CN115331468A - Method and apparatus for controlling vehicle, and computer-readable storage medium - Google Patents

Method and apparatus for controlling vehicle, and computer-readable storage medium Download PDF

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Publication number
CN115331468A
CN115331468A CN202210901305.4A CN202210901305A CN115331468A CN 115331468 A CN115331468 A CN 115331468A CN 202210901305 A CN202210901305 A CN 202210901305A CN 115331468 A CN115331468 A CN 115331468A
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China
Prior art keywords
vehicle
traffic intersection
current vehicle
vehicles
driving
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CN202210901305.4A
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Chinese (zh)
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李宇
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Black Sesame Intelligent Technology Shenzhen Co ltd
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Black Sesame Intelligent Technology Shenzhen Co ltd
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Priority to CN202210901305.4A priority Critical patent/CN115331468A/en
Publication of CN115331468A publication Critical patent/CN115331468A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • 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
    • B60W30/18159—Traversing an intersection
    • 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
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4044—Direction of movement, e.g. backwards

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

Disclosed herein are a method and apparatus for controlling a vehicle, and a computer-readable storage medium, the method including: acquiring running data of target vehicles around a current vehicle; determining the running sequence of the current vehicle relative to the target vehicle at a traffic intersection according to the running data of the current vehicle and the target vehicle; and controlling the current vehicle to automatically pass through the traffic intersection according to the driving sequence of the current vehicle relative to the target vehicle at the traffic intersection. According to the technical scheme, the current vehicle determines how to pass through the traffic intersection based on the running data of the surrounding vehicles, so that the running mode that the vehicle can pass through the traffic intersection only by waiting for traffic lights is avoided, and the traffic running efficiency is improved.

Description

Method and apparatus for controlling vehicle, and computer-readable storage medium
Technical Field
The embodiment of the application relates to the technical field of intelligent transportation, and more particularly relates to a method and a device for controlling a vehicle, the vehicle and a computer-readable storage medium.
Background
In a traffic system based on traffic lights, part of intersections can be opened at regular time intervals to allow vehicles to pass, vehicles stop and wait at other intersections, and the mode that the vehicles need to wait for the traffic lights has the problem of low traffic running efficiency.
Disclosure of Invention
The embodiment of the application provides a method and a device for controlling a vehicle, the vehicle and a computer readable storage medium. Various aspects of embodiments of the present application are described below.
In a first aspect, a method of controlling a vehicle is provided, comprising: acquiring running data of target vehicles around a current vehicle; determining the running sequence of the current vehicle relative to the target vehicle at a traffic intersection according to the running data of the current vehicle and the target vehicle; and controlling the current vehicle to automatically pass through the traffic intersection according to the driving sequence of the current vehicle relative to the target vehicle at the traffic intersection.
One possible implementation manner, wherein determining a driving sequence of the current vehicle relative to the target vehicle at the traffic intersection according to the driving data of the current vehicle and the target vehicle includes: determining the running sequence of the current vehicle relative to the target vehicle at the traffic intersection according to the running data of the current vehicle and the target vehicle and a predetermined running rule; wherein the driving rules are associated with one or more of the following information: the speed of the vehicle, the steering of the vehicle, the priority of the vehicle, the orientation of the vehicle, and the number of vehicles.
One possible implementation, the driving rules include one or more of the following rules: compared with the vehicle with slow speed, the vehicle with fast speed preferentially passes through the traffic intersection; a vehicle traveling straight ahead preferentially passes through the traffic intersection over a turning vehicle; the vehicles with high priority pass through the traffic intersection preferentially relative to the vehicles with low priority; the vehicle in the second driving direction preferentially passes through the traffic intersection relative to the vehicle in the first driving direction; when a plurality of vehicles go straight or turn at the same time, the right vehicle preferentially passes through the traffic intersection; the vehicles turning left pass through the traffic intersection preferentially relative to the vehicles turning right; and the plurality of vehicles in the first traveling direction and the plurality of vehicles in the second traveling direction travel alternately.
In one possible implementation, the method further includes: receiving input information of a driver of the current vehicle in an emergency, wherein the input information is used for selecting the driving priority of the current vehicle; and determining the driving priority of the current vehicle according to the input information.
