WO2021102958A1 - Procédé et système de conduite à assistance dans un embouteillage, dispositif monté sur véhicule et support d'enregistrement - Google Patents

Procédé et système de conduite à assistance dans un embouteillage, dispositif monté sur véhicule et support d'enregistrement Download PDF

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Publication number
WO2021102958A1
WO2021102958A1 PCT/CN2019/122102 CN2019122102W WO2021102958A1 WO 2021102958 A1 WO2021102958 A1 WO 2021102958A1 CN 2019122102 W CN2019122102 W CN 2019122102W WO 2021102958 A1 WO2021102958 A1 WO 2021102958A1
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WIPO (PCT)
Prior art keywords
state
vehicle
traffic jam
ready
assisted driving
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PCT/CN2019/122102
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English (en)
Chinese (zh)
Inventor
胡子豪
王子涵
刘洋
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驭势（上海）汽车科技有限公司
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Application filed by 驭势（上海）汽车科技有限公司 filed Critical 驭势（上海）汽车科技有限公司
Priority to CN201980002781.9A priority Critical patent/CN113272750A/zh
Priority to PCT/CN2019/122102 priority patent/WO2021102958A1/fr
Publication of WO2021102958A1 publication Critical patent/WO2021102958A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the embodiments of the present disclosure relate to the technical field of intelligent driving, and in particular to a traffic jam assisted driving method, a traffic jam assisted driving system, on-board equipment, and storage media.
  • At least one embodiment of the present disclosure provides a traffic jam assisted driving method, a traffic jam assisted driving system, a vehicle-mounted device, and a storage medium.
  • an embodiment of the present disclosure proposes a traffic jam assisted driving method.
  • the traffic jam assisted driving function includes a ready state, a ready to enter state, and an on state, and the method includes:
  • the embodiments of the present disclosure also propose a traffic jam assisted driving system.
  • the traffic jam assisted driving function includes a ready state, a ready to enter state, and an open state, and the system includes:
  • An acquiring unit configured to acquire environmental information and vehicle state information around the vehicle based on the vehicle being in the ready state
  • a judging unit configured to judge whether the traffic jam assisted driving function activation condition is met based on the environment information and the vehicle state information
  • a jumping unit configured to jump to the ready-to-enter state based on meeting the conditions for enabling the traffic jam assisted driving function
  • the prompt unit is used to prompt that the traffic jam assisted driving function can be turned on.
  • an embodiment of the present disclosure also proposes a vehicle-mounted device, including: a processor and a memory; the processor is used to execute the steps of the method described in the first aspect by calling a program or instruction stored in the memory.
  • the embodiments of the present disclosure also provide a non-transitory computer-readable storage medium for storing a program or instruction that causes a computer to execute the steps of the method described in the first aspect.
  • the traffic jam assisted driving is performed more reasonably.
  • the ready state by monitoring the environmental information and the vehicle state information, it is judged whether to jump to Ready to enter the state, the prompt function can be turned on in the ready to enter state, and it is manually determined whether to turn on the function to enhance the driving experience.
  • FIG. 1 is an overall architecture diagram of an intelligent driving vehicle provided by an embodiment of the present disclosure
  • Fig. 2 is a block diagram of an intelligent driving system provided by an embodiment of the present disclosure
  • Fig. 3 is a block diagram of a traffic jam assisted driving system provided by an embodiment of the present disclosure
  • FIG. 4 is a block diagram of a vehicle-mounted device provided by an embodiment of the present disclosure.
  • FIG. 5 is a flowchart of a method for assisting driving in traffic jams according to an embodiment of the present disclosure
  • Fig. 6 is a state transition diagram of a traffic jam assisted driving function provided by an embodiment of the present disclosure.
  • embodiments of the present disclosure provide a traffic jam assisted driving solution.
  • traffic jam assisted driving can be performed more reasonably.
  • the environment information and vehicle can be monitored by State information, to determine whether to jump to the ready-to-enter state, the prompt function can be turned on in the ready-to-enter state, and it is manually determined whether to turn on the function to improve the driving experience.
  • FIG. 1 is an overall architecture diagram of an intelligent driving vehicle provided by an embodiment of the disclosure.
  • the intelligent driving vehicle includes: a sensor group, an intelligent driving system 100, a vehicle underlying execution system, and other components that can be used to drive the vehicle and control the operation of the vehicle.
  • the sensor group is used to collect the data of the external environment of the vehicle and detect the position data of the vehicle.
  • the sensor group includes, but is not limited to, at least one of a camera, a lidar, a millimeter wave radar, an ultrasonic radar, a GPS (Global Positioning System, global positioning system), and an IMU (Inertial Measurement Unit), for example.
  • the sensor group is also used to collect dynamics data of the vehicle.
  • the sensor group further includes, but is not limited to, at least one of a wheel speed sensor, a speed sensor, an acceleration sensor, a steering wheel angle sensor, and a front wheel angle sensor, for example.
  • the intelligent driving system 100 is used to obtain data of a sensor group, and all sensors in the sensor group transmit data at a higher frequency during the driving of the intelligent driving vehicle.
