CN117734735A - Method and system for controlling a vehicle to drive through an intersection - Google Patents
Method and system for controlling a vehicle to drive through an intersection Download PDFInfo
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- CN117734735A CN117734735A CN202410149588.0A CN202410149588A CN117734735A CN 117734735 A CN117734735 A CN 117734735A CN 202410149588 A CN202410149588 A CN 202410149588A CN 117734735 A CN117734735 A CN 117734735A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000004590 computer program Methods 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000001133 acceleration Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Abstract
The invention relates to a method for controlling a vehicle to drive through an intersection, comprising: when the own vehicle runs close to the intersection, judging whether a traffic lane to be driven in after the own vehicle runs through the intersection is a curve or not according to surrounding driving environment information detected by the own vehicle (S1); if the vehicle is a curve, the motion characteristic information of the surrounding vehicle acquired from the surrounding driving environment information is fused with the motion characteristic information of the surrounding vehicle received through vehicle-to-vehicle communication (S2); the own vehicle is controlled to travel through the intersection based at least on the fused motion characteristic information of the surrounding vehicles (S3). The invention also relates to a system for controlling a vehicle to drive through an intersection, a vehicle and a computer program product. According to the present invention, the own vehicle is controlled to steer and accelerate and decelerate in advance during the course of the own vehicle traveling through the intersection, thereby avoiding collision accidents with surrounding vehicles during the course of the reversing as much as possible.
Description
Technical Field
The present invention relates to the field of autopilot, in particular to a method for controlling a vehicle to drive through an intersection, a system for controlling a vehicle to drive through an intersection, a vehicle comprising a system according to the present invention, and a computer program product for at least assisted implementation of the steps of the method according to the present invention.
Background
There are a large number of intersections in urban roads, which are created by various types of road interleaving. As in the traffic scenario shown in fig. 2, the autonomous vehicle 1 often encounters conditions when the traffic lane 3 to be driven in is a curve, rather than a straight road, after driving through these intersections, which results in the autonomous vehicle 1 needing to perform a turning operation to continue driving after driving into the traffic lane 3. However, especially in the case of a large flow rate of vehicles, if the surrounding vehicle runs straight on its traffic lane when the direction changing operation is performed at the intersection, a collision accident with the surrounding vehicle of the adjacent traffic lane is extremely likely to occur.
Therefore, how to improve the driving safety of the automatic driving vehicle at the urban intersection becomes a technical problem to be solved at present.
Disclosure of Invention
It is an object of the present invention to provide a method for controlling a vehicle to drive through an intersection, a system for controlling a vehicle to drive through an intersection, a vehicle comprising a system according to the present invention, and a computer program product to at least partly solve the problems of the prior art.
According to a first aspect of the present invention, there is provided a method for controlling a vehicle to drive through an intersection, the method comprising:
-step S1: judging whether a traffic lane to be driven in after the own vehicle runs through the intersection is a curve or not according to surrounding driving environment information detected by the own vehicle under the condition that the own vehicle runs close to the intersection;
-step S2: if the traffic lane to be driven in after the own vehicle runs through the intersection is a curved road, the motion characteristic information of the surrounding vehicles obtained from the surrounding driving environment information is fused with the motion characteristic information of the surrounding vehicles received through vehicle-to-vehicle communication; and
-step S3: and controlling the vehicle to drive through the intersection at least based on the fused motion characteristic information of the surrounding vehicles.
The core concept of the invention is as follows: in the case of a curved road to which the own vehicle is to be driven after traveling through an intersection, the own vehicle is controlled to steer and accelerate and decelerate in advance based on the fused motion characteristic information of the surrounding vehicles so that the own vehicle is in the view of the driver of the surrounding vehicles, thereby avoiding collision accidents with the surrounding vehicles during the reversing process as much as possible.
According to an alternative embodiment of the invention, the movement characteristic information comprises, for example, current position information of the surrounding vehicle, a travel speed direction, a travel speed value, and/or a travel speed variation value, etc.
According to another alternative embodiment of the present invention, the traveling speed and traveling direction of the own vehicle may be controlled based on at least the fused motion characteristic information of the surrounding vehicle so that the own vehicle is in the range of view of the driver of the surrounding vehicle.