One possible implementation manner, wherein determining a driving sequence of the current vehicle relative to the target vehicle at the traffic intersection according to the driving data of the current vehicle and the target vehicle includes: determining whether the current vehicle and the target vehicle are likely to collide under the condition that the current vehicle and the target vehicle simultaneously travel through the traffic intersection according to the traveling data of the current vehicle and the target vehicle; determining that the current vehicle or the target vehicle preferentially passes through the traffic intersection if the current vehicle and the target vehicle are likely to collide; determining that the current vehicle and the target vehicle simultaneously pass through the traffic intersection if the current vehicle and the target vehicle do not collide.
In a second aspect, there is provided an apparatus for controlling a vehicle, comprising: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the running data of target vehicles around the current vehicle; the first determining module is used for determining the driving sequence of the current vehicle relative to the target vehicle at a traffic intersection according to the driving data of the current vehicle and the target vehicle; and the control module is used for controlling the current vehicle to automatically pass through the traffic intersection according to the running sequence of the current vehicle relative to the target vehicle at the traffic intersection.
In one possible implementation manner, the first determining module is configured to: determining the running sequence of the current vehicle relative to the target vehicle at the traffic intersection according to the running data of the current vehicle and the target vehicle and a predetermined running rule; wherein the driving rules are associated with one or more of the following information: the speed of the vehicle, the steering of the vehicle, the priority of the vehicle, the orientation of the vehicle, and the number of vehicles.
One possible implementation, the driving rules include one or more of the following rules: compared with the vehicle with low speed, the vehicle with high speed preferentially passes through the traffic intersection; a vehicle traveling straight ahead preferentially passes through the traffic intersection over a turning vehicle; the vehicles with high priority pass through the traffic intersection preferentially relative to the vehicles with low priority; the vehicle in the second driving direction preferentially passes through the traffic intersection relative to the vehicle in the first driving direction; when a plurality of vehicles go straight or turn at the same time, the right vehicle passes through the traffic intersection preferentially; the vehicles turning left pass through the traffic intersection preferentially relative to the vehicles turning right; and the plurality of vehicles in the first traveling direction and the plurality of vehicles in the second traveling direction travel alternately.
In one possible implementation, the apparatus further includes: the receiving module is used for receiving input information of a driver of the current vehicle under an emergency condition, and the input information is used for selecting the running priority of the current vehicle; and the second determining module is used for determining the driving priority of the current vehicle according to the input information.
In one possible implementation manner, the first determining module is configured to: determining whether the current vehicle and the target vehicle are likely to collide under the condition that the current vehicle and the target vehicle simultaneously travel through the traffic intersection according to the traveling data of the current vehicle and the target vehicle; determining that the current vehicle or the target vehicle preferentially passes through the traffic intersection if the current vehicle and the target vehicle are likely to collide; determining that the current vehicle and the target vehicle simultaneously pass through the traffic intersection if the current vehicle and the target vehicle do not collide.
In a third aspect, a vehicle is provided, comprising: a wireless communication system for acquiring travel data of a target vehicle around a current vehicle; a vehicle control system for performing a method as set forth in the first aspect or any one of the implementations of the first aspect.
In one possible implementation, the vehicle further comprises one or more of: the device comprises a camera, a laser radar module, a positioning module, a speed control module and a gyroscope module.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon executable code that, when executed, is capable of implementing a method as described in the first aspect or any one of the implementations of the first aspect.
In a fifth aspect, there is provided a computer program product comprising executable code that, when executed, is capable of implementing a method as described in the first aspect or any implementation manner of the first aspect.
The embodiment of the application provides a method for controlling a vehicle, which determines the driving sequence of the vehicle at a traffic intersection by acquiring the driving data of the vehicle at the traffic intersection. And then controlling the current vehicle to automatically pass through the traffic intersection based on the driving sequence. According to the technical scheme, the current vehicle determines how to pass through the traffic intersection based on the running data of the surrounding vehicles, so that the running mode that the vehicle can pass through the traffic intersection only by waiting for traffic lights is avoided, and the traffic running efficiency is improved.
