CN117400942A - Vehicle starting control method and device, vehicle and storage medium - Google Patents

Abstract

The embodiment of the invention relates to the technical field of automatic driving, and discloses a vehicle starting control method, a device, a vehicle and a storage medium, wherein the method comprises the following steps: before passing through a front intersection, acquiring signal lamp countdown information of the front intersection; according to the signal lamp countdown information, signal lamp countdown is carried out on the own vehicle; and if the countdown of the vehicle signal lamp is finished and the starting of the target vehicle in front of the vehicle is detected, controlling the vehicle to start. By applying the technical scheme of the invention, the starting speed of the self-vehicle can be improved, the continuity and the intelligent degree of the system are improved, and the user experience is improved.

Description

Vehicle starting control method and device, vehicle and storage medium

Technical Field

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

Background

Driving assistance systems (Advanced Driver Ass istance Systems, ADAS) are becoming more and more popular products for users, and when the user starts navigation and the user activates navigation assistance driving, the system performs track planning and control according to the navigation path of the user. The automatic passing of the traffic light is an important scene, at present, when a vehicle automatically passes through the traffic light, particularly when a cart appears in front of the vehicle to cover the traffic light, because the system design strictly complies with traffic regulations, the common technical scheme is that after the cart starts to leave from the front of the vehicle and does not cover the vision of the vehicle, the front-view camera of the vehicle can recognize the green light in front, and the vehicle can be controlled to start, namely, the vehicle starts after the front cart drives for a longer distance (generally about 6-7 meters). The control scheme makes the starting of the vehicle very untimely, the vehicle is often promoted by the rear vehicle, and the experience feeling based on the user is very poor.

Disclosure of Invention

In view of the above problems, the embodiments of the present invention provide a vehicle start control method, apparatus, vehicle and storage medium, which are used to solve the problem in the prior art that a preceding vehicle blocks a signal lamp, so that a vehicle cannot recognize the signal lamp and start slowly.

According to an aspect of the embodiment of the present invention, there is provided a vehicle start control method applied to a vehicle, the method including: before passing through a front intersection, acquiring signal lamp countdown information of the front intersection; according to the signal lamp countdown information, signal lamp countdown is carried out on the own vehicle; and if the countdown of the self-vehicle signal lamp is finished and the start of the target vehicle in front of the self-vehicle is detected, controlling the self-vehicle to start.

According to another aspect of the embodiment of the present invention, there is provided a vehicle start control apparatus including: the information acquisition module is used for acquiring the signal lamp countdown information of the front intersection before passing through the front intersection; the timing module is used for counting down the signal lamp on the own vehicle according to the signal lamp counting down information; and the control module is used for controlling the vehicle to start if the countdown of the vehicle signal lamp is finished and the starting of the target vehicle in front of the vehicle is detected.

According to another aspect of an embodiment of the present invention, there is provided a vehicle including: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus; the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle starting control method.

According to yet another aspect of an embodiment of the present invention, there is provided a computer-readable storage medium having stored therein at least one executable instruction for causing a vehicle/apparatus to perform operations of the foregoing one vehicle launch control method.

According to the technical scheme provided by the embodiment of the invention, before the self-vehicle is not blocked by the front cart, the signal lamp countdown information of the front intersection is obtained in advance, so that local countdown is performed in the self-vehicle, and meanwhile, under the condition that the self-vehicle is stopped behind the target vehicle due to the stop signal of the signal lamp, whether the condition that the countdown stopping is finished and the starting of the target vehicle is carried out in a preset time period is met is judged in real time, and once the condition that the countdown stopping is finished and the starting of the target vehicle are simultaneously met, the self-vehicle is immediately controlled to start. According to the invention, on the basis of the hardware for assisting driving, the hardware cost is not increased, the recognition of the signal lamp and the logic judgment of countdown are increased, when the front vehicle is a large vehicle for shielding the traffic light, the light changing state of the traffic light can be judged from the inside of the vehicle, the vehicle starting control is timely carried out by combining the information of the vehicle starting before, the continuity and the intelligent degree of the system are improved, and the user experience is improved.

The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present invention can be more clearly understood, and the following specific embodiments of the present invention are given for clarity and understanding.

Drawings

The drawings are only for purposes of illustrating embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:

fig. 1 shows a schematic flow chart of a vehicle start control method provided by the invention;

fig. 2 is a schematic structural view of a vehicle start control device according to the present invention;

FIG. 3 shows a schematic view of a vehicle according to the present invention;

FIG. 4 shows another schematic structural view of a vehicle provided by the present invention;

fig. 5 shows another schematic structural view of a vehicle provided by the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein.

Fig. 1 shows a flow chart of a first embodiment of a vehicle start control method according to the invention, which is carried out by a vehicle device. As shown in fig. 1, the method comprises the steps of:

step S101, before passing through the front intersection, acquiring signal lamp countdown information of the front intersection.