  • the intelligent driving system 100 is also used for environmental perception and vehicle positioning based on the data of the sensor group, path planning and decision-making based on environmental perception information and vehicle positioning information, and generating vehicle control instructions based on the planned path, thereby controlling the vehicle according to the plan Route driving.
  • the intelligent driving system 100 has a traffic jam assisted driving function, and the traffic jam assisted driving function defines different states.
  • the different states include but are not limited to: ready state, ready to enter state, and open state.
  • the intelligent driving system 100 realizes traffic jam assisted driving by reasonably switching between different states, and improves the driving experience.
  • the intelligent driving system 100 obtains environmental information and vehicle state information around the vehicle based on the vehicle being in a ready state; and then determines whether the traffic jam assist driving function is met based on the environmental information and vehicle state information; When the traffic jam assisted driving function is turned on, it jumps to the ready-to-enter state; and it prompts that the traffic jam assisted driving function can be turned on.
  • the intelligent driving system 100 may be a software system, a hardware system, or a combination of software and hardware.
  • the intelligent driving system 100 is a software system that runs on an operating system
  • the on-board hardware system is a hardware system that supports the operation of the operating system.
  • the intelligent driving system 100 is also used for wireless communication with a cloud server to exchange various information.
  • the intelligent driving system 100 and the cloud server perform wireless communication through wireless communication networks (for example, including but not limited to wireless communication networks such as GPRS network, Zigbee network, Wifi network, 3G network, 4G network, 5G network, etc.).
  • the cloud server is used to coordinate the management of intelligent driving vehicles. In some embodiments, the cloud server may be used to interact with one or more intelligent driving vehicles, to coordinate and manage the scheduling of multiple intelligent driving vehicles, and so on.
  • the cloud server is a cloud server established by a vehicle service provider to provide cloud storage and cloud computing functions.
  • the vehicle file is created in the cloud server.
  • various information uploaded by the intelligent driving system 100 is stored in the vehicle file.
  • the cloud server can synchronize the driving data generated by the vehicle in real time.
  • the cloud server may be a server or a server group.
  • Server groups can be centralized or distributed. Distributed server is conducive to task allocation and optimization among multiple distributed servers, and overcomes the shortcomings of traditional centralized server resource shortage and response bottleneck.
  • the cloud server may be local or remote.
  • the cloud server can be used to charge vehicles for parking, tolls, etc. In some embodiments, the cloud server is also used to analyze the driving behavior of the driver and evaluate the safety level of the driving behavior of the driver.
  • the cloud server may be used to obtain information about the road side unit (RSU: Road Side Unit) and the intelligent driving vehicle, and may send the information to the intelligent driving vehicle.
  • the cloud server may send the detection information corresponding to the intelligent driving vehicle in the road monitoring unit to the intelligent driving vehicle according to the information of the intelligent driving vehicle.
  • the road monitoring unit may be used to collect road monitoring information.
  • the road monitoring unit may be an environmental sensor, such as a camera, a lidar, etc., or a road device, such as a V2X device, a roadside traffic light device, and the like.
  • the road monitoring unit may monitor the road conditions subordinate to the corresponding road monitoring unit, for example, the type, speed, priority level, etc. of passing vehicles. After the road monitoring unit collects the road monitoring information, the road monitoring information can be sent to the cloud server, or can be sent to the intelligent driving vehicle passing the road.
  • the bottom-level execution system of the vehicle is used to receive vehicle control instructions to control the driving of the vehicle.
  • the vehicle bottom-level execution system includes, but is not limited to: a steering system, a braking system, and a driving system.
  • the steering system, braking system, and drive system are mature systems in the vehicle field and will not be repeated here.
  • the intelligent driving vehicle may further include a vehicle CAN bus not shown in FIG. 1, and the vehicle CAN bus is connected to the underlying execution system of the vehicle.
  • the information interaction between the intelligent driving system 100 and the underlying execution system of the vehicle is transmitted through the vehicle CAN bus.
  • the intelligent driving vehicle can be controlled by the driver and the intelligent driving system 100 to control the vehicle.
  • the driver drives the vehicle by operating a device that controls the traveling of the vehicle.
  • the devices that control the traveling of the vehicle include, but are not limited to, a brake pedal, a steering wheel, and an accelerator pedal, for example.
  • the device for controlling the driving of the vehicle can directly operate the execution system at the bottom of the vehicle to control the driving of the vehicle.
  • FIG. 2 is a block diagram of an intelligent driving system 200 provided by an embodiment of the disclosure.
  • the smart driving system 200 may be implemented as the smart driving system 100 or a part of the smart driving system 100 in FIG. 1 for controlling the driving of the vehicle.
  • the intelligent driving system 200 can be divided into multiple modules or systems, for example, it can include: a perception module 201, a planning module 202, a control module 203, a traffic jam assisted driving system 204, and other modules that can be used for intelligent driving. Or system.
  • the perception module 201 is used for environmental perception and positioning.
  • the sensing module 201 is used to obtain data such as sensor data, V2X (Vehicle to X, wireless communication for vehicles) data, and high-precision maps.
