CN115440072A - Vehicle auxiliary control method and related equipment - Google Patents
Vehicle auxiliary control method and related equipment Download PDFInfo
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- CN115440072A CN115440072A CN202211066251.0A CN202211066251A CN115440072A CN 115440072 A CN115440072 A CN 115440072A CN 202211066251 A CN202211066251 A CN 202211066251A CN 115440072 A CN115440072 A CN 115440072A
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- 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
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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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- 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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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Abstract
The invention discloses a vehicle auxiliary control method and related equipment. The method comprises the following steps: acquiring running information of a target vehicle, wherein the running information comprises speed information, vehicle position information and brake acceleration information; acquiring signal lamp information of a target intersection, wherein the signal lamp information comprises signal lamp color information; obtaining a braking parking position through speed information and braking acceleration information; and controlling a driving strategy of the target vehicle based on the braking parking position, the signal lamp information, the first stop line position and the second stop line position, wherein the first stop line is a real stop line corresponding to the target vehicle in the driving direction of the target intersection, and the second stop line is a virtual stop line which is away from the first stop line by a preset distance and is backward in the driving direction. The vehicle driving strategy made by the application is more stable and efficient, the adopted intersection traffic control device is easy to realize, and the risk of crossing traffic of the automatic driving vehicle can be obviously reduced.
Description
Technical Field
The present description relates to the field of automated driving, and more particularly, to a vehicle assist control method and related apparatus.
Background
When the automatic driving vehicle passes through the crossroad, the decision of passing or stopping is needed to be made according to the traffic light signal. Under normal conditions, vehicles normally pass through the green light; vehicles are prohibited from passing through the red light; in the case of a yellow light, vehicles which have passed the stop line can continue to pass, and vehicles which have not passed the stop line should stop; under special circumstances, when the autonomous vehicle is close to the intersection and has a certain driving speed, the light is changed, the light signal is changed from the green light to the yellow light or the red light, the vehicle may not stop before the stop line, and the autonomous vehicle is in a dangerous state. Appropriate intersection passing methods are needed to ensure the safety of intersection passing of the autonomous vehicles.
Disclosure of Invention
A series of concepts in a simplified form are introduced in the summary section, which is described in further detail in the detailed description section. The summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In a first aspect, the present invention provides a vehicle assist control method, including:
acquiring running information of a target vehicle, wherein the running information comprises speed information, vehicle position information and brake acceleration information;
acquiring signal lamp information of a target intersection, wherein the signal lamp information comprises signal lamp color information;
obtaining a braking parking position according to the speed information and the braking acceleration information;
and controlling a driving strategy of the target vehicle based on the braking parking position, the signal lamp information, a first stop line position and a second stop line position, wherein the first stop line is a real stop line corresponding to the target vehicle in the driving direction of the target intersection, and the second stop line is a virtual stop line which is a preset distance away from the first stop line and is behind the driving direction.
Optionally, the preset distance is determined based on a distance between a first stop line and a lane line in a second direction closest to the first stop line, the second direction crossing the traveling direction.
Optionally, the controlling the driving strategy of the target vehicle based on the braking/parking position, the traffic light information, the first stop line position, and the second stop line position includes:
controlling the target vehicle to brake when the traffic light color information is yellow, the brake parking position is before the second stop line, and the target vehicle does not pass the first stop line;
and/or the presence of a gas in the gas,
controlling the target vehicle to pass through the target intersection when the traffic light color information is yellow and the brake stop position is behind the second stop line;
and/or the presence of a gas in the gas,
and controlling the target vehicle to continue executing the current driving maneuver when the color of the signal or the like in the traffic light information is yellow, the brake parking position is between the second stop line and the first stop line, and the target vehicle is between the first stop line and the second stop line.
