CN109582019B - Method and device for taking over in case of intelligent automobile lane change failure and storage medium - Google Patents

Method and device for taking over in case of intelligent automobile lane change failure and storage medium Download PDF

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Publication number
CN109582019B
CN109582019B CN201811473658.9A CN201811473658A CN109582019B CN 109582019 B CN109582019 B CN 109582019B CN 201811473658 A CN201811473658 A CN 201811473658A CN 109582019 B CN109582019 B CN 109582019B
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lane
intelligent automobile
changing
automobile
intelligent
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CN109582019A (en
Inventor
王陆林
姜灏
张�浩
康健
何祥聪
王乐
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Wuhu Lion Automotive Technologies Co Ltd
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Chery Automobile Co Ltd
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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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

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

Abstract

The invention discloses a method and a device for taking over a road when an intelligent automobile fails in lane change and a storage medium, and belongs to the technical field of intelligent automobiles. The method comprises the following steps: detecting the state of an automatic driving system of the intelligent automobile; when detecting that a main system of the automatic driving system breaks down in the lane changing process of the intelligent automobile, detecting the volume of the intelligent automobile passing over a lane changing lane line, wherein the lane changing lane line is a lane line between a lane before the lane changing of the intelligent automobile and a lane after the lane changing of the intelligent automobile; and controlling a standby system of the automatic driving system to take over the intelligent automobile according to a take-over strategy corresponding to the automobile body volume of the intelligent automobile crossing the lane-changing lane line. According to the invention, when the main system of the automatic driving system breaks down when the intelligent automobile changes lanes, the standby system in the automatic driving system is controlled to take over the intelligent automobile according to the take-over strategy corresponding to the automobile body volume when the intelligent automobile crosses the lane changing lane line, so that the lane changing safety and the driving safety are improved.