  • the sensing module 201 is configured to perform environment perception and positioning based on at least one of acquired sensor data, V2X (Vehicle to X, vehicle wireless communication) data, and high-precision maps.
  • the perception module 201 is used to generate perception positioning information to realize obstacle perception, recognition of the drivable area of the camera image, and positioning of the vehicle.
  • Environmental Perception can be understood as the ability to understand the scene of the environment, such as the location of obstacles, the detection of road signs/marks, the detection of pedestrians/vehicles, and the semantic classification of data.
  • environment perception can be realized by fusing data from multiple sensors such as cameras, lidars, millimeter wave radars, and so on.
  • Localization is a part of perception, which is the ability to determine the position of an intelligent driving vehicle relative to the environment.
  • Positioning can be: GPS positioning, GPS positioning accuracy is tens of meters to centimeters, high positioning accuracy; positioning can also use GPS and inertial navigation system (Inertial Navigation System) positioning method.
  • Localization can also use SLAM (Simultaneous Localization And Mapping, simultaneous localization and map construction). The goal of SLAM is to construct a map while using the map for positioning. SLAM uses the observed environmental features to determine the current vehicle's location and current observation features s position.
  • V2X is the key technology of the intelligent transportation system, which enables communication between vehicles, vehicles and base stations, base stations and base stations, so as to obtain a series of traffic information such as real-time road conditions, road information, pedestrian information, etc., to improve the safety of intelligent driving and reduce Congestion, improve traffic efficiency, provide on-board entertainment information, etc.
  • High-precision maps are geographic maps used in the field of intelligent driving. Compared with traditional maps, the differences are: 1) High-precision maps include a large amount of driving assistance information, for example, relying on the accurate three-dimensional representation of the road network: including intersections and intersections. The location of road signs, etc.; 2) The high-precision map also includes a lot of semantic information, such as reporting the meaning of different colors on the traffic lights, and for example indicating the speed limit of the road, and the position of the left turn lane; 3) The high-precision map can reach centimeters Class precision to ensure the safe driving of intelligent driving vehicles.
  • the planning module 202 is configured to perform path planning and decision-making based on the perception positioning information generated by the perception module 201.
  • the planning module 202 is configured to perform path planning and decision-making based on the perception positioning information generated by the perception module 201 in combination with at least one of V2X data, high-precision maps and other data.
  • the planning module 202 is used to plan a route and make decisions: behaviors (including but not limited to following, overtaking, stopping, detouring, etc.), vehicle heading, vehicle speed, desired acceleration of the vehicle, desired steering wheel angle And so on, generate planning decision information.
  • the control module 203 is configured to perform path tracking and trajectory tracking based on the planning decision information generated by the planning module 202.
  • control module 203 is used to generate control instructions for the vehicle's bottom-level execution system, and issue control instructions so that the vehicle's bottom-level execution system controls the vehicle to travel along a desired path, for example, by controlling the steering wheel, brakes, and accelerator to control the vehicle. Horizontal and vertical control.
  • control module 203 is also used to calculate the front wheel angle based on the path tracking algorithm.
  • the desired path curve in the path tracking process has nothing to do with time parameters.
  • tracking control it can be assumed that the intelligent driving vehicle is moving at a constant speed at the current speed, and the driving path is approached to the desired path at a certain cost rule; and the trajectory
  • the expected path curve is related to time and space, and the intelligent driving vehicle is required to reach a preset reference path point within a specified time.
  • Path tracking is different from trajectory tracking. It is not subject to time constraints and only needs to track the desired path within a certain error range.
  • the traffic jam assisted driving system 204 has a traffic jam assisted driving function, and the traffic jam assisted driving function defines different states.
  • the different states include but are not limited to: ready state, ready to enter state, and open state.
  • the traffic jam assisted driving system 204 realizes traffic jam assisted driving by reasonably switching between different states, and improves the driving experience.
  • the traffic jam assisted driving system 204 acquires environment information and vehicle state information around the vehicle based on the vehicle being in a ready state; and then determines whether the traffic jam assisted driving function activation condition is satisfied based on the environment information and vehicle state information; Based on meeting the conditions for enabling the traffic jam assisted driving function, it jumps to the ready-to-enter state; and prompts that the traffic jam assisted driving function can be turned on.
  • the functions of the traffic jam assisted driving system 204 can be integrated into the perception module 201, the planning module 202, or the control module 203, or can be configured as a module independent of the intelligent driving system 200, the traffic jam assisted driving system 204 It can be a software module, a hardware module, or a combination of software and hardware.
  • the traffic jam assisted driving system 204 is a software module running on an operating system
  • the on-board hardware system is a hardware system that supports the operation of the operating system.
  • FIG. 3 is a block diagram of a traffic jam assisted driving system 300 according to an embodiment of the disclosure.
  • the traffic jam assisted driving system 300 may be implemented as the traffic jam assisted driving system 204 or a part of the traffic jam assisted driving system 204 in FIG. 2.
  • the traffic jam assisted driving system 300 may include but is not limited to the following units: an acquisition unit 301, a judgment unit 302, a jump unit 303 and a prompt unit 304.