Optionally, the controlling the driving strategy of the target vehicle based on the braking/parking position, the traffic light information, the first stop line position, and the second stop line position includes:
controlling the target vehicle to brake when the traffic light color information is red and the target vehicle does not pass the first stop line;
and/or the presence of a gas in the gas,
controlling the target vehicle to continuously execute a current driving strategy under the condition that the signal lamp color information is red and the target vehicle passes through the first stop line;
and/or the presence of a gas in the gas,
and controlling the target vehicle to pass through the target intersection under the condition that the signal lamp color information is red and the target vehicle passes through the second stop line.
Optionally, the signal light information further includes signal light countdown information;
the control of the driving strategy of the target vehicle based on the braking/stopping position, the traffic light information, the first stop line position, and the second stop line position includes:
and controlling the target vehicle to brake when the traffic light color information is green, the target vehicle does not pass the first stop line, and the first stop line cannot be passed in the countdown information.
Optionally, the signal light information further includes signal light countdown information;
the driving strategy for controlling the target vehicle based on the braking/stopping position, the traffic light information, the first stop line position, and the second stop line position includes:
and controlling the target vehicle to pass through the target intersection when the traffic light color information is yellow and the target vehicle does not pass through the first stop line and the first stop line can pass through the countdown information.
Optionally, the vehicle position information, the first stop line position, and the second stop line position are obtained based on a high-precision map and GPS position information corresponding to the target vehicle.
In a second aspect, the present invention also provides a vehicle assist control apparatus, including:
the vehicle driving control system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring driving information of a target vehicle, and the driving information comprises speed information, vehicle position information and braking acceleration information;
the second acquisition unit is used for acquiring signal lamp information of the target intersection, wherein the signal lamp information comprises signal lamp color information;
a third obtaining unit, configured to obtain a braking parking position according to the speed information and the braking acceleration information;
and a control unit configured to control a driving strategy of the target vehicle based on the braking/parking position, the traffic light information, a first stop line position and a second stop line position, wherein the first stop line is a real stop line corresponding to the target vehicle in a driving direction of the target intersection, and the second stop line is a virtual stop line having a preset distance from the first stop line and being behind the driving direction.
In a third aspect, an electronic device includes: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the vehicle assistance control method according to any one of the first aspect as described above when the computer program stored in the memory is executed.
In a fourth aspect, the present invention also proposes a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the vehicle assistance control method of any one of the above aspects of the first aspect.
In summary, the vehicle assist control method according to the embodiment of the present application includes: acquiring running information of a target vehicle, wherein the running information comprises speed information, vehicle position information and brake acceleration information; acquiring signal lamp information of a target intersection, wherein the signal lamp information comprises signal lamp color information; obtaining a braking parking position according to the speed information and the braking acceleration information; and controlling a driving strategy of the target vehicle based on the braking parking position, the signal lamp information, a first stop line position and a second stop line position, wherein the first stop line is a real stop line corresponding to the target vehicle in the driving direction of the target intersection, and the second stop line is a virtual stop line which is a preset distance away from the first stop line and is behind the driving direction. According to the vehicle auxiliary control method provided by the embodiment, the braking and stopping positions of the vehicle are calculated by acquiring the running information of the vehicle, the running strategy of the target vehicle when the target vehicle passes through the intersection is controlled by combining the signal lamp information, the first stopping line position and the second stopping line position, the made vehicle running strategy is more stable and efficient, the intersection traffic control device is easy to realize, and the crossing traffic risk of the automatic driving vehicle can be obviously reduced.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic flow chart of a vehicle assist control method according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of dividing a stop line of a target intersection according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an autonomous vehicle provided by an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a vehicle auxiliary control device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle auxiliary control electronic device according to an embodiment of the present application.
Detailed Description
In the vehicle auxiliary control method provided by the embodiment, the braking and stopping position of the vehicle is calculated by acquiring the running information of the vehicle, and the running strategy of the target vehicle when the target vehicle passes through the intersection is controlled by combining the signal lamp information, the first stopping line position and the second stopping line position, so that the formulated vehicle running strategy is more stable and efficient, the adopted intersection traffic control device is easy to implement, and the crossing traffic risk of the automatically-driven vehicle can be obviously reduced.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. 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.
