CN117341723A - Automatic driving method and system - Google Patents
Automatic driving method and system Download PDFInfo
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- CN117341723A CN117341723A CN202210745077.6A CN202210745077A CN117341723A CN 117341723 A CN117341723 A CN 117341723A CN 202210745077 A CN202210745077 A CN 202210745077A CN 117341723 A CN117341723 A CN 117341723A
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- 238000012545 processing Methods 0.000 claims abstract description 36
- 238000004590 computer program Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the invention provides an automatic driving system, which is used for acquiring image data of surrounding vehicles of an automatic driving vehicle through an image processing unit, and processing the image data to acquire first driving state information of the surrounding vehicles; the method comprises the steps that a V2X communication unit is used for communicating with the surrounding vehicles within a V2X communication distance to obtain second running state information of the surrounding vehicles; and determining the driving action of the automatic driving vehicle according to the first driving state information or the first driving state information and the second driving state information of the surrounding vehicles through a decision unit, so that the problem that the automatic driving vehicle affects traffic safety due to misjudgment of the surrounding vehicles caused by special conditions in the related art is solved, and the effect of improving the automatic driving safety is achieved.
Description
Technical Field
The embodiment of the invention relates to the field of automatic driving, in particular to an automatic driving method and system.
Background
In the prior art, there are ways of detecting the running state of a vehicle in automatic driving, such as an image-based target detection method, in which calculation and evaluation are performed only by an image processing system. Such a mode generally has serious problems under the conditions of higher running speed, denser vehicles, severe weather and the like, such as missed detection of vehicles, larger errors in position and speed calculation and the like, and the problems can seriously affect traffic safety.
Disclosure of Invention
The embodiment of the invention provides an automatic driving method and an automatic driving system, which at least solve the problem that the situation misjudgment of surrounding vehicles by an automatic driving vehicle due to special situations in the related art affects traffic safety.
According to an embodiment of the present invention, there is provided an automatic driving system provided on an automatic driving vehicle, including: an image processing unit, configured to acquire image data of surrounding vehicles of the autonomous vehicle, and process the image data to acquire first driving state information of the surrounding vehicles; the vehicle networking V2X communication unit is used for obtaining second running state information of the surrounding vehicles through communication with the surrounding vehicles within the V2X communication distance; and the decision unit is used for determining the driving action of the automatic driving vehicle according to the first driving state information or the first driving state information and the second driving state information of the surrounding vehicles.
In one exemplary embodiment, the first driving state information of the nearby vehicle includes at least one of: vehicle profile information; vehicle orientation information.
In one exemplary embodiment, the second driving state information of the nearby vehicle includes at least one of: vehicle identification information; longitude and latitude information of the vehicle; vehicle travel speed information; vehicle travel direction information.
In one exemplary embodiment, the driving action of the autonomous vehicle includes at least one of: driving at a constant speed; accelerating running; speed-reducing running; and (5) lane changing running.
In an exemplary embodiment, the decision unit further comprises: and the distance outside decision subunit is used for calculating the running speed and the running direction of the surrounding vehicle according to the first running state information and determining the running action of the automatic driving vehicle according to the running speed and the running direction of the surrounding vehicle outside the V2X communication distance.
In an exemplary embodiment, the decision unit further comprises: and the in-distance decision subunit is used for judging whether the first running state information and the second running state information are information of the same surrounding vehicle or not in the V2X communication distance, if so, determining the running speed and the running direction of the surrounding vehicle according to the first running state information and the second running state information, if not, determining the running speed and the running direction of the surrounding vehicle according to the second running state information, and determining the running action of the automatic driving vehicle according to the running speed and the running direction of the surrounding vehicle.
According to another embodiment of the present invention, there is provided an automatic driving method, applied to an automatic driving vehicle, including: acquiring image data of surrounding vehicles of the automatic driving vehicle, and processing the image data to acquire first driving state information of the surrounding vehicles; acquiring second running state information of the nearby vehicle by communicating with the nearby vehicle within a V2X communication distance; and determining the driving action of the automatic driving vehicle according to the first driving state information or the first driving state information and the second driving state information of the surrounding vehicles.