  • the traffic jam assisted driving function defines different states, and the different states include but are not limited to: ready state, ready to enter state, and open state.
  • the traffic jam assisted driving system 300 is used to implement the traffic jam assisted driving function.
  • the acquiring unit 301 is configured to acquire environmental information around the vehicle and vehicle state information based on the vehicle being in a ready state.
  • the vehicle being in the ready state can be understood as the traffic jam assisted driving system 300 has entered the ready state.
  • the traffic jam assisted driving system 300 When the traffic jam assisted driving system 300 is in a ready state, it realizes the acquisition of environmental information around the vehicle and vehicle state information.
  • the environmental information around the vehicle includes, but is not limited to, lane lines and target vehicles in front of the own lane.
  • vehicle status information includes but is not limited to: vehicle speed, gear position, braking status, steering status, and human-machine interaction (Human-Machine, HM) system status.
  • the state defined by the traffic jam assisted driving function may further include a closed state.
  • the traffic jam assisted driving system 300 will enter the ready state only after detecting that the vehicle assisted driving switch is turned on. Otherwise, the traffic jam assisted driving system 300 will enter the off state after detecting that the vehicle assisted driving switch is turned off. In any state, the traffic jam assisted driving system 300 will detect the state of the vehicle assisted driving switch. In the off state, it will detect that the vehicle assisted driving switch is turned on and enter the ready state; in the non-off state, the detected vehicle assisted driving switch will be turned off. After that, it enters the closed state.
  • the jump unit 303 detects the state of the vehicle driving assistance switch. The jump unit 303 detects that the vehicle assisted driving switch is turned off, and then jumps to the off state; after detecting that the vehicle assisted driving switch is turned on, it jumps from the off state to the ready state.
  • the judging unit 302 is configured to judge whether the traffic jam assist driving function activation condition is met based on the environment information and the vehicle state information. In this embodiment, the judging unit 302 judges whether the traffic jam assisted driving function activation condition is met in the ready state, that is, the traffic jam assisted driving system 300 is in the ready state, which not only realizes the acquisition of environmental information around the vehicle and vehicle state information, It also realizes the judgment of the opening conditions of the traffic jam assisted driving function.
  • the conditions for enabling the traffic jam assisted driving function include, but are not limited to: vehicle status information including: lower than a preset vehicle speed, meeting a preset gear position, braking available, steering available, and man-machine interaction system on.
  • vehicle status information including: lower than a preset vehicle speed, meeting a preset gear position, braking available, steering available, and man-machine interaction system on.
  • the preset vehicle speed and the preset gear position can be set based on actual needs, and the specific values are not limited in this embodiment.
  • the conditions for enabling the traffic jam assisted driving function include but are not limited to: environment information includes: at least one lane line or the target vehicle in front of the own lane exists, wherein the relative distance between at least one lane line and the own vehicle is The preset first distance interval and the relative angle are in the preset angle interval; the relative lateral distance between the target vehicle and the self-vehicle is in the preset second distance interval.
  • the preset first distance interval, the preset angle interval, and the preset second distance interval may be set based on actual needs, and the specific value is not limited in this embodiment.
  • the jumping unit 303 is configured to jump to the ready-to-enter state based on meeting the conditions for enabling the traffic jam assisted driving function. In this embodiment, the jump unit 303 jumps from the ready state to the ready-to-enter state after the judging unit 302 judges that the conditions for enabling the traffic jam assisted driving function are met. In some embodiments, in the ready-to-enter state, the jump unit 303 jumps from the ready-to-enter state to the ready state after the judgment unit 302 judges that the traffic jam assisted driving function is not satisfied.
  • the prompt unit 304 is used for prompting that the traffic jam assisted driving function can be turned on.
  • the prompt unit 304 prompts that the traffic jam assisted driving function can be turned on after the jump unit 303 jumps to the ready to enter state, that is, the traffic jam assisted driving system 300 realizes the traffic jam assisted driving function in the ready to enter state Tips that can be turned on.
  • the prompt method may be a voice prompt; it may also be a text prompt, for example, a human-machine interface (HMI) prompts that the traffic jam assisted driving function can be turned on.
  • HMI human-machine interface
  • the driver may decide whether to enable the traffic jam assisted driving function, where the method of receiving may be to receive voice prompts audibly, or to view text prompts visually. After the driver decides to turn on, he can turn on the traffic jam assisted driving function by changing the state of the traffic jam assisted driving function switch to on.
  • the traffic congestion assistance driving function switch can be a soft switch, such as a touch switch displayed in the HMI, or a hard switch, such as a button configured in the driving position of the vehicle or within the reach of the driver. The button can be pressed or toggled.
  • the traffic jam assisted driving system 300 when the traffic jam assisted driving system 300 is ready to enter the state, it not only prompts that the traffic jam assisted driving function can be turned on, but also detects the state of the traffic jam assisted driving function switch in real time.
  • the traffic jam assisted driving system 300 enters the on state after detecting that the traffic jam assisted driving function switch is turned on.
  • the jump unit 303 detects the state of the traffic jam driver assistance function switch in real time. After the jump unit 303 detects that the traffic jam assisted driving function switch is turned on, it jumps to the on state.
