CN117533352A

CN117533352A - Auxiliary driving control method and system integrating lamp language information

Info

Publication number: CN117533352A
Application number: CN202311792683.4A
Authority: CN
Inventors: 杨剑锋; 邹梦钰; 孙羽; 惠一; 陈天雨
Original assignee: Chery New Energy Automobile Co Ltd
Current assignee: Chery New Energy Automobile Co Ltd
Priority date: 2023-12-22
Filing date: 2023-12-22
Publication date: 2024-02-09

Abstract

The invention discloses an auxiliary driving control method and system integrating lamp language information, and belongs to the technical field of automatic driving. The invention obtains the surrounding environment information of the host vehicle, including the number of vehicles, the lamp language information of the vehicles around the host vehicle and the lane service condition; and judging the running state of the vehicle around the host vehicle based on the information, judging whether to enter adaptive cruise or enter auxiliary driving control, and if so, realizing the auxiliary driving control integrating the whistle information according to the control strategy so as to avoid unsafe events. According to the method, the lamp language information, the lane service condition and the like around the host vehicle are obtained in real time, and the obtained real-time information is processed, so that timely pre-judgment can be performed when auxiliary driving is needed, and the risk in lane changing is reduced.

Description

Auxiliary driving control method and system integrating lamp language information

Technical Field

The invention belongs to the technical field of automatic driving, and relates to an auxiliary driving control method and system integrating lamp language information.

Background

With the improvement of living standard, automobile travel has become the mainstream travel mode of modern people. After meeting basic travel demands, people increasingly pursue comfortable and safe driving environments, and automobile automatic driving technologies are gradually fused into the daily life of the general public.

The auxiliary driving technology mainly controls the movement of the vehicle according to the perception and prediction of the sensor to the surrounding environment. The current behavior prediction is mainly performed through a target historical track, but when the target initially has a movement intention, the system cannot sense and detect in time. For example, when executing the lane change strategy, the system cannot timely identify the lane change intention of the rear vehicle, so that the risk during lane change is increased, and in the more extreme case, collision can be caused.

Disclosure of Invention

The invention aims to solve the problem that the prior art cannot make a pre-judgment in time when a vehicle runs, and provides an auxiliary driving control method and system integrating lamp language information.

In order to achieve the purpose, the invention is realized by adopting the following technical scheme:

the invention provides an auxiliary driving control method for merging lamp language information, which comprises the following steps:

the method comprises the steps of obtaining lamp language information of four areas of a front area, a rear area, a left area and a right area of a main vehicle and lane use information of the four areas;

judging the running condition of the host vehicle Zhou Bianche according to the lamp language information of the front, rear, left and right areas of the host vehicle and the lane use information of the four areas;

and obtaining a control strategy of the host vehicle according to the running condition of surrounding vehicles, and realizing auxiliary driving control integrating the lamp language information.

Preferably, the lamp language information of the front, rear, left and right areas of the host vehicle is acquired according to the vehicle-mounted camera.

Preferably, the lane use information of four areas of the front, rear, left and right of the host vehicle is acquired from the vehicle-mounted radar.

Preferably, the adaptive cruise is performed if there is a vehicle in front of the host vehicle and no brake light information; if the brake lamp information is available and the vehicle is always on, a control strategy of the host vehicle is obtained.

Preferably, the host vehicle is located in the M region, the front of the host vehicle is the F region, and the rear of the host vehicle is the R region; the area F is an A lane, a B lane and a C lane in turn from left to right.

Preferably, the control strategy of the host vehicle is as follows:

judging whether the lane A area M has vehicles or not, judging whether the lane A area R has vehicles or not, judging whether a left turn light of a vehicle in the lane B area R is turned on or not if the left turn light of the vehicle in the lane B area R is not turned on, controlling the main vehicle to change the lane A, and judging whether a safety gap meets the requirement to select to change the lane A or emergency brake if the left turn light of the vehicle in the lane B area R is turned on; if the vehicle exists, judging whether the vehicle exists in the lane C area M; if no vehicles exist, judging whether the vehicle exists in the lane C region R, if no vehicles exist, judging whether a right turn lamp of the vehicle in the lane B region R is turned on, if not, controlling the main vehicle to change the lane C, and if so, judging whether the safety clearance meets the requirement to select to change the lane C or emergency brake.

