CN115649165B

CN115649165B - Vehicle starting control method and device, vehicle and storage medium

Info

Publication number: CN115649165B
Application number: CN202210959617.0A
Authority: CN
Inventors: 黄黎源; 陈君宇
Original assignee: Xiaomi Automobile Technology Co Ltd
Current assignee: Xiaomi Automobile Technology Co Ltd
Priority date: 2022-08-10
Filing date: 2022-08-10
Publication date: 2023-11-28
Anticipated expiration: 2042-08-10
Also published as: CN115649165A

Abstract

The present disclosure relates to a vehicle start control method, device, vehicle and storage medium, the method comprising: after the vehicle is braked, determining the starting working conditions of the vehicle, wherein the starting working conditions comprise a front vehicle starting working condition and a front vehicle starting working condition; and if the starting working condition of the vehicle is the starting working condition without the front vehicle, controlling the vehicle to start according to the signal lamp state in front of the vehicle and the participation degree of the user-controlled vehicle, wherein the signal lamp state comprises that a green light is on and that the green light is not on. According to the technical scheme, the participation degree of the user for controlling the vehicle is considered, so that the user can intervene in time when an emergency situation is encountered after the vehicle starts, the safety accidents caused by automatically controlling the vehicle to start under the working condition of no front vehicle starting are reduced, and the driving safety and the use experience of the user are improved.

Description

Vehicle starting control method and device, vehicle and storage medium

Technical Field

The disclosure relates to the field of automatic driving, and in particular relates to a vehicle starting control method, a vehicle starting control device, a vehicle and a storage medium.

Background

Today, autopilot technology is being vigorously developed. The number of vehicles on the road is large, the traffic environment is complex, and the traffic environment at the intersection is more so. How to control vehicles to safely and efficiently run at intersections has become an important issue for engineers.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides a vehicle start control method, a vehicle start control device, a vehicle, and a storage medium.

According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle start control method including:

after the vehicle is braked, determining the starting working conditions of the vehicle, wherein the starting working conditions comprise a front vehicle starting working condition and a front vehicle starting working condition;

and if the starting working condition of the vehicle is the starting working condition without the front vehicle, controlling the vehicle to start according to the signal lamp state in front of the vehicle and the participation degree of the user-controlled vehicle, wherein the signal lamp state comprises that a green light is on and that the green light is not on.

Optionally, the method further comprises:

and if the starting working condition of the vehicle is the starting working condition of the preceding vehicle, controlling the vehicle to start according to the starting of the preceding vehicle.

Optionally, the determining the starting condition of the vehicle includes:

If it is detected that an intersection stop line exists in front of the vehicle, determining whether other vehicles exist between the vehicle and the intersection stop line;

if other vehicles exist between the vehicle and the intersection stop line, determining the starting working condition of the vehicle as the starting working condition of the preceding vehicle;

if no intersection stop line is detected in front of the vehicle, or no other vehicle exists between the vehicle and the intersection stop line, determining the starting working condition of the vehicle as the starting working condition without the front vehicle.

Optionally, the controlling the vehicle to start according to the signal light state in front of the vehicle and the participation degree of the user control vehicle includes:

if the signal lamp state is that the green lamp is on, determining the participation degree;

if the determined participation degree is high participation degree, controlling the vehicle to start;

if the determined participation degree is low, outputting a first prompt message, starting timing and redefining the participation degree, wherein the first prompt message is used for prompting a user that a green light is on;

if the redetermined participation degree is the high participation degree within the preset timing threshold, controlling the vehicle to start;

and if the re-determined participation degree is still the low participation degree and the timing threshold value is reached, controlling the vehicle to park.

Optionally, the determining the engagement degree includes:

acquiring a steering wheel holding state, a steering wheel torque state, a user mental state and an accelerator pedal using state;

the engagement is determined based on the obtained steering wheel grip state, the obtained steering wheel torque state, the obtained user mental state, and the obtained accelerator pedal usage state.