Specifically, the embodiment of the invention aims at the signal lamp intersection with the reading second countdown, and the own vehicle gets the signal lamp countdown information of the front intersection in advance before approaching the signal lamp and being blocked by the front vehicle. In this embodiment, there are mainly 2 implementation methods for obtaining the signal light countdown information of the intersection in front, and the first method is that the vehicle sends an obtaining request to the big data traffic management platform, so as to receive the signal light countdown information issued by the big data traffic management platform, so that the vehicle can conveniently judge the countdown and the state. Another method for obtaining the signal lamp countdown information is to accurately identify the signal lamp by using a front-view camera of the vehicle through an image identification method in the process of stopping the vehicle at the front of the vehicle, and the signal lamp countdown information can be identified. In addition, in some special scenes, if the signal lamp has a communication function, the signal lamp can also establish communication connection with the self-vehicle, so that the self-vehicle directly receives the signal lamp countdown information sent by the signal lamp.

In this embodiment, the signal lamp countdown information specifically includes a traffic countdown and a stop countdown, for example, the signal lamp is a traffic light, and then the traffic countdown is a countdown of a green light, and the stop countdown is a countdown of a red light. The technical scheme provided by the embodiment of the invention is mainly used for solving the problem that the countdown can not be observed and the starting can not be timely carried out because the sight line in front of the automobile is blocked by the automobile, so in the embodiment of the invention, the obtained signal lamp countdown information refers to the countdown of the red signal lamp, and the signal lamp is stopped and counted down in the automobile.

Step S102, the signal lamp countdown is carried out on the own vehicle according to the signal lamp countdown information.

Specifically, after the signal lamp countdown information is obtained by the self-vehicle, the embodiment controls the self-vehicle to count the countdown by utilizing the vehicle clock on the basis of the signal lamp countdown information, so that the countdown specific seconds of the current signal lamp can be accurately known in the self-vehicle even if the front view of the self-vehicle is shielded by some driving vehicles.

And step S103, if the countdown of the self-vehicle signal lamp is finished and the start of the target vehicle in front of the self-vehicle is detected, controlling the self-vehicle to start.

Specifically, for the situation that the countdown of the signal lamp is the traffic countdown at present, the vehicle does not need to consider the starting problem, and the embodiment of the invention controls the vehicle to directly keep a certain safety distance from the front vehicle to drive with the vehicle, or the vehicle is used as the head vehicle to stably drive, so long as the vehicle is controlled to pass through the front intersection before the traffic countdown is finished as far as possible. The countdown that is being performed for the own vehicle is a stop countdown, or the own vehicle transitions to a stop countdown before passing through the front intersection because the traffic countdown is too short, and this time is divided into two cases.

The first condition is that the vehicle is the head vehicle and does not drive with the vehicle, and when the vehicle stops behind the stop line, the vehicle is directly counted according to the inside of the vehicle, and the vehicle starts immediately after the stop countdown is finished. The second situation is that the embodiment of the invention provides an improvement scheme, the self-vehicle is a non-head vehicle, the self-vehicle stops behind the target vehicle in the process of counting and stopping countdown, the target vehicle has a large probability of being a vehicle with a large volume, and therefore the front sight of the self-vehicle can be blocked, and aiming at the situation, the embodiment of the invention controls the self-vehicle to continuously detect whether the target vehicle starts or not besides counting and counting down in the self-vehicle.

Based on the above technical means, once the count-down of the traffic light is finished and the start action of the target vehicle is detected within the preset time period, two conditions are simultaneously satisfied (for example, the count-down is stopped and the start action of the target vehicle is detected within 1 minute), it is determined that the front traffic light has changed to the light, and the traffic light is controlled to start passing. The preset time period is set to avoid the problem that the vehicle cannot run for a long time due to the failure or other abnormality of the front vehicle, and if the target vehicle does not start within the preset time period after the stop of the countdown, the embodiment of the invention adopts a processing mode such as artificial takeover or automatic lane change to cope with the problem.

According to the technical scheme provided by the embodiment of the invention, on the basis of the hardware for assisting driving, the hardware cost is not increased, the light changing state of the traffic light can be judged from the inside of the vehicle when the front vehicle is a large vehicle shielding the traffic light through the recognition of the signal lamp and the logic judgment of countdown, the vehicle starting control is timely carried out by combining the information of the front vehicle starting, the continuity and the intelligent degree of the system are improved, and the user experience is improved.