Drawings
Fig. 1 is a schematic flowchart of a method for controlling a vehicle according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a communication architecture between vehicles according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a distribution structure of vehicles traveling at a traffic intersection according to an embodiment of the present application.
FIG. 4 is a schematic view of one possible direction of vehicle travel for the traffic intersection shown in FIG. 3.
Fig. 5 is a schematic view of the possible travel directions of the traffic intersection shown in fig. 3 without collision.
Fig. 6 is a schematic view of a driving direction of the traffic intersection shown in fig. 3 in which a collision may occur.
Fig. 7 is a schematic structural diagram of an apparatus for controlling a vehicle according to an embodiment of the present application.
Fig. 8 is a schematic structural diagram of an apparatus for controlling a vehicle according to another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
Along with the popularization and the rapid increase of the number of vehicles, the convenience requirement of people in travel is met, and meanwhile certain pressure is brought to a traffic system of a city. At present, the traffic system mainly manages the driving sequence of vehicles through a traffic light system, that is, vehicles are allowed to pass through a part of intersections by opening at regular time intervals, and vehicles are stopped and wait at the rest of intersections. Traffic systems based on traffic lights are capable of regulating intersection traffic flow to some extent, but have some drawbacks. For example, when there is a vehicle at a traffic intersection only in the direction of a red light, the vehicle at the traffic intersection needs to wait at that time. For another example, when vehicles at a traffic intersection in multiple directions do not collide, vehicles at the traffic intersection in the direction of the red light still need to wait in the traffic system based on the traffic light. That is, the way that the vehicle needs to wait for the traffic light has a problem of low traffic efficiency.
In order to solve the above problem, an embodiment of the present application provides a method for controlling a vehicle, which determines a driving sequence of the vehicle at a traffic intersection by obtaining driving data of the vehicle at the traffic intersection. And then controlling the current vehicle to automatically pass through the traffic intersection based on the driving sequence. According to the technical scheme, the current vehicle determines how to pass through the traffic intersection based on the driving data of the surrounding vehicles, so that the driving mode that the vehicle can pass through the traffic intersection only by waiting for the traffic light is avoided, and the traffic driving efficiency is improved.
The following describes in detail a method for controlling a vehicle according to an embodiment of the present application with reference to fig. 1. As shown in fig. 1, the method of controlling a vehicle may include steps S120 to S160.
In step S120, the travel data of the target vehicle around the current vehicle is acquired.
The current vehicle may refer to any vehicle at a traffic intersection. The target vehicle may be a vehicle around the current vehicle, which may be in the vicinity of a traffic intersection. That is, the target vehicle may refer to a vehicle near a traffic intersection that may pass through the traffic intersection simultaneously with the current vehicle. The target vehicle may refer to one vehicle or multiple vehicles, which is not limited in this embodiment of the present application. It should be understood that when only the current vehicle is near the traffic intersection, i.e., the target vehicle around the current vehicle is not present, the driving data of the target vehicle obtained by the current vehicle may be set to zero.
When the target vehicle exists, the traveling data of the target vehicle may include information such as a traveling speed of the target vehicle, a turning direction of the target vehicle, a pre-traveling track of the target vehicle at a traffic intersection, a traveling direction of the target vehicle, and the number of the target vehicles.
The embodiment of the present application does not specifically limit the manner of acquiring the driving data of the target vehicle. As an example, as shown in fig. 2, the current vehicle may directly acquire the driving data from the target vehicle, for example, the current vehicle and the target vehicle may interact with each other through a wireless communication signal to acquire the driving data of the target vehicle. As another example, the current vehicle may also indirectly obtain the driving data of the target vehicle, for example, the current vehicle and the target vehicle may both perform driving data interaction with the cloud server through a wireless communication signal, and then the current vehicle may obtain the driving data of the target vehicle through the cloud server. It should be understood that the current vehicle may also acquire partial travel data directly from the target vehicle while acquiring partial travel data of the target vehicle through the cloud server.
In step S140, the driving sequence of the current vehicle relative to the target vehicle at the traffic intersection is determined according to the driving data of the current vehicle and the target vehicle.