Description

Method and device for taking over in case of intelligent automobile lane change failure and storage medium
Technical Field
The invention relates to the technical field of intelligent automobiles, in particular to a method and a device for taking over a road when an intelligent automobile fails in lane change and a storage medium.
Background
With the development of technology, the intelligent degree of the intelligent automobile is higher and higher. The intelligent automobile brings convenience and driving experience to people, and meanwhile the problem of automobile safety is more obvious. The automatic driving system in the intelligent automobile can support the intelligent automobile to automatically drive, and in the automatic driving process of the intelligent automobile, if the automatic driving system breaks down, a driver is required to take over the intelligent automobile in time.
At present, when a main system of an automatic driving system of an intelligent automobile breaks down in the process that the intelligent automobile moves straight along a lane line, a standby system of the intelligent automobile can take over the intelligent automobile and remind a driver to take over the intelligent automobile. However, if the driver does not take over the intelligent vehicle for a long time, and the backup system can only execute the lane keeping function and the front collision avoidance function, when the intelligent vehicle needs to change lanes, the backup system does not have the lane changing function, and at this time, the vehicle may be out of control due to the fact that the lane changing cannot be performed, so that traffic accidents occur.
Disclosure of Invention
The embodiment of the invention provides a taking-over method and device and a storage medium for intelligent automobile lane change failure, which are used for solving the problem that the lane change and traffic accident risk is increased when the intelligent automobile lane change failure occurs in the related technology. The technical scheme is as follows:
in a first aspect, a method for taking over when an intelligent automobile lane change fails is provided, and the method includes:
detecting the state of an automatic driving system of the intelligent automobile;
when detecting that a main system of the automatic driving system breaks down in the lane changing process of the intelligent automobile, detecting the volume of the automobile body of the intelligent automobile passing through a lane changing lane line, wherein the lane changing lane line is a lane line between a lane before lane changing and a lane after lane changing of the intelligent automobile;
and controlling a standby system of the automatic driving system to take over the intelligent automobile according to a take-over strategy corresponding to the automobile body volume of the intelligent automobile crossing the lane-changing lane line.
Optionally, the controlling the standby system of the automatic driving system to take over the intelligent vehicle according to a take-over strategy corresponding to a body volume of the intelligent vehicle crossing the lane-changing lane line includes:
when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to a first multiple volume of the total volume of the automobile body, the standby system controls the intelligent automobile to run to the lane after the lane changing according to the navigation track and then run in the lane after the lane changing according to a first deceleration;
when the volume of the intelligent automobile crossing the lane-changing lane line is smaller than a second multiple of the total volume of the automobile body, controlling the intelligent automobile to return to the lane before lane changing through the standby system and run in the lane before lane changing according to a second deceleration;
when the volume of the intelligent automobile, which crosses the lane-changing lane line, is greater than or equal to a second multiple of the total volume of the automobile body and is less than a first multiple of the total volume of the automobile body, the intelligent automobile is controlled by the standby system to run according to a third deceleration by taking the lane-changing lane line as a running center line.
Optionally, after detecting that the intelligent automobile crosses the body volume of the lane-changing lane line, the method further includes:
reminding a driver of the intelligent automobile to take over the intelligent automobile;
when the fact that the driver takes over the intelligent automobile within the first taking-over duration after taking over reminding is detected, the intelligent automobile is switched from an automatic driving mode to a manual driving mode;
when detecting the driver is in during the long interior non-management of first takeover intelligent automobile, control intelligent automobile parks, and opens intelligent automobile's two flashing warning lights to continue to remind the driver takes over intelligent automobile.
Optionally, before detecting the state of the automatic driving system of the smart car, the method further includes:
after the intelligent automobile is powered on, detecting whether the intelligent automobile meets the condition of entering an automatic driving mode;
and when the intelligent automobile meets the condition of entering the automatic driving mode, controlling the intelligent automobile to enter the automatic driving mode through a main system of the automatic driving system.
In a second aspect, a pipe connection device for intelligent automobile lane change failure is provided, the device comprising:
the first detection module is used for detecting the state of an automatic driving system of the intelligent automobile;
the second detection module is used for detecting the body volume of the intelligent automobile crossing a lane-changing lane line when detecting that the main system of the automatic driving system breaks down in the lane-changing process of the intelligent automobile, wherein the lane-changing lane line is a lane line between a lane before lane changing and a lane after lane changing of the intelligent automobile;
and the first control module is used for controlling a standby system of the automatic driving system to take over the intelligent automobile according to a take-over strategy corresponding to the automobile body volume of the intelligent automobile crossing the lane-changing lane line.
Optionally, the first control module is configured to:
when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to a first multiple volume of the total volume of the automobile body, the standby system controls the intelligent automobile to run to the lane after the lane changing according to the navigation track and then run in the lane after the lane changing according to a first deceleration;
when the volume of the intelligent automobile crossing the lane-changing lane line is smaller than a second multiple of the total volume of the automobile body, controlling the intelligent automobile to return to the lane before lane changing through the standby system and run in the lane before lane changing according to a second deceleration;
when the volume of the intelligent automobile, which crosses the lane-changing lane line, is greater than or equal to a second multiple of the total volume of the automobile body and is less than a first multiple of the total volume of the automobile body, the intelligent automobile is controlled by the standby system to run according to a third deceleration by taking the lane-changing lane line as a running center line.
Optionally, the apparatus further comprises:
the reminding module is used for reminding a driver of the intelligent automobile to take over the intelligent automobile;