According to a further alternative embodiment of the present invention, the method may further comprise:
-step S41: based on the motion characteristic information of the vehicle and the fused motion characteristic information of the surrounding vehicles, whether the probability of collision between the vehicle and the surrounding vehicles is higher than a preset probability threshold value or not is estimated; and
-step S42: and if the probability of collision between the vehicle and the surrounding vehicles is higher than a preset probability threshold, adjusting the running speed and the running direction of the vehicle at least based on the fused motion characteristic information of the surrounding vehicles so as to reduce the probability of collision between the vehicle and the surrounding vehicles.
According to another alternative embodiment of the present invention, the traveling speed of the own vehicle may be increased in the process of controlling the own vehicle to travel through the intersection so that the own vehicle is within a visible range of the forward vision of the driver of the first surrounding vehicle traveling behind or alongside the own vehicle.
According to another alternative embodiment of the present invention, the traveling speed of the own vehicle may be reduced in controlling the own vehicle to travel through the intersection so that the own vehicle is in a visual range of the backward vision of the second surrounding vehicle traveling in front of the own vehicle.
According to a further alternative embodiment of the present invention, the method may further comprise:
-step S43: and sending corresponding notification information to a driver of the own vehicle under the condition that the collision probability of the own vehicle and the surrounding vehicles is higher than a preset probability threshold value.
According to a second aspect of the present invention, there is provided a system for controlling a vehicle to drive through an intersection, wherein the system may comprise the following components:
-a detection module configured for detecting surrounding driving environment information of the own vehicle;
-an in-vehicle communication module configured for receiving movement characteristic information of surrounding vehicles via vehicle-to-vehicle communication; and
a control module configured for performing the method according to the invention.
According to another alternative embodiment of the present invention, the system may further include a car navigation module configured to acquire current position information and travel speed information of the own vehicle, and map information is stored in the car navigation module.
According to another optional embodiment of the invention, the system may further comprise a human-computer interaction module configured to send corresponding notification information to a driver of the host vehicle in case the probability of the host vehicle colliding with the surrounding vehicle is higher than a preset probability threshold.
According to a third aspect of the present invention there is provided a vehicle comprising a system according to the present invention.
According to a fourth aspect of the present invention, there is provided a computer program product, e.g. a computer-readable program carrier, containing or storing computer program instructions which, when executed by a processor, at least assist in carrying out the steps of the method according to the present invention.
Drawings
The principles, features and advantages of the present invention may be better understood by describing the present invention in more detail with reference to the drawings. The drawings show:
FIG. 1 illustrates a workflow diagram of a method for controlling a vehicle to drive through an intersection according to an exemplary embodiment of the invention;
FIG. 2 illustrates a traffic scene graph according to an exemplary embodiment of the invention;
FIG. 3 illustrates a workflow diagram of a method for controlling a vehicle to drive through an intersection according to another exemplary embodiment of the invention;
FIG. 4 illustrates a workflow diagram of a method for controlling a vehicle to drive through an intersection according to another exemplary embodiment of the invention; and
fig. 5 shows a schematic block diagram of a system for controlling a vehicle to drive through an intersection according to an exemplary embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous technical effects to be solved by the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and a plurality of exemplary embodiments. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 shows a workflow diagram of a method for controlling a vehicle to drive through an intersection according to an exemplary embodiment of the present invention. The following exemplary examples describe the method according to the invention in more detail.
As shown in fig. 1, the method may include steps S1 to S3. In step S1, when the host vehicle 1 is traveling close to the intersection, it is determined whether or not the traffic lane into which the host vehicle 1 is to travel after passing through the intersection is a curve, based on the surrounding environment information detected by the host vehicle 1. In the present embodiment of the invention, the host vehicle 1 is particularly a vehicle provided with an automatic driving function or a high-level assisted driving function. In an exemplary traffic scene graph according to the invention as shown in fig. 2, images of the driving environment ahead can be acquired by means of a front vehicle-mounted camera of the host vehicle 1 during the driving of the host vehicle, by means of which image processing, for example by means of a sufficiently number of object classifiers and/or convolutional neural networks trained on the relevant images, it is possible to recognize intersections in a predetermined distance range ahead of the host vehicle 1, in particular to recognize the traffic signs of the intersections occurring ahead, and to further recognize whether the traffic lane 3 of the intersection to be driven into after the driving through the intersection is a curve or a straight road. Here, it is possible to determine whether the traffic lane 3 is a curve by recognizing the shape of a traffic lane boundary of the traffic lane 3 such as a road dividing line, a road shoulder, a curb, a center isolation belt, a guardrail, and the like.
