CN117975752A - Automatic driving method and device for vehicle and vehicle - Google Patents
Automatic driving method and device for vehicle and vehicle Download PDFInfo
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Abstract
The invention discloses a vehicle automatic driving method and device and a vehicle, and belongs to the technical field of automatic driving. One embodiment of the vehicle automatic driving method includes: determining a reference road section for the vehicle according to the determined vehicle position and the determined vehicle driving route, wherein the reference road section comprises a current intersection to be passed closest to the vehicle; determining the length of a reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the signal conversion residual duration; calculating the green wave speed of the vehicle passing through the reference road section according to the signal change period of the next road section to be passed through, the signal conversion residual duration, the length of the reference road section and the road section speed limit; the vehicle speed of the vehicle is regulated and controlled based on the green wave speed, so that when the vehicle reaches a stop line of the next intersection to be passed, a signal lamp of the next intersection to be passed indicates a passing signal, the green wave passing of the vehicle is realized, and the passing stability of the green wave automatically driven by the vehicle is effectively improved.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle automatic driving method and device and a vehicle.
Background
One way to reduce road congestion and improve occupant ride experience is to regulate vehicle green wave traffic. Green wave traffic generally refers to vehicles encountering green lights at various intersections, so that the vehicles can stably drive across the intersections without stopping. At present, the mode of realizing the green wave passing of the vehicle by automatic driving mainly controls the running speed of the vehicle according to the historical passing data of the vehicle, but the running speed of the vehicle is still difficult to control by adopting the mode of controlling the running speed of the vehicle by adopting the historical passing data because the conditions of road conditions and crossing signal lamps are always changed.
Disclosure of Invention
In view of the above, the present invention provides a vehicle automatic driving method, apparatus and vehicle, by determining a reference road section for a vehicle, and calculating a green wave speed of the vehicle passing through the reference road section according to a length of the reference road section, a road section speed limit, a signal change period of a next intersection to be passed through and a signal conversion remaining period, in which the green wave speed is calculated according to a current condition of a road, in which the calculated green wave speed is ensured to enable the vehicle to pass through the next intersection to realize green wave passing of the vehicle, and in addition, the calculated speed is an average speed of the reference road section, so that the vehicle can basically maintain constant speed running according to the green wave speed, thereby effectively improving stability of vehicle automatic driving green wave passing.
In order to solve the technical problems, the invention provides the following technical scheme:
in a first aspect, the present invention provides a vehicle autopilot method comprising:
determining a reference road section for the vehicle according to the determined vehicle position and the determined vehicle driving route, wherein the reference road section comprises a current intersection to be passed closest to the vehicle;
determining the length of the reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the residual signal conversion duration;
calculating the green wave speed of the vehicle passing through the reference road section according to the signal change period of the next road section to be passed through, the signal conversion residual duration, the length of the reference road section and the road section speed limit;
And regulating and controlling the speed of the vehicle based on the green wave speed, so that when the vehicle reaches the stop line of the next intersection to be passed, the signal lamp of the next intersection to be passed indicates a traffic signal.
Optionally, the reference road section is a road section between the stopping line of the current intersection to be passed and the stopping line of the next intersection to be passed.
Optionally, the vehicle automatic driving method further includes: and adjusting the green wave speeds corresponding to the reference road sections according to the difference between the green wave speeds respectively corresponding to the two adjacent reference road sections.
Optionally, the calculating the green wave speed of the vehicle passing through the reference road section includes:
Calculating the minimum passing duration of the vehicle according to the length of the reference road section and the road section speed limit;
Constructing a comparison relation between the minimum passing duration and the signal conversion residual duration of the next intersection to be passed, the duration of the signal converted by the signal lamp of the next intersection to be passed and the signal conversion period of the next intersection to be passed;
and calculating the green wave speed of the vehicle passing through the reference road section according to the comparison relation.
Optionally, the calculating the minimum passage duration of the vehicle includes:
calculating the speed-limiting passing duration of the vehicle according to the length of the reference road section and the road section speed limit;
And calculating delay time length related to the road condition according to the determined road condition of the reference road section, and determining the sum of the speed-limiting passing time length and the delay time length as the minimum passing time length of the vehicle.
Optionally, the vehicle automatic driving method further includes:
Aiming at the condition that the signal lamp of the next crossing to be passed currently indicates a traffic signal,
Determining the signal conversion residual time length of the signal lamp of the next intersection to be passed as the residual time length of the signal lamp converted from the current traffic signal to the stop traffic signal;
Determining the time length of the signal converted by the signal lamp of the next intersection to be the time length of the signal lamp of the next intersection to indicate to stop the traffic signal;
Aiming at the condition that the signal lamp of the next crossing to be passed currently indicates to stop the passing signal,
Determining the signal conversion residual time length of the signal lamp of the next intersection to be passed as the residual time length of the signal lamp converted from the current stop signal to the traffic signal;
and determining the time length of the signal converted by the signal lamp of the next intersection to be the time length of the signal lamp of the next intersection to indicate the traffic signal.