the switching module is used for switching the intelligent automobile from an automatic driving mode to a manual driving mode when the fact that the driver takes over the intelligent automobile in a first taking-over duration after taking over reminding is detected;
and the second control module is used for controlling the intelligent automobile to stop and turn on the double-flash warning lamp of the intelligent automobile and continuously remind the driver to take over the intelligent automobile when the driver detects that the driver is in the first taking over time period without taking over the intelligent automobile.
Optionally, the apparatus further comprises:
the third detection module is used for detecting whether the intelligent automobile meets the condition of entering an automatic driving mode or not after the intelligent automobile is powered on;
and the third control module is used for controlling the intelligent automobile to enter the automatic driving mode through the main system of the automatic driving system when the intelligent automobile meets the condition of entering the automatic driving mode.
In a third aspect, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of the above-mentioned first aspects.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the embodiment of the invention, when the main system in the automatic driving system of the intelligent automobile is detected to have a fault in the lane changing process of the intelligent automobile, the volume of the intelligent automobile crossing the lane changing lane line is detected, and the standby system of the automatic driving system is controlled to take over the intelligent automobile according to the take-over strategy corresponding to the volume of the intelligent automobile crossing the lane changing lane line, so that the situation that the intelligent automobile is out of control because the lane changing cannot be realized after the standby system of the automatic driving system takes over the intelligent automobile is avoided, and the driving safety and the lane changing safety of the intelligent automobile are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flowchart of a take-over method for a lane change failure of an intelligent vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of another method for taking over when a lane change of an intelligent vehicle fails according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pipe connection device when a first intelligent vehicle lane change fails according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a pipe connection device when a second intelligent vehicle lane change fails according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a pipe connection device when a third intelligent vehicle lane change fails according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an intelligent vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Before explaining the embodiments of the present invention in detail, the application scenarios related to the embodiments of the present invention are explained separately.
With the development of technology, the intelligent degree of the intelligent automobile is higher and higher. The intelligent automobile can support automatic driving and also can support manual driving. In the automatic driving process of the intelligent automobile, if the automatic driving system breaks down, a driver is required to take over the intelligent automobile in time. At present, when a main system of an automatic driving system of an intelligent automobile breaks down in the process that the intelligent automobile moves straight along a lane line, a standby system of the intelligent automobile can take over the intelligent automobile and remind a driver to take over the intelligent automobile. However, if the driver does not take over the intelligent vehicle for a long time, and the backup system can only execute the lane keeping function and the front collision avoidance function, when the intelligent vehicle needs to change lanes, the backup system does not have the lane changing function, and at this time, the vehicle may be out of control due to the fact that the lane changing cannot be performed, so that traffic accidents occur.
Based on the scene, the embodiment of the invention provides a taking-over method for the intelligent automobile when the lane change fails, which can improve the driving safety and reduce the risk of traffic accidents.
After the application scenario of the embodiment of the present invention is introduced, a detailed description will be given to a take-over method for an intelligent vehicle during lane change failure, which is provided by the embodiment of the present invention, with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for taking over when an intelligent vehicle lane change fails according to an embodiment of the present invention, and referring to fig. 1, the method is applied to an intelligent vehicle, and includes the following steps.
Step 101: and detecting the state of an automatic driving system of the intelligent automobile.
Step 102: when the main system of the automatic driving system is detected to have a fault in the lane changing process of the intelligent automobile, the volume of the automobile body of the intelligent automobile passing through a lane changing lane line is detected, and the lane changing lane line is a lane line between a lane before lane changing and a lane after lane changing of the intelligent automobile.
Step 103: and controlling a standby system of the automatic driving system to take over the intelligent automobile according to a take-over strategy corresponding to the body volume of the intelligent automobile crossing the lane-changing lane line.
In the embodiment of the invention, when the main system in the automatic driving system of the intelligent automobile is detected to have a fault in the lane changing process of the intelligent automobile, the volume of the intelligent automobile crossing the lane changing lane line is detected, and the standby system of the automatic driving system is controlled to take over the intelligent automobile according to the take-over strategy corresponding to the volume of the intelligent automobile crossing the lane changing lane line, so that the situation that the intelligent automobile is out of control because the lane changing cannot be realized after the standby system of the automatic driving system takes over the intelligent automobile is avoided, and the driving safety and the lane changing safety of the intelligent automobile are improved.
Optionally, the controlling the standby system of the automatic driving system to take over the intelligent vehicle according to a take-over strategy corresponding to the body volume of the intelligent vehicle crossing the lane-changing lane line includes:
when the volume of the body of the intelligent automobile crossing the lane-changing lane line is greater than or equal to a first multiple volume of the total volume of the body, the standby system controls the intelligent automobile to run in the lane after the lane-changing according to a navigation track and then run in the lane after the lane-changing according to a first deceleration;
when the volume of the intelligent automobile crossing the lane-changing lane line is smaller than the second multiple volume of the total volume of the automobile body, controlling the intelligent automobile to return to the lane before lane changing through the standby system and run in the lane before lane changing according to a second deceleration;