In addition, the current position information and the travel speed information (including the travel speed value and the travel direction) of the own vehicle 1 may also be acquired by the in-vehicle navigation apparatus of the own vehicle 1, and it is determined that the own vehicle 1 is traveling close to the intersection in combination with map information stored in the navigation apparatus, particularly high-precision map information marked with the type and shape of the traffic lane, and it is determined whether the traffic lane 3 into which the own vehicle 1 is to be driven after traveling through the intersection is a curve or a straight road.
If the traffic lane 3 to be driven in after the own vehicle 1 has driven through the intersection is a curve, in step S2, the motion characteristic information of the surrounding vehicle acquired from the surrounding traffic environment information is fused with the motion characteristic information of the surrounding vehicle received through the vehicle-to-vehicle communication. On the one hand, the surrounding driving environment information of the own vehicle 1 may be detected by the detection module 11 of the own vehicle 1, and the movement characteristic information of the surrounding vehicle, which includes, for example, the current position information, the driving speed direction, the driving speed value, and/or the driving speed variation value (i.e., acceleration/deceleration) of the surrounding vehicle, etc., may be acquired from the surrounding driving environment information. The detection module 11 comprises, for example, an onboard camera, millimeter wave radar and/or lidar, etc. On the other hand, the own vehicle 1 may establish a vehicle-to-vehicle communication connection with surrounding vehicles (e.g., the first surrounding vehicle 21 and the second surrounding vehicle 22 in fig. 2) within a predetermined distance range around the own vehicle, through which the surrounding vehicles may transmit their motion characteristic information, which is detected by the on-vehicle sensors of the own vehicle, such as the running speed detected by the wheel speed sensors thereof, the running acceleration detected by the acceleration sensors thereof, and the like, to the own vehicle 1 with higher accuracy. The motion characteristic information obtained by the data fusion obtained in the two modes can reflect the actual running condition of surrounding vehicles in an omnibearing and more accurate way.
In step S3, the own vehicle 1 is controlled to travel through the intersection based on at least the fused motion characteristic information of the surrounding vehicles. Considering that the traffic lane to be driven in after the own vehicle 1 is driven through the intersection is a curve, it is necessary to change the driving direction of the own vehicle 1 in controlling the own vehicle 1 to drive through the intersection. In order to enable the driver of the surrounding vehicle to better observe the steering operation of the own vehicle 1, the traveling speed and traveling direction of the own vehicle 1 may be controlled based on at least the fused motion characteristic information of the surrounding vehicle so that the own vehicle 1 is in the visual field of the driver of the surrounding vehicle.
For example, for the first surrounding vehicle 21 traveling behind the own vehicle 1, an acceleration operation may be performed in controlling the own vehicle 1 to travel through the intersection to increase the traveling speed of the own vehicle 1 so that the own vehicle 1 is within a visual range of the forward vision of the driver of the first surrounding vehicle 21; for the second surrounding vehicle 22 traveling in front of the own vehicle 1, a braking operation may be performed in controlling the own vehicle 1 to travel through the intersection to reduce the traveling speed of the own vehicle 1 so that the own vehicle 1 is in a visual range of the rearward view of the second surrounding vehicle 22, for example, a visual range that is observable by the driver thereof through a rear view mirror.
According to the present invention, in the case where the own vehicle is traveling through a curved road lane to be entered after an intersection, the own vehicle is controlled to steer and accelerate and decelerate in advance based on the fused motion characteristic information of the surrounding vehicles so that the own vehicle is in the view of the driver of the surrounding vehicles, thereby avoiding collision accidents with the surrounding vehicles during the reversing as much as possible.
Fig. 3 shows a workflow diagram of a method for controlling a vehicle to drive through an intersection according to another exemplary embodiment of the present invention. Only the differences from the embodiment shown in fig. 1 are explained below, and the same steps are not repeated for the sake of brevity.