In one exemplary embodiment, the determining the driving action of the autonomous vehicle according to the first driving state information includes: calculating the running speed and the running direction of the surrounding vehicles according to the first running state information outside the V2X communication distance; and determining the driving action of the automatic driving vehicle according to the driving speed and the driving direction of the surrounding vehicle.
In one exemplary embodiment, the determining the driving action of the autonomous vehicle according to the first driving state information and the second driving state information includes: judging whether the first running state information and the second running state information are information of the same surrounding vehicle within a V2X communication distance, if so, determining the running speed and the running direction of the surrounding vehicle according to the first running state information and the second running state information, and if not, determining the running speed and the running direction of the surrounding vehicle according to the second running state information; and determining the driving action of the automatic driving vehicle according to the driving speed and the driving direction of the surrounding vehicle.
According to a further embodiment of the invention, there is also provided a computer readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
According to a further embodiment of the invention, there is also provided an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
With the above embodiments of the present invention, there is provided an automatic driving system, in which image data of surrounding vehicles of an automatic driving vehicle is acquired by an image processing unit, and the image data is processed to acquire first driving state information of the surrounding vehicles; the method comprises the steps that a V2X communication unit is used for communicating with the surrounding vehicles within a V2X communication distance to obtain second running state information of the surrounding vehicles; and determining the driving action of the automatic driving vehicle according to the first driving state information or the first driving state information and the second driving state information of the surrounding vehicles through a decision unit, so that the problem that the automatic driving vehicle affects traffic safety due to misjudgment of the surrounding vehicles caused by special conditions in the related art is solved, and the effect of improving the automatic driving safety is achieved.
Drawings
Fig. 1 is a block diagram of a hardware structure of a mobile terminal of an automatic driving method according to an embodiment of the present invention;
FIG. 2 is a block diagram of an autopilot system according to one embodiment of the present invention;
FIG. 3 is a block diagram of a decision unit according to an embodiment of the invention;
FIG. 4 is a block diagram of the decision unit according to an embodiment of the invention;
FIG. 5 is a flow chart of an autopilot method in accordance with an embodiment of the present invention;
FIG. 6 is a flow chart of an autopilot maneuver decision according to an embodiment of the present invention;
FIG. 7 is a flow chart of an autopilot maneuver decision according to an embodiment of the present invention;
FIG. 8 is a schematic illustration of an autopilot system architecture in accordance with an embodiment of the present scene;
FIG. 9 is a flow chart of an autopilot method in accordance with an embodiment of the present scenario;
fig. 10 is a flow chart of an autopilot method in accordance with an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of a mobile terminal of an autopilot method according to an embodiment of the present invention. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.
The memory 104 may be used to store computer programs, such as software programs and modules of application software, such as computer programs corresponding to the autopilot method in the embodiment of the present invention, and the processor 102 executes the computer programs stored in the memory 104 to perform various functional applications and data processing, i.e., implement the above-described method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 106 is arranged to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.
In the present embodiment, an automatic driving system provided on an automatic driving vehicle is provided. The term "unit" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated. Fig. 2 is a block diagram of an autopilot system according to an embodiment of the present invention, as shown in fig. 2, the autopilot system 20 includes: an image processing unit 210, configured to acquire image data of surrounding vehicles of the autonomous vehicle, and process the image data to acquire first driving state information of the surrounding vehicles; the internet of vehicles V2X communication unit 220 is configured to obtain second driving state information of the surrounding vehicle by communicating with the surrounding vehicle within a V2X communication distance; a decision unit 230 for determining a driving action of the autonomous vehicle according to the first driving state information, or the first driving state information and the second driving state information of the surrounding vehicle.
In one exemplary embodiment, the first driving state information of the nearby vehicle includes at least one of: vehicle profile information; vehicle orientation information.