Optionally, the determining the engagement according to the acquired steering wheel holding state, the acquired steering wheel torque state, the acquired user mental state, and the acquired accelerator pedal usage state includes:

searching for engagement corresponding to the acquired steering wheel holding state, the acquired steering wheel torque state, the acquired user mental state and the acquired accelerator pedal using state from a predetermined corresponding relation, wherein the corresponding relation comprises the engagement, the steering wheel holding state, the steering wheel torque state, the user mental state and the accelerator pedal using state.

Optionally, the controlling the vehicle to start according to the start of the preceding vehicle includes:

if the signal lamp state in front of the vehicle is not detected and the front vehicle starts, controlling the vehicle to start;

And if the signal lamp state in front of the vehicle is detected to be green light, starting the front vehicle, and controlling the vehicle to start.

Optionally, the method further comprises:

detecting the speed of a front vehicle after the vehicle starts;

and if the speed of the front vehicle is lower than a preset first speed threshold value, controlling the speed of the vehicle to be equal to the speed of the front vehicle.

Optionally, the method further comprises:

and outputting a second prompting message after the vehicle starts, wherein the second prompting message is used for prompting a traffic participant that the vehicle has started.

According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle start control apparatus including:

the determining module is configured to determine starting conditions of the vehicle after the vehicle is braked, wherein the starting conditions comprise a front vehicle starting condition and a no front vehicle starting condition;

and the first control module is configured to control the vehicle to start according to the signal lamp state in front of the vehicle and the participation degree of the user-controlled vehicle if the starting working condition of the vehicle is the starting working condition without the front vehicle, wherein the signal lamp state comprises that the green light is on and the green light is not on.

According to a third aspect of embodiments of the present disclosure, there is provided a vehicle comprising:

A processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the method for controlling vehicle starting provided by the first aspect of the present disclosure is implemented.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle launch control method provided by the first aspect of the present disclosure.

The technical scheme provided by the embodiment of the disclosure can comprise the following beneficial effects:

according to the technical scheme, after the vehicle stops, the starting working condition of the vehicle is determined, and under the condition that the starting working condition of the vehicle is the starting working condition without the front vehicle, the vehicle is controlled to start according to the signal lamp state and the participation degree of the user control vehicle. Because the participation degree of the user for controlling the vehicle is considered, when the emergency situation is met after the vehicle starts, the user can intervene in time, so that the safety accidents caused by automatically controlling the vehicle to start under the working condition of no front vehicle starting are reduced, and the driving safety and the use experience of the user are improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a flowchart illustrating a vehicle launch control method according to an exemplary embodiment.

Fig. 2 is a block diagram illustrating a vehicle launch control device according to an exemplary embodiment.

FIG. 3 is a functional block diagram of a vehicle, according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

It should be noted that, all actions of acquiring signals, information or data in the present application are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.

Fig. 1 is a flowchart showing a vehicle start control method according to an exemplary embodiment, which includes steps S101 to S102 as shown in fig. 1.

In step S101, after the vehicle is braked, a starting condition of the vehicle is determined, where the starting condition includes a preceding vehicle starting condition and a no preceding vehicle starting condition.

The starting condition refers to a condition around the vehicle when the vehicle starts, for example, whether there is another vehicle in front of the vehicle. Other vehicles may include automobiles and motorcycles. The front vehicle starting working condition refers to that other vehicles are arranged in front of the vehicle, and the no-front vehicle starting working condition refers to that no other vehicles are arranged in front of the vehicle.

For example, step S101 may be applied in the following scenario: the vehicle arrives at the intersection and encounters the red light at the intersection to stop. Step S101 is executed to determine whether the starting condition of the vehicle is a preceding vehicle starting condition or a no preceding vehicle starting condition. In one embodiment, in step S101, it may be determined whether the own vehicle is a head truck stopped in the lane where the own vehicle is located, and if the own vehicle is a head truck stopped in the lane where the own vehicle is located, the starting condition of the vehicle is determined as the no-front-vehicle starting condition; if the own vehicle is not the first trolley stopping in the lane where the own vehicle is located, the starting working condition of the vehicle is determined as the starting working condition of the front vehicle.

In step S102, if the starting condition of the vehicle is a no-front-vehicle starting condition, controlling the vehicle to start according to a signal lamp state in front of the vehicle and the participation degree of the user in controlling the vehicle, wherein the signal lamp state includes a green light on and a green light off.