The sequence of the current vehicle relative to the target vehicle at the traffic intersection may refer to the current vehicle moving ahead and the target vehicle moving behind. It may also mean that the current vehicle is traveling backward and the target vehicle is traveling forward. It may also mean that the current vehicle and the target vehicle pass through the traffic intersection at the same time. As one example, from the traveling data of the current vehicle and the target vehicle, it may be determined whether it is determined whether or not the current vehicle and the target vehicle are likely to collide in a case where the current vehicle and the target vehicle travel through the traffic intersection at the same time. If the current vehicle and the target vehicle are likely to collide, it can be determined that the current vehicle or the target vehicle preferentially passes through the traffic intersection according to the traveling data. If the current vehicle and the target vehicle do not collide, it can be determined that the current vehicle and the target vehicle can simultaneously pass through the traffic intersection.
In some embodiments, the driving sequence of the current vehicle relative to the target vehicle at the traffic intersection can be determined according to the driving data of the current vehicle and the target vehicle and the predetermined driving rule.
Wherein the driving rules may be associated with one or more of the following information: the speed of the vehicle, the steering of the vehicle, the priority of the vehicle, the orientation of the vehicle, and the number of vehicles, etc.
The driving rules may include one or more of the vehicle driving rules described in detail below with reference to fig. 3, taking an intersection as an example.
(1) Compared with the vehicle with slow speed, the vehicle with fast speed preferentially passes through the traffic intersection. For example, as shown in fig. 3, if the a vehicle and the B vehicle are both going straight, and the vehicle speed of the a vehicle is slower than that of the B vehicle, the B vehicle preferentially passes through the traffic intersection.
(2) Straight going vehicles preferentially pass through the traffic intersection over turning vehicles. For example, as shown in fig. 3, if the vehicle a is going straight and the vehicle B is turning left, the vehicle a preferentially passes through the traffic intersection.
(3) And the vehicles with high priority pass through the traffic intersection preferentially relative to the vehicles with low priority. In some embodiments, the vehicle itself may set the priority, such as a priority button may be provided in the vehicle, and the current vehicle may receive a button input from the driver in case of an emergency, which may be used to select the priority of travel of the current vehicle. Then, the driving priority of the current vehicle is determined according to the button input information. In this way, the driver can increase the priority of the current vehicle in an emergency. The emergency vehicle may be, for example, a 120-vehicle, a 119-vehicle, or the like. For example, as shown in fig. 3, if the vehicle a is a straight-going normal vehicle and the vehicle B is a 120-left-turn vehicle, the vehicle B inputs the highest priority through the priority button, and the vehicle B preferentially passes through the traffic intersection. It should be noted that the priority button may have three or five levels, and may be set according to an actual application scenario, which is not specifically limited in the embodiment of the present application.
It should be noted that the input priority of the vehicle is input after the vehicle is started, that is, in the vehicle key-off state, the input priority is invalid. In addition, after the vehicle stops, the input priority of the vehicle can be automatically restored to a default value, and the default value can be modified according to actual needs, which is not specifically limited by the application. In some embodiments, after the vehicle is shut down (i.e., returned to a default value), if the priority of the vehicle needs to be increased, the vehicle needs to be re-input, for example, by inputting information through a button.
(4) The vehicle in the second direction of travel preferentially passes through the traffic intersection relative to the vehicle in the first direction of travel. That is, the running order of the vehicles may be sorted according to the running direction. For example, as shown in fig. 3, if north is taken as a reference direction, a vehicle a is in a first driving direction (east direction) and a vehicle B is in a second driving direction (north direction), the vehicle B preferentially passes through the traffic intersection. Of course, the east, west, or south direction may be used as the reference direction, and the southeast, southwest, northwest, etc. directions may be used as the reference direction. When the reference direction is selected, the remaining directions may be sorted clockwise or counterclockwise with reference to the reference direction.
(5) When a plurality of vehicles go straight or turn at the same time, the right vehicle preferentially passes through the traffic intersection. For example, as shown in fig. 3, if the a vehicle and the B vehicle travel straight or turn left at the same time, the B vehicle located on the right side of the travel direction of the a vehicle preferentially passes through the traffic intersection. Similarly, if the vehicle B and the vehicle C go straight or turn left at the same time, the vehicle C preferentially passes through the traffic intersection.
(6) And the vehicles turning left preferentially pass through the traffic intersection relative to the vehicles turning right.