Optionally, for the situation that the signal lamp of the next intersection to be passed currently indicates a traffic signal, determining that the green wave speed of the vehicle passing through the reference road section is the road section speed limit of the reference road section in the contrast relation indication g B+RB+(n-1)T≤tmin+te≤gB +nt;
aiming at the condition that the signal lamp of the next intersection to be passed currently indicates a traffic signal, determining the green wave speed v=L/(g B+nT+RB) of the vehicle passing through the reference road section according to the comparison relation indication g B+nT<tmin+te<gB+nT+RB;
aiming at the condition that a signal lamp of the next intersection to be passed currently indicates a stop signal, determining the green wave speed v=v Limiting the limit of the vehicle passing through the reference road section in the contrast relation indication R B+nT<tmin+te<rB+nT+gB;
Wherein t min represents the speed-limiting passing duration of the vehicle; t e represents a delay time of the vehicle; g B represents the transition remaining time length of the signal lamp current indication traffic signal of the next intersection to be passed; r B represents the duration of stopping the traffic signal indicated by the signal lamp of the next intersection to be passed; n is a natural number; t represents the period duration of the signal conversion period of the signal lamp of the next intersection to be passed; v represents the green wave speed of the vehicle through the reference road section; v Limiting the limit denotes the road segment speed limit of the reference road segment; l represents the road length of the reference road.
In a second aspect, an embodiment of the present invention provides a vehicle automatic driving apparatus, including: the device comprises a processing module, a calculating module and a regulating module, wherein,
The processing module is used for determining a reference road section for the vehicle according to the determined vehicle position and the determined vehicle driving route, wherein the reference road section comprises a current intersection to be passed closest to the vehicle; determining the length of the reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the residual signal conversion duration;
The calculating module is used for calculating the green wave speed of the vehicle passing through the reference road section according to the signal change period of the next road section to be passed through, the signal conversion residual duration, the length of the reference road section and the road section speed limit;
the regulation and control module is used for regulating and controlling the speed of the vehicle based on the green wave speed, so that when the vehicle reaches the stop line of the next intersection to be passed, the signal lamp of the next intersection to be passed indicates a traffic signal.
In a third aspect, an embodiment of the present invention provides an electronic device for automatic driving of a vehicle, including:
one or more processors;
Storage means for storing one or more programs,
The one or more programs, when executed by the one or more processors, cause the one or more processors to implement a vehicle autopilot method as described above in accordance with embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program for enabling a vehicle to be automatically driven, comprising:
The computer program when executed by the on-board processor implements a vehicle automatic driving method according to the embodiment of the invention.
The technical scheme of the invention has the following advantages or beneficial effects: according to the technical scheme provided by the embodiment of the invention, the green wave speed of the vehicle passing through the reference road section is calculated by determining the reference road section for the vehicle and according to the length of the reference road section, the speed limit of the road section, the signal change period of the next road section to be passed through and the signal conversion residual time length, the green wave speed is calculated by introducing the signal change period of the next road section to be passed through and the signal conversion residual time length in the process of calculating the speed, so that the calculated green wave speed can enable the vehicle to pass through the next road section to be passed through, the green wave passing of the vehicle is realized, and in addition, the calculated speed is the average speed of the reference road section, the vehicle can basically keep constant running according to the green wave speed, and the automatic driving green wave passing stability of the vehicle is effectively improved.
Drawings
Fig. 1 is a schematic flow chart of a vehicle automatic driving method according to an embodiment of the present invention;
fig. 2 is a schematic view of a part of a road section to be traversed by a vehicle according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a main flow of calculating a green wave speed of a vehicle passing through a reference road segment according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a vehicle autopilot method according to another embodiment of the present invention;
Fig. 5 is a main structural schematic diagram of a vehicular automatic driving apparatus according to an embodiment of the present invention;
FIG. 6 is an exemplary vehicle system architecture diagram in which embodiments of the present invention may be applied;
Fig. 7 is a schematic diagram of a computer system for implementing a vehicle autopilot method or apparatus suitable for use in implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the embodiments of the present invention and the technical features in the embodiments may be combined with each other without collision.
Further, the vehicle according to the embodiment of the present invention may be an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as power sources, an electric vehicle having an electric motor as a power source, or the like.