The signal lamp state refers to a lighting state of the signal lamp. For example, a signal red light, a signal yellow light, or a signal green light. The red light of the signal lamp and the yellow light of the signal lamp can be classified as the green light is not turned on. Engagement is an indicator that measures how far a user is engaged in driving a vehicle. In one embodiment, the engagement of the user control vehicle may be divided into a high engagement and a low engagement. A high engagement indicates that the user is highly engaged in driving the vehicle, and a low engagement indicates that the user is not highly engaged in driving the vehicle.

For example, the vehicle start control may be performed according to the signal light state in front of the vehicle and the participation degree of the user control vehicle, when the signal light state in front of the vehicle is green light, and the participation degree of the user control vehicle is high.

In yet another embodiment, the method further comprises:

if the starting working condition of the vehicle is the starting working condition of the front vehicle, controlling the vehicle to start according to the starting working condition of the front vehicle.

The vehicle start control according to the start of the preceding vehicle may be the control of the vehicle start immediately after the preceding vehicle is determined to have started, or may be the control of the vehicle start after a preset waiting period after the preceding vehicle is determined to have started.

For example, after determining that the preceding vehicle has started, the vehicle may wait for 2 seconds, and if the preceding vehicle is continuously in a moving state for 2 seconds, the vehicle may be controlled to start. After it is determined that the preceding vehicle has started, the vehicle is controlled to start after waiting for 2 seconds, and the purpose is to confirm that the preceding vehicle is driving away from the intersection by 2 seconds instead of stopping after moving forward only a small distance. Thus, frequent starting and stopping of the vehicle are avoided, and riding comfort of a user is improved.

In the embodiment, under the condition that the starting working condition of the vehicle is the starting working condition of the front vehicle, the vehicle is controlled to start according to the starting of the front vehicle, the judging condition of the vehicle starting is simplified, and the judging method is simple, efficient and high in safety.

In yet another embodiment, determining a launch condition of the vehicle includes:

if the intersection stop line is detected to be in front of the vehicle, determining whether other vehicles exist between the vehicle and the intersection stop line;

if other vehicles exist between the vehicle and the intersection stop line, determining the starting working condition of the vehicle as the starting working condition of the front vehicle;

if no intersection stop line is detected in front of the vehicle, or no other vehicle is arranged between the vehicle and the intersection stop line, determining the starting working condition of the vehicle as the starting working condition without a front vehicle.

The intersection stop line refers to a stop line at the intersection. Other vehicles may refer to other vehicles than the own vehicle. Whether an intersection stop line exists in front of the vehicle can be judged according to the image acquired by the vehicle-mounted camera. And whether the intersection stop line exists in front of the vehicle can be judged by using the high-precision map marked with the intersection stop line according to the current position of the vehicle on the road and the position of the intersection stop line marked on the high-precision map. Whether other vehicles exist between the vehicles and the stop line of the intersection can be judged according to the information acquired by the front-view camera, the millimeter wave radar and the laser radar.

If the intersection stop line is not detected in front of the vehicle, the reason may be that the intersection stop line is crossed when the vehicle stops, or the reason may be that the intersection stop line is not detected in front of the vehicle due to the unclear intersection stop line. In the vehicle starting control method provided by the disclosure, if the starting working condition of the vehicle is determined to be the starting working condition without the front vehicle, the vehicle starting is required to be controlled according to the signal lamp state in front of the vehicle and the participation degree of the user control vehicle, and obviously, when facing a complex traffic condition, the safety of taking the height parameter of the user into consideration to control the vehicle starting is higher. Therefore, when the intersection stop line is not detected in front of the vehicle, the starting working condition of the vehicle is determined to be the starting working condition without the front vehicle, so that the user participation degree is required to be considered to control the vehicle to start, and the safety of the vehicle to start is improved.

In the embodiment, the starting working condition of the vehicle is determined according to whether an intersection stop line is detected in front of the vehicle and whether other vehicles are arranged between the vehicle and the intersection stop line, so that the method is simple and effective, and the judging speed is high.