  • the traffic jam assisted driving system 300 is turned on to perform traffic jam assisted driving.
  • the jumping unit 303 in the on state, the jumping unit 303 jumps from the on state to the ready state after the judging unit 302 judges that the traffic jam assisted driving function is not satisfied.
  • the open state includes an active sub-state and a suspended sub-state.
  • the traffic jam assisted driving system 300 when the traffic jam assisted driving system 300 is in the ready to enter state, after detecting that the traffic jam assisted driving function switch is turned on, it enters the activated sub-state of the on state.
  • the jump unit 303 detects the state of the traffic jam assisted driving function switch in real time when it is ready to enter the state, and jumps to the active sub-state based on the traffic jam assisted driving function switch is turned on.
  • the traffic jam assisted driving system 300 takes over the lateral control and the longitudinal control of the vehicle in the active sub-state, so as to achieve complete control of the vehicle.
  • the algorithms of the lateral control and the longitudinal control of the vehicle can follow the algorithms of the lateral control and the longitudinal control in the existing traffic jam assisted driving function, which will not be repeated here.
  • the traffic jam driving assistance system 300 displays environmental information and vehicle status information in the active sub-state.
  • the environment information and vehicle status information can be displayed through the HMI, which is convenient for the driver to understand the environment information and vehicle status information under traffic jam conditions in a timely manner.
  • the traffic jam assisted driving system 300 monitors whether there is manual control in the active sub-state, for example, the driver operates the steering wheel. In some embodiments, the traffic jam assisted driving system 300 is monitored by manual control and enters the suspended state. In some embodiments, the jump unit 303 monitors whether there is manual control in the active sub-state, and based on the manual control, jumps to the suspended sub-state. By dividing the open state into an activated sub-state and a suspended sub-state, the driver's operation and vehicle assisted driving are effectively balanced, thereby satisfying the safe driving of the vehicle under traffic congestion conditions.
  • the traffic jam assisted driving system 300 exits the lateral control of the vehicle and maintains the longitudinal control of the vehicle in the suspended sub-state to achieve partial control of the vehicle, and only control the longitudinal direction, and the driver is responsible for the lateral control. Due to the design of the suspension sub-state, after the driver's intervention, the traffic jam assisted driving function is not directly closed, but in the suspended state, reducing the number of function shutdowns.
  • the traffic jam assisted driving system 300 displays the manual control state in the suspended state.
  • the manual control status can be displayed through the HMI, which is convenient for the driver to know the manual control status under traffic jam conditions in time.
  • the traffic jam assisted driving system 300 monitors the manual control state, the environmental information around the vehicle, and the vehicle state information in real time in the suspended state. Furthermore, the traffic jam assisted driving system 300 automatically activates the traffic jam assisted driving function based on the interruption of the manual control state and the environmental information and vehicle state information meet the conditions for enabling the traffic jam assisted driving function.
  • the interruption of the manual control state can be understood as: the steering system does not detect the torque applied by the driver, or the deviation between the current state of the steering system and the return state is within a preset deviation interval. Among them, the deviation area can be set according to actual needs, and the specific value is not limited in this embodiment.
  • the process of automatically activating the traffic jam assisted driving function is specifically: displaying the automatic activation progress of the traffic jam assisted driving function and prompting whether to exit the automatic activation; when automatically activated When the progress is complete, jump to the active sub-state.
  • the progress of automatic activation of the traffic jam driver assistance function can be displayed through the HMI. In this embodiment, the automatic activation progress through the display function is convenient for the driver to understand that the traffic jam assisted driving function is recovering, and the driver experience is improved.
  • the jump unit 303 jumps from the suspended sub-state to the active sub-state when the automatic activation progress is completed.
  • the traffic jam assisted driving function may also include a fault state.
  • the traffic jam assisted driving system 300 detects whether the vehicle is malfunctioning in a ready state, a ready-to-enter state, or an on state, and then enters a malfunction state after detecting a vehicle malfunction.
  • the jump unit 303 detects whether the vehicle is faulty in the ready state, the ready to enter state or the on state, and then after detecting the vehicle fault, it jumps from the corresponding state to the fault state.
  • the vehicle failure includes, but is not limited to: at least one of the perception module, planning module, control module, human-computer interaction system, and vehicle underlying execution system (including lateral actuators and longitudinal actuators) of the intelligent driving system, etc. malfunction.
  • the traffic jam assisted driving system 300 prompts the driver to take over the vehicle in a fault state, and displays fault information, such as displaying the fault information through the HMI, so that the driver can understand the fault location in time and deal with the fault accordingly.
  • Figure 6 shows a state transition diagram of the traffic jam assisted driving function.
  • the states of the traffic jam assisted driving function include: off state, ready state, ready to enter state, open state, and fault state, where the open state includes active sub-states And hang up the sub state. The transition between each state is described as follows:
  • the vehicle assisted driving switch After the vehicle assisted driving switch is turned off, it will switch from the current state to the off state.
  • the current state can be any state of a ready state, a ready to enter state, an open state, and a fault state.
