CN117184126A - Automatic driving method and device and computer readable storage medium - Google Patents
Automatic driving method and device and computer readable storage medium Download PDFInfo
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- CN117184126A CN117184126A CN202311094804.8A CN202311094804A CN117184126A CN 117184126 A CN117184126 A CN 117184126A CN 202311094804 A CN202311094804 A CN 202311094804A CN 117184126 A CN117184126 A CN 117184126A
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Abstract
The application relates to an automatic driving method and a device thereof, and a computer readable storage medium, comprising: when navigation prompt information is received, controlling the vehicle to run on the rightmost lane of the main road; the navigation prompt information is used for prompting that the vehicle is about to sink into the ramp; when the distance between a vehicle and a lane new point is smaller than or equal to a first preset threshold value, right lane line information of the ramp is obtained, left lane line information of the ramp is generated according to the right lane line information and a preset lane width, and a planned track is obtained by carrying out running track planning according to the right lane line information and the left lane line information; the lane new point is the connection part of the main road and the ramp; and controlling the vehicle to run according to the planned track, so that the course angle of the vehicle is flush with the solid line on the right side of the ramp. The application can solve the technical problem that the automatic driving vehicle is not timely initiated from the main road junction ramp to cause collision between the vehicle and the rear vehicle.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to an automatic driving method and device and a computer readable storage medium.
Background
In the process that the automatic driving vehicle enters the ramp from the main road, if the ramp changing action is not initiated timely, the rear vehicle can possibly generate acceleration overtaking behavior in the range of a drivable area behind the vehicle, and certain ramp changing risk exists in a narrow ramp changing space.
Disclosure of Invention
The application aims to provide an automatic driving method, a device thereof and a computer readable storage medium, which are used for solving the technical problem that an automatic driving vehicle is not timely initiated from a main road junction ramp to cause collision between the vehicle and a rear vehicle.
To achieve the above object, an embodiment of the present application provides an automatic driving method, including:
when navigation prompt information is received, controlling the vehicle to run on the rightmost lane of the main road; the navigation prompt information is used for prompting that the vehicle is about to sink into the ramp;
when the distance between a vehicle and a lane new point is smaller than or equal to a first preset threshold value, right lane line information of the ramp is obtained, left lane line information of the ramp is generated according to the right lane line information and a preset lane width, and a planned track is obtained by carrying out running track planning according to the right lane line information and the left lane line information; the lane new point is the connection part of the main road and the ramp;
and controlling the vehicle to run according to the planned track, so that the course angle of the vehicle is flush with the solid line on the right side of the ramp.
In some embodiments, the method further comprises:
and controlling the vehicle to be decelerated to a preset speed when the distance between the vehicle and the lane new point is smaller than or equal to a first preset threshold value.
In some embodiments, the method further comprises:
when the distance between the vehicle and the lane new point is greater than a first preset threshold value and less than or equal to a second preset threshold value, the vehicle is controlled to run according to the speed limiting requirement of the rightmost lane.
In some embodiments, the controlling the vehicle to travel in a rightmost lane of the main road includes:
identifying whether the vehicle is in the rightmost lane of the main road; if not, the vehicle is controlled to change to the rightmost lane of the main road, and if so, the vehicle is controlled to continue to run in the rightmost lane of the main road.
In some embodiments, the obtaining the right lane line information of the ramp, and generating the left lane line information of the ramp according to the right lane line information and a preset lane width specifically includes:
after the right lane line information of the ramp is obtained, filtering a part of lane lines at a lane new point, and generating left lane line information of the ramp according to the filtered right lane line information and a preset lane width.
The embodiment of the application also provides an automatic driving device, which comprises:
the first control module is used for controlling the vehicle to run on the rightmost lane of the main road when receiving the navigation prompt information; the navigation prompt information is used for prompting that the vehicle is about to sink into the ramp;
the lane line generation module is used for acquiring right lane line information of the ramp when the distance between the vehicle and a lane new point is smaller than or equal to a first preset threshold value, generating left lane line information of the ramp according to the right lane line information and a preset lane width, and planning a driving track according to the right lane line information and the left lane line information to obtain a planned track; the lane new point is the connection part of the main road and the ramp;
and the second control module is used for controlling the vehicle to run according to the planned track, so that the course angle of the vehicle is level with the solid line on the right side of the ramp.
In some embodiments, the first control module is further configured to control the vehicle to decelerate to a preset speed when a distance between the vehicle and the lane-new point is less than or equal to a first preset threshold.
In some embodiments, the first control module is further configured to control the vehicle to travel according to the speed limit requirement of the rightmost lane when the distance between the vehicle and the lane new point is greater than a first preset threshold and less than or equal to a second preset threshold.