In some optional embodiments, the step S101 includes:

step a1, obtaining environment transmittance;

step a2, when the environmental transmittance is greater than a preset transmittance threshold value, collecting a signal lamp countdown image of a front intersection, and identifying first signal lamp countdown information from the signal lamp countdown image;

step a3, when the acquired environmental transmittance is smaller than or equal to a preset transmittance threshold value, a countdown request is sent to a server;

and a4, receiving second signal lamp countdown information fed back by the server, wherein the second countdown information is obtained by the server by responding to the countdown request and is obtained by internally inquiring, and the second countdown information is the countdown information of synchronizing the signal lamp at the front intersection of the vehicle to the server.

Specifically, in the embodiment of the invention, the signal lamp countdown information is further flexibly selected to be obtained through image recognition or through a server of a big data traffic management platform under different conditions. The light of the signal lamp is easier to penetrate through the medium of air if the environment light transmittance is good, so that the signal lamp is shot by the camera of the vehicle, and more attenuation occurs in the process of penetrating through the air if the environment light transmittance is poor, so that the video shot by the camera of the vehicle is very fuzzy and is unfavorable for identifying the countdown information of the signal lamp. However, the traffic light countdown information of the big data traffic management platform has a certain network delay because of network transmission, and is not theoretically as accurate as the signal light countdown information shot by the camera. Therefore, when the environmental transmittance is greater than the preset light transmittance threshold (namely, the environmental transmittance is good), the technical scheme provided by the embodiment of the invention is that the countdown image of the signal lamp is shot by the camera preferentially, and the countdown information of the first signal lamp is identified from the countdown image of the signal lamp; if the environmental transmittance is smaller than or equal to a preset light transmittance threshold (namely, the environmental transmittance is poor), the second signal lamp countdown information sent by the network is acquired from the server, and through the scheme, the accuracy of the signal lamp countdown information acquired by the self-vehicle can be guaranteed to the greatest extent. In addition, in this embodiment, a method for representing the ambient light transmittance may be defined according to the definition of the image captured by the camera, and different ambient light transmittance may be predefined for the image with different definition, so that the current ambient light transmittance is obtained according to the definition of the image captured by the camera.

In some alternative embodiments, step a1 above includes:

and b1, when the current weather is sunny, acquiring the ambient brightness.

And b2, reversely adjusting the value corresponding to the brightness difference value on the basis of the preset standard brightness based on the brightness difference value of the environment brightness and the preset standard brightness to obtain the environment transmittance.

And b3, when the current weather is not sunny, acquiring the current weather information.

And b4, determining the corresponding preset environmental transmittance according to the current weather information.

Specifically, two factors that affect the environmental transmittance are the environmental brightness and the weather, and the influence of the environmental brightness on the environmental transmittance is based on the weather, for example, in haze weather, no matter the current environmental brightness is high or low, it is difficult to see the scene in front of the vehicle, so that the environmental transmittance is poor. And under sunny weather, ambient brightness is too high can make the contrast of signal lamp and environment background lower, and ambient light and signal lamp light all reflect into the camera, lead to the camera to shoot effectually poor, and can have more signal lamp light reflection to get into the camera when ambient brightness is lower to make signal lamp countdown information shoot more clearly.

Based on the above, when the current environmental transmittance is identified, the embodiment of the invention firstly judges whether the current weather is a sunny day or a non-sunny day, and if the current weather is the non-sunny day, the corresponding preset environmental transmittance in the vehicle is queried according to the current weather information acquired by the weather forecast. For example: assuming that the environmental transmittance corresponding to the weather in rainy days is preset to be 15, and the environmental transmittance corresponding to the weather in haze is preset to be 5, the unit is the brightness unit nit, and the unit is unified by taking the environmental brightness as the criterion of the environmental transmittance under the weather condition in sunny days. If the current weather is sunny, defining a preset standard brightness, calculating a brightness difference value by using the environment brightness and the preset standard brightness, detecting the current environment brightness, and reversely adjusting the value corresponding to the brightness difference value on the basis of the preset standard brightness to obtain the environment transmittance.

For example: the preset standard brightness is defined as 30, assuming that the current environment is bright and high, and the current environment brightness value is detected to be 50, the calculated brightness difference value is 50-30=20, and because the difference value 20 is a positive number, the negative direction (positive reverse direction) is adjusted to 20 on the basis of the preset standard brightness 30, and the obtained environment transmittance is 30-20=10nit, so that when the external environment brightness is too high, the corresponding environment transmittance is smaller. For another example, assuming that the current weather is sunny and the current environment is night, then detecting the current ambient brightness, assuming that the current ambient brightness value is 10, then calculating the brightness difference value by using the ambient brightness and the preset standard brightness, which is 10-30= -20 in this example, then reversely adjusting the value corresponding to the brightness difference value on the basis of the preset standard brightness, that is, positively adjusting 20 on the basis of the preset standard brightness 30, and obtaining the ambient light transmittance of 30+20=50nit, when the external ambient brightness is very low, the corresponding ambient light transmittance will be relatively large.