In yet another embodiment, controlling vehicle launch based on signal light status in front of the vehicle and user-controlled vehicle engagement includes:

if the determined participation degree is high, controlling the vehicle to start;

if the redetermined participation degree is high participation degree within the preset timing threshold, controlling the starting of the vehicle;

and if the re-determined participation degree is still low, and the timing threshold is reached, controlling the vehicle to park.

The camera in the vehicle can be used for collecting the facial image of the user, and whether the user pays attention to the road surface or not can be judged according to the facial image of the user. The method of judging whether the user is paying attention to the road surface based on the face image of the user is well known to those skilled in the art, and will not be described here too much. If the user pays attention to the road surface, the participation degree is determined to be high; if the user is not paying attention to the road surface, the participation degree is determined as a low participation degree.

The first prompting message is a prompting message for prompting a user that a green light is on. For example, the first prompting message may be a voice broadcast content for prompting the user that the green light has been turned on.

The timing threshold is preset, for example, the timing threshold may be 15s. And continuously judging the participation degree of the user control vehicle in the timing threshold until the timing time reaches the timing threshold or the newly determined participation degree is high participation degree. In other words, the period of time from the start of the timer to the time period reaching the timer threshold is a period of time waiting for the user to switch from the non-highly involved driving vehicle to the highly involved driving vehicle.

In this embodiment, in the case where the signal lamp state is green light on and the determined engagement is high engagement, the vehicle start is controlled so that the user can control the vehicle in time in an emergency traffic situation. Under the condition that the signal lamp state is green light on and the determined participation degree is low, prompting the user that the green light is on, prompting the user to actively participate in driving so as to control the vehicle to start and leave the intersection as soon as possible, and avoiding the influence of the vehicle stopping on the road on the running of the rear vehicle. In addition, in the case where the time duration reaches the time threshold after the green light is prompted to be on and the engagement is low, it may be considered that the user has no ability to highly participate in controlling the vehicle at this time, or does not want to control the vehicle to start, for example, the user may have fallen asleep, and controlling the parking of the vehicle at this time can improve the driving safety.

In yet another embodiment, determining engagement includes:

The steering wheel grip state may include the user's hand being on the steering wheel and the user's hand not being on the steering wheel. The capacitive steering wheel can be used for detecting the steering wheel holding state and acquiring the judgment result of the capacitive steering wheel on the steering wheel holding state.

The steering wheel torque state may include a moment on the steering wheel and no moment on the steering wheel. The moment applied by the user to the steering wheel can be obtained by a torque sensor. If the moment applied by the user on the steering wheel is greater than or equal to a preset moment threshold value, determining the torque state of the steering wheel as the moment on the steering wheel; if the torque applied by the user to the steering wheel is less than the torque threshold, the steering wheel torque state is determined to be no torque on the steering wheel.

The user mental state may include a user focusing on the road surface and a user not focusing on the road surface. The mental state of the user can be determined by performing image recognition on the acquired face image of the user and classifying the face image according to a trained model.

The accelerator pedal usage status may include a user depressing the accelerator pedal and a user not using the accelerator pedal.

For example, if the obtained steering wheel holding state is that the user's hand is on the steering wheel, the obtained steering wheel torque state is that there is a moment on the steering wheel, the obtained user mental state is that the user is paying attention to the road surface, the obtained accelerator pedal usage state is that the user depresses the accelerator pedal, the engagement degree may be determined as a high engagement degree.

For another example, if the obtained steering wheel holding state is that the user's hand is on the steering wheel, the obtained steering wheel torque state is that there is no moment on the steering wheel, the obtained user mental state is that the user is not paying attention to the road surface, the obtained accelerator pedal usage state is that the user depresses the accelerator pedal, the engagement degree may be determined as a low engagement degree.

The steering wheel holding state, the steering wheel torque state, the user mental state and the accelerator pedal use state reflect whether the hands, eyes and feet of the user participate in driving or not, and can reflect the degree of the user participating in driving to a certain extent. In the embodiment, the engagement degree determined according to the steering wheel holding state, the steering wheel torque state, the user mental state and the accelerator pedal using state can better and comprehensively reflect the engagement degree of the user in driving, and the reliability is good.