In some embodiments, the first control module is specifically configured to identify whether the vehicle is in a rightmost lane of the main road; if not, the vehicle is controlled to change to the rightmost lane of the main road, and if so, the vehicle is controlled to continue to run in the rightmost lane of the main road.
The automatic driving method and the device and the computer readable storage medium provided by the embodiment of the application have the following beneficial effects:
by applying the embodiment of the application, the distance between the vehicle and the lane new generation point connected with the main road and the ramp is monitored in real time in the automatic driving process, the vehicle is controlled to run according to the set strategy according to the distance, the vehicle can finish smooth transverse offset movement at the first time before the lane new generation point connected with the main road and the ramp, road weights are occupied in advance, collision caused by overlarge rear driving space is reduced, and the success rate and safety of the main road remittance into the ramp are improved.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of an automatic driving method according to an embodiment of the present application.
Fig. 2 is a schematic view of a main road and a ramp in an embodiment of the present application.
FIG. 3 is an effect diagram of filtering a portion of lane lines at a lane new point according to an embodiment of the present application.
Fig. 4 is a flow chart of an automatic driving method according to another embodiment of the present application.
Fig. 5 is a schematic view of an autopilot device according to another embodiment of the present application.
Detailed Description
Various exemplary embodiments, features of the application will be described in detail below with reference to the accompanying drawings, in addition, numerous specific details are set forth in the following detailed description in order to provide a better illustration of the application, it being understood by those skilled in the art that the application may be practiced without some of these specific details, and in some instances, by means well known to those skilled in the art, in order to not obscure the present application.
Referring to fig. 1, one embodiment of the present application provides an automatic driving method, which includes the steps of:
step S10, when navigation prompt information is received, controlling the vehicle to run on the rightmost lane of the main road; the navigation prompt information is used for prompting that the vehicle is about to sink into the ramp.
Specifically, the navigation driving assistance application is a novel driving assistance application formed by combining navigation information and high-precision map information on the basis of the existing L2-level ADAS function, and aims to assist a driver to drive according to a navigation line, avoid missing a ramp entrance and a ramp exit, actively complete lane changing action for the driver and improve driving traffic efficiency; in step S10, when receiving the navigation prompt information output by the navigation driving assistance application, the vehicle prepares to merge into the ramp from the main road, and first, the vehicle is controlled to travel in the rightmost lane of the main road so as to merge into the ramp in time.
Step S20, when the distance between a vehicle and a lane new point is smaller than or equal to a first preset threshold value, right lane line information of the ramp is obtained, left lane line information of the ramp is generated according to the right lane line information and a preset lane width, and a running track is planned according to the right lane line information and the left lane line information to obtain a planned track; the lane new generation point is the connection part of the main road and the ramp.
Specifically, fig. 2 shows a main road, a ramp and a lane new generation point (the connection between the main road and the ramp), 1 is a right lane line, 1' is a mirror lane line, 2 is a real left lane line, the distance between the vehicle and the lane new generation point, in particular, the distance between the center point of the front axle of the vehicle and the lane new generation point is monitored in real time in step S20, the first preset threshold value is preferably but not limited to 10 meters, when the distance between the center point of the front axle of the vehicle and the lane new generation point is less than or equal to 10 meters, a left lane line needs to be mirrored according to the right lane line of the ramp to form a complete lane, and the right lane line and the left lane line can be correctly converged into the ramp from the main road when the vehicle runs on the center line of the complete lane; it should be noted that, as shown in fig. 2, the right lane line of the ramp is actually present, and may be obtained by extracting a front environmental image captured by a camera in front of the vehicle, and the left lane line and the right lane line are parallel to each other for one lane, so that a virtual left lane line may be generated based on a preset lane width (set according to the requirement of the country for the lane width, for example, 3.75 meters) and information of the extracted right lane line, and further, a 5-time spline curve (planned track) may be generated based on the left lane line and the right lane line by performing track planning.
And step S30, controlling the vehicle to run according to the planned track, so that the course angle of the vehicle is level with the solid line on the right side of the ramp.
Specifically, the vehicle is controlled to run according to the planned track, and the control aim is to enable the course angle of the vehicle to be flush with the solid line on the right side of the ramp, so that the vehicle can complete smooth lateral offset movement in the first time before the new point of the lane, and the success rate and the safety of the main road entering the ramp are improved; further, it is also possible to control when the vehicle is traveling on the center line of the complete lane to better improve safety.