In one exemplary embodiment, the second driving state information of the nearby vehicle includes at least one of: vehicle identification information; longitude and latitude information of the vehicle; vehicle travel speed information; vehicle travel direction information.
In one exemplary embodiment, the driving action of the autonomous vehicle includes at least one of: driving at a constant speed; accelerating running; speed-reducing running; and (5) lane changing running.
It should be appreciated by those skilled in the art that the description of the first driving state information, the second driving state information, and the driving actions is not limited thereto, and the specific contents may be adjusted according to the implementation during the actual automatic driving or the automatic driving experiment.
In an exemplary embodiment, fig. 3 is a block diagram of a decision unit according to an embodiment of the present invention, and as shown in fig. 3, the decision unit 230 further includes: the distance outside decision subunit 310 is configured to calculate a running speed and a running direction of the surrounding vehicle according to the first running state information, and determine a running action of the autonomous vehicle according to the running speed and the running direction of the surrounding vehicle, outside the V2X communication distance.
In an exemplary embodiment, fig. 4 is a block diagram of a decision unit according to an embodiment of the present invention, and as shown in fig. 4, the decision unit 230 includes, in addition to the structure shown in fig. 3: and the intra-distance decision subunit 410 is configured to determine whether the first driving state information and the second driving state information are information of a same surrounding vehicle within a V2X communication distance, if yes, determine a driving speed and a driving direction of the surrounding vehicle according to the first driving state information and the second driving state information, if not, determine a driving speed and a driving direction of the surrounding vehicle according to the second driving state information, and determine a driving action of the autonomous vehicle according to the driving speed and the driving direction of the surrounding vehicle.
It should be noted that each of the above units may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the units are all located in the same processor; alternatively, the units described above may be located in different processors, respectively, in any combination.
According to another embodiment of the present invention, a method for automatic driving of a mobile terminal capable of operating in fig. 1 is provided, which is used to implement the foregoing embodiment and the preferred embodiment, and is not described again. Fig. 5 is a flowchart of an automatic driving method according to an embodiment of the present invention, as shown in fig. 5, the method comprising the steps of:
step S502, obtaining image data of surrounding vehicles of the automatic driving vehicle, and processing the image data to obtain first running state information of the surrounding vehicles;
step S504 of acquiring second running state information of the nearby vehicle by communicating with the nearby vehicle within V2X communication distance;
step S506, determining a driving action of the autonomous vehicle according to the first driving state information, or the first driving state information and the second driving state information of the surrounding vehicle.
In one exemplary embodiment, fig. 6 is a flowchart of an automatic driving action decision according to an embodiment of the present invention, as shown in fig. 6, determining a driving action of an automatic driving vehicle according to first driving state information, comprising the steps of:
step S602, calculating the running speed and the running direction of the surrounding vehicle according to the first running state information outside the V2X communication distance;
step S604, determining a driving action of the autonomous vehicle according to the driving speed and the driving direction of the surrounding vehicle.
In an exemplary embodiment, fig. 7 is a flowchart of an automatic driving action decision according to an embodiment of the present invention, and as shown in fig. 7, the determining of the driving action of the automatic driving vehicle according to the first driving state information and the second driving state information includes the steps of:
step S702, in the V2X communication distance, determining whether the first running state information and the second running state information are information of the same surrounding vehicle, if yes, determining a running speed and a running direction of the surrounding vehicle according to the first running state information and the second running state information, and if not, determining a running speed and a running direction of the surrounding vehicle according to the second running state information;
step S704, determining a driving action of the autonomous vehicle according to the driving speed and the driving direction of the surrounding vehicle.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
Embodiments of the present invention also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
An embodiment of the invention also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
In an exemplary embodiment, the electronic apparatus may further include a transmission device connected to the processor, and an input/output device connected to the processor.
Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the various elements or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than what is shown or described, or they may be separately fabricated into individual integrated circuit modules, or a plurality of blocks or steps in them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention will be described below with reference to specific scenario embodiments.