Fig. 1 is a schematic diagram of main steps of a vehicle automatic driving method according to an embodiment of the present invention. As shown in fig. 1, the vehicle automatic driving method mainly includes the following steps:
Step S101: determining a reference road section for the vehicle according to the determined vehicle position and the determined vehicle driving route, wherein the reference road section comprises a current intersection to be passed closest to the vehicle;
The reference road section is a road section between a stop line of the current intersection to a stop line of the next intersection. As an example of the partial road section to be traversed by the vehicle is shown in fig. 2, wherein the vehicle C1 travels along a travel route Line1 and the vehicle C2 travels along a travel route Line2, the travel route Line1 shows three intersections with traffic lights, and the travel route Line2 also shows three intersections with traffic lights. For example, for the Line1 of the vehicle C1, when the current intersection to be passed corresponding to the vehicle C1 is K1, the reference road segment determined by this step is R1, after the vehicle C1 leaves the first signal intersection K1, the second signal intersection K2 becomes the current intersection to be passed for the Line1 of the vehicle C1, the reference road segment determined by this step is R2, for the Line1 of the vehicle C1, after the vehicle C1 leaves the second signal intersection K2, the third signal intersection K3 in the Line1 becomes the current intersection to be passed, and so on. For another example, for the Line2 of the vehicle C2, when the current intersection to be passed corresponding to the vehicle C2 is K1, the reference road segment determined by this step is R1, after the vehicle C2 leaves the first signal intersection K1, the second signal intersection K2 becomes the current intersection to be passed for the Line2 of the vehicle C2, the reference road segment determined by this step is R3, for the Line2 of the vehicle C2, after the vehicle C2 leaves the second signal intersection K2, the third signal intersection K4 in the Line2 becomes the current intersection to be passed, and so on.
It should be noted that, when the current intersection to be passed corresponding to the vehicle changes at the current intersection to be passed, the length of the reference road section also changes correspondingly according to the change of the distance between the adjacent signal lamp intersections.
Wherein this step may be performed before the vehicle reaches the current intersection to be passed.
Step S102: determining the length of a reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the signal conversion residual duration;
the length of the reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the residual signal conversion duration in the step can be all obtained from the navigation system.
The signal change period of the next intersection to be passed refers to the signal change period of the signal lamp of the next intersection to be passed, for example, the signal change period of the next intersection to be passed is the signal change period of the signal lamp of K2 if the next intersection to be passed is K2 in fig. 2. The signal change period refers to a period of time required for a signal lamp to change by one period, such as a period of time required from when the signal lamp starts to turn red or the like to when the signal lamp turns red or the like next.
The signal conversion remaining time length refers to a time length required by a current signal of the signal lamp to change, for example, a time length required by changing a current signal into a yellow signal or a green signal from a current red signal.
In the embodiment of the invention, for the intersection with the yellow light signal, the yellow light signal is treated as the red light signal, namely, the change duration of the yellow light signal is accumulated to the duration of the red light signal. The method simplifies the subsequent calculation complexity, reduces the cost of resources in the subsequent calculation process, and effectively improves the calculation efficiency of the subsequent calculation.
Step S103: calculating the green wave speed of the vehicle passing through the reference road section according to the signal change period of the next road section to be passed through, the signal conversion residual duration, the length of the reference road section and the road section speed limit;
The method comprises the steps of determining the signal conversion residual duration of a signal lamp of the next intersection to be passed according to the condition that the signal lamp of the next intersection to be passed currently indicates a traffic signal, wherein the signal conversion residual duration of the signal lamp of the next intersection to be passed is determined to be: the signal lamp is converted from the current traffic signal to the stop traffic signal for the remaining time; and determining the duration of the signal after signal lamp conversion of the next crossing to be passed as follows: the signal lamp of the next crossing to be passed indicates the duration of stopping the passing signal;
Aiming at the condition that the signal lamp of the next intersection to be passed currently indicates to stop the traffic signal, determining the signal conversion residual duration of the signal lamp of the next intersection to be passed is as follows: the signal lamp is converted into the residual duration of the traffic signal from the current stop signal; the time length of the signal after the signal lamp conversion of the next crossing to be passed is determined as follows: the signal lamp of the next crossing to be passed indicates the duration of the traffic signal.
According to the method, green wave speeds are calculated according to the standard road sections and the sections of the standard road sections aiming at the driving route, so that the calculated green wave speeds can be determined according to the vehicle positions, and the calculated green wave speeds can be compared with the traffic conditions of the standard road sections, so that the problem that the green wave speeds fail due to the fact that the traffic conditions of the driving road sections calculated in advance change is solved.
Step S104: the speed of the vehicle is regulated and controlled based on the green wave speed, so that when the vehicle reaches the stop line of the next intersection to be passed, the signal lamp of the next intersection to be passed indicates a traffic signal.
The signal lamp indicating the traffic signal of the next intersection refers to that when the vehicle reaches the stop line of the next intersection, the signal lamp of the next intersection is in a green state, for example, when the vehicle C1 shown in fig. 2 travels from the current intersection K1 to the next intersection K2, the signal lamp of the next intersection K2 is in a green state.
According to the technical scheme for automatic driving of the vehicle, which is provided by the embodiment shown in the fig. 1, the green wave speed of the vehicle passing through the reference road section is calculated by determining the reference road section for the vehicle and according to the length of the reference road section, the speed limit of the road section, the signal change period of the next road section to be passed through and the signal conversion residual time, namely, the green wave speed is calculated by the current condition of the road in the process of calculating the speed, so that the calculated green wave speed can enable the vehicle to pass through the next road section to be passed through, the green wave passing of the vehicle is realized, and in addition, the calculated speed is the average speed of the reference road section, the vehicle can basically keep running at a constant speed according to the green wave speed, and the stability of automatic driving green wave passing of the vehicle is effectively improved.