Referring to fig. 1, a schematic flow chart of a vehicle auxiliary control method provided in an embodiment of the present application may specifically include:
s110, acquiring running information of a target vehicle, wherein the running information comprises speed information, vehicle position information and brake acceleration information;
for example, vehicle running information such as speed information, vehicle position information and braking acceleration information of a target vehicle is acquired, the speed information can be determined by the vehicle speed measured by the vehicle, the vehicle position information can be determined by means of a high-precision map and a GPS (global positioning system) position, the braking acceleration information is the maximum braking acceleration information under the condition that riding experience of passengers is not influenced, the braking acceleration information can be obtained based on daily driving style statistics of a driver of the target vehicle, and the braking acceleration information can also be preset by a developer or the driver.
S120, acquiring signal lamp information of a target intersection, wherein the signal lamp information comprises signal lamp color information;
illustratively, the signal light information of the target intersection, that is, the color information of the signal light of the identification target intersection, including red, green and yellow, is obtained, and the color information can be obtained according to the vehicle driving picture obtained by the camera in front of the vehicle and according to the intelligent identification algorithm. Or the target vehicle can realize communication with the signal lamp of the target intersection, and the obtained instruction of the target intersection, which comprises the color information of the signal lamp, can be obtained.
S130, obtaining a braking parking position according to the speed information and the braking acceleration information;
for example, the position where the vehicle will eventually stop in the case where the vehicle immediately takes a brake at the current position and the current speed of the vehicle can be calculated from the speed information and the braking acceleration information of the vehicle. The braked parking position car _ stop _ position can be obtained by adding the current position car _ position of the vehicle to the braking distance car _ braking _ distance. The braking distance car _ braking _ distance can be calculated by the formula car _ braking _ distance = car _ v _ car _ v/(2*a), where a is the braking acceleration of the autonomous vehicle and car _ v is the vehicle speed information.
And S140, controlling a running strategy of the target vehicle based on the braking and parking position, the signal lamp information, a first stop line position and a second stop line position, wherein the first stop line is a real stop line corresponding to the target vehicle in the running direction of the target intersection, and the second stop line is a virtual stop line which is a preset distance away from the first stop line and is behind the running direction.
Illustratively, the braking parking position, the positional relationship with the first stop line position and the second stop line position, and the signal light information are taken into account when determining the driving strategy. The first stop line is a real stop line which actually exists in the intersection, the second stop line is a virtual stop line which is close to the intersection side and is not away from the first stop line by a preset distance, the preset distance is reasonably set, the made vehicle driving strategy is more stable and efficient by the relationship between the position of the first stop line and the position of the second stop line and the position of the braking stop line and the combination of signal lamp information, the adopted intersection traffic control device is easy to realize, and the passing risk of the automatic driving vehicle intersection can be remarkably reduced.
In summary, the vehicle auxiliary control method provided in this embodiment calculates the braking and stopping position of the vehicle by obtaining the driving information of the vehicle, and controls the driving strategy of the target vehicle when the target vehicle passes through the intersection by combining the signal light information, the first stopping line position and the second stopping line position, and the formulated driving strategy of the vehicle is more stable and efficient, and the adopted intersection traffic control device is easy to implement, and can significantly reduce the risk of automatically driving the vehicle to pass through the intersection.
In some examples, the preset distance is determined based on a distance between a first stop line and a lane line in a second direction closest to the first stop line, the second direction crossing the traveling direction.
For example, as shown in fig. 2, the position of the second stop line may be determined by the lane line that intersects the current driving direction and is closest to the position of the first stop line, i.e., a set of the first stop line and the second stop line is shown. If the second stop line is arranged in this way, even if the vehicle stops behind the first stop line but in front of the second stop line, the normal running of the vehicle in the direction crossing the first stop line cannot be influenced, and the safety and the flexibility of automatic driving are greatly improved.