Scene embodiment one
The invention mainly aims at the problem of automatic driving based on an image processing system, designs a better vehicle state calculating and evaluating method, and can more accurately acquire the state information of surrounding vehicles under the conditions of higher vehicle running speed, denser vehicles, severe weather and the like, thereby further ensuring the safety of automatic driving. The method solves the defect of inaccurate acquisition of the surrounding vehicle state information in the prior art, and can use different system modules at different vehicle distances to improve the accuracy of the acquired surrounding vehicle state information, so that an automatic driving vehicle can perform better response actions, and a safer driving target can be achieved.
The application environment for implementing the invention mainly depends on a V2X communication system and an image processing system. The autopilot vehicle needs to have both a V2X communication system and an image processing system, while other non-autopilot vehicles need only have a V2X communication system. Meanwhile, the image processing system can access the Internet to send the picture data to cloud processing so as to obtain a faster processing speed.
Fig. 8 is a schematic structural diagram of an autopilot system according to an embodiment of the present invention, and as shown in fig. 8, the autopilot system 80 includes an image processing unit 810, a V2X communication unit 820, and a decision unit 830.
When outside the V2X communication distance, the automated driving vehicle passes through the installed camera, and the image processing unit 810 is used to acquire driving state information of surrounding vehicles, such as relative positions, vehicle contours, etc., wherein specific technologies such as target detection, key point detection, etc., are involved. Then, the driving state information of the surrounding vehicles acquired by the image processing unit 810 is sent to the decision unit 830, and the decision unit 830 calculates the acceleration, direction and other data of the following automatic driving vehicles, so as to make corresponding reaction actions, such as deceleration, overtaking and the like;
while within the V2X communication distance, the autonomous vehicle still passes through the installed camera, and the image processing unit 810 is used to acquire driving state information of the surrounding vehicles, such as the relative position, the vehicle size, and the like. Meanwhile, through the V2X communication unit 820, the autonomous vehicle may communicate with surrounding vehicles, directly acquire data such as its traveling speed, vehicle identification, and the like. The data of the image processing unit 810 and the data of the V2X communication unit 820 are then sent to the decision unit 830, and the decision unit 830 calculates the data of acceleration, direction, etc. of the following automatic driving vehicle, so as to make corresponding reaction actions, such as deceleration, overtaking, etc. By the V2X communication unit 820, information such as the speed of the surrounding vehicle can be directly acquired, and a speed error calculated by only the image processing unit data is avoided. Meanwhile, the vehicle identifier (i.e., indicating that the object is a vehicle) can be directly acquired through the V2X communication unit 820, so that the problem caused by missed detection of the image processing unit 810 is avoided. That is, when the data of the image processing unit 810 intersects or collides with the data of the V2X communication unit 820, the data of the V2X communication unit 820 is subject.
Scene embodiment two
When the automatic driving vehicle runs in foggy days and the vehicles on the road are more, the image data collected by the camera are more fuzzy and the vehicles in the image are dense, so that the problems of missing detection, detection errors and the like are easy to occur in the image processing unit, and the problems can be effectively avoided by using the V2X communication unit.
When outside the V2X communication distance, fig. 9 is a flowchart of an automatic driving method according to an embodiment of the present invention, as shown in fig. 9, the flowchart includes the steps of:
in step S902, the image processing unit acquires driving state data of the nearby vehicle:
acquiring driving state data of surrounding vehicles, such as vehicle contours, directions (including distances and angles) and the like, by using an image processing unit through the installed camera, wherein specific technologies such as target detection, key point detection and the like are involved;
step S904, the driving status data is sent to the decision unit, and the automatic driving vehicle makes a corresponding reaction action:
the data acquired in step S902 is sent to a decision unit, and the speed, direction and other running information of the surrounding vehicles are calculated by using the data such as distance, time and the like, so that the automatic driving vehicle can make corresponding reaction actions such as deceleration, overtaking and the like.