In yet another embodiment, determining engagement based on the obtained steering wheel grip state, the obtained steering wheel torque state, the obtained user mental state, and the obtained accelerator pedal usage state includes:

and searching the engagement corresponding to the acquired steering wheel holding state, the acquired steering wheel torque state, the acquired user mental state and the acquired accelerator pedal using state in a preset corresponding relation, wherein the corresponding relation comprises the engagement, the steering wheel holding state, the steering wheel torque state, the user mental state and the accelerator pedal using state.

The correspondence is predetermined. The correspondence relationship may be preset. And when the engagement degree is determined, searching the engagement degree corresponding to the acquired steering wheel holding state, the acquired steering wheel torque state, the acquired user mental state and the acquired accelerator pedal using state in a preset corresponding relation, and taking the searched engagement degree as the determined engagement degree. In the embodiment, the participation degree can be rapidly determined, and the execution efficiency is high.

In yet another embodiment, controlling vehicle launch based on launch of a preceding vehicle includes:

If the signal lamp state in front of the vehicle is not detected, starting the front vehicle, and controlling the vehicle to start;

When the traffic light state in front of the vehicle is not detected, the traffic light state in front of the vehicle may not be detected due to the shielding of the preceding vehicle. If the signal lamp state in front of the vehicle is not detected and the front vehicle starts, the control of the vehicle starting considers that the front vehicle starts when the green light is on, and the traffic environment on the road is approximately the same as the traffic environment of the front vehicle when the front vehicle passes through the intersection, so that the front vehicle can follow the front vehicle to pass through the intersection. If the signal lamp state in front of the vehicle is detected to be green light, and the front vehicle starts, the vehicle is considered to safely pass through the intersection at the moment, and the vehicle can be controlled to start.

In the embodiment, a method for controlling the starting of the vehicle according to the starting of the front vehicle is provided under the condition that the starting working condition of the vehicle is the starting working condition without the front vehicle, and the method is simple.

In yet another embodiment, the method further comprises:

detecting the speed of a front vehicle after the vehicle starts;

The first speed threshold is preset, for example, the first speed threshold may be set to 5km/h.

In this embodiment, it is considered that if the distance between the stop line and the vehicle is long, the duration of one green light is insufficient to drive the vehicle to the stop line of the intersection, or if the distance between the preceding vehicle and the preceding vehicle is long, the preceding vehicle is only moved forward at a small distance at a lower speed, so that the vehicle and the preceding vehicle can be controlled to drive at the same speed, and the driving safety is improved.

In yet another embodiment, the method further comprises:

and after the vehicle starts, outputting a second prompting message, wherein the second prompting message is used for prompting a traffic participant that the vehicle has started.

A microphone may be external to the vehicle. The second alert message may be a voice message played at a microphone external to the vehicle.

In the embodiment, after the vehicle starts, the second prompting message is output, so that the traffic participant can be prompted that the vehicle has started, and accidents are reduced.

Fig. 2 is a block diagram illustrating a vehicle launch control device according to an exemplary embodiment. Referring to fig. 2, the vehicle start control device 200 includes a determination module 201 and a first control module 202.

The determination module 201 is configured to determine a starting condition of the vehicle after the vehicle is braked, the starting condition including a preceding vehicle starting condition and a no preceding vehicle starting condition.

The first control module 202 is configured to control vehicle start according to a signal light state in front of the vehicle and the participation degree of the user control vehicle if the start condition of the vehicle is a no-front vehicle start condition, wherein the signal light state comprises a green light on and a green light off.

In yet another embodiment, the vehicle launch control apparatus further comprises a second control module.

The second control module is configured to control the vehicle to start according to the starting condition of the front vehicle if the starting condition of the vehicle is the starting condition of the front vehicle.

In yet another embodiment, the determination module 201 includes a first determination sub-module, a second determination sub-module, and a third determination sub-module.

The first determination submodule is configured to determine whether other vehicles exist between the vehicle and the intersection stop line if the intersection stop line is detected to exist in front of the vehicle.

The second determining sub-module is configured to determine a start condition of the vehicle as a front vehicle start condition if there are other vehicles between the vehicle and the intersection stop line.