(7) The plurality of vehicles of the first traveling direction and the plurality of vehicles of the second traveling direction travel alternately. For example, as shown in fig. 3, if a vehicle a is in a first driving direction (east direction), a vehicle B is in a second driving direction (north direction), one or more following vehicles are behind the vehicle a, and one or more following vehicles are behind the vehicle B, the vehicles in the first driving direction and the vehicles in the second driving direction alternately pass through the traffic intersection. It should be understood that when one or more following vehicles follow each of the vehicles a and B, the first vehicles (i.e., vehicles a and B) at the traffic intersection may be determined according to the above-mentioned driving rules, and the driving order of the first vehicles may be determined according to any one of the above-mentioned driving rules (1) to (6), for example. And after all the first round of vehicles pass through the intersection, judging the running sequence of the second round of vehicles (namely, the first vehicle of the vehicle A follows the vehicle and the first vehicle of the vehicle B follows the vehicle), and repeating the steps to realize alternate running. Therefore, the special condition that the vehicles in one direction of the traffic intersection are always in the waiting state and the vehicles are always driven in other directions of the traffic intersection can be prevented.
It should be noted that, the embodiment of the present application does not limit the types of the driving rules, and the above are exemplary 7 driving rules.
In step S160, the current vehicle is controlled to automatically pass through the traffic intersection according to the aforementioned driving sequence of the current vehicle relative to the target vehicle at the traffic intersection.
If the current vehicle and the target vehicle do not collide, the current vehicle and the target vehicle can simultaneously pass through the traffic intersection. If the current vehicle is likely to collide with the target vehicle, then the traffic intersection may be traversed in tandem according to the aforementioned travel data and travel rules.
The embodiment of the application takes a crossroad as an example, and details about whether the vehicle will collide with each other are described with reference to fig. 4. If the crossroad has 3 vehicles, the vehicles can be named as a vehicle A, a vehicle B and a vehicle C respectively. If each vehicle has 3 driving directions of going straight, turning left and turning right, in this case, 3 vehicles at the crossroad have 27 combined driving modes. At that time, if the 3 vehicles are driven at the same speed at the same time, there are some combined driving manners that may not collide, mainly because the 3 vehicles are driven on different tracks. That is, the vehicles traveling on different tracks do not collide. For example, if a car a turns right, B turns left, and C turns right, the 3 cars may run on different tracks with different turning radii, and no collision may occur. For example, if the vehicle a turns right, the vehicle B turns left, and the vehicle C moves straight, the 3 vehicles still have different turning radii and different running tracks, and there is a possibility that no collision will occur. It should be understood that the above-mentioned running mode that may not cause a collision, which is analyzed by the embodiment of the present application, is a possible implementation without considering the vehicle width and the vehicle length.
Taking the crossroads including 3 vehicles in fig. 4 as an example, 8 possible non-collision driving modes and 19 possible collision driving modes are given in the embodiment of the present application, see fig. 5 and fig. 6. It should be understood that when the vehicles run simultaneously, the 19 possible collision driving modes include 2-vehicle collision or 3-vehicle collision.
According to the foregoing description, it can be seen that the embodiment of the present application provides a method for controlling a vehicle, which can automatically control the vehicle to pass through a traffic intersection according to the driving data and driving rules of the vehicle at the traffic intersection, thereby avoiding a driving mode that the vehicle can pass through the traffic intersection only when waiting for a traffic light, and improving the efficiency of traffic driving.
It should be understood that, when a certain driving rule cannot determine the driving sequence of the vehicle, the above-mentioned multiple driving rules may be used for comprehensive cyclic determination, for example, if the priority of the current vehicle is the same as that of the target vehicle, the determination may be performed according to the vehicle speed, and if the vehicle speed is also the same, the rules such as turning and straight driving may be used for cyclic comprehensive determination, so as to finally determine the driving sequence of the vehicle.
In some embodiments, if there are other vehicles in front of and behind the current vehicle, the distance between the two vehicles needs to be kept at least 10 meters, and the vehicle speed is recommended to be reduced to below 10KM/H to ensure the safe driving of the vehicle.