In summary, the vehicle auxiliary control method provided by the embodiment of the application determines the second stop line according to the lane line in the crossing direction, so that the safety and flexibility of the vehicle auxiliary control scheme combining the first stop line and the second stop line are improved.
In some examples, the controlling of the driving strategy of the target vehicle based on the brake parking position, the signal light information, the first stop line position, and the second stop line position includes:
controlling the target vehicle to brake when the traffic light color information is yellow, the brake parking position is before the second stop line, and the target vehicle does not pass the first stop line;
and/or the presence of a gas in the gas,
controlling the target vehicle to pass through the target intersection when the traffic light color information is yellow and the brake stop position is behind the second stop line;
and/or the presence of a gas in the gas,
and controlling the target vehicle to continue to execute the current driving maneuver when the color of the signal or the like in the signal light information is yellow, the brake parking position is between the second stop line and the first stop line, and the target vehicle is between the first stop line and the second stop line.
Illustratively, when the signal light color information is green, the target vehicle is controlled to pass through the target intersection.
When the signal light color information is yellow, the target vehicle may be controlled according to table 1:
TABLE 1
The first stop line position is first _ stop _ position, the second stop line position is second _ stop _ position, the brake parking position is car _ stop _ position,
in the case that the signal light color information is yellow, the brake parking position is before the second stop line, and the target vehicle does not pass the first stop line, the target vehicle is controlled to brake.
And under the condition that the signal lamp color information is yellow and the braking parking position is behind the second stop line, controlling the target vehicle to pass through the target intersection, namely, controlling the vehicle to pass through the intersection as long as the calculated braking parking position is behind the second stop line regardless of the position of the vehicle.
And controlling the target vehicle to continuously execute the current running strategy under the condition that the color of the signal and the like in the signal light information is yellow, the brake parking position is between the second stop line and the first stop line, and the target vehicle is between the first stop line and the second stop line, namely, under the condition that the vehicle runs to the first stop line and the second stop line and the brake parking position is between the first stop line and the second stop line, if the vehicle stops, and if the vehicle does not execute the parking command, the vehicle passes through.
In some examples, the controlling of the driving strategy of the target vehicle based on the brake parking position, the signal light information, the first stop line position, and the second stop line position includes:
controlling the target vehicle to brake when the traffic light color information is red and the target vehicle does not pass the first stop line;
and/or the presence of a gas in the atmosphere,
controlling the target vehicle to continuously execute the current driving strategy under the condition that the color information of the signal lamp is red and the target vehicle passes through the first stop line;
and/or the presence of a gas in the gas,
and controlling the target vehicle to pass through the target intersection under the condition that the signal lamp color information is red and the target vehicle passes through the second stop line.
For example, in the case where the traffic light color is red, the vehicle is controlled to travel in the manner of table 2.
TABLE 2
Under the condition that the color information of the signal lamp is red and the target vehicle does not pass through the first stop line, the target vehicle is controlled to brake, namely the braking and parking position can not be calculated at the moment, the braking operation is directly executed, and the danger caused by violation of regulations is avoided.
And controlling the target vehicle to continue executing the current running strategy under the condition that the signal lamp color information is red and the target vehicle passes through the first stop line, wherein the step of executing the current running strategy comprises the step of executing the parking command, namely braking, and the step of executing the parking command, namely passing, comprises the step of passing through the first stop line but not passing through the second stop line and passing through the second stop line.
And controlling the target vehicle to pass through the target intersection under the condition that the color information of the signal lamp is red and the target vehicle passes through the second stop line.
In some examples, the signal light information further includes signal light countdown information;
the control of the driving strategy of the target vehicle based on the braking/stopping position, the traffic light information, the first stop line position, and the second stop line position includes:
and controlling the target vehicle to brake when the traffic light color information is green, the target vehicle does not pass the first stop line, and the first stop line cannot be passed in the countdown information.