The third determination submodule is configured to determine the starting condition of the vehicle as a no-front-vehicle starting condition if no intersection stop line is detected in front of the vehicle or no other vehicle exists between the vehicle and the intersection stop line.

In yet another embodiment, the first control module 202 includes a fourth determination sub-module, a first control sub-module, a second control sub-module, a third control sub-module, and a fourth control sub-module.

The fourth determination submodule is configured to determine engagement if the signal light state is green light.

The first control sub-module is configured to control vehicle launch if the determined engagement is high engagement.

The second control sub-module is configured to output a first prompting message to start timing and redetermine the engagement if the determined engagement is low, wherein the first prompting message is used for prompting a user that a green light is on.

The third control sub-module is configured to control vehicle launch if the redetermined engagement is high within a preset timing threshold.

The fourth control sub-module is configured to control parking of the vehicle if the re-determined engagement is still low and the timing threshold is reached.

In yet another embodiment, the fourth determination submodule includes an acquisition submodule and a fifth determination submodule.

The acquisition sub-module is configured to acquire a steering wheel grip state, a steering wheel torque state, a user mental state, and an accelerator pedal usage state.

The fifth determination submodule is configured to determine engagement based on the acquired steering wheel holding state, the acquired steering wheel torque state, the acquired user mental state and the acquired accelerator pedal use state.

In yet another embodiment, the fifth determination submodule is further configured to find out, as the determined engagement, the engagement corresponding to the acquired steering wheel holding state, the acquired steering wheel torque state, the acquired user mental state, and the acquired accelerator pedal use state in a predetermined correspondence including a correspondence between the engagement, the steering wheel holding state, the steering wheel torque state, the user mental state, and the accelerator pedal use state.

In yet another embodiment, the second control module includes a fifth control sub-module and a sixth control sub-module.

The fifth control sub-module is configured to control vehicle launch if no signal light condition in front of the vehicle is detected and the lead vehicle launches.

The sixth control sub-module is configured to control vehicle start if the signal light state in front of the vehicle is detected to be green light on and the front vehicle starts.

In yet another embodiment, the vehicle launch control apparatus 200 further includes a detection module and a third control module.

The detection module is configured to detect a speed of a preceding vehicle after the vehicle starts.

The third control module is configured to control the speed of the vehicle to be equal to the speed of the lead vehicle if the speed of the lead vehicle is below a preset first speed threshold.

In yet another embodiment, the vehicle launch control apparatus 200 further includes an output module.

The output module is configured to output a second prompting message after the vehicle starts, wherein the second prompting message is used for prompting a traffic participant that the vehicle has started.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

Referring to fig. 3, fig. 3 is a functional block diagram of a vehicle 600 according to an exemplary embodiment. The vehicle 600 may be configured in a fully or partially autonomous mode. For example, the vehicle 600 may obtain environmental information of its surroundings through the perception system 620 and derive an automatic driving strategy based on analysis of the surrounding environmental information to achieve full automatic driving, or present the analysis results to the user to achieve partial automatic driving.

The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the subsystems and components of vehicle 600 may be interconnected via wires or wirelessly.

In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.

The communication system 611 may comprise a wireless communication system, which may communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a wireless local area network (wireless local area network, WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, wireless communication systems may include one or more dedicated short-range communication (dedicated short range communications, DSRC) devices, which may include public and/or private data communications between vehicles and/or roadside stations.

Entertainment system 612 may include a display device, a microphone, and an audio, and a user may listen to the broadcast in the vehicle based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, the screen of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate through touching the screen.

In some cases, the user's voice signal may be acquired through a microphone and certain controls of the vehicle 600 by the user may be implemented based on analysis of the user's voice signal, such as adjusting the temperature within the vehicle, etc. In other cases, music may be played to the user through sound.

The navigation system 613 may include a map service provided by a map provider to provide navigation of a travel route for the vehicle 600, and the navigation system 613 may be used with the global positioning system 621 and the inertial measurement unit 622 of the vehicle. The map service provided by the map provider may be a two-dimensional map or a high-precision map.