Specifically, as shown in fig. 3, the above embodiment for calculating the green wave speed of the vehicle passing through the reference road section may include:
Step S301: calculating the minimum passing duration of the vehicle according to the length of the reference road section and the road section speed limit;
The road section speed limit refers to the maximum passing speed allowed by the road section. The calculated minimum passage length of the vehicle may be obtained directly by dividing the length of the reference road segment by the road segment speed limit.
Step S302: constructing a comparison relation between the minimum passing time length and the signal conversion residual time length of the next intersection to be passed, the time length of the signal converted by the signal lamp of the next intersection to be passed and the signal conversion period of the next intersection to be passed;
step S303: and according to the comparison relation, calculating the green wave speed of the vehicle passing through the reference road section.
The scheme provided by the fig. 3 comprehensively considers the minimum passing time length of the road section, the signal conversion residual time length of the next intersection to be passed, the time length of the signal converted by the signal lamp of the next intersection to be passed and the signal conversion period of the next intersection to be passed, namely, the green wave speed of the vehicle passing through the reference road section is calculated, the signal lamp conversion condition of the next intersection to be passed is introduced, and the accuracy of the calculated green wave speed of the reference road section is ensured, so that the vehicle can pass through the next intersection more smoothly.
In addition, the specific embodiment for calculating the minimum passage time length of the vehicle may also include: calculating the speed-limiting passing duration of the vehicle according to the length of the reference road section and the road section speed limit; and calculating delay time length related to the road condition according to the determined road condition of the reference road section, and determining the sum of the speed-limiting passing time length and the delay time length as the minimum passing time length of the vehicle. The speed limiting passing duration of the vehicle is obtained by dividing the length of a reference road section by the speed limit of the road section. The delay time related to the road condition is mainly the congestion condition of the comprehensive road, and the delay time of the vehicle is estimated according to the congestion condition. The method and the device have the advantages that the congestion condition of the road is introduced into the minimum passing duration of the vehicle, so that the accuracy of the green wave speed is effectively improved.
Further, the specific embodiment of step S303 may include various cases:
specifically, for the case where the signal lamp of the next intersection to be passed currently indicates the traffic signal, the specific embodiment of step S303 may include: and determining the green wave speed of the vehicle passing through the reference road section as the road section speed limit of the reference road section according to the comparison relation indication g B+RB+(n-1)T≤tmin+te≤gB +nT.
Specifically, for the case where the signal lamp of the next intersection to be passed currently indicates the traffic signal, the specific embodiment of step S303 may include: at the comparative relationship indication g B+nT<tmin+te<gB+nT+RB, the green wave speed v=l/(g B+nT+RB) of the vehicle through the reference road segment is determined.
Specifically, for the case where the signal lamp of the next intersection to be passed currently indicates the stop signal, the specific embodiment of step S303 may include: at the comparative relationship indication R B+nT<tmin+te<rB+nT+gB, the green wave speed v=v Limiting the limit of the vehicle through the reference road segment is determined.
Wherein t min represents the speed-limiting passing duration of the vehicle; t e represents a delay time of the vehicle; g B represents the transition remaining time length of the signal lamp current indication traffic signal of the next intersection to be passed; r B represents the duration of stopping the traffic signal indicated by the signal lamp of the next intersection to be passed; n is a natural number; t represents the period duration of the signal conversion period of the signal lamp of the next intersection to be passed; v represents the green wave speed of the vehicle through the reference road section; v Limiting the limit denotes the road segment speed limit of the reference road segment; l represents the road length of the reference road.
By adopting the specific implementation manner of step S303 to calculate the green wave velocity according to different calculation strategies according to various situations, the accuracy of the calculated green wave velocity is effectively improved.
Further, the vehicle automatic driving method may further include: and adjusting the green wave speeds corresponding to the reference road sections according to the difference between the green wave speeds respectively corresponding to the two adjacent reference road sections. The green wave speed of the reference road section is adjusted, so that the green wave speeds of the adjacent reference road sections are not greatly different, and the situation that vehicles jolt due to overlarge green wave speed change of the adjacent reference road sections is avoided, so that the vehicles can stably run is ensured.
The following describes in detail the vehicle automatic driving method provided by the embodiment of the present invention, taking as an example the calculation of the green wave speed of the vehicle C2 passing through the segments K1 to K4 during the running of the vehicle C2 along the running Line2 shown in fig. 2. Specifically, as shown in fig. 4, the vehicle automatic driving method may include the steps of:
step S401: determining a reference road section for the vehicle according to the determined position of the vehicle C2 and the running route Line2 of the vehicle C2;
For example, for a road segment of the vehicle C2 before K1, the reference road segment determined in this step is shown as R1 in fig. 2, and for a road segment of the vehicle C2 between K1 and K2, the reference road segment determined in this step is shown as R3 in fig. 2.
Step S402: determining the length of a reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the signal conversion residual duration;
for example, for the vehicle C2, when the determined reference road segment is R1, the length of R1, the road segment speed limit corresponding to R1, the signal change period of the next intersection K2 to be passed, and the remaining signal conversion duration are determined through this step.
