CN117818617A - Control method and control device for vehicle, storage medium and vehicle - Google Patents
Control method and control device for vehicle, storage medium and vehicle Download PDFInfo
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- CN117818617A CN117818617A CN202410149638.5A CN202410149638A CN117818617A CN 117818617 A CN117818617 A CN 117818617A CN 202410149638 A CN202410149638 A CN 202410149638A CN 117818617 A CN117818617 A CN 117818617A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 8
- 230000004044 response Effects 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 7
- 238000012795 verification Methods 0.000 claims description 2
- 230000006870 function Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 238000013527 convolutional neural network Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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- 230000005540 biological transmission Effects 0.000 description 1
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Abstract
The invention proposes a control method for a vehicle, comprising the steps of: s1, when a vehicle is about to travel through an intersection, acquiring the current state and state switching time of a traffic signal lamp corresponding to a to-be-driven route of the vehicle, and if the current state of the traffic signal lamp is a first state representing permission of traffic, acquiring the state switching time to include a first time t1 when the traffic signal lamp is switched from the first state to a second state representing warning and a second time t2 when the traffic signal lamp is switched from the second state to a third state representing prohibition of traffic; s2, predicting the prediction time t of a stop line of the vehicle when the vehicle runs to reach an intersection; s3, determining the trafficability of the vehicle passing through the intersection according to the first time t1, the second time t2 and the predicted time t, and adjusting the driving operation of the vehicle according to the trafficability. The invention also relates to a corresponding computer readable storage medium, a control device and a vehicle. By means of the invention, the safety can be improved.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly, to a control method for a vehicle, a control apparatus for a vehicle, a computer-readable storage medium, and a vehicle.
Background
Vehicles having a driving assist function or an autopilot function may travel through an intersection depending on autopilot decisions. For example, the vehicle may identify the color of the traffic light via its visual sensor, and then make a driving decision based on the identified color of the traffic light.
However, limited by weather and the like, traffic signal colors identified by visual sensors may have a high false positive rate. Moreover, the visual sensor can only detect the current color of the traffic signal lamp, and the future state of the traffic signal lamp cannot be predicted in advance. This results in difficulty in timely coping with changes in traffic lights for the overhead decision determined by the vehicle based on the detection results of the vision sensor.
Thus, the prior art still has a disadvantage in driving control when the vehicle travels through an intersection.
Disclosure of Invention
An object of the present invention is to provide an improved control method for a vehicle, and a corresponding computer-readable storage medium, control device and vehicle, so as to improve safety.
According to a first aspect of the present invention, a control method for a vehicle is provided. The control method comprises the following steps: s1, when a vehicle is about to travel through an intersection, acquiring the current state and state switching time of a traffic signal lamp corresponding to a to-be-driven route of the vehicle, wherein if the current state of the traffic signal lamp is a first state representing permission of traffic, the acquired state switching time comprises a first time t1 when the traffic signal lamp is switched from the first state to a second state representing warning and a second time t2 when the traffic signal lamp is switched from the second state to a third state representing prohibition of traffic; s2, predicting the prediction time t of a stop line of the vehicle when the vehicle runs to reach an intersection; and S3, determining the trafficability of the vehicle passing through the intersection according to the first time t1, the second time t2 and the predicted time t, and adjusting the driving operation of the vehicle according to the trafficability.
Thus, the vehicle can determine the driving operation in advance according to the time at which the traffic signal is to be subjected to the state switching. This enables the vehicle to timely cope with the state switching of the traffic signal and the actions that the associated vulnerable road user may take, thereby improving safety.
In one exemplary embodiment, if the predicted time t is less than the first time t1 or if the predicted time t is less than the first time t1 minus a predetermined margin time ts, the trafficability is determined to be a first traffic state and the vehicle is controlled to travel through the intersection.
If the predicted time t is between the first time t1 and the second time t2 or if the predicted time t is between a difference of the first time t1 minus the predetermined margin time ts and a difference of the second time t2 minus the predetermined margin time ts, the trafficability is determined to be in the second passing state and the vehicle is controlled to travel through the intersection at the reduced vehicle speed.
If the predicted time t is greater than the second time t2 or if the predicted time t is greater than the second time t2 minus a predetermined margin time ts, the trafficability is determined to be a third traveling state and the vehicle is controlled to stop at the stop line.