The perception system 620 may include several types of sensors that sense information about the environment surrounding the vehicle 600. For example, sensing system 620 may include a global positioning system 621 (which may be a GPS system, or may be a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU) 622, a lidar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors (e.g., in-vehicle air quality monitors, fuel gauges, oil temperature gauges, etc.) of the internal systems of the monitored vehicle 600. Sensor data from one or more of these sensors may be used to detect objects and their corresponding characteristics (location, shape, direction, speed, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.

The global positioning system 621 is used to estimate the geographic location of the vehicle 600.

The inertial measurement unit 622 is configured to sense a change in the pose of the vehicle 600 based on inertial acceleration. In some embodiments, inertial measurement unit 622 may be a combination of an accelerometer and a gyroscope.

The lidar 623 uses a laser to sense objects in the environment in which the vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, millimeter-wave radar 624 may be used to sense the speed and/or heading of an object in addition to sensing the object.

The ultrasonic radar 625 may utilize ultrasonic signals to sense objects around the vehicle 600.

The image pickup device 626 is used to capture image information of the surrounding environment of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, etc., and the image information acquired by the image capturing device 626 may include still images or video stream information.

The decision control system 630 includes a computing system 631 that makes analysis decisions based on information acquired by the perception system 620, and the decision control system 630 also includes a vehicle controller 632 that controls the powertrain of the vehicle 600, as well as a steering system 633, throttle 634, and braking system 635 for controlling the vehicle 600.

The computing system 631 may be operable to process and analyze the various information acquired by the perception system 620 in order to identify targets, objects, and/or features in the environment surrounding the vehicle 600. The targets may include pedestrians or animals and the objects and/or features may include traffic signals, road boundaries, and obstacles. The computing system 631 may use object recognition algorithms, in-motion restoration structure (Structure from Motion, SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map the environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the acquired various information and derive control strategies for the vehicle.

The vehicle controller 632 may be configured to coordinate control of the power battery and the engine 641 of the vehicle to enhance the power performance of the vehicle 600.

Steering system 633 is operable to adjust the direction of travel of vehicle 600. For example, in one embodiment may be a steering wheel system.

Throttle 634 is used to control the operating speed of engine 641 and thereby the speed of vehicle 600.

The braking system 635 is used to control deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheels 644. In some embodiments, the braking system 635 may convert kinetic energy of the wheels 644 into electrical current. The braking system 635 may take other forms to slow the rotational speed of the wheels 644 to control the speed of the vehicle 600.

The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.

Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source 642 may also provide energy to other systems of the vehicle 600.

The transmission 643 may transfer mechanical power from the engine 641 to wheels 644. The transmission 643 may include a gearbox, a differential, and a driveshaft. In one embodiment, the transmission 643 may also include other devices, such as a clutch. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.

Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651, and the processor 651 may execute instructions 653 stored in a non-transitory computer-readable medium, such as memory 652. In some embodiments, computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.

The processor 651 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor 651 may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (FieldProgrammable Gate Array, FPGA), a System On Chip (SOC), an application specific integrated Chip (Application Specific Integrated Circuit, ASIC), or a combination thereof. Although FIG. 3 functionally illustrates a processor, memory, and other elements of a computer in the same block, it will be understood by those of ordinary skill in the art that the processor, computer, or memory may in fact comprise multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a different housing than the computer. Thus, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only calculations related to the component-specific functions.

In the presently disclosed embodiment, the processor 651 may perform the vehicle launch control method described above.

In various aspects described herein, the processor 651 can be located remotely from and in wireless communication with the vehicle. In other aspects, some of the processes described herein are performed on a processor disposed within the vehicle and others are performed by a remote processor, including taking the necessary steps to perform a single maneuver.

In some embodiments, memory 652 may contain instructions 653 (e.g., program logic), which instructions 653 may be executed by processor 651 to perform various functions of vehicle 600. Memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of infotainment system 610, perception system 620, decision control system 630, drive system 640.

In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and other such vehicle data, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.

The computing platform 650 may control the functions of the vehicle 600 based on inputs received from various subsystems (e.g., the drive system 640, the perception system 620, and the decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by perception system 620. In some embodiments, computing platform 650 is operable to provide control over many aspects of vehicle 600 and its subsystems.

Alternatively, one or more of these components may be mounted separately from or associated with vehicle 600. For example, the memory 652 may exist partially or completely separate from the vehicle 600. The above components may be communicatively coupled together in a wired and/or wireless manner.