For another example, in the case where the determined reference road segment is R3, the length of R3, the road segment speed limit corresponding to R3, the signal change period of the next intersection K4 to be passed, and the remaining signal conversion period are determined by this step for the vehicle C2.
Step S403: calculating the speed-limiting passing duration of the vehicle according to the length of the reference road section and the road section speed limit;
Step S404: calculating delay time length related to the road condition according to the determined road condition of the reference road section, and determining the sum of the speed-limiting passing time length and the delay time length as the minimum passing time length of the vehicle;
step S405: constructing a comparison relation between the minimum passing time length and the signal conversion residual time length of the next intersection to be passed, the time length of the signal converted by the signal lamp of the next intersection to be passed and the signal conversion period of the next intersection to be passed; s1, executing step S406 in the T1 contrast relation indication g B+RB+(n-1)T≤tmin+te≤gB +nt aiming at the condition that the signal lamp of the next intersection to be passed currently indicates a traffic signal; at the T2 contrast relationship indication g B+nT<tmin+te<gB+nT+RB, step S407 is performed; s2, executing a step S408 aiming at the condition that the signal lamp of the next intersection to be passed currently indicates a stop signal and the comparison relation indicates R B+nT<tmin+te<rB+nT+gB;
Wherein t min represents the speed-limiting passing duration of the vehicle; t e represents a delay time of the vehicle; g B represents the transition remaining time length of the signal lamp current indication traffic signal of the next intersection to be passed; r B represents the duration of stopping the traffic signal indicated by the signal lamp of the next intersection to be passed; n is a natural number; t represents the period duration of the signal conversion period of the signal lamp of the next intersection to be passed.
Step S406: determining the green wave speed of the vehicle passing through the reference road section as the road section speed limit of the reference road section, and executing step S409;
step S407: determining a green wave speed v=l/(g B+nT+RB) of the vehicle passing through the reference road section, and performing step S409;
Step S408: determining a green wave speed v=v Limiting the limit of the vehicle passing through the reference road section, and executing step S409;
wherein v represents the green wave speed of the vehicle through the reference road section; v Limiting the limit denotes the road segment speed limit of the reference road segment; l represents the road length of the reference road.
Step S409: according to the difference value between the green wave speeds respectively corresponding to the two adjacent reference road sections, the green wave speed corresponding to the reference road section is adjusted;
Step S410: the speed of the vehicle is regulated and controlled based on the green wave speed, so that when the vehicle reaches the stop line of the next intersection to be passed, the signal lamp of the next intersection to be passed indicates a traffic signal.
As shown in fig. 5, an embodiment of the present invention provides a schematic structural diagram of a vehicle autopilot device. As shown in fig. 5, the vehicle automatic driving apparatus 500 may include: a processing module 501, a computing module 502 and a regulating module 503, wherein,
The processing module 501 is configured to determine a reference road section for the vehicle according to the determined vehicle position and the determined vehicle driving route, where the reference road section includes a current intersection to be passed closest to the vehicle; determining the length of a reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the signal conversion residual duration;
The calculating module 502 is configured to calculate a green wave speed of the vehicle passing through the reference road section according to a signal change period of a next intersection to be passed through, a signal conversion remaining duration, a length of the reference road section and a road section speed limit;
The adjusting and controlling module 503 is configured to adjust and control a vehicle speed of the vehicle based on the green wave speed, so that when the vehicle reaches a stop line of the next intersection to be passed, the signal lamp of the next intersection to be passed indicates a traffic signal.
In the embodiment of the present invention, the reference road section defined by the processing module 501 is a road section between the stop line of the intersection to be passed through to the stop line of the intersection to be passed through.
In the embodiment of the present invention, the adjusting module 503 is further configured to adjust the green wave speed corresponding to the reference road section according to the difference between the green wave speeds corresponding to the two adjacent reference road sections.
In the embodiment of the present invention, the calculating module 502 is further configured to calculate a minimum traffic duration of the vehicle according to the length of the reference road segment and the road segment speed limit; constructing a comparison relation between the minimum passing time length and the signal conversion residual time length of the next intersection to be passed, the time length of the signal converted by the signal lamp of the next intersection to be passed and the signal conversion period of the next intersection to be passed; and according to the comparison relation, calculating the green wave speed of the vehicle passing through the reference road section.
In the embodiment of the present invention, the calculating module 502 is further configured to calculate a speed-limiting passing duration of the vehicle according to the length of the reference road section and the speed limit of the road section; and calculating delay time length related to the road condition according to the determined road condition of the reference road section, and determining the sum of the speed-limiting passing time length and the delay time length as the minimum passing time length of the vehicle.