As shown in fig. 3, the method may further include steps S41 and S42. In step S41, it is estimated whether or not the probability of collision of the own vehicle 1 with the surrounding vehicle is higher than a preset probability threshold based on the motion characteristic information of the own vehicle 1 and the fused motion characteristic information of the surrounding vehicle. Here, the travel route of the own vehicle 1 and the surrounding vehicles over time may be predicted based on the fused motion characteristic information of the own vehicle 1 and the surrounding vehicles, and the minimum distance between the own vehicle 1 and the surrounding vehicles during travel may be determined based on the travel route, thereby evaluating the probability of collision of the own vehicle 1 and the surrounding vehicles.
If the probability of collision of the own vehicle 1 with the surrounding vehicle is higher than the preset probability threshold, the running speed and running direction of the own vehicle 1 may be adjusted at least based on the fused motion characteristic information of the surrounding vehicle in step S42 to reduce the probability of collision of the own vehicle 1 with the surrounding vehicle. For example, with respect to the first peripheral vehicle 21 traveling behind the own vehicle 1 or traveling alongside the own vehicle 1, the traveling speed of the own vehicle 1 may be increased so as to increase the distance between the own vehicle 1 and the first peripheral vehicle 21, or at least avoid the vehicles traveling alongside; for the second surrounding vehicle 22 traveling in front of the own vehicle 1, the traveling speed of the own vehicle 1 may be reduced so that the distance between the own vehicle 1 and the second surrounding vehicle 22 is increased. It will be appreciated that the probability of collision between the host vehicle 1 and the surrounding vehicles 21, 22 can be effectively reduced by increasing the distance between them or by avoiding that the host vehicle 1 runs alongside the surrounding vehicles.
Fig. 4 shows a workflow diagram of a method for controlling a vehicle to drive through an intersection according to another exemplary embodiment of the present invention. Only the differences from the embodiment shown in fig. 3 are explained below, and the same steps are not repeated for the sake of brevity.
As shown in fig. 4, the method may further include step S43. In step S43, in the case where the probability of the collision between the host vehicle 1 and the surrounding vehicles is higher than the preset probability threshold, a corresponding warning message may be sent to the driver of the host vehicle 1. Here, acoustic notification information about an impending collision may be transmitted to the driver of the host vehicle 1 by the in-vehicle voice device, and acoustic notification information about requesting the driver to take over the vehicle operation may be optionally also transmitted. Alternatively, the driver of the host vehicle 1 may be sent corresponding optical notification information via a central control display, a head-up display, and/or a dashboard, etc.
In addition, it should be noted that the sequence numbers of the steps described herein do not necessarily represent a sequential order, but are merely a reference number, and the order may be changed according to circumstances as long as the technical object of the present invention can be achieved.
Fig. 5 shows a schematic block diagram of a system for controlling a vehicle to drive through an intersection according to an exemplary embodiment of the present invention.
As shown in fig. 5, the system 10 may include the following components:
a detection module 11 configured for detecting surrounding driving environment information of the own vehicle 1, wherein said detection module 11 comprises, for example, an onboard camera, millimeter wave radar and/or lidar, etc.;
an in-vehicle communication module 12 configured to receive movement characteristic information of surrounding vehicles through vehicle-to-vehicle communication; and
a control module 13 configured for performing the method according to the invention.
Optionally, the system 10 may further include a car navigation module 14 configured to acquire current position information and travel speed information of the own vehicle 1, and map information is stored in the car navigation module 14;
optionally, the system 10 may further comprise a human-machine interaction module 15 configured to send corresponding notification information to a driver of the host vehicle 1 if the probability of the collision of the host vehicle 1 with the surrounding vehicle is higher than a preset probability threshold, wherein the human-machine interaction module 15 comprises, for example, an in-vehicle voice device, a central control display screen, a head-up display screen, and/or a dashboard, etc.
Although specific embodiments of the invention have been described in detail herein, they are presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various alternatives and modifications can be devised without departing from the spirit and scope of the invention.