  • Vehicle assisted driving functions include but are not limited to: traffic jam assisted driving function, adaptive cruise control (ACC) function, highway assist (HWA) function, lane keeping assist (Lane Keeping Assist, LKS) function.
  • ACC adaptive cruise control
  • HWA highway assist
  • LKS lane keeping assist
  • the ready state In the ready state, real-time monitoring of the environment information and vehicle state information around the vehicle, and determine whether the environment information and vehicle state information meet the conditions for enabling the traffic jam assisted driving function. If they are met, the state will jump from the ready state to the ready-to-enter state.
  • the ready-to-enter state it is judged that the environment information and the vehicle state information do not meet the conditions for enabling the traffic jam assisted driving function, and then the ready-to-enter state jumps to the ready state.
  • the traffic jam assisted driving function can be turned on, and the driver decides whether to turn it on. The driver can turn on or off the function by operating the traffic jam assisted driving function switch.
  • the ready-to-enter state after the traffic jam detection assisted driving function switch is turned on, the ready-to-enter state jumps to the activated sub-state of the on state.
  • the open state if it is judged that the environmental information and the vehicle state information do not meet the conditions for enabling the traffic congestion assisted driving function, the open state is changed to the ready state.
  • the active sub-state In the active sub-state, it takes over the lateral control and longitudinal control of the vehicle, and displays environmental information and vehicle status information. In the active sub-state, it also monitors whether there is manual control, and the monitoring has manual control, and enters the suspended sub-state.
  • the suspended sub-state exit the lateral control of the vehicle and maintain the longitudinal control of the vehicle, and display the manual control state.
  • it also monitors the manual control state, the environment information around the vehicle, and the vehicle state information in real time, and then based on the interruption of the manual control state and the environmental information and vehicle state information that meet the conditions for enabling the traffic jam assist driving function, the traffic jam assist is automatically activated Driving function, and displays the automatic activation progress of the traffic jam assisted driving function, and prompts whether to exit the automatic activation.
  • the automatic activation progress is completed, it jumps to the active sub-state.
  • the ready to enter state or the on state it detects whether the vehicle is faulty, and then enters the fault state after detecting the vehicle fault.
  • the fault state the driver is prompted to take over the vehicle and the fault information is displayed.
  • the division of each unit in the traffic jam assisted driving system 300 is only a logical function division.
  • there may be other division methods such as the acquisition unit 301, the judgment unit 302, the jump unit 303, and the prompt
  • the unit 304 can be implemented as one unit; the acquisition unit 301, the judgment unit 302, the jump unit 303, or the prompt unit 304 can also be divided into multiple sub-units.
  • each unit or subunit can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Those skilled in the art can use different methods for each specific application to realize the described functions.
  • Fig. 4 is a schematic structural diagram of a vehicle-mounted device provided by an embodiment of the present disclosure.
  • the on-board equipment can support the operation of the intelligent driving system.
  • the vehicle-mounted device includes: at least one processor 401, at least one memory 402, and at least one communication interface 403.
  • the various components in the vehicle-mounted device are coupled together through the bus system 404.
  • the communication interface 403 is used for information transmission with external devices. Understandably, the bus system 404 is used to implement connection and communication between these components.
  • the bus system 404 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clear description, various buses are marked as the bus system 404 in FIG. 4.
  • the memory 402 in this embodiment may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.
  • the memory 402 stores the following elements, executable units or data structures, or a subset of them, or an extended set of them: operating systems and applications.
  • the operating system includes various system programs, such as a framework layer, a core library layer, and a driver layer, which are used to implement various basic services and process hardware-based tasks.
  • Application programs including various application programs, such as Media Player, Browser, etc., are used to implement various application services.
  • a program for implementing the traffic jam assisted driving method provided by the embodiments of the present disclosure may be included in an application program.
  • the processor 401 calls a program or instruction stored in the memory 402, specifically, it may be a program or instruction stored in an application program, and the processor 401 is configured to execute the traffic jam assisted driving provided by the embodiment of the present disclosure.
  • the steps of the various embodiments of the method are described in detail below.
  • the traffic jam assisted driving method provided by the embodiments of the present disclosure may be applied to the processor 401 or implemented by the processor 401.
  • the processor 401 may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method can be completed by an integrated logic circuit of hardware in the processor 401 or instructions in the form of software.
  • the aforementioned processor 401 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a ready-made programmable gate array (Field Programmable Gate Array, FPGA) or other Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the steps of the traffic jam assisted driving method provided by the embodiments of the present disclosure may be directly executed and completed by a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor.
  • the software unit may be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory 402, and the processor 401 reads the information in the memory 402 and completes the steps of the method in combination with its hardware.
  • FIG. 5 is a flowchart of a method for assisting driving in traffic jams according to an embodiment of the disclosure.
  • the execution body of the method is a vehicle-mounted device.
  • the execution body of the method is an intelligent driving system supported by the vehicle-mounted device.
  • the traffic jam assisted driving function defines different states, and the different states include but are not limited to: ready state, ready to enter state, and open state.