It should be understood that the solution in the embodiment of the present application is not limited to intersections, nor to a scenario where there are only 3 vehicles at a traffic intersection. The scheme in the embodiment of the application is suitable for scheduling the vehicle driving sequence of any type of traffic intersection.
The embodiment of the application also provides a vehicle, which comprises a wireless communication system, a data acquisition module and a data processing module, wherein the wireless communication system can be used for acquiring the running data of target vehicles around the current vehicle; a vehicle control system operable to perform any of the methods of controlling a vehicle described hereinbefore.
Optionally, the vehicle further comprises one or more of: the device comprises a camera, a laser radar module, a positioning module, a speed control module and a gyroscope module.
The wireless communication module may be, for example, a module having a wireless transmission function, such as 4G, 5G, wiFi, bluetooth BT, etc., and may implement transmission of the driving data of the vehicle through a wireless communication signal. The camera module can be used to identify the environment around the vehicle. The location module may be used to locate a position of the vehicle. The speed control module may be used to control vehicle acceleration or deceleration. The lidar module may be used to measure the distance between an object or a front or rear vehicle and the own vehicle. The gyroscope module may determine a driving direction of the vehicle.
The vehicle passing through the intersection may be an automated unmanned vehicle or an automated manned vehicle.
Method embodiments of the present application are described in detail above in conjunction with fig. 1-6, and apparatus embodiments of the present application are described in detail below in conjunction with fig. 7 and 8. It is to be understood that the description of the method embodiments corresponds to the description of the apparatus embodiments, and therefore reference may be made to the preceding method embodiments for parts not described in detail.
Fig. 7 is an apparatus for controlling a vehicle according to an embodiment of the present application, where the apparatus 700 includes an obtaining module 710, a first determining module 720, and a control module 730.
The acquisition module 710 may be used to acquire travel data of target vehicles around a current vehicle.
The first determining module 720 is configured to determine a driving sequence of the current vehicle relative to the target vehicle at a traffic intersection according to the driving data of the current vehicle and the target vehicle.
The control module 730 can be configured to control the current vehicle to automatically pass through the traffic intersection according to the driving sequence of the current vehicle relative to the target vehicle at the traffic intersection.
Optionally, the first determining module 720 may be configured to: determining the running sequence of the current vehicle relative to the target vehicle at the traffic intersection according to the running data of the current vehicle and the target vehicle and a predetermined running rule; wherein the driving rules are associated with one or more of the following information: the speed of the vehicle, the steering of the vehicle, the priority of the vehicle, the orientation of the vehicle, and the number of vehicles.
Optionally, the driving rules include one or more of the following rules: compared with the vehicle with low speed, the vehicle with high speed preferentially passes through the traffic intersection; a vehicle traveling straight ahead preferentially passes through the traffic intersection over a turning vehicle; the vehicles with high priority pass through the traffic intersection preferentially relative to the vehicles with low priority; the vehicle in the second driving direction preferentially passes through the traffic intersection relative to the vehicle in the first driving direction; when a plurality of vehicles go straight or turn at the same time, the right vehicle passes through the traffic intersection preferentially; the vehicles turning left preferentially pass through the traffic intersection relative to the vehicles turning right; and the plurality of vehicles in the first traveling direction and the plurality of vehicles in the second traveling direction travel alternately.
Optionally, the apparatus 700 further comprises: the receiving module 740 may be configured to receive input information of a driver of the current vehicle in an emergency, where the input information is used to select a driving priority of the current vehicle; the second determining module 750 may be configured to determine the driving priority of the current vehicle according to the input information.
Optionally, the first determining module 720 may be configured to: determining whether the current vehicle and the target vehicle are likely to collide under the condition that the current vehicle and the target vehicle simultaneously travel through the traffic intersection according to the traveling data of the current vehicle and the target vehicle; determining that the current vehicle or the target vehicle preferentially passes through the traffic intersection if the current vehicle and the target vehicle are likely to collide; determining that the current vehicle and the target vehicle simultaneously pass through the traffic intersection if the current vehicle and the target vehicle do not collide.
Fig. 8 is another apparatus for controlling a vehicle in the embodiment of the present application. The dashed lines in fig. 8 indicate that the unit or module is optional. The apparatus 800 may be used to implement the methods described in the method embodiments above. The apparatus 800 may be a computer or any type of electronic device.
