on the driving reminding.
Optionally, in an embodiment of the present application, the first control module 300 is further configured to detect traffic information of the intersection and an actual intersection environment; judging whether the interference factors of the vehicle exist or not according to the traffic flow information and the actual intersection environment; if no interference factor exists, the vehicle is continuously controlled to keep the current running state to pass through the intersection, otherwise, the taking-over prompt is carried out.
Optionally, in an embodiment of the present application, the first control module 300 includes: the device comprises an acquisition unit, an identification unit and a determination unit.
The device comprises a collecting unit, a control unit and a control unit, wherein the collecting unit is used for collecting the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering wheel steering angle and the steering wheel steering angular speed of the vehicle.
And the identification unit is used for identifying the running track of the vehicle according to the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering wheel steering angle and the steering wheel steering angular speed.
And the determining unit is used for determining whether the interference factors exist on the running track according to the traffic flow information and the actual intersection environment.
It should be noted that the foregoing explanation of the embodiment of the intersection driving method for a vehicle is also applicable to the intersection driving device for a vehicle in this embodiment, and is not repeated here.
According to the crossing driving device of the vehicle, the crossing passing condition of the vehicle can be generated based on the actual state of the crossing traffic signal lamp, and whether the vehicle can pass through the current crossing is judged by combining the current driving state of the vehicle, so that the passing pre-judgment of the vehicle crossing is realized, the passing safety of the vehicle crossing is improved, and the intelligent driving level of the vehicle is improved. Therefore, the technical problems that other elements of the intersection and the influence of the current running state of the vehicle on the running of the vehicle intersection are ignored, the intelligent level is low, and sudden accidents are difficult to deal with in the related technology are solved. .
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.
The processor 502, when executing the program, implements the intersection travel method of the vehicle provided in the above-described embodiments.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
A memory 501 for storing computer programs that can be run on the processor 502.
The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 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. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may complete communication with each other through an internal interface.
The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the intersection traveling method of the vehicle as above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (10)

1. A method of driving a vehicle at an intersection, comprising the steps of:
acquiring the actual state of a traffic signal lamp at an intersection, and acquiring the current driving state of a vehicle;
generating a passable condition of the vehicle according to the actual state, and judging whether the vehicle running according to the current running state meets the passable condition; and
and if the passable condition is met, controlling the vehicle to keep the current running state to run, otherwise, controlling the vehicle to stop at the intersection to wait for permission to pass.
2. The method of claim 1, further comprising, prior to controlling the vehicle to stop at the intersection:
when the passable condition is not met, generating a target running state of the vehicle meeting the passable condition according to the actual state and the current running state;
detecting whether the target driving state meets a feasible condition;
and when the target driving state is detected to meet the feasible condition, controlling the vehicle to pass through the intersection according to the target driving state.
3. The method of claim 2, wherein said controlling said vehicle to pass through said intersection in accordance with said target driving condition comprises:
sending a driving prompt of the target driving state to a user;
and controlling the vehicle to pass through the intersection according to the target driving state according to a confirmation instruction generated by the user based on the driving reminder.
4. The method according to claim 1, characterized by, while controlling the vehicle to keep running in the current running state, further comprising:
detecting traffic flow information and an actual intersection environment of the intersection;
judging whether the interference factors of the vehicle exist or not according to the traffic flow information and the actual intersection environment;
and if the interference factor does not exist, continuously controlling the vehicle to keep the current running state to pass through the intersection, otherwise, carrying out takeover prompt.
5. The method of claim 4, wherein the determining whether the interference factor of the vehicle exists according to the traffic information and the actual intersection environment comprises:
collecting the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering wheel steering angle and the steering wheel steering angular velocity of the vehicle;
identifying a running track of the vehicle according to the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering wheel steering angle and the steering wheel steering angular velocity;
and determining whether the interference factors exist on the running track according to the traffic information and the actual intersection environment.
6. An intersection travel device for a vehicle, comprising:
the acquisition module is used for acquiring the actual state of a traffic signal lamp at the intersection and acquiring the current driving state of a vehicle;
the judging module is used for generating a passable condition of the vehicle according to the actual state and judging whether the vehicle running according to the current running state meets the passable condition or not; and
and the first control module is used for controlling the vehicle to keep the current running state to run if the passable condition is met, otherwise, controlling the vehicle to stop at the intersection and waiting for permission to pass.
7. The apparatus of claim 6, further comprising:
the generating module is used for generating a target running state of the vehicle meeting the passable condition according to the actual state and the current running state when the passable condition is not met;
the detection module is used for detecting whether the target running state meets a feasible condition;
and the second control module is used for controlling the vehicle to pass through the intersection according to the target driving state when the target driving state is detected to meet the feasible condition.
8. The apparatus of claim 7, wherein the second control module comprises:
the reminding unit is used for sending the driving reminding of the target driving state to a user;
and the confirming unit is used for controlling the vehicle to pass through the intersection according to the target driving state according to a confirming instruction generated by the user based on the driving prompt.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the intersection driving method of the vehicle according to any one of claims 1 to 5.
10. A computer-readable storage medium on which a computer program is stored, the program being executed by a processor for implementing the intersection traveling method of a vehicle according to any one of claims 1 to 5.
CN202210747341.XA 2022-06-28 2022-06-28 Intersection driving method and device for vehicle, vehicle and storage medium Withdrawn CN115273461A (en)

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