In one exemplary embodiment, in the second traveling state, the reduced vehicle speed may be below a predetermined vehicle speed threshold.
In an exemplary embodiment, the margin time ts may be set to be greater than 3s and/or less than 4s, in particular to be 2s.
In one exemplary embodiment, in the first traffic state or the second traffic state, a weak road user crossing the road in front of the vehicle may be identified, and the avoidance operation is performed in response to the identified weak road user.
In one exemplary embodiment, in the first or second pass state, if the number of handicapped road users traversing the road in front of the vehicle is identified to exceed a predetermined number threshold, the vehicle is stopped at the stop line because it will be difficult for the vehicle to take effective avoidance measures.
In one exemplary embodiment, in the first traffic state or the second traffic state, a vulnerable road user crossing the road in front of the vehicle may be identified, and in response to identifying the vulnerable road user in front of the vehicle, verification is made by information about the vulnerable road user running a red light in front of the vehicle acquired from the drive test unit.
In one exemplary embodiment, in step S2, the predicted time t may be determined according to a distance between the vehicle and the stop line and a current vehicle speed of the vehicle.
According to a second aspect of the present invention, there is provided a computer readable storage medium storing computer program instructions, wherein the computer program instructions, when executed by one or more processors, enable the one or more processors to perform a control method according to the present invention.
According to a third aspect of the present invention there is provided a control apparatus for a vehicle, wherein the control apparatus comprises a memory and a processor, the memory storing computer program instructions which, when executed by the processor, are capable of executing the control method according to the present invention.
According to a fourth aspect of the present invention, there is provided a vehicle, wherein the vehicle comprises a control device according to the present invention. The vehicle optionally further comprises: a communication device configured to be able to acquire a current state and a state switching time of a traffic signal corresponding to a route to be traveled of a vehicle; and/or a detection device configured to be able to detect information about the vehicle and its surroundings; and/or a driving execution system configured to be able to execute lateral control and/or longitudinal control of the vehicle.
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 include:
fig. 1 schematically shows a flowchart of a control method for a vehicle according to an exemplary embodiment of the invention;
FIG. 2 schematically illustrates a vehicle according to an exemplary embodiment of the invention; and
fig. 3, 4 and 5 schematically show application scenarios of the control method according to an exemplary embodiment of the present invention.
List of reference numerals
1. Vehicle with a vehicle body having a vehicle body support
11. Control device
12. Communication device
13. Detection device
14. Driving execution system
2. Traffic signal lamp
3. Drive test unit
4. User on vulnerable road
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 schematically shows a flowchart of a control method for a vehicle according to an exemplary embodiment of the invention.
As shown in fig. 1, the control method may include steps S1, S2, and S3.
In step S1, when the vehicle is about to travel through an intersection, a current state and a state switching time of a traffic signal corresponding to a route to be traveled of the vehicle are acquired. If the current state of the traffic signal is a first state indicating that traffic is allowed, the acquired state switching time includes a first time t1 at which the traffic signal will be switched from the first state to a second state indicating a warning and a second time t2 at which the traffic signal will be switched from the second state to a third state indicating that traffic is prohibited.
In step S2, a predicted time t for the vehicle to travel to reach a stop line at the intersection is predicted.
In step S3, the trafficability of the vehicle through the intersection is determined according to the first time t1, the second time t2 and the predicted time t, and the driving operation of the vehicle is adjusted according to the trafficability.
Thus, the vehicle can determine the driving operation in advance according to the time at which the traffic signal is to be subjected to the state switching. This enables the vehicle to timely cope with the state switching of the traffic signal and the actions that the associated vulnerable road user may take, thereby improving safety.
Fig. 2 schematically shows a vehicle 1 according to an exemplary embodiment of the invention. The vehicle 1 is a vehicle having an automatic driving function or a driving assistance function, for example.
As shown in fig. 2, the vehicle 1 may include a control device 11. The control device 11 may be configured to be able to control the method according to an exemplary embodiment of the present invention.