Based on the scheme, the calculation method of the environmental transmittance is provided under the condition of non-sunny weather, the darker surrounding environment of the signal lamp, the higher the contrast ratio and the better the environmental transmittance of the light of the signal lamp under the condition of sunny weather are considered, so that the acquisition of the countdown information of the signal lamp by using the camera is more accurate, and the acquisition accuracy of the countdown information of the signal lamp under various environmental conditions is further improved.

In some alternative embodiments, step a2 above comprises:

step c1, when the countdown panel of the signal lamp is a progress bar countdown panel, analyzing the change rule of the progress bar along with the time according to a plurality of continuously shot countdown images of the signal lamp;

and c2, determining the first signal lamp countdown information corresponding to the length of the remaining progress bar based on the change rule.

Specifically, in practical application, the countdown panel of the signal lamp not only comprises digital countdown, but also comprises progress bar countdown, aiming at digital countdown, the embodiment directly extracts corresponding countdown numbers through an image recognition technology, the progress bar countdown can not directly read specific countdown seconds from images, aiming at the problem, the embodiment obtains continuously shot countdown images of a plurality of signal lamps, and analyzes the change rule of the progress bar along with time by utilizing continuously shot images, thereby determining the first signal lamp countdown information corresponding to the length of the remaining progress bar based on the analyzed change rule, and ensuring the accuracy of obtaining the countdown information of the signal lamp. For example, counting the length of the progress bar reduced in 2s, determining that the length of the remaining progress bar comprises several 2s according to the ratio of the length of the remaining progress bar to the counted reduced length, and accordingly calculating the actual count-down seconds corresponding to the length of the remaining progress bar to obtain the count-down information of the first signal lamp.

In some alternative embodiments, step c1 above includes:

step d1, dividing the complete progress bar into multiple equal parts;

step d2, counting at least the change time of two equal parts according to the continuously shot countdown images of the plurality of signal lamps;

step d3, extracting and comparing whether the corresponding change time of any two equal parts is consistent;

step d4, if the comparison results are consistent, taking the change time corresponding to one equal part as the change rule of the progress bar along with the change of time;

step d5, if the comparison results are inconsistent, calculating a time change sequence according to the change time corresponding to the continuous equal parts, wherein the time change sequence is a continuous sequence formed by changing the time corresponding to one equal part of the progress bar;

step d6, analyzing the sequence rule of the time change sequence, and verifying whether the change time of the remaining equal parts is matched with the sequence rule of the time change sequence;

and d7, when the verification result is matching, taking the sequence rule of the time change sequence as the change rule of the progress bar along with the time change.

Step d8, when the verification result is not matched, sending a countdown request to the server;

and d9, receiving the second signal lamp countdown information fed back by the server.

Specifically, some special progress bar type timing panels do not perform timing by uniformly reducing the length of the progress bar, may start to reduce the progress bar slowly, reduce the progress bar faster and faster with time, and start to reduce the progress bar faster and slower with time. Therefore, in this scenario, by simply analyzing the reduced time of a small section of progress bar and directly measuring the countdown time corresponding to the remaining progress bar according to the thought of multiplying equal parts, aiming at the problem, the embodiment of the invention firstly divides the complete progress bar by multiple equal parts, counts the change time of at least two equal parts according to the continuously shot countdown images of multiple signal lamps, then compares whether the change time corresponding to any two equal parts is consistent, if the change time corresponding to the two equal parts is consistent, indicates that the countdown time of the progress bar of the intersection meets the constant change rule, thereby obtaining the equal part number contained in the remaining progress bar by dividing the length of the remaining progress bar by the length of one equal part, and then calculates the countdown time corresponding to the remaining progress bar according to the time corresponding to one equal part. If the change times corresponding to the two equal parts are inconsistent, the change rule of the progress bar countdown of the intersection is a speed change rule, based on the speed change rule, the embodiment obtains a plurality of continuous equal parts, and counts the change times corresponding to the plurality of continuous equal parts, so as to calculate a time change array formed by the change times of the equal parts, wherein the time change array is a continuous array formed by the time corresponding to each equal part of the change of the progress bar. And then, obtaining one or more equal parts of corresponding time in the remaining progress bar, verifying the time change sequence calculated in the previous step, judging whether the change rule corresponding to the time change sequence is really met, if the verification result is that the time change sequence is matched, taking the sequence rule of the time change sequence as the change rule of the progress bar along with the change of the time, and calculating the countdown time corresponding to the length of the remaining progress bar according to the sequence rule in the subsequent step can obviously improve the accuracy of the countdown information of the first signal lamp.