For example, when the signal light countdown can be acquired and the color of the signal light is green, the target vehicle can be controlled to run in the manner of table 3.
TABLE 3
And under the conditions that the color information of the signal lamp is green, the target vehicle does not pass through the first stop line and the countdown information does not pass through the first stop line, the target vehicle is controlled to brake, and under other conditions, the target vehicle is controlled to pass through the target intersection.
In some examples, the signal light information further includes signal light countdown information;
the control of the driving strategy of the target vehicle based on the braking/stopping position, the traffic light information, the first stop line position, and the second stop line position includes:
and controlling the target vehicle to pass through the target intersection when the traffic light color information is yellow and the target vehicle does not pass through the first stop line and the first stop line can pass through the countdown information.
For example, when the signal light countdown can be acquired and the color of the signal light is yellow, the target vehicle can be controlled to run in the manner of table 4.
TABLE 4
And under the conditions that the color information of the signal lamp is yellow, the target vehicle does not pass through the first stop line and the countdown information can pass through the first stop line, controlling the target vehicle to pass through the target intersection, and under the other conditions, adopting the same control scheme as that of not acquiring the countdown information.
In some examples, the vehicle position information, the first stop line position, and the second stop line position are obtained based on a high-precision map and GPS position information corresponding to the target vehicle.
Illustratively, as shown in fig. 3, a schematic diagram of a vehicle for acquiring vehicle position information, first stop-line information, second stop-line information and/or signal light information is provided, wherein GPS coordinates of the vehicle are acquired by a GPS signal receiver, and accurate position information, first stop-line information and second stop-line information of the vehicle are acquired by a high-precision map and a computer control program in a storage device, and a processing function of a processor is combined. Meanwhile, the signal lamp information is identified by combining the image of the target intersection captured by the camera with the corresponding processing algorithm.
Referring to fig. 4, an embodiment of a vehicle auxiliary control device in an embodiment of the present application may include:
a first obtaining unit 21 configured to obtain travel information of a target vehicle, where the travel information includes speed information, vehicle position information, and brake acceleration information;
a second obtaining unit 22, configured to obtain signal light information of a target intersection, where the signal light information includes signal light color information;
a third obtaining unit 23, configured to obtain a braking parking position according to the speed information and the braking acceleration information;
and a control unit 24 configured to control a driving strategy of the target vehicle based on the braked parking position, the traffic light information, a first stop line position, and a second stop line position, wherein the first stop line is a real stop line corresponding to the target vehicle in a driving direction of the target intersection, and the second stop line is a virtual stop line having a preset distance from the first stop line and being behind the driving direction.
As shown in fig. 5, the embodiment of the present application further provides an electronic device 300, which includes a memory 310, a processor 320 and a computer program 311 stored in the memory 320 and executable on the processor, and when the processor 320 executes the computer program 311, the steps of any one of the methods for controlling vehicle assistance described above are implemented.
Since the electronic device described in this embodiment is a device for implementing a vehicle auxiliary control apparatus in this embodiment, based on the method described in this embodiment, a person skilled in the art can understand the specific implementation manner of the electronic device of this embodiment and various modifications thereof, so that how to implement the method in this embodiment by the electronic device is not described in detail herein, and as long as the person skilled in the art implements the device used in this embodiment, all of the devices fall within the scope of protection of this application.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Embodiments of the present application also provide a computer program product, which includes computer software instructions, when the computer software instructions are executed on a processing device, cause the processing device to execute the flow of vehicle assist control as in the corresponding embodiment of fig. 1.
The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially 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 computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted 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.) means. A computer-readable storage medium may be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is only a logical division, and other divisions may be realized in practice, for example, a plurality of 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.