In the embodiment of the present invention, the processing module 501 is further configured to determine, for a case where the signal lamp of the next intersection to be passed currently indicates a traffic signal, that a signal conversion remaining time period of the signal lamp of the next intersection to be passed is a remaining time period when the signal lamp is converted from the current traffic signal to a stop traffic signal, and determine that a time period of the signal after the signal lamp of the next intersection to be passed is a time period when the signal lamp of the next intersection to be passed indicates a stop traffic signal; aiming at the condition that the signal lamp of the next intersection to be passed currently indicates to stop the traffic signal, determining the signal conversion residual time length of the signal lamp of the next intersection to be the residual time length of the signal lamp converted from the current stop signal to the traffic signal, and determining the time length of the signal lamp converted from the signal lamp of the next intersection to be the time length of the signal lamp of the next intersection to be passed to indicate the traffic signal.
In the embodiment of the present invention, the calculation module 502 is further configured to determine, for the condition that the signal lamp of the next intersection to be passed currently indicates a traffic signal, that the green wave speed of the vehicle passing through the reference road segment is the road segment speed limit of the reference road segment, for the condition that the signal lamp of the next intersection to be passed currently indicates a traffic signal, in the comparative relation indication g B+RB+(n-1)T≤tmin+te≤gB +nt; aiming at the condition that the signal lamp of the next intersection to be passed currently indicates a traffic signal, determining the green wave speed v=L/(g B+nT+RB) of the vehicle passing through the reference road section according to the comparison relation indication g B+nT<tmin+te<gB+nT+RB; aiming at the condition that a signal lamp of the next intersection to be passed currently indicates a stop signal, determining the green wave speed v=v Limiting the limit of the vehicle passing through the reference road section in the contrast relation indication R B+nT<tmin+te<rB+nT+gB; wherein t min represents the speed-limiting passing duration of the vehicle; t e represents a delay time of the vehicle; g B represents the transition remaining time length of the signal lamp current indication traffic signal of the next intersection to be passed; r B represents the duration of stopping the traffic signal indicated by the signal lamp of the next intersection to be passed; n is a natural number; t represents the period duration of the signal conversion period of the signal lamp of the next intersection to be passed; v represents the green wave speed of the vehicle through the reference road section; v Limiting the limit denotes the road segment speed limit of the reference road segment; l represents the road length of the reference road.
The above-described vehicle automatic driving apparatus is mountable to an independent in-vehicle device in a vehicle, which is capable of interacting with an in-vehicle camera, a driving control system, and the like.
The vehicle automatic driving device may be a part of an existing in-vehicle device of the vehicle.
Embodiments of the present invention provide a vehicle that may include the vehicle autopilot apparatus 500 provided in the embodiments described above.
Fig. 6 illustrates an exemplary vehicle system architecture 600 to which a vehicle autopilot method or vehicle autopilot apparatus of embodiments of the present invention may be applied.
As shown in fig. 6, the vehicle system architecture 600 may include various systems, such as a driving control system 601, a power system 602, a sensor system 603, a control system 604, one or more peripheral devices 605, a power source 606, a computer system 607, and a user interface 608, wherein the vehicle autopilot device provided by embodiments of the present invention may be installed in the control system 604. Alternatively, the vehicle system architecture 600 may include more or fewer systems, and each system may include multiple elements. In addition, each of the systems and elements of the vehicle system architecture 600 may be interconnected by wires or wirelessly.
The vehicle system architecture 600 includes a driving control system 601, wherein the driving control system 601 may be in a full or partial automatic driving mode. For example, the driving control system 601 may automatically control safe driving of the vehicle according to the green wave speed provided by the vehicle autopilot without interaction with a person.
The powertrain 602 may include components that provide powered movement of the vehicle. For example, the power system 602 may include an engine, an energy source, a transmission, wheels, tires, and the like. The engine may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine of a gasoline engine and an electric motor, or a hybrid engine of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy to provide the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source may also provide energy to other systems of the vehicle. Further, the transmission may include a gearbox, differential, drive shaft, clutch, and the like.
The sensor system 603 may include a sensor that senses the environment surrounding the vehicle, a pressure sensor that senses whether a rider is present on the seat, and the like. For example, a positioning system (which may be a global positioning system (global positioning system, GPS) system, but also a beidou system or other positioning system), a radar, a laser rangefinder, an inertial measurement unit (inertial measurement unit, IMU), and a camera. The positioning system may be used to locate the geographic location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. Radar may utilize radio signals to sense objects within the surrounding environment of the vehicle. In some embodiments, in addition to sensing an object, the radar may be used to sense the speed and/or heading of the object, etc.
In order to detect environmental information, objects, and the like outside the vehicle, a camera or the like may be disposed at an appropriate position outside the vehicle. For example, to obtain an image of the environment of the vehicle side, the camera may be on a rear view mirror of the vehicle side. The camera may be a still or video camera.
The control system 604 may include software systems for implementing vehicle driving control, such as systems for analyzing the surrounding environment of the vehicle, systems for pre-tightening seat belts, systems for route planning, obstacle avoidance systems, vision systems for image analysis, etc. The control system 604 may also include hardware systems such as throttle, steering wheel systems, seat belt systems, airbag systems, and the like. Additionally, the control system 604 may additionally or alternatively include components other than those shown and described. Or some of the components shown above may be eliminated.