Alternatively, the above components are only an example, and in practical applications, components in the above modules may be added or deleted according to actual needs, and fig. 3 should not be construed as limiting the embodiments of the present disclosure.

An autonomous car traveling on a road, such as the vehicle 600 above, may identify objects within its surrounding environment to determine adjustments to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently and based on its respective characteristics, such as its current speed, acceleration, spacing from the vehicle, etc., may be used to determine the speed at which the autonomous car is to adjust.

Alternatively, the vehicle 600 or a sensing and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict the behavior of the identified object based on the characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on a road, etc.). Alternatively, each identified object depends on each other's behavior, so all of the identified objects can also be considered together to predict the behavior of a single identified object. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous car is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road on which it is traveling, the curvature of the road, the proximity of static and dynamic objects, and so forth.

In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 600 so that the autonomous vehicle follows a given trajectory and/or maintains safe lateral and longitudinal distances from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on a roadway).

The vehicle 600 may be various types of traveling tools, such as a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a recreational vehicle, a train, etc., and embodiments of the present disclosure are not particularly limited.

In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned vehicle control method when being executed by the programmable apparatus.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle start control method, characterized by comprising:

if the starting working condition of the vehicle is the starting working condition without the front vehicle, controlling the vehicle to start according to the signal lamp state in front of the vehicle and the participation degree of the user-controlled vehicle, wherein the signal lamp state comprises that a green light is on and that the green light is not on;

the method for controlling the starting of the vehicle according to the signal lamp state in front of the vehicle and the participation degree of the user-controlled vehicle comprises the following steps:

if the determined participation degree is low, outputting a first prompt message, wherein the first prompt message is used for prompting a user that a green light is on;

wherein the determining the engagement degree includes:

determining the engagement based on the obtained steering wheel grip state, the obtained steering wheel torque state, the obtained user mental state, and the obtained accelerator pedal usage state;

The steering wheel torque state comprises that the steering wheel has moment and the steering wheel has no moment, and the accelerator pedal using state comprises that the user presses the accelerator pedal and the user does not use the accelerator pedal.

2. The method according to claim 1, wherein the method further comprises:

3. The method of claim 1, wherein the determining the launch condition of the vehicle comprises:

4. The method of claim 1, wherein said controlling the vehicle launch based on the signal light status in front of the vehicle and the user-controlled engagement of the vehicle further comprises:

If the first prompting message is output, starting timing and redefining the participation degree, wherein the first prompting message is used for prompting a user that a green light is on;

5. The method of claim 1, wherein the determining the engagement based on the obtained steering wheel grip state, the obtained steering wheel torque state, the obtained user mental state, and the obtained accelerator pedal usage state comprises:

6. The method of claim 2, wherein said controlling the vehicle launch according to the launch of the preceding vehicle comprises:

7. The method according to claim 1, wherein the method further comprises:

detecting the speed of a front vehicle after the vehicle starts;

8. The method according to claim 1, wherein the method further comprises:

9. A vehicle start control device, characterized by comprising:

The first control module is configured to control the vehicle to start according to a signal lamp state in front of the vehicle and the participation degree of a user-controlled vehicle if the starting working condition of the vehicle is the starting working condition without the front vehicle, wherein the signal lamp state comprises a green light on state and a green light off state;

wherein the first control module comprises:

a fourth determining submodule configured to determine the engagement if the signal light status is that the green light is on;

a first control sub-module configured to control the vehicle launch if the determined engagement is high;

the second control sub-module is configured to output a first prompt message if the determined participation degree is low, wherein the first prompt message is used for prompting a user that a green light is on;

wherein the fourth determination submodule includes:

an acquisition sub-module configured to acquire a steering wheel grip state, a steering wheel torque state, a user mental state, and an accelerator pedal use state;

a fifth determination sub-module configured to determine the engagement based on the obtained steering wheel grip state, the obtained steering wheel torque state, the obtained user mental state, and the obtained accelerator pedal usage state;

10. A vehicle, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

the steps of carrying out the method of any one of claims 1 to 9.

11. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 9.