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 application 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 integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, which are essential or part of the technical solutions contributing to the prior art, or all or part of the technical solutions, may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A vehicle assist control method characterized by comprising:
acquiring running information of a target vehicle, wherein the running information comprises speed information, vehicle position information and brake acceleration information;
acquiring signal lamp information of a target intersection, wherein the signal lamp information comprises signal lamp color information;
obtaining a braking parking position according to the speed information and the braking acceleration information;
and controlling the driving strategy of the target vehicle based on the braking parking position, the signal lamp information, the position of a first stop line and the position of a second stop line, wherein the first stop line is a real stop line corresponding to the target vehicle in the driving direction of the target intersection, and the second stop line is a virtual stop line which is away from the first stop line by a preset distance and is behind the driving direction.
2. The method of claim 1, wherein the preset distance is determined based on a distance of a first stop-line and a lane-line in a second direction closest to the first stop-line, the second direction crossing the driving direction.
3. The method of claim 1, wherein the controlling the travel strategy of the target vehicle based on the braked park position, the signal light information, a first stop line position, and a second stop line position comprises:
controlling the target vehicle to brake under the condition that the signal lamp color information is yellow, the brake parking position is before the second stop line and the target vehicle does not pass the first stop line;
and/or the presence of a gas in the gas,
controlling the target vehicle to pass through the target intersection under the condition that the signal lamp color information is yellow and the brake parking position is behind the second stop line;
and/or the presence of a gas in the gas,
and controlling the target vehicle to continuously execute the current driving strategy under the condition that the color of the signal and the like in the signal light information is yellow, the brake parking position is between the second stop line and the first stop line, and the target vehicle is between the first stop line and the second stop line.
4. The method of claim 1, wherein the controlling the travel strategy of the target vehicle based on the braked park position, the signal light information, a first stop line position, and a second stop line position comprises:
controlling the target vehicle to brake under the condition that the signal lamp color information is red and the target vehicle does not pass through the first stop line;
and/or the presence of a gas in the gas,
under the condition that the color information of the signal lamp is red and the target vehicle passes through the first stop line, controlling the target vehicle to continuously execute a current driving strategy;
and/or the presence of a gas in the gas,
and controlling the target vehicle to pass through the target intersection under the condition that the color information of the signal lamp is red and the target vehicle passes through the second stop line.
5. The method of claim 1, wherein the signal light information further comprises signal light countdown information;
the controlling a driving strategy of the target vehicle based on the braking parking position, the signal light information, the first stop line position and the second stop line position includes:
and controlling the target vehicle to brake under the conditions that the signal lamp color information is green, the target vehicle does not pass through the first stop line and the countdown information cannot pass through the first stop line.
6. The method of claim 1, wherein the signal light information further comprises signal light countdown information;
the controlling a driving strategy of the target vehicle based on the braking parking position, the signal light information, the first stop line position and the second stop line position includes:
and controlling the target vehicle to pass through the target intersection under the condition that the color information of the signal lamp is yellow, the target vehicle does not pass through the first stop line and the countdown information can pass through the first stop line.
7. The method of claim 1, wherein the vehicle location information, the first stop line location, and the second stop line location are obtained based on corresponding high precision maps of target vehicles and GPS location information.
8. A vehicle assist control device characterized by comprising:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the running information of a target vehicle, and the running information comprises speed information, vehicle position information and brake acceleration information;
the second acquisition unit is used for acquiring signal lamp information of the target intersection, wherein the signal lamp information comprises signal lamp color information;
a third obtaining unit, configured to obtain a braking parking position according to the speed information and the braking acceleration information;
and the control unit is used for controlling the running strategy of the target vehicle based on the braking parking position, the signal lamp information, the first stop line position and the second stop line position, wherein the first stop line is a real stop line corresponding to the target vehicle in the running direction of the target intersection, and the second stop line is a virtual stop line which is away from the first stop line by a preset distance and is behind the running direction.
9. An electronic device, comprising: memory and a processor, characterized in that the processor is adapted to carry out the steps of the vehicle assistance control method according to any one of claims 1-7 when executing a computer program stored in the memory.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements a vehicle assistance control method as claimed in any one of claims 1-7.
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