The control device 11 is implemented, for example, as an Electronic Control Unit (ECU) of the vehicle 1. The control device 11 may comprise a memory storing computer program instructions which, when executed by the processor, are capable of executing a control method for the vehicle 1, for example. The computer program product may be stored in a computer readable storage medium. The computer readable storage medium may include, for example, high speed random access memory, but may also include non-volatile memory, such as a hard disk, memory, a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, at least one magnetic disk storage device, a flash memory device, or other volatile solid state storage device. The processor may be a central processing unit, but also other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
The vehicle 1 may also include a communication device 12. The communication device 12 may be configured to be able to communicate with a drive test unit or a remote server. The current state and the state switching time of the traffic light 2 can be acquired by means of the communication device 12. For example, the communication device 12 may obtain the current state and state switching time of the traffic signal 2 by receiving a signal from a transmitter associated with the traffic signal 2. The communication device 12 may be communicatively connected to the control device 11 such that the control device 11 may obtain information from the communication device 12.
The vehicle 1 may further comprise at least one detection device 13 configured to be able to detect information about the vehicle 1 and its surroundings. The detection means 13 may be communicatively connected to the control means 11, so that the control means 11 may obtain information from the detection means 13. Alternatively, the control device 11 may send a control instruction to the detection device 13 so as to control the detection device 13 to perform the detection operation. The detection means 13 may comprise, for example, camera means, radar, lidar, positioning means (e.g. GPS positioning means), navigation means, etc. For example, by means of the detection device 13, it is possible to recognize that the vehicle 1 is going to travel through an intersection and/or to recognize the route to be traveled of the vehicle 1.
According to an exemplary embodiment of the invention, by means of the detection device 13, a vulnerable road user in the vicinity of the vehicle 1 can be identified. For example, an image concerning the surrounding environment within a predetermined range in front of the vehicle 1 may be acquired by an image pickup device, and the acquired image is subjected to image processing by means of an object classifier and/or a convolutional neural network, thereby identifying a vulnerable road user in the road in front of the vehicle 1. The object classifier and/or convolutional neural network has been trained on a sufficient number of suitable image sequences in advance. In this context, a handicapped road user includes, for example, pedestrians, cyclists, and/or electric bicycle cyclists, etc.
The vehicle 1 may also include a drive execution system 14, which may be configured to be able to execute lateral and/or longitudinal control of the vehicle 1. The steering actuation system 14 may include, for example, a power device, a transmission, a steering device, tires, and the like. The driving execution system 14 may be communicatively connected with the control device 11 such that the driving execution system 14 may perform a corresponding driving operation in response to an instruction of the control device 11.
Fig. 3, 4 and 5 schematically show application scenarios of the control method according to an exemplary embodiment of the present invention.
As shown in fig. 3, the vehicle 1 will travel to an intersection. The vehicle 1 may have, for example, a configuration as shown in fig. 2. For example, it is possible to recognize by the positioning device and the navigation device of the vehicle 1 that the vehicle 1 is about to travel along a straight line through an intersection.
In this case, the current state and the state switching time of the traffic signal 2 corresponding to the route to be traveled of the vehicle 1 can be acquired.
The status of the traffic light 2 can be distinguished by its color. Typically, traffic signal 2 may be indicated by a red light indicating no traffic, a green light indicating no traffic, and a yellow light indicating warning. Accordingly, the traffic signal 2 is turned on in the first state as a green light, in the second state as a yellow light, and in the third state as a red light. Alternatively or additionally, the status of the traffic light 2 can also be distinguished by its pattern.
The current state of the traffic light 2 is, for example, green light on. The vehicle 1 can obtain, via the communication device 12, a first time t1 when the traffic light 2 is to be switched from a green light to a yellow light and a second time t2 when the traffic light 2 is to be further switched from a yellow light to a red light.
Further, for example, a predicted time t for the vehicle 1 to travel to reach the stop line of the intersection is predicted based on a distance d between the vehicle 1 and the stop line and a current vehicle speed v0 of the vehicle 1. The predicted time t may be determined as: t=d/v 0.
Based on the first time t1, the second time t2, and the predicted time t, the trafficability of the vehicle 1 through the intersection can be determined.
If the predicted time t is less than the first time t1 (i.e., t < t 1), the trafficability is determined to be the first traffic state, and the vehicle 1 is controlled to travel through the intersection. For example, in the first traffic state, the vehicle 1 may maintain the current vehicle speed v0 or travel through the intersection at a vehicle speed slightly lower than the current vehicle speed v0.