Based on the above description, in the automatic driving process, the method of the embodiment monitors the distance between the vehicle and the lane new generation point connected with the main road and the ramp in real time, controls the vehicle to run according to the set strategy according to the distance, and can complete smooth transverse offset movement at the first time before the lane new generation point connected with the main road and the ramp, occupy road weights in advance, reduce collision caused by overlarge rear drivable space, and improve the success rate and safety of the main road afflux to the ramp.
In some embodiments, the method further comprises:
step S11, when the distance between the vehicle and the lane new point is smaller than or equal to a first preset threshold value, controlling the vehicle to decelerate to a preset speed.
Specifically, in this embodiment, the preset speed is determined according to the speed requirement of the main road afflux ramp, and is generally set to 60kph; in one example, the speed requirement of the main road afflux ramp can be obtained from the navigation driving assistance application, and the specific value of the preset speed can be determined according to the speed requirement prompting information output by the navigation driving assistance application.
In some embodiments, the method further comprises:
and step S12, when the distance between the vehicle and the new lane point is greater than a first preset threshold value and less than or equal to a second preset threshold value, controlling the vehicle to run according to the speed limit requirement of the rightmost lane.
In particular, the speed limit of the rightmost lane of the main road is generally governed by traffic regulations and road planning, for example, the rightmost lane of the urban expressway, the speed limit being generally 60 to 80 km/h; for another example, on major roads such as provincial highways or national highways, the speed limit of the rightmost lane is typically 80 to 120 km/h; specifically, the relevant information of the speed limit requirement of the rightmost lane can be obtained from a navigation driving assistance application;
wherein the second preset threshold is preferably but not limited to 300 meters.
In some embodiments, the step S10 includes controlling the vehicle to travel in a rightmost lane of the main road, and specifically includes:
identifying whether the vehicle is in the rightmost lane of the main road; if not, the vehicle is controlled to change to the rightmost lane of the main road, and if so, the vehicle is controlled to continue to run in the rightmost lane of the main road.
In some embodiments, the step S20 is executed to obtain right lane line information of the ramp, and generate left lane line information of the ramp according to the right lane line information and a preset lane width, and specifically includes:
after the right lane line information of the ramp is obtained, filtering a part of lane lines at a lane new point, and generating left lane line information of the ramp according to the filtered right lane line information and a preset lane width.
Specifically, because of the special configuration of gradually widening the lane line of the ramp, the position of the new point of the lane line on the right side of the ramp region will generate a sudden change of curvature, so as shown in fig. 3, the embodiment further performs filtering treatment on a part of the lane line (as shown in the right part of fig. 3) at the new point of the lane to smooth the part of the lane line (curve), and the comparison before and after filtering is as shown in fig. 3, for example, to filter the disturbance caused by the sudden change of curvature of the lane line, thereby reducing abrupt control caused by the sudden change of curvature of the visual perception input.
Fig. 4 is a flowchart illustrating an embodiment of the present application, and reference may be made to fig. 4 to assist in understanding the description of the above embodiment.
In correspondence to the autopilot method of the above embodiment, another embodiment of the present application further provides an autopilot apparatus that may be used to perform the steps of the autopilot method of the above embodiment, referring to fig. 5, the apparatus includes:
the first control module is used for controlling the vehicle to run on the rightmost lane of the main road when receiving the navigation prompt information; the navigation prompt information is used for prompting that the vehicle is about to sink into the ramp;
the lane line generation module is used for acquiring right lane line information of the ramp when the distance between the vehicle and a lane new point is smaller than or equal to a first preset threshold value, generating left lane line information of the ramp according to the right lane line information and a preset lane width, and planning a driving track according to the right lane line information and the left lane line information to obtain a planned track; the lane new point is the connection part of the main road and the ramp;
and the second control module is used for controlling the vehicle to run according to the planned track, so that the course angle of the vehicle is level with the solid line on the right side of the ramp.
In some embodiments, the first control module is further configured to control the vehicle to decelerate to a preset speed when a distance between the vehicle and the lane-new point is less than or equal to a first preset threshold.
In some embodiments, the first control module is further configured to control the vehicle to travel according to the speed limit requirement of the rightmost lane when the distance between the vehicle and the lane new point is greater than a first preset threshold and less than or equal to a second preset threshold.
In some embodiments, the first control module is specifically configured to identify whether the vehicle is in a rightmost lane of the main road; if not, the vehicle is controlled to change to the rightmost lane of the main road, and if so, the vehicle is controlled to continue to run in the rightmost lane of the main road.
It should be noted that, the apparatus of the present embodiment corresponds to the method of the foregoing embodiment, and may be used to implement the method of the foregoing embodiment, so that a portion of the apparatus of the present embodiment, which is not described in detail, may be obtained by referring to the method of the foregoing embodiment, and details are not described herein.