Preferably, the safety gap is obtained by using an onboard radar.

The invention provides an auxiliary driving control system integrating lamp language information, which comprises the following components:

the initial information acquisition module is used for acquiring the lamp language information of the front, rear, left and right areas of the host vehicle and the lane use information of the four areas;

the driving situation judging module is used for judging the driving situation of the host vehicle Zhou Bianche according to the lamp language information of the front, rear, left and right areas of the host vehicle and the lane use information of the four areas;

and the control strategy acquisition module is used for obtaining a control strategy of the host vehicle according to the running condition of surrounding vehicles and realizing auxiliary driving control integrating the lamp language information.

A computer device comprising a memory storing a computer program and a processor implementing the steps of a method of assisted driving control incorporating whispering information when the computer program is executed.

A computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of a method of assisted driving control that fuses whispering information.

Compared with the prior art, the invention has the following beneficial effects:

the invention provides an auxiliary driving control method for fusing lamp language information, which is characterized by acquiring the surrounding environment information of a host vehicle, wherein the surrounding environment information comprises the number of vehicles, the lamp language information of the vehicles surrounding the host vehicle and the service condition of lanes; and judging the running state of the vehicle around the host vehicle based on the information, judging whether to enter adaptive cruise or enter auxiliary driving control, and if so, realizing the auxiliary driving control integrating the whistle information according to the control strategy so as to avoid unsafe events. According to the method, the lamp language information, the lane service condition and the like around the host vehicle are obtained in real time, and the obtained real-time information is processed, so that timely pre-judgment can be performed when auxiliary driving is needed, and the risk in lane changing is reduced.

The auxiliary driving control system for fusing the lamp language information provided by the invention realizes the auxiliary driving control of fusing the lamp language information by dividing the system into the initial information acquisition module, the driving condition judgment module and the control strategy acquisition module. The modules are mutually independent by adopting a modularized idea, so that the modules are convenient to manage uniformly.

Drawings

For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of an auxiliary driving control method for merging lamp language information according to the present invention.

FIG. 2 is a detailed flow chart of the control strategy of the present invention.

Fig. 3 is a map of the surrounding area of the host vehicle of the present invention.

Fig. 4 is a diagram of an assisted driving control system incorporating lamp language information according to the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the embodiments of the present invention, it should be noted that, if the terms "upper," "lower," "horizontal," "inner," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the term "horizontal" if present does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The invention is described in further detail below with reference to the attached drawing figures:

the invention provides a driving assisting control method for merging lamp language information, which is shown in fig. 1 and comprises the following steps:

s1, obtaining lamp language information of four areas of the front, rear, left and right of a host vehicle and lane use information of the four areas;

and obtaining the lamp language information of the front, rear, left and right areas of the host vehicle according to the vehicle-mounted camera.

And acquiring lane use information of four areas of the front, rear, left and right of the host vehicle according to the vehicle-mounted radar.

S2, judging the running condition of the host vehicle Zhou Bianche according to the lamp language information of the front, rear, left and right areas of the host vehicle and the lane use information of the four areas;

and S3, obtaining a control strategy of the host vehicle according to the running condition of surrounding vehicles, and realizing auxiliary driving control integrating the lamp language information.

The self-adaptive cruising is executed if the vehicle is in front of the main vehicle and no brake lamp information exists; if the brake lamp information is available and the vehicle is always on, a control strategy of the host vehicle is obtained.

The host vehicle is positioned in the M area, the front of the host vehicle is an F area, and the rear of the host vehicle is an R area; the area F is an A lane, a B lane and a C lane in turn from left to right.