For example: assuming that in a specific embodiment, a vehicle camera collects a progress bar type countdown image of a front intersection countdown panel, a vehicle processor divides the progress bar into 20 equal parts, then continues to collect images of 5 equal parts, continuously reduces the image of each equal part, records the corresponding change time of each equal part, and finds out that the corresponding change time of each equal part is different through comparison, so that the embodiment utilizes the change time fitting sequence of the first 5 equal parts to determine a satisfied sequence rule, the sequence rule comprises but not limited to an arithmetic sequence, a non-satisfied sequence rule and the like, and assumes that a sequence formed by the change time of the first 5 equal parts found out through analysis is an arithmetic sequence, further the embodiment utilizes the change experiments of the 6 th equal part and the 7 th equal part to verify whether the change time of the subsequent equal part also satisfies the sequence rule, if the rule is found to be satisfied, the embodiment utilizes the change time of the remaining 13 equal parts of the analysis progress bar of the equal part to fit the sequence rule, and the countdown signal lamp corresponding change time of the remaining equal part can be determined accurately by summing the corresponding change time of 13 equal parts, and the countdown signal lamp corresponding time is ensured.

In addition, in this embodiment, if it is verified that the change time of the remaining equal parts is not matched with the sequence rule of the time change sequence, which indicates that the rule of the progress bar is difficult to count accurately, another means is directly adopted in this embodiment, that is, an acquisition request is sent to the big data traffic management platform, so as to receive the count-down information of the second signal lamp issued by the big data traffic management platform, so that the vehicle can conveniently determine the count-down and the status.

In addition, in this embodiment, if it is not determined by analysis that the time change sequence has the determined sequence rule, it also indicates that the rule of the reduction of the progress bar is difficult to count accurately.

In some optional implementations, the vehicle start control method provided by the embodiment of the present invention further includes:

step e1, if the countdown of the self-vehicle signal lamp is finished and the starting action of the target vehicle is not detected within a preset time period, the type of the lane line is identified;

step e2, when the lane line type representation allows lane changing, controlling the own vehicle to start lane changing, and updating navigation information;

and e3, keeping the own vehicle to continue waiting when the lane line type characterization does not allow lane change.

Specifically, after the step S103, if the host vehicle does not detect the starting action of the front target vehicle within the preset time period after the signal lamp countdown is finished, the embodiment further identifies the lane line types on both sides of the lane where the host vehicle is located, and if the lane line types are solid lines, which indicate that the lane change is not allowed in the current lane, the host vehicle needs to continue waiting for the front vehicle to start, or the host vehicle releases the control authority to the user, so that the user drives the vehicle to leave. If the lane line type is a dotted line, the lane line type indicates that the current lane allows lane changing, the vehicle can control the vehicle to start lane changing, namely, lane changing to the left side or lane changing to the right side of the current lane is selected according to the direction of the dotted line, meanwhile, because the route arrow after lane changing is likely not to be the driving direction indicated by the current vehicle navigation, the navigation information also needs to be updated so as to ensure that the vehicle navigation can accurately guide the vehicle to drive to the destination.

Fig. 2 shows a schematic structural view of an embodiment of a vehicle start control device of the present invention. As shown in fig. 2, the apparatus includes:

the information acquisition module 201 is configured to acquire signal light countdown information of the front intersection before the front intersection passes through the front intersection.

The timing module 202 is configured to count down the signal lamp in the own vehicle according to the signal lamp count down information.

The control module 203 controls the vehicle to start when the vehicle signal lamp count-down is completed and the start of the target vehicle in front of the vehicle is detected.

In an alternative embodiment, the information obtaining module 201 includes:

and the environment transmittance unit is used for acquiring environment transmittance.

And the first acquisition unit is used for acquiring the signal lamp countdown image of the front intersection when the environmental transmittance is greater than a preset transmittance threshold value and identifying the first signal lamp countdown information from the signal lamp countdown image.

And the request unit is used for sending a countdown request to the server when the acquired environmental transmittance is smaller than or equal to a preset transmittance threshold value.

The second acquisition unit is used for receiving second signal lamp countdown information fed back by the server, the second countdown information is obtained by the server by responding to the countdown request and is obtained by internal inquiry, and the signal lamp at the front intersection of the automobile synchronizes the countdown information to the server.

In some optional embodiments, the first obtaining unit includes:

and the rule analysis unit is used for analyzing the change rule of the progress bar along with the time according to the continuously shot countdown images of the plurality of signal lamps when the countdown panel of the signal lamps is the progress bar countdown panel.

And the countdown calculation unit is used for determining the countdown information of the first signal lamp corresponding to the length of the remaining progress bar based on the change rule.

In some optional embodiments, the rule analysis unit includes:

and the dividing unit is used for dividing the complete progress bar into multiple equal parts.

And the change time counting unit is used for counting the change time of at least two equal parts according to the continuously shot countdown images of the plurality of signal lamps.

And the comparison unit is used for extracting and comparing whether the corresponding change time of any two equal parts is consistent.