Another embodiment of the present application also proposes a computer-readable storage medium storing a computer program which, when executed by a processor, implements the autopilot method as described in the above embodiments.
In particular, the computer-readable storage medium may include: any entity or recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, etc. capable of carrying the computer program instructions.
The foregoing description of embodiments of the application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and substitutions will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. An automated driving method, the method comprising:
when navigation prompt information is received, controlling the vehicle to run on the rightmost lane of the main road; the navigation prompt information is used for prompting that the vehicle is about to sink into the ramp;
when the distance between a vehicle and a lane new point is smaller than or equal to a first preset threshold value, right lane line information of the ramp is obtained, left lane line information of the ramp is generated according to the right lane line information and a preset lane width, and a planned track is obtained by carrying out running track planning according to the right lane line information and the left lane line information; the lane new point is the connection part of the main road and the ramp;
and controlling the vehicle to run according to the planned track, so that the course angle of the vehicle is flush with the solid line on the right side of the ramp.
2. The autopilot method of claim 1 wherein the method further comprises:
and controlling the vehicle to be decelerated to a preset speed when the distance between the vehicle and the lane new point is smaller than or equal to a first preset threshold value.
3. The autopilot method of claim 1 wherein the method further comprises:
when the distance between the vehicle and the lane new point is greater than a first preset threshold value and less than or equal to a second preset threshold value, the vehicle is controlled to run according to the speed limiting requirement of the rightmost lane.
4. The automatic driving method according to claim 1, wherein the controlling the vehicle to travel in the rightmost lane of the main road includes:
identifying whether the vehicle is in the rightmost lane of the main road; if not, the vehicle is controlled to change to the rightmost lane of the main road, and if so, the vehicle is controlled to continue to run in the rightmost lane of the main road.
5. The automatic driving method according to claim 1, wherein the obtaining the right lane line information of the ramp, and generating the left lane line information of the ramp according to the right lane line information and a preset lane width, specifically comprises:
after the right lane line information of the ramp is obtained, filtering a part of lane lines at a lane new point, and generating left lane line information of the ramp according to the filtered right lane line information and a preset lane width.
6. An autopilot device, the device comprising:
the first control module is used for controlling the vehicle to run on the rightmost lane of the main road when receiving the navigation prompt information; the navigation prompt information is used for prompting that the vehicle is about to sink into the ramp;
the lane line generation module is used for acquiring right lane line information of the ramp when the distance between the vehicle and a lane new point is smaller than or equal to a first preset threshold value, generating left lane line information of the ramp according to the right lane line information and a preset lane width, and planning a driving track according to the right lane line information and the left lane line information to obtain a planned track; the lane new point is the connection part of the main road and the ramp;
and the second control module is used for controlling the vehicle to run according to the planned track, so that the course angle of the vehicle is level with the solid line on the right side of the ramp.
7. The autopilot of claim 6 wherein the first control module is further configured to control the vehicle to slow down to a preset speed when a distance between the vehicle and a lane-new point is less than or equal to a first preset threshold.
8. The automatic driving apparatus according to claim 6, wherein the first control module is further configured to control the vehicle to travel according to the speed limit requirement of the rightmost lane when the distance between the vehicle and the lane-new point is greater than a first preset threshold and less than or equal to a second preset threshold.
9. The autopilot of claim 6 wherein the first control module is operable to identify whether the vehicle is in a rightmost lane of the main road; if not, the vehicle is controlled to change to the rightmost lane of the main road, and if so, the vehicle is controlled to continue to run in the rightmost lane of the main road.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, implements the autopilot method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311094804.8A CN117184126A (en) | 2023-08-28 | 2023-08-28 | Automatic driving method and device and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311094804.8A CN117184126A (en) | 2023-08-28 | 2023-08-28 | Automatic driving method and device and computer readable storage medium |
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| CN117184126A true CN117184126A (en) | 2023-12-08 |
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| CN202311094804.8A Pending CN117184126A (en) | 2023-08-28 | 2023-08-28 | Automatic driving method and device and computer readable storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117901896A (en) * | 2024-03-19 | 2024-04-19 | 知行汽车科技(苏州)股份有限公司 | Vehicle take-over prompting method, system, equipment and medium before ramp junction |
-
2023
- 2023-08-28 CN CN202311094804.8A patent/CN117184126A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117901896A (en) * | 2024-03-19 | 2024-04-19 | 知行汽车科技(苏州)股份有限公司 | Vehicle take-over prompting method, system, equipment and medium before ramp junction |
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