If the predicted time t is between the first time t1 and the second time t2 (i.e., t1< t < t 2), the trafficability is determined to be the second traveling state, and the vehicle 1 is controlled to travel through the intersection at a reduced vehicle speed v1, where v1< v0. Optionally, in the second running state, the reduced vehicle speed v1 is below a predetermined vehicle speed threshold.
If the predicted time t is greater than the second time t2 (i.e., t2< t), the trafficability is determined to be in the third traveling state, and the vehicle 1 is controlled to stop at the stop line.
In an exemplary embodiment according to the present invention, the margin time ts may be set.
If the predicted time t is less than the first time t1 minus the predetermined margin time ts (i.e., t < t 1-ts), the trafficability is determined to be the first traffic state, and the vehicle 1 is controlled to travel through the intersection.
If the predicted time t is between the difference of the first time t1 minus the predetermined margin time ts and the difference of the second time t2 minus the predetermined margin time ts (i.e., t1-ts < t < t 2-ts), the trafficability is determined to be the second passing state, and the vehicle 1 is controlled to travel through the intersection at the reduced vehicle speed v 1.
If the predicted time t is greater than the second time t2 minus the predetermined margin time ts (i.e., t2-ts < t), the trafficability is determined to be the third traveling state, and the vehicle 1 is controlled to stop at the stop line.
With the margin time ts, the safety can be further improved. The margin time ts may be set to be, for example, greater than 3s and/or less than 4s, in particular, to be 2s.
In the exemplary embodiment according to the present invention, in the first traffic state or the second traffic state, a weak road user 4 crossing the road in front of the vehicle 1 may be identified, and the avoidance operation is performed in response to the identified weak road user 4.
As an example, fig. 4 schematically shows that the trafficability is determined as the second traffic state in the case where the predicted time t is between the first time t1 and the second time t2. Accordingly, the vehicle 1 is controlled to travel through the intersection at the reduced vehicle speed v 1. In the second, through-going state, a vulnerable road user 4 traversing the road in front of the vehicle 1 can be identified by means of the detection device 13. In response to the identified vulnerable road users 4, the vehicle 1 may perform an avoidance operation. For example, the vehicle speed of the vehicle 1 may be reduced. Alternatively or additionally, the travel path of the vehicle 1 can be adjusted by means of lateral control in order to avoid the vulnerable road users 4.
In general, in the case where the traffic signal lamp 2 corresponding to the route to be traveled of the vehicle 1 lights up a green or yellow light, the vulnerable road user 4 will be prohibited from traversing the road in front of the vehicle 1. In other words, the traffic light faced by the road user 4 planning to traverse the road ahead of the vehicle 1 will illuminate a red light. In practice, however, it may happen that the road user 4 breaks the red light. In the first traffic state or the second traffic state, the vehicle 1 can perform the avoidance operation for the vulnerable road user 4 in time by identifying the vulnerable road user 4 crossing the road in front of the vehicle 1.
As an example, fig. 5 schematically shows that in the first traffic state or the second traffic state, there are more vulnerable road users 4 running a red light in front of the vehicle 1.
In the first traffic state or the second traffic state, if it is recognized that the number of vulnerable road users 4 crossing the road in front of the vehicle 1 exceeds a predetermined number threshold, the vehicle 1 is stopped at the stop line. In the case where the number of the vulnerable road users 4 running the red light is large, even through deceleration and lateral control, it is difficult for the vehicle 1 to safely travel through the intersection while avoiding all the vulnerable road users 4. Therefore, the vehicle 1 can be stopped at the stop line, thereby ensuring safety.
Alternatively, in response to identifying the vulnerable road user 4 in front of the vehicle 1, the information about the vulnerable road user 4 running the red light in front of the vehicle 1 acquired from the drive test unit 3 may be verified to determine the credibility.
As shown in fig. 5, the road test unit 3 disposed at the intersection may be provided with an image pickup device, which may be used to detect a vulnerable road user 4 running a red light. For example, in case of detecting a red light running vulnerable road user 4, or in case of detecting a red light running number of vulnerable road users 4 exceeding a predetermined number threshold, the drive test unit 3 may send the relevant information to the vehicle 1 on the lane that may be affected by the red light running vulnerable road users 4.