The control strategy of the host vehicle is shown in fig. 2 and 3, and the flow is as follows:

the first step: if no vehicle is determined in the lane A area M, whether the vehicle is in the lane A area R is determined:

judging whether a left turn lamp of a vehicle in the lane B region R is turned on if no vehicle is available, controlling the main vehicle to change the lane A if the left turn lamp is not turned on, and judging whether a safety gap meets the requirement to select the lane A or emergency brake if the left turn lamp is turned on;

and a second step of: then it is determined that there is a car in the a-lane region R and it is determined whether there is a car in the C-lane region M:

if no vehicles exist, judging whether the vehicle exists in the lane C region R, if no vehicles exist, judging whether a right turn lamp of the vehicle in the lane B region R is turned on, if not, controlling the main vehicle to change the lane C, and if so, judging whether the safety clearance meets the requirement to select to change the lane C or emergency brake.

The safety clearance is obtained by adopting a vehicle-mounted radar.

The invention provides an auxiliary driving control system integrating lamp language information, which is shown in fig. 4 and comprises an initial information acquisition module, a driving condition judgment module and a control strategy acquisition module;

the initial information acquisition module is used for acquiring the lamp language information of four areas of the front, the rear, the left and the right of the host vehicle and the lane use information of the four areas;

the driving condition judging module is used for judging the driving condition of the host vehicle Zhou Bianche according to the lamp language information of the front, rear, left and right areas of the host vehicle and the lane use information of the four areas;

the control strategy acquisition module is used for obtaining a control strategy of the host vehicle according to the running condition of surrounding vehicles and realizing auxiliary driving control integrating the lamp language information.

The terminal equipment provided by the embodiment of the invention comprises: a processor, a memory, and a computer program stored in the memory and executable on the processor. The steps of the various method embodiments described above are implemented when the processor executes the computer program. Alternatively, the processor may implement the functions of the modules/units in the above-described device embodiments when executing the computer program.

The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to accomplish the present invention.

The terminal equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The terminal device may include, but is not limited to, a processor, a memory.

The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like.

The memory may be used to store the computer program and/or module, and the processor may implement various functions of the terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory.

The modules/units integrated in the terminal device may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

According to the auxiliary driving control method integrating the whistle information, which is provided by the invention, the surrounding environment information of the host vehicle is perceived through the vehicle-mounted camera and the radar, wherein the surrounding environment information comprises the number of vehicles and the whistle information; determining a running area of a host vehicle, and deducing a running track of a target vehicle by combining the lamp language information and the historical running track for the surrounding target vehicles; and judging whether to enter the driving strategies of self-adaptive cruising, emergency braking, lane changing and the like according to the driving strategies of the main vehicle driving area and the predicted track of the target vehicle, so as to avoid unsafe events.

The above is only a preferred embodiment 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 spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The auxiliary driving control method integrating the lamp language information is characterized by comprising the following steps of:

2. The driving support control method for fusing information on a lamp according to claim 1, wherein the information on the lamp in four areas of front, rear, left and right of the host vehicle is acquired based on an on-vehicle camera.

3. The assisted driving control method of merging the lamp language information according to claim 1, wherein the lane use information of four areas of the front, rear, left and right of the host vehicle is acquired based on an on-vehicle radar.

4. The assisted driving control method of fusion of lamp information according to claim 1, wherein the adaptive cruise is performed if there is a vehicle in front of the host vehicle and no brake lamp information; if the brake lamp information is available and the vehicle is always on, a control strategy of the host vehicle is obtained.

5. The method for controlling assisted driving by fusing whistle information according to claim 1, wherein the host vehicle is located in an M area, the front of the host vehicle is an F area, and the rear of the host vehicle is an R area; the area F is an A lane, a B lane and a C lane in turn from left to right.

6. The driving support control method for merging lamp language information according to claim 5, wherein the control strategy of the host vehicle is as follows:

7. The method for assisting driving in conjunction with lamp information according to claim 6, wherein the safety gap is obtained by using a vehicle radar.

8. An assisted driving control system that fuses lamp language information, characterized by comprising:

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the assisted driving control method of merging lamp language information according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the steps of the driving support control method of fusing lamp language information according to any one of claims 1 to 7.