  • the traffic jam assisted driving method may include the following steps 501 to 504:
  • the vehicle is in the ready state can be understood as the traffic jam assisted driving function has entered the ready state.
  • the traffic jam assisted driving function When the traffic jam assisted driving function is in the ready state, it realizes the acquisition of environmental information around the vehicle and vehicle status information.
  • the environmental information around the vehicle includes, but is not limited to, lane lines and target vehicles in front of the own lane.
  • vehicle status information includes but is not limited to: vehicle speed, gear position, braking status, steering status, and human-machine interaction (Human-Machine, HM) system status.
  • the state defined by the traffic jam assisted driving function may further include a closed state. After the detection vehicle driving assistance switch is turned on, it enters the ready state; otherwise, the detection vehicle driving assistance switch is turned off and enters the off state. In either state, the state of the vehicle assisted driving switch will be detected. In the off state, the vehicle assisted driving switch will be turned on and enter the ready state; in the non-off state, the vehicle assisted driving switch will be turned off and enter the off state. In some embodiments, after detecting that the vehicle assisted driving switch is turned off, it jumps to the off state; after detecting that the vehicle assisted driving switch is turned on, it transitions from the off state to the ready state.
  • the traffic jam assist driving function activation condition is met.
  • the traffic congestion assisted driving function opening condition is met, that is, in the ready state, not only the acquisition of the surrounding environment information and vehicle state information of the vehicle, but also the traffic jam assisted driving function opening condition is realized Judgment.
  • the conditions for enabling the traffic jam assisted driving function include, but are not limited to: vehicle status information including: lower than a preset vehicle speed, meeting a preset gear position, braking available, steering available, and man-machine interaction system on.
  • vehicle status information including: lower than a preset vehicle speed, meeting a preset gear position, braking available, steering available, and man-machine interaction system on.
  • the preset vehicle speed and the preset gear position can be set based on actual needs, and the specific values are not limited in this embodiment.
  • the conditions for enabling the traffic jam assisted driving function include but are not limited to: environment information includes: at least one lane line or the target vehicle in front of the own lane exists, wherein the relative distance between at least one lane line and the own vehicle is The preset first distance interval and the relative angle are in the preset angle interval; the relative lateral distance between the target vehicle and the self-vehicle is in the preset second distance interval.
  • the preset first distance interval, the preset angle interval, and the preset second distance interval may be set based on actual needs, and the specific value is not limited in this embodiment.
  • the ready-to-enter state based on meeting the conditions for enabling the traffic jam assisted driving function.
  • the state transitions from the ready state to the ready-to-enter state.
  • the ready-to-enter state is changed to the ready state.
  • the traffic jam assisted driving function can be turned on.
  • the traffic jam assisted driving function can be prompted, that is, in the ready-to-enter state, a reminder that the traffic jam assisted driving function can be turned on is realized.
  • the prompt method may be a voice prompt; it may also be a text prompt, for example, a human-machine interface (HMI) prompts that the traffic jam assisted driving function can be turned on.
  • HMI human-machine interface
  • the driver may decide whether to enable the traffic jam assisted driving function, where the method of receiving may be to receive voice prompts audibly, or to view text prompts visually. After the driver decides to turn on, he can turn on the traffic jam assisted driving function by changing the state of the traffic jam assisted driving function switch to on.
  • the traffic congestion assistance driving function switch can be a soft switch, such as a touch switch displayed in the HMI, or a hard switch, such as a button configured in the driving position of the vehicle or within the reach of the driver. The button can be pressed or toggled.
  • the ready-to-enter state it not only prompts that the traffic jam assisted driving function can be turned on, but also detects the state of the traffic jam assisted driving function switch in real time. After detecting the traffic jam, the driving assistance function switch is turned on, and then it enters the on state. In some embodiments, the state of the traffic congestion assisted driving function switch is detected in real time, and after the traffic jam is detected, the assisted driving function switch is turned on, and then jumps to the on state. In some embodiments, in the on state, the traffic jam assisted driving is performed. In some embodiments, in the on state, after determining that the traffic jam assisted driving function is not satisfied, the on state is changed to the ready state.
  • the open state includes an active sub-state and a suspended sub-state.
  • the ready-to-enter state after detecting that the traffic jam assist driving function switch is turned on, it enters the activated sub-state of the on state.
  • the state of the traffic congestion assisted driving function switch is detected in real time, and the switch is turned on based on the traffic congestion assisted driving function switch to jump to the active sub-state.
  • the lateral control and the longitudinal control of the vehicle are taken over to achieve complete control of the vehicle.
  • the algorithms of the lateral control and the longitudinal control of the vehicle can follow the algorithms of the lateral control and the longitudinal control in the existing traffic jam assisted driving function, which will not be repeated here.
  • environmental information and vehicle state information are displayed.
  • the environment information and vehicle status information can be displayed through the HMI, which is convenient for the driver to understand the environment information and vehicle status information under traffic jam conditions in a timely manner.
  • the activated sub-state it is monitored whether there is manual control, for example, the driver operates the steering wheel. In some embodiments, the monitoring has manual control and enters the suspended sub-state. In some embodiments, in the active sub-state, it is monitored whether there is manual control, and based on the manual control, it jumps to the suspended sub-state.