FIG. 10 is a flow chart of an autopilot method in accordance with an embodiment of the present invention when within V2X communication range, as shown in FIG. 10, the flow comprising the steps of:
in step S1002, the image processing unit acquires driving state data of the surrounding vehicle:
acquiring driving state data of surrounding vehicles, such as vehicle contours, directions (including distances and angles) and the like, by using an image processing unit through the installed camera, wherein specific technologies such as target detection, key point detection and the like are involved;
in step S1004, the V2X communication unit acquires the driving state information of the nearby vehicle:
acquiring data such as vehicle identifications, longitude and latitude, vehicle speed and the like of surrounding vehicles by utilizing a V2X communication unit;
step S1006, determining whether the data is from the same surrounding vehicle according to the driving status data and the driving status information:
the data acquired in step S1002 and step S1004 are sent to a decision unit, and the azimuth and longitude and latitude data can be used to match whether the two types of data acquired by the camera and the V2X communication unit are of the same vehicle. Discarding the data if the data is not matched with the same vehicle; if the vehicle is matched with the same vehicle, continuing to execute the following steps;
step S1008, the autonomous vehicle makes a corresponding reaction according to the driving state data and the driving state information:
the surrounding vehicle data (such as vehicle identification, speed and the like) which can be directly acquired by the V2X communication unit and the surrounding vehicle data (such as outline size and the like) which can be only acquired by the image processing unit are utilized to enable the automatic driving vehicle to make corresponding reaction actions such as speed reduction, overtaking and the like.
In the prior art, an automatic driving mode which is only calculated and evaluated by an image processing system exists, and the mode generally has serious potential safety hazards under the conditions of denser vehicles, severe weather and the like, such as missed detection of vehicles, larger errors in position and speed calculation and the like. The method of the invention improves the accuracy of the acquired surrounding vehicle state information by using different system sensing units at different vehicle distances, thereby achieving safer automatic driving. The specific mode is that more accurate data are obtained by combining the image processing unit and the V2X communication unit and are sent to the decision unit, so that the automatic driving vehicle can perform more optimal reaction actions.
According to the above embodiment, the automatic driving method and system provided by the present invention mainly combine the system structure of the image processing unit and the V2X communication unit to obtain the driving state information of the surrounding vehicles. Compared with the prior art, the method can help the automatic driving vehicle to acquire more accurate data, and optimize the problems of missing detection, calculation error and the like; the automatic driving vehicle can be more suitable for severe driving environments such as large traffic flow, heavy fog weather and the like, and the traffic safety is improved. The invention can be applied to an autonomous vehicle having both a V2X communication system and an image processing system.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. An autopilot system disposed on an autopilot vehicle, comprising:
an image processing unit, configured to acquire image data of surrounding vehicles of the autonomous vehicle, and process the image data to acquire first driving state information of the surrounding vehicles;
the vehicle networking V2X communication unit is used for obtaining second running state information of the surrounding vehicles through communication with the surrounding vehicles within the V2X communication distance;
and the decision unit is used for determining the driving action of the automatic driving vehicle according to the first driving state information or the first driving state information and the second driving state information of the surrounding vehicles.
2. The system of claim 1, wherein the first travel state information of the surrounding vehicle includes at least one of:
vehicle profile information;
vehicle orientation information.
3. The system of claim 1, wherein the second driving status information of the surrounding vehicle includes at least one of:
vehicle identification information;
longitude and latitude information of the vehicle;
vehicle travel speed information;
vehicle travel direction information.
4. The system of claim 1, wherein the driving action of the autonomous vehicle comprises at least one of:
driving at a constant speed;
accelerating running;
speed-reducing running;
and (5) lane changing running.
5. The system of claim 1, wherein the decision unit further comprises:
and the distance outside decision subunit is used for calculating the running speed and the running direction of the surrounding vehicle according to the first running state information and determining the running action of the automatic driving vehicle according to the running speed and the running direction of the surrounding vehicle outside the V2X communication distance.