Claims (10)
1. A method for controlling a vehicle to drive through an intersection, the method comprising:
step S1: when the own vehicle (1) runs close to the intersection, judging whether a traffic lane (3) to be driven in after the own vehicle (1) runs through the intersection is a curve or not according to surrounding driving environment information detected by the own vehicle (1);
step S2: if the traffic lane (3) to be driven in after the own vehicle (1) runs through the intersection is a curve, the motion characteristic information of the surrounding vehicles (21, 22) acquired from the surrounding driving environment information is fused with the motion characteristic information of the surrounding vehicles (21, 22) received through vehicle-to-vehicle communication; and
step S3: -controlling the travel of the own vehicle (1) through said intersection based at least on the fused movement characteristic information of said surrounding vehicles (21, 22).
2. The method according to claim 1, wherein the movement characteristic information comprises current position information, a travel speed direction, a travel speed value, and/or a travel speed variation value of the surrounding vehicle (21, 22).
3. Method according to any of the preceding claims, wherein the travel speed and travel direction of the own vehicle (1) is controlled based at least on the fused movement characteristic information of the surrounding vehicles such that the own vehicle (1) is in the field of view of the driver of the surrounding vehicle (21, 22).
4. The method according to any of the preceding claims, wherein the method further comprises:
step S41: based on the motion characteristic information of the own vehicle (1) and the fused motion characteristic information of the surrounding vehicles (21, 22), evaluating whether the probability of collision of the own vehicle (1) with the surrounding vehicles (21, 22) is higher than a preset probability threshold; and
step S42: and if the probability of collision of the vehicle (1) with the surrounding vehicles (21, 22) is higher than a preset probability threshold value, adjusting the running speed and the running direction of the vehicle (1) at least based on the fused motion characteristic information of the surrounding vehicles (21, 22) so as to reduce the probability of collision of the vehicle (1) with the surrounding vehicles (21, 22).
5. The method according to any one of the preceding claims, wherein the travel speed of the own vehicle (1) is increased in controlling the own vehicle (1) to travel through the intersection such that the own vehicle (1) is within a visible range of the forward vision of the driver of the first surrounding vehicle (21) traveling behind the own vehicle (1) or traveling alongside the own vehicle (1); and/or
The traveling speed of the own vehicle (1) is reduced in the process of controlling the own vehicle (1) to travel through the intersection so that the own vehicle (1) is within a visual range of a backward view of a second surrounding vehicle (22) traveling in front of the own vehicle (1).
6. The method according to any of the preceding claims, wherein the method further comprises:
step S43: when the probability of collision between the vehicle (1) and the surrounding vehicles (21, 22) is higher than a preset probability threshold value, corresponding notification information is sent to the driver of the vehicle (1).
7. A system (10) for controlling a vehicle to drive through an intersection, wherein the system (10) comprises the following components:
a detection module (11) configured to detect surrounding driving environment information of the own vehicle (1);
an in-vehicle communication module (12) configured to receive movement characteristic information of surrounding vehicles (21, 22) through vehicle-to-vehicle communication; and
control module (13) configured for performing the method according to any of the preceding claims.
8. The system (10) according to claim 7, wherein the system (10) further comprises the following components:
a vehicle-mounted navigation module (14) configured to acquire current position information and travel speed information of the own vehicle (1), and map information is stored in the vehicle-mounted navigation module (14);
-a human-machine interaction module (15) configured for sending corresponding notification information to a driver of the own vehicle (1) in case the probability of collision of the own vehicle (1) with said surrounding vehicles (21, 22) is higher than a preset probability threshold.
9. A vehicle comprising a system (10) according to claim 7 or 8.
10. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions which, when executed by a processor, at least assist in carrying out the steps of the method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410149588.0A CN117734735A (en) | 2024-02-01 | 2024-02-01 | Method and system for controlling a vehicle to drive through an intersection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410149588.0A CN117734735A (en) | 2024-02-01 | 2024-02-01 | Method and system for controlling a vehicle to drive through an intersection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117734735A true CN117734735A (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410149588.0A Pending CN117734735A (en) | 2024-02-01 | 2024-02-01 | Method and system for controlling a vehicle to drive through an intersection |
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| Country | Link |
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| CN (1) | CN117734735A (en) |
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- 2024-02-01 CN CN202410149588.0A patent/CN117734735A/en active Pending
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