  • the suspension sub-state exit the lateral control of the vehicle and maintain the longitudinal control of the vehicle to achieve partial control of the vehicle, and only control the longitudinal direction, and the driver is responsible for the lateral control. Due to the design of the suspension sub-state, after the driver's intervention, the traffic jam assisted driving function is not directly closed, but in the suspended state, reducing the number of function shutdowns.
  • the manual control state in the suspended sub-state, is displayed.
  • the manual control status can be displayed through the HMI, which is convenient for the driver to know the manual control status under traffic jam conditions in time.
  • the manual control state, the environmental information around the vehicle, and the vehicle state information are monitored in real time. Then, based on the interruption of the manual control state and the environmental information and vehicle state information meeting the conditions for enabling the traffic jam assisted driving function, the traffic jam assisted driving function is automatically activated.
  • the interruption of the manual control state can be understood as: the steering system does not detect the torque applied by the driver, or the deviation between the current state of the steering system and the return state is within a preset deviation interval. Among them, the deviation area can be set according to actual needs, and the specific value is not limited in this embodiment.
  • the process of automatically activating the traffic jam assisted driving function is specifically: displaying the automatic activation progress of the traffic jam assisted driving function, and prompting whether to exit the automatic activation; when the automatic activation progress is completed, jump It is the active sub-state.
  • the progress of automatic activation of the traffic jam driving assistance function can be displayed through the HMI. In this embodiment, the automatic activation progress through the display function is convenient for the driver to understand that the traffic jam assisted driving function is recovering, and the driver experience is improved.
  • the traffic jam assisted driving function when displaying the automatic activation progress of the traffic jam assisted driving function through the HMI, it is further prompted that the traffic jam assisted driving function is automatically activated by default after the automatic activation progress is over, and whether to exit the automatic activation is prompted, and the driver can actively choose to exit the automatic activation , To enhance the driver experience.
  • the suspended sub-state is changed to the active sub-state.
  • the traffic jam assisted driving function may also include a fault state.
  • the ready state the ready to enter state or the on state, it detects whether the vehicle is faulty, and then enters the fault state after detecting the vehicle fault.
  • the ready state the ready to enter state, or the on state, it is detected whether the vehicle is faulty, and then after the vehicle fault is detected, the corresponding state is changed to the fault state.
  • the vehicle failure includes, but is not limited to: at least one of the perception module, planning module, control module, human-computer interaction system, and vehicle underlying execution system (including lateral actuators and longitudinal actuators) of the intelligent driving system, etc. malfunction.
  • the driver in a fault state, the driver is prompted to take over the vehicle and display the fault information, for example, the fault information is displayed through the HMI, so that the driver can understand the location of the fault in time and deal with the fault accordingly.
  • the embodiments of the present disclosure also propose a non-transitory computer-readable storage medium, which stores a program or instruction, and the program or instruction causes a computer to execute the various embodiments of the traffic jam assisted driving method. Steps, in order to avoid repetitive description, will not be repeated here.
  • the traffic jam assisted driving is performed more reasonably.
  • the ready state by monitoring the environmental information and the vehicle state information, it is judged whether to jump to the ready to enter state.
  • the prompt function can be turned on in the ready to enter state, and it is manually determined whether to turn on the function to enhance the driving experience.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Procédé et système de conduite à assistance dans un embouteillage, dispositif monté sur véhicule et support d'enregistrement. La fonction de conduite à assistance dans un embouteillage comprend un état prêt, un état prêt à entrer et un état d'activation. Ledit procédé comprend : l'acquisition d'informations d'environnement autour d'un véhicule et d'informations d'état de véhicule sur la base du fait que le véhicule est à l'état prêt (501) ; la détermination, sur la base des informations d'environnement et des informations d'état de véhicule, si une condition pour permettre à la fonction de conduite à assistance dans un embouteillage est satisfaite (502) ; le passage à l'état prêt à entrer sur la base du fait que la condition pour permettre à la fonction de conduite à assistance dans un embouteillage est satisfaite (503) ; et la suggestion selon laquelle la fonction de conduite à assistance dans un embouteillage peut être activée (504). Dans le procédé ci-dessus, une conduite à assistance dans un embouteillage est effectuée plus raisonnablement en définissant différents états de la fonction de conduite à assistance dans un embouteillage ; à l'état prêt, il est déterminé s'il faut passer à l'état prêt à entrer en surveillant des informations d'environnement et des informations d'état de véhicule, et dans l'état prêt à entrer, il est suggéré que la fonction peut être activée, et il est déterminé manuellement s'il faut activer la fonction, améliorant ainsi l'expérience de conduite.
PCT/CN2019/122102 2019-11-29 2019-11-29 Procédé et système de conduite à assistance dans un embouteillage, dispositif monté sur véhicule et support d'enregistrement WO2021102958A1 (fr)

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PCT/CN2019/122102 WO2021102958A1 (fr) 2019-11-29 2019-11-29 Procédé et système de conduite à assistance dans un embouteillage, dispositif monté sur véhicule et support d'enregistrement

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