And the first rule unit is used for taking the change time corresponding to one equal part as the change rule of the progress bar along with the change of time if the comparison results are consistent.

And the number sequence construction unit is used for calculating a time change number sequence according to the change time corresponding to the continuous equal parts if the comparison results are inconsistent, wherein the time change number sequence is a continuous number sequence formed by changing the time corresponding to the equal parts of the progress bar.

And the sequence rule unit is used for analyzing the sequence rule of the time change sequence and verifying whether the change time of the remaining equal parts is matched with the sequence rule of the time change sequence.

And the second rule unit is used for taking the sequence rule of the time change sequence as the change rule of the progress bar along with the time change when the verification result is matching.

And the second request unit is used for sending a countdown request to the server when the verification result is not matched.

And the third acquisition unit is used for receiving the second signal lamp countdown information fed back by the server.

In some alternative embodiments, the above-mentioned ambient light transmittance unit includes:

and the brightness unit is used for acquiring the ambient brightness when the current weather is sunny.

And the brightness calculation unit is used for reversely adjusting the value corresponding to the brightness difference value on the basis of the preset standard brightness based on the brightness difference value of the environment brightness and the preset standard brightness to obtain the environment transmittance.

The weather unit is used for acquiring current weather information when the current weather is not sunny;

and the environment transmittance matching unit is used for determining corresponding preset environment transmittance according to the current weather information.

In some optional embodiments, a vehicle start control device provided in an embodiment of the present invention further includes:

the lane line identification module is used for identifying the type of the lane line when the countdown of the self-vehicle signal lamp is finished and the starting action of the target vehicle is not detected within a preset time period;

the lane change starting module is used for controlling the self-vehicle to start lane change when the lane line type representation allows lane change, and updating navigation information;

and the waiting module is used for keeping the own vehicle to continue waiting when the lane line type characterization does not allow lane change.

Further functional descriptions of the above respective modules and units are the same as those of the above corresponding method embodiments, and are not repeated here.

Through the device and the components thereof, the technical scheme provided by the embodiment of the invention has the following advantages:

according to the technical scheme provided by the embodiment of the invention, before the self-vehicle is not blocked by the front cart, the signal lamp countdown information of the front intersection is obtained in advance, so that local countdown is performed in the self-vehicle, and meanwhile, under the condition that the self-vehicle is stopped behind the target vehicle due to the stop signal of the signal lamp, whether the condition that the countdown stopping is finished and the starting of the target vehicle is carried out in a preset time period is met is judged in real time, and once the condition that the countdown stopping is finished and the starting of the target vehicle are simultaneously met, the self-vehicle is immediately controlled to start. According to the invention, on the basis of the hardware for assisting driving, the hardware cost is not increased, the recognition of the signal lamp and the logic judgment of countdown are increased, when the front vehicle is a large vehicle for shielding the traffic light, the light changing state of the traffic light can be judged from the inside of the vehicle, the vehicle starting control is timely carried out by combining the information of the vehicle starting before, the continuity and the intelligent degree of the system are improved, and the user experience is improved.

Fig. 3 is a schematic structural diagram of an embodiment of a vehicle according to the present invention, which is not limited to the specific implementation of the vehicle according to the present invention. The vehicle has the vehicle start control device shown in fig. 2. The vehicle may include: a processor 402, a communication interface (Communications Interface) 404, a memory 406, and a communication bus 408.

Wherein: processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408. A communication interface 404 for communicating with network elements of other devices, such as clients or other servers. Processor 402 is configured to execute program 410 and may specifically perform the relevant steps described above for the method embodiments.

In particular, program 410 may include program code including computer-executable instructions.

The processor 402 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention. The one or more processors comprised by the vehicle may be of the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.

Memory 406 for storing programs 410. Memory 406 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

Fig. 4 shows another schematic structural view of the vehicle provided by the present invention. As shown in fig. 4, the vehicle further includes: the rear-angle millimeter wave radar 2, the front millimeter wave radar 3, the side-view camera 5, the front-view binocular camera 4, the laser radar 8, the driving auxiliary function hard switch 1, the look-around camera 6, the ultrasonic probe 7, the vehicle body stabilizing system 10, the electric steering system 11, the whole vehicle controller 12, the vehicle body controller 13, the instrument 14, the central control screen 15 and the remote monitoring module 16. The rear-angle millimeter wave radar 2, the front millimeter wave radar 3, the side-view camera 5, the front-view binocular camera 4, the laser radar 8, the driving auxiliary function hard switch 1, the look-around camera 6, the ultrasonic probe 7, the vehicle body stabilizing system 10, the electric steering system 11, the vehicle controller 12, the vehicle controller 13, the instrument 14, the central control screen 15 and the remote monitoring module 16 are all in communication connection with the processor 402, and in addition, the remote monitoring module 16 can also be in communication connection with a cloud and a mobile phone.