The apparatus 800 may include one or more processors 810. The processor 810 may enable the apparatus 800 to implement the methods described in the previous method embodiments.
The apparatus 800 may also include one or more memories 820. The memory 820 has stored thereon a program that can be executed by the processor 810, causing the processor 810 to perform the methods described in the previous method embodiments. The memory 820 may be independent of the processor 810 or may be integrated in the processor 810.
The apparatus 800 may also include a transceiver 830. Processor 810 may communicate with other devices via transceiver 830. For example, processor 810 may transceive data with other devices via transceiver 830.
The embodiment of the application also provides a machine-readable storage medium for storing the program. And the program causes the computer to execute the method in the embodiments of the present application.
The embodiment of the application also provides a computer program product. The computer program product includes a program. The program causes a computer to execute the method in the embodiments of the present application.
The embodiment of the application also provides a computer program. The computer program causes a computer to perform the methods of the various embodiments of the present application.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware, or any other combination. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the disclosure are, in whole or in part, generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a machine-readable storage medium or transmitted from one machine-readable storage medium to another, e.g., from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The machine-readable storage medium may be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., digital Video Disk (DVD)), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims (13)

1. A method of controlling a vehicle, comprising:
acquiring running data of target vehicles around a current vehicle;
determining the running sequence of the current vehicle relative to the target vehicle at a traffic intersection according to the running data of the current vehicle and the target vehicle;
and controlling the current vehicle to automatically pass through the traffic intersection according to the driving sequence of the current vehicle relative to the target vehicle at the traffic intersection.
2. The method of claim 1, wherein determining the driving sequence of the current vehicle relative to the target vehicle at the traffic intersection based on the driving data of the current vehicle and the target vehicle comprises:
determining the running sequence of the current vehicle relative to the target vehicle at the traffic intersection according to the running data of the current vehicle and the target vehicle and a predetermined running rule;
wherein the driving rules are associated with one or more of the following information: the speed of the vehicle, the steering of the vehicle, the priority of the vehicle, the orientation of the vehicle, and the number of vehicles.
3. The method of claim 2, wherein the driving rules include one or more of the following rules:
compared with the vehicle with slow speed, the vehicle with fast speed preferentially passes through the traffic intersection;
a vehicle traveling straight through the traffic intersection preferentially over a turning vehicle;
the vehicles with high priority pass through the traffic intersection preferentially relative to the vehicles with low priority;
the vehicles in the second driving direction preferentially pass through the traffic intersection relative to the vehicles in the first driving direction;
when a plurality of vehicles go straight or turn at the same time, the right vehicle passes through the traffic intersection preferentially;
the vehicles turning left preferentially pass through the traffic intersection relative to the vehicles turning right; and
the plurality of vehicles of the first direction of travel and the plurality of vehicles of the second direction of travel alternate.
4. The method of claim 3, further comprising:
receiving input information of a driver of the current vehicle in an emergency, wherein the input information is used for selecting the driving priority of the current vehicle;
and determining the driving priority of the current vehicle according to the input information.
5. The method of claim 1, wherein determining the driving sequence of the current vehicle relative to the target vehicle at the traffic intersection based on the driving data of the current vehicle and the target vehicle comprises:
determining whether the current vehicle and the target vehicle are likely to collide under the condition that the current vehicle and the target vehicle simultaneously travel through the traffic intersection according to the traveling data of the current vehicle and the target vehicle;
determining that the current vehicle or the target vehicle preferentially passes through the traffic intersection if the current vehicle and the target vehicle are likely to collide;
determining that the current vehicle and the target vehicle simultaneously pass through the traffic intersection if the current vehicle and the target vehicle do not collide.
6. An apparatus for controlling a vehicle, characterized by comprising:
the acquisition module is used for acquiring the running data of a target vehicle around the current vehicle;
the first determining module is used for determining the driving sequence of the current vehicle relative to the target vehicle at a traffic intersection according to the driving data of the current vehicle and the target vehicle;
and the control module is used for controlling the current vehicle to automatically pass through the traffic intersection according to the running sequence of the current vehicle relative to the target vehicle at the traffic intersection.