It should be understood that the features and advantages described herein with respect to the control method are equally applicable to the control device and vice versa.
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 substitutions, alterations, and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. A control method for a vehicle, wherein the control method comprises the steps of:
s1, when a vehicle is about to travel through an intersection, acquiring the current state and state switching time of a traffic signal lamp corresponding to a to-be-driven route of the vehicle, wherein if the current state of the traffic signal lamp is a first state representing permission of traffic, the acquired state switching time comprises a first time t1 when the traffic signal lamp is switched from the first state to a second state representing warning and a second time t2 when the traffic signal lamp is switched from the second state to a third state representing prohibition of traffic;
s2, predicting the prediction time t of a stop line of the vehicle when the vehicle runs to reach an intersection; and
s3, determining the trafficability of the vehicle passing through the intersection according to the first time t1, the second time t2 and the predicted time t, and adjusting the driving operation of the vehicle according to the trafficability.
2. The control method according to claim 1, wherein,
if the predicted time t is less than the first time t1 or if the predicted time t is less than the first time t1 minus a predetermined margin time ts, determining that the trafficability is a first traffic state and controlling the vehicle to travel through the intersection; and/or
If the predicted time t is between the first time t1 and the second time t2 or if the predicted time t is between a difference of the first time t1 minus the predetermined margin time ts and a difference of the second time t2 minus the predetermined margin time ts, determining that the trafficability is in the second passing state and controlling the vehicle to travel through the intersection at a reduced vehicle speed; and/or
If the predicted time t is greater than the second time t2 or if the predicted time t is greater than the second time t2 minus a predetermined margin time ts, the trafficability is determined to be a third traveling state and the vehicle is controlled to stop at the stop line.
3. The control method according to claim 2, wherein,
in a second traveling state, the reduced vehicle speed is below a predetermined vehicle speed threshold; and/or
The margin time ts is set to be greater than 3s and/or less than 4s, in particular to be 2s.
4. The control method according to any one of claims 1 to 3, wherein,
in the first traffic state or the second traffic state, a weak road user crossing the road in front of the vehicle is identified, and in response to the identified weak road user, an avoidance operation is performed.
5. The control method according to claim 4, wherein,
in the first traffic state or the second traffic state, if it is recognized that the number of users crossing the road ahead of the vehicle exceeds a predetermined number threshold, the vehicle is stopped at the stop line.
6. The control method according to any one of claims 1 to 5, wherein,
in the first traffic state or the second traffic state, a vulnerable road user crossing the road in front of the vehicle is identified, and in response to identifying the vulnerable road user in front of the vehicle, verification is performed by information about the vulnerable road user running the red light in front of the vehicle acquired from the drive test unit.
7. The control method according to any one of claims 1 to 6, wherein,
in step S2, a predicted time t is determined from the distance between the vehicle and the stop line and the current vehicle speed of the vehicle.
8. A computer readable storage medium storing computer program instructions, wherein the computer program instructions, when executed by one or more processors, enable the one or more processors to perform the control method of any one of claims 1-7.
9. A control device for a vehicle, wherein the control device comprises a memory and a processor, the memory storing computer program instructions that, when executed by the processor, are capable of performing the control method according to any one of claims 1-7.
10. A vehicle, wherein the vehicle comprises the control device of claim 9, wherein the vehicle optionally further comprises:
a communication device configured to be able to acquire a current state and a state switching time of a traffic signal corresponding to a route to be traveled of a vehicle; and/or
A detection device configured to be able to detect information about a vehicle and its surrounding environment; and/or
A driving execution system configured to be able to execute lateral control and/or longitudinal control of the vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410149638.5A CN117818617A (en) | 2024-02-02 | 2024-02-02 | Control method and control device for vehicle, storage medium and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410149638.5A CN117818617A (en) | 2024-02-02 | 2024-02-02 | Control method and control device for vehicle, storage medium and vehicle |
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| Publication Number | Publication Date |
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| CN117818617A true CN117818617A (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410149638.5A Pending CN117818617A (en) | 2024-02-02 | 2024-02-02 | Control method and control device for vehicle, storage medium and vehicle |
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| Country | Link |
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| CN (1) | CN117818617A (en) |
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- 2024-02-02 CN CN202410149638.5A patent/CN117818617A/en active Pending
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