In the embodiment, the rear-angle millimeter wave radar 2 can adopt a 77GHz millimeter wave radar which is arranged at the left side and the right side of the rear guard, and the detection distance can reach about 80 m;

in the embodiment, the front millimeter wave radar 3 can adopt a 77GHz millimeter wave radar which is arranged right in front of the vehicle, and the detection distance can reach about 160 m;

in the embodiment, the side view camera 5 can adopt a 100-degree wide-angle two-megapixel camera, the side front view is arranged in the rearview mirror, the side rear view is arranged above the fender, and the detection distance can reach about 70 m;

in the embodiment, 2 cameras can be adopted for the forward-looking binocular camera 4, the visual field range is divided into small, medium and large angles, and the furthest detectable distance can reach about 200 m;

in this embodiment, the laser radar 8 is installed at the junction between the roof and the windshield, and the furthest detection distance can reach about 250 meters.

The functions which can be realized by the vehicle comprise self-adaptive cruising, integrated cruising, pilot assisted driving, front collision early warning, automatic emergency braking, lane departure, lane keeping, driving lever lane changing, autonomous lane changing and the like.

As shown in fig. 5, the vehicle provided by the embodiment of the invention includes 3 millimeter wave radars, 10 cameras, a processor 402, a body stabilization system 10, an electric steering system 11, a whole vehicle controller 12, a body controller 13, an instrument 14, a central control screen 15, a steering lamp and the like, the sensor unit communicates with an automatic driving controller through a private CANFD network, and other related systems communicate with the automatic driving controller through CANFD. The functions of the main relevant components are as follows:

the angle millimeter wave radar is arranged at the left side and the right side of the rear guard, and is used for sending out radio waves (radar waves) and then receiving echoes, and measuring the position data of the target according to the time difference between the receiving and the transmitting, wherein the detection distance can reach 80m, and parameters such as the time distance and the relative speed of the obstacle from the vehicle can be accurately detected through millimeter waves.

The front millimeter wave radar 3 is installed under the license plate of the vehicle, and is used for sending out radio waves (radar waves) and then receiving echoes, and measuring position data of a target according to time difference between receiving and transmitting, wherein the detection distance can reach 160m, and parameters such as the time distance and the relative speed of an obstacle from the vehicle can be accurately detected through millimeter waves.

The front-view binocular camera 4 is a camera combination of 2 high pixels with different visual angles, can detect obstacles with the distance of about 200m at the maximum in front of the outside, can identify lane line information, and can identify the cut-in and cut-out of a close-range vehicle;

the side view camera 5 can make up for the problem of poor recognition under the low-speed scene of the angle radar, and can quickly and early capture the cutting trend of other vehicles and the short-distance cutting scene, so that the automatic driving controller can early process the cutting scene;

the processor identifies lane lines, vehicles running on roads, road edges, obstacles and the like through an algorithm by acquiring a sensing module (the sensing module comprises a millimeter wave radar, an intelligent camera group, a side view camera 5, an IMU integrated in the interior and the like), reasonably plans a track plan of driving assistance, controls the transverse direction and the longitudinal direction of the vehicle, realizes the functions of constant-speed cruising, avoiding rear collision vehicles, stopping and automatically starting when the vehicles are in collision with the obstacles and the vehicles are not in collision with the obstacles, and sends a corner request, a deceleration request, a torque request and the like to each associated system in the control process.

The body stabilization system 10 (ESC for short) is used for receiving the deceleration request command sent by the automatic driving controller, and feeding back the body data such as deceleration, yaw angle, speed, wheel speed, etc. of the vehicle for the processor to perform the longitudinal control calculation of the vehicle.

The electric power steering (EPS for short) is used for executing the steering angle and the steering angle acceleration request sent by the autopilot controller, controlling the steering wheel to steer to the angle instructed by the autopilot controller, and if the EPS fails or the driver intervenes in parking, feeding back the reason for exiting the control to the autopilot controller.

The vehicle controller 12 (VCU) is configured to receive a torque request from an autopilot controller, perform acceleration control, and feed back a gear position of the vehicle, a response torque, etc. in real time.

The body controller 13 (BCM) is configured to receive control requests from a steering lamp, a hazard warning lamp, a wiper, a lamp, and the like for automatic driving control.

The meter 14 (IC for short) is used for displaying a man-machine interaction interface, text, pictures and sound reminders in the process of activating the auxiliary driving function.

The central control screen 15 (HU for short) displays a scene reconstruction interface for the pilot auxiliary function during the activation process, and user-defined setting of an entry and the like.

The turn signal lamp is used for responding to the lighting request of the vehicle body controller 13 in the automatic driving process to remind other vehicles of driving safety.