Further, as described above, the control system 604 may further include a vehicle autopilot device that calculates a green wave speed of the vehicle passing through the reference road segment based on the signal change period, the signal conversion remaining period, the length of the reference road segment, and the road segment speed limit of the next intersection to be passed through by determining the reference road segment and the length of the reference road segment, the road segment speed limit of the reference road segment, and the signal change period, the signal conversion remaining period, the length of the reference road segment, and the road segment speed limit of the next intersection to be passed through by determining the vehicle position and the vehicle travel route for the vehicle.
In addition, the control system 604 may also interact with external sensors, other autopilots, other computer systems, or users through the peripheral device 605. Peripheral devices 605 may include a wireless communication system, a car computer, a microphone, and/or a speaker.
In some embodiments, the peripheral device 605 provides a means for a user of the control system 604 to interact with the user interface. For example, the vehicle computer may provide information to a user of the vehicle. The user interface is also operable to receive user input from the vehicle computer. The vehicle-mounted computer can be operated through the touch screen. In other cases, the peripheral device may provide a means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system 604. Similarly, speakers may output audio to a user of the control system 604.
The wireless communication system may communicate wirelessly with one or more devices directly or via a communication network. For example, wireless communication systems may communicate with wireless local area networks (wireless local area network, WLAN) using cellular networks, wiFi, etc., and may also communicate directly with devices using infrared links, bluetooth, or ZigBee. Other wireless protocols, such as various autopilot communication systems, etc.
The power source 606 may provide power to various components of the vehicle. The power source 606 may be a rechargeable lithium ion or lead acid battery.
Some or all of the functions to achieve automatic driving of the vehicle are controlled by the computer system 607. The computer system 607 may include at least one processor that executes instructions stored in a non-transitory computer readable medium, such as memory. The computer system 607 provides the control system described above with execution code for implementing automatic driving of the vehicle.
The processor may be any conventional processor, such as a commercially available central processing unit (central processing unit, CPU). Alternatively, the processor may be a special purpose device such as an Application Specific Integrated Circuit (ASIC) or other hardware-based processor. Those of ordinary skill in the art will appreciate that the processor, computer, or memory may in fact comprise a plurality of processors, computers, or memories that may or may not be stored within the same physical housing. For example, the memory may be a hard disk drive or other storage medium located in a different housing than the computer. Thus, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some components, such as the steering component and the retarding component, may each have their own processor that performs only calculations related to the component-specific functions.
A user interface 608 for providing information to or receiving information from a user of the vehicle. Optionally, the user interface 608 may include one or more input/output devices within the set of peripheral devices 605, such as a wireless communication system, a car computer, a microphone, and a speaker.
It should be understood that the above components are merely examples, and in practical applications, components in the above modules or systems may be added or deleted according to actual needs, and fig. 6 should not be construed as limiting the embodiments of the present application.
Referring now to FIG. 7, a schematic diagram of a computer system 700 for implementing a vehicle autopilot method or apparatus suitable for use in implementing embodiments of the present invention is shown. The computer system shown in fig. 7 is only an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data required for the operation of the system 700 are also stored. The CPU 701, ROM 702, and RAM703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: including an input portion 706; an output portion 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 708 including a hard disk or the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 709, and/or installed from the removable medium 711. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 701.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor comprises a processing module, a calculating module and a regulating module. The names of these modules or units do not in any way limit the module or unit itself, for example, a processing module can also be described as "module or unit determining a reference road section for a vehicle".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: determining a reference road section for the vehicle according to the determined vehicle position and the determined vehicle driving route, and determining the length of the reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the signal conversion residual duration; calculating the green wave speed of the vehicle passing through the reference road section according to the signal change period of the next road section to be passed through, the signal conversion residual duration, the length of the reference road section and the road section speed limit; the speed of the vehicle is regulated and controlled based on the green wave speed, so that when the vehicle reaches the stop line of the next intersection to be passed, the signal lamp of the next intersection to be passed indicates a traffic signal.
According to the technical scheme of the embodiment of the invention, the green wave speed of the vehicle passing through the reference road section is calculated by determining the reference road section for the vehicle and according to the length of the reference road section, the speed limit of the road section, the signal change period of the next road section to be passed through and the signal conversion residual time, namely, the green wave speed is calculated by the current condition of the road in the process of calculating the speed, so that the calculated green wave speed can enable the vehicle to pass through the next road section to be passed through, the green wave passing of the vehicle is realized, in addition, the calculated speed is the average speed of the reference road section, the vehicle can basically keep constant running according to the green wave speed, and the automatic driving green wave passing stability of the vehicle is effectively improved.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of automatically driving a vehicle, comprising:
determining a reference road section for the vehicle according to the determined vehicle position and the determined vehicle driving route, wherein the reference road section comprises a current intersection to be passed closest to the vehicle;
determining the length of the reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the residual signal conversion duration;
calculating the green wave speed of the vehicle passing through the reference road section according to the signal change period of the next road section to be passed through, the signal conversion residual duration, the length of the reference road section and the road section speed limit;
And regulating and controlling the speed of the vehicle based on the green wave speed, so that when the vehicle reaches the stop line of the next intersection to be passed, the signal lamp of the next intersection to be passed indicates a traffic signal.