7. The apparatus of claim 6, wherein the first determining module is configured to:
determining the running sequence of the current vehicle relative to the target vehicle at the traffic intersection according to the running data of the current vehicle and the target vehicle and a predetermined running rule;
wherein the driving rules are associated with one or more of the following information: the speed of the vehicle, the steering of the vehicle, the priority of the vehicle, the orientation of the vehicle, and the number of vehicles.
8. The apparatus of claim 7, wherein the driving rules include one or more of the following rules:
compared with the vehicle with slow speed, the vehicle with fast speed preferentially passes through the traffic intersection;
a vehicle traveling straight through the traffic intersection preferentially over a turning vehicle;
the vehicles with high priority pass through the traffic intersection preferentially relative to the vehicles with low priority;
the vehicles in the second driving direction preferentially pass through the traffic intersection relative to the vehicles in the first driving direction;
when a plurality of vehicles go straight or turn at the same time, the right vehicle passes through the traffic intersection preferentially;
the vehicles turning left pass through the traffic intersection preferentially relative to the vehicles turning right; and
the plurality of vehicles of the first traveling direction and the plurality of vehicles of the second traveling direction travel alternately.
9. The apparatus of claim 8, further comprising:
the receiving module is used for receiving input information of a driver of the current vehicle under an emergency condition, and the input information is used for selecting the running priority of the current vehicle;
and the second determining module is used for determining the driving priority of the current vehicle according to the input information.
10. The apparatus of claim 6, wherein the first determining module is configured to:
determining whether the current vehicle and the target vehicle are likely to collide under the condition that the current vehicle and the target vehicle simultaneously travel through the traffic intersection according to the traveling data of the current vehicle and the target vehicle;
determining that the current vehicle or the target vehicle preferentially passes through the traffic intersection if the current vehicle and the target vehicle are likely to collide;
determining that the current vehicle and the target vehicle simultaneously pass through the traffic intersection if the current vehicle and the target vehicle do not collide.
11. A vehicle, characterized by comprising:
a wireless communication system for acquiring travel data of a target vehicle around a current vehicle;
vehicle control system for performing the method according to any of claims 1-5.
12. The vehicle of claim 11, further comprising one or more of: the device comprises a camera, a laser radar module, a positioning module, a speed control module and a gyroscope module.
13. A computer readable storage medium having executable code stored thereon, wherein the executable code, when executed, is capable of implementing the method of any one of claims 1-5.
CN202210901305.4A 2022-07-28 2022-07-28 Method and apparatus for controlling vehicle, and computer-readable storage medium Pending CN115331468A (en)

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Publication number Priority date Publication date Assignee Title
CN105321362A (en) * 2015-10-30 2016-02-10 湖南大学 Intersection vehicle intelligent cooperative passage method
CN110850874A (en) * 2019-11-11 2020-02-28 驭势科技（北京）有限公司 Control method, device and system for intelligent driving vehicle and storage medium
CN110910657A (en) * 2019-12-04 2020-03-24 珠海深圳清华大学研究院创新中心 Intersection right-of-way distribution method and device and electronic equipment
CN111508244A (en) * 2020-07-01 2020-08-07 北京主线科技有限公司 Method and device for controlling unmanned vehicle to run at intersection without signal lamp
CN113299098A (en) * 2021-05-14 2021-08-24 恒大新能源汽车投资控股集团有限公司 Traffic intersection vehicle guiding method and device

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105321362A (en) * 2015-10-30 2016-02-10 湖南大学 Intersection vehicle intelligent cooperative passage method
CN110850874A (en) * 2019-11-11 2020-02-28 驭势科技（北京）有限公司 Control method, device and system for intelligent driving vehicle and storage medium
CN110910657A (en) * 2019-12-04 2020-03-24 珠海深圳清华大学研究院创新中心 Intersection right-of-way distribution method and device and electronic equipment
CN111508244A (en) * 2020-07-01 2020-08-07 北京主线科技有限公司 Method and device for controlling unmanned vehicle to run at intersection without signal lamp
CN113299098A (en) * 2021-05-14 2021-08-24 恒大新能源汽车投资控股集团有限公司 Traffic intersection vehicle guiding method and device

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