The embodiment of the invention also provides a computer readable storage medium, and the storage medium stores at least one executable instruction, and when the executable instruction runs on the vehicle/vehicle starting control device, the vehicle/vehicle starting control device is caused to execute the vehicle starting control method in any method embodiment.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. In addition, embodiments of the present invention are not directed to any particular programming language.

In the description provided herein, numerous specific details are set forth. It will be appreciated, however, that embodiments of the invention may be practiced without such specific details. Similarly, in the above description of exemplary embodiments of the invention, various features of embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. Wherein the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the apparatus of the embodiments may be adaptively changed and disposed in one or more apparatuses different from the embodiments. The modules or units or components of the embodiments may be combined into one module or unit or component and, furthermore, they may be divided into a plurality of sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or elements are mutually exclusive.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specifically stated.

Claims (10)

1. A vehicle start control method, characterized by being applied to a host vehicle, the method comprising:

before passing through a front intersection, acquiring signal lamp countdown information of the front intersection;

according to the signal lamp countdown information, signal lamp countdown is carried out on the own vehicle;

and if the countdown of the self-vehicle signal lamp is finished and the start of the target vehicle in front of the self-vehicle is detected, controlling the self-vehicle to start.

2. The method of claim 1, wherein the obtaining signal countdown information for the front intersection prior to passing the front intersection comprises:

acquiring environmental transmittance;

when the environmental transmittance is larger than a preset transmittance threshold, collecting a signal lamp countdown image of a front intersection, and identifying first signal lamp countdown information from the signal lamp countdown image;

when the acquired environment transmittance is smaller than or equal to a preset light transmittance threshold value, a countdown request is sent to a server;

and receiving second signal lamp countdown information fed back by the server, wherein the second countdown information is obtained by the server by responding to the countdown request and is obtained by synchronizing the countdown of the signal lamp at the front intersection to the countdown information of the server.

3. The method of claim 2, wherein identifying first signal countdown information from the signal countdown image comprises:

when the countdown panel of the signal lamp is a progress bar countdown panel, analyzing the change rule of the progress bar along with the time according to a plurality of continuously shot countdown images of the signal lamp;

and determining the first signal lamp countdown information corresponding to the length of the remaining progress bar based on the change rule.

4. The method of claim 3, wherein when the countdown panel of the signal lamp is a progress bar countdown panel, analyzing a change rule of the progress bar with time according to a plurality of continuously photographed countdown images of the signal lamp, comprising:

dividing the complete progress bar into multiple equal parts;

counting the change time of at least two equal parts according to the continuously shot countdown images of the plurality of signal lamps;

extracting and comparing whether the corresponding change time of any two equal parts is consistent;

if the comparison results are consistent, the change time corresponding to one equal part is used as the change rule of the progress bar along with the change of time;

if the comparison results are inconsistent, calculating a time change array according to the change time corresponding to the continuous equal parts, wherein the time change array is a continuous array formed by changing the time corresponding to the equal parts of the progress bar;

analyzing the sequence rule of the time change sequence, and verifying whether the change time of the remaining equal parts is matched with the sequence rule of the time change sequence;

and when the verification result is matching, taking the sequence rule of the time change sequence as the change rule of the progress bar along with the time change.

5. The method according to claim 4, wherein the method further comprises:

when the verification result is not matched, sending a countdown request to the server;

and receiving the second signal lamp countdown information fed back by the server.

6. The method of claim 2, wherein the obtaining ambient light transmittance comprises:

when the current weather is sunny, acquiring the ambient brightness;

based on the brightness difference value between the environment brightness and the preset standard brightness, reversely adjusting the value corresponding to the brightness difference value on the basis of the preset standard brightness to obtain the environment transmittance;

when the current weather is not sunny, acquiring current weather information;

and determining the corresponding preset environmental transmittance according to the current weather information.

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

if the countdown of the self-vehicle signal lamp is finished and the starting action of the target vehicle is not detected within a preset time period, the type of the lane line is identified;

when the lane line type representation allows lane changing, controlling the own vehicle to start lane changing, and updating navigation information;

and when the lane line type characterization does not allow lane changing, keeping the own vehicle to continue waiting.

8. A vehicle start control apparatus, characterized by being applied to a vehicle, comprising:

the information acquisition module is used for acquiring the signal lamp countdown information of the front intersection before passing through the front intersection;

the timing module is used for counting down the signal lamp on the own vehicle according to the signal lamp counting down information;

and the control module is used for controlling the vehicle to start if the countdown of the vehicle signal lamp is finished and the starting of the target vehicle in front of the vehicle is detected.

9. A vehicle, characterized by comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;

the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the vehicle launch control method of any one of claims 1-7.

10. A computer readable storage medium, characterized in that at least one executable instruction is stored in the storage medium, which executable instruction, when run on a vehicle/device, causes the vehicle/device to perform the operations of the vehicle launch control method according to any one of claims 1-7.