2. The method for automatically driving a vehicle according to claim 1, wherein,
The reference road section is a road section between the stopping line of the current intersection to be passed and the stopping line of the next intersection to be passed.
3. The vehicle automatic driving method according to claim 1, characterized by further comprising:
and adjusting the green wave speeds corresponding to the reference road sections according to the difference between the green wave speeds respectively corresponding to the two adjacent reference road sections.
4. The vehicle autopilot method of claim 1 wherein said calculating a green wave speed of the vehicle through the reference road segment comprises:
Calculating the minimum passing duration of the vehicle according to the length of the reference road section and the road section speed limit;
Constructing a comparison relation between the minimum passing duration and the signal conversion residual duration of the next intersection to be passed, the duration of the signal converted by the signal lamp of the next intersection to be passed and the signal conversion period of the next intersection to be passed;
and calculating the green wave speed of the vehicle passing through the reference road section according to the comparison relation.
5. The vehicle autopilot method of claim 4 wherein said calculating a minimum pass length of said vehicle comprises:
calculating the speed-limiting passing duration of the vehicle according to the length of the reference road section and the road section speed limit;
And calculating delay time length related to the road condition according to the determined road condition of the reference road section, and determining the sum of the speed-limiting passing time length and the delay time length as the minimum passing time length of the vehicle.
6. The vehicle automatic driving method according to claim 4, characterized by further comprising:
Aiming at the condition that the signal lamp of the next crossing to be passed currently indicates a traffic signal,
Determining the signal conversion residual time length of the signal lamp of the next intersection to be passed as the residual time length of the signal lamp converted from the current traffic signal to the stop traffic signal;
Determining the time length of the signal converted by the signal lamp of the next intersection to be the time length of the signal lamp of the next intersection to indicate to stop the traffic signal;
Aiming at the condition that the signal lamp of the next crossing to be passed currently indicates to stop the passing signal,
Determining the signal conversion residual time length of the signal lamp of the next intersection to be passed as the residual time length of the signal lamp converted from the current stop signal to the traffic signal;
and determining the time length of the signal converted by the signal lamp of the next intersection to be the time length of the signal lamp of the next intersection to indicate the traffic signal.
7. The vehicle autopilot method of claim 4 wherein said calculating a green wave speed of the vehicle through the reference road segment based on the comparison includes:
Aiming at the condition that the signal lamp of the next intersection to be passed currently indicates a traffic signal, determining the green wave speed of the vehicle passing through the reference road section as the road section speed limit of the reference road section according to the contrast relation indication g B+RB+(n-1)T≤tmin+te≤gB +nT;
aiming at the condition that the signal lamp of the next intersection to be passed currently indicates a traffic signal, determining the green wave speed v=L/(g B+nT+RB) of the vehicle passing through the reference road section according to the comparison relation indication g B+nT<tmin+te<gB+nT+RB;
aiming at the condition that a signal lamp of the next intersection to be passed currently indicates a stop signal, determining the green wave speed v=v Limiting the limit of the vehicle passing through the reference road section in the contrast relation indication R B+nT<tmin+te<rB+nT+gB;
Wherein t min represents the speed-limiting passing duration of the vehicle; t e represents a delay time of the vehicle; g B represents the transition remaining time length of the signal lamp current indication traffic signal of the next intersection to be passed; r B represents the duration of stopping the traffic signal indicated by the signal lamp of the next intersection to be passed; n is a natural number; t represents the period duration of the signal conversion period of the signal lamp of the next intersection to be passed; v represents the green wave speed of the vehicle through the reference road section; v Limiting the limit denotes the road segment speed limit of the reference road segment; l represents the road length of the reference road.
8. An automatic driving apparatus for a vehicle, comprising: the device comprises a processing module, a calculating module and a regulating module, wherein,
The processing module is used for determining a reference road section for the vehicle according to the determined vehicle position and the determined vehicle driving route, wherein the reference road section comprises a current intersection to be passed closest to the vehicle; determining the length of the reference road section, the road section speed limit of the reference road section, the signal change period of the next intersection to be passed and the residual signal conversion duration;
The calculating module is used for calculating the green wave speed of the vehicle passing through the reference road section according to the signal change period of the next road section to be passed through, the signal conversion residual duration, the length of the reference road section and the road section speed limit;
the regulation and control module is used for regulating and controlling the speed of the vehicle based on the green wave speed, so that when the vehicle reaches the stop line of the next intersection to be passed, the signal lamp of the next intersection to be passed indicates a traffic signal.
9. An electronic device for automatic driving of a vehicle, comprising:
one or more processors;
Storage means for storing one or more programs,
When executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon a computer program for enabling automatic driving of a vehicle, comprising:
The computer program, when executed by an onboard processor, implements the method of any one of claims 1-7.
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