6. The system of claim 1, wherein the decision unit further comprises:
and the in-distance decision subunit is used for judging whether the first running state information and the second running state information are information of the same surrounding vehicle or not in the V2X communication distance, if so, determining the running speed and the running direction of the surrounding vehicle according to the first running state information and the second running state information, if not, determining the running speed and the running direction of the surrounding vehicle according to the second running state information, and determining the running action of the automatic driving vehicle according to the running speed and the running direction of the surrounding vehicle.
7. A method of autonomous driving, for use with an autonomous vehicle, comprising:
acquiring image data of surrounding vehicles of the automatic driving vehicle, and processing the image data to acquire first driving state information of the surrounding vehicles;
acquiring second running state information of the nearby vehicle by communicating with the nearby vehicle within a V2X communication distance;
and determining the driving action of the automatic driving vehicle according to the first driving state information or the first driving state information and the second driving state information of the surrounding vehicles.
8. The method of claim 7, wherein determining the travel action of the autonomous vehicle based on the first travel state information comprises:
calculating the running speed and the running direction of the surrounding vehicles according to the first running state information outside the V2X communication distance;
and determining the driving action of the automatic driving vehicle according to the driving speed and the driving direction of the surrounding vehicle.
9. The method of claim 7, wherein determining the travel action of the autonomous vehicle based on the first travel state information and the second travel state information comprises:
judging whether the first running state information and the second running state information are information of the same surrounding vehicle within a V2X communication distance, if so, determining the running speed and the running direction of the surrounding vehicle according to the first running state information and the second running state information, and if not, determining the running speed and the running direction of the surrounding vehicle according to the second running state information;
and determining the driving action of the automatic driving vehicle according to the driving speed and the driving direction of the surrounding vehicle.
10. A computer readable storage medium, characterized in that a computer program is stored in the computer readable storage medium, wherein the computer program, when executed by a processor, implements the method of any of the claims 7 to 9.
11. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 7 to 9 when executing the computer program.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210745077.6A CN117341723A (en) | 2022-06-28 | 2022-06-28 | Automatic driving method and system |
| PCT/CN2023/101161 WO2024001848A1 (en) | 2022-06-28 | 2023-06-19 | Automatic driving method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210745077.6A CN117341723A (en) | 2022-06-28 | 2022-06-28 | Automatic driving method and system |
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| CN117341723A true CN117341723A (en) | 2024-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210745077.6A Pending CN117341723A (en) | 2022-06-28 | 2022-06-28 | Automatic driving method and system |
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| CN (1) | CN117341723A (en) |
| WO (1) | WO2024001848A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108417087B (en) * | 2018-02-27 | 2021-09-14 | 浙江吉利汽车研究院有限公司 | Vehicle safe passing system and method |
| CN110733509A (en) * | 2018-07-18 | 2020-01-31 | 阿里巴巴集团控股有限公司 | Driving behavior analysis method, device, equipment and storage medium |
| WO2020133208A1 (en) * | 2018-12-28 | 2020-07-02 | 驭势科技（北京）有限公司 | Control method for self-driving vehicle, and self-driving system |
| KR102561941B1 (en) * | 2019-01-11 | 2023-08-02 | 삼성전기주식회사 | Autonomous driving support device and autonomous driving support method |
| US10861183B2 (en) * | 2019-01-31 | 2020-12-08 | StradVision, Inc. | Method and device for short-term path planning of autonomous driving through information fusion by using V2X communication and image processing |
| CN111267866B (en) * | 2020-01-13 | 2022-01-11 | 腾讯科技（深圳）有限公司 | Information processing method, information processing apparatus, information processing medium, and electronic device |
| CN113968227B (en) * | 2020-07-21 | 2023-07-28 | 华人运通(上海)自动驾驶科技有限公司 | Control method and device for non-automatic driving vehicle |
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