when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to the second multiple volume of the total volume of the automobile body and smaller than the first multiple volume of the total volume of the automobile body, the standby system controls the intelligent automobile to run according to a third deceleration by taking the lane-changing lane line as a running center line.
Optionally, after detecting that the intelligent automobile crosses the body volume of the lane-changing lane line, the method further includes:
reminding a driver of the intelligent automobile to take over the intelligent automobile;
when the driver is detected to take over the intelligent automobile within the first taking over duration after taking over reminding, switching the intelligent automobile from an automatic driving mode to a manual driving mode;
when detecting that the driver does not take over the intelligent automobile within the first taking over time period, controlling the intelligent automobile to stop, turning on a double-flash warning lamp of the intelligent automobile, and continuously reminding the driver to take over the intelligent automobile.
Optionally, before detecting the state of the automatic driving system of the smart car, the method further includes:
after the intelligent automobile is powered on, detecting whether the intelligent automobile meets the condition of entering an automatic driving mode;
and when the intelligent automobile meets the condition of entering the automatic driving mode, controlling the intelligent automobile to enter the automatic driving mode through a main system of the automatic driving system.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present invention, which is not described in detail herein.
Fig. 2 is a flowchart of a take-over method for a lane change failure of an intelligent vehicle according to an embodiment of the present invention, and referring to fig. 2, the method includes the following steps.
Step 201: the intelligent vehicle detects the state of the automatic driving system.
Because the automatic driving system in the intelligent automobile is likely to break down when the intelligent automobile runs, when the automatic driving system breaks down, the automatic driving function of the intelligent automobile is likely to cause problems, and the risk of traffic accidents of the intelligent automobile is increased. Therefore, the intelligent vehicle needs to detect the state of the automatic driving system so as to take measures in time when the automatic driving system breaks down. And because the automatic driving system of the intelligent automobile can comprise a main system and a standby system, under the normal condition, the intelligent automobile controls the intelligent automobile to automatically drive through the main system, and the automatic driving system has a fault, namely the main system has a fault.
The state of the automatic driving system can be detected in real time during driving of the intelligent automobile, and the state of the automatic driving system can also be detected at intervals, which can be set in advance, for example, the intervals can be 5 minutes, 10 minutes, 30 minutes, and the like.
In addition, because the main system of the automatic driving system can realize the lane changing function, if the main system fails, the intelligent automobile may not realize the lane changing or danger occurs during the lane changing, and therefore the intelligent automobile can also detect the state of the main system of the automatic driving system when the lane changing is needed.
Further, before the intelligent automobile detects the state of the automatic driving system, whether the intelligent automobile enters the automatic driving mode or not can be determined.
After the intelligent automobile is powered on, whether the intelligent automobile meets the condition of entering an automatic driving mode or not is detected; and when the intelligent automobile meets the condition of entering the automatic driving mode, controlling the intelligent automobile to enter the automatic driving mode through a main system of the automatic driving system.
It should be noted that, after the smart car is powered on, the smart car first enters the manual driving mode. When the intelligent automobile runs in the manual driving mode, if the driver needs to enter the automatic driving mode, the driver can trigger the automatic driving mode through a human-computer interaction interface or a mode switching switch of the intelligent automobile. At this time, the intelligent vehicle may obtain the environment of the current driving Area, such as the current road condition, the weather condition, etc., through the sensing system, and obtain the current state information of the intelligent vehicle, such as the current driving speed, etc., through a Controller Area Network (CAN) bus of the entire vehicle; whether the intelligent automobile meets the condition for starting the automatic driving mode or not is comprehensively judged according to factors such as the current driving speed, the weather condition and the current road condition, and whether the environment of the current driving area accords with the environment for carrying out the automatic driving mode or not is identified by combining a high-precision map according to GPS (Global Positioning System) Positioning information. If the conditions are met, the automatic driving mode is entered, otherwise, the automatic driving mode cannot be entered, and the intelligent automobile is still in the manual driving mode.
In addition, when the intelligent automobile cannot enter the automatic driving mode, the intelligent automobile can inform a driver through a man-machine interaction system. For example, the driver is reminded through voice information and/or graphic information that the intelligent automobile cannot enter the automatic driving mode.
Step 202: when the intelligent automobile detects that a main system of the automatic driving system breaks down under the condition that the intelligent automobile changes lanes, the size of the automobile body of the intelligent automobile crossing the lane changing lane line is detected.
It should be noted that the lane change lane line is a lane line between a lane before the lane change of the intelligent vehicle and a lane after the lane change.
When a main system of an automatic driving system of the intelligent automobile breaks down, the intelligent automobile may not realize lane changing or danger occurs during lane changing. Therefore, in order to improve driving safety and lane change safety, the smart car may detect a body volume of the smart car crossing a lane change lane line.
The intelligent automobile can detect the distance of each wheel crossing the lane-changing lane line, and the size of the automobile body of the intelligent automobile crossing the lane-changing lane line is determined according to the distance of each wheel crossing the lane-changing lane line, the length of the automobile body and the height of the automobile body.
Furthermore, when the intelligent automobile detects that the main system of the automatic driving system breaks down under the condition that the intelligent automobile changes lanes, in order to avoid traffic accidents caused by the fact that the intelligent automobile is affected by the automatic driving function, the intelligent automobile can take over the intelligent automobile through the standby system, and can remind a driver of taking over the intelligent automobile manually.
Step 203: and the standby system of the intelligent automobile control automatic driving system takes over the intelligent automobile according to a take-over strategy corresponding to the automobile body volume when the intelligent automobile crosses the lane-changing lane line.
Therefore, the intelligent automobile can detect whether the main system of the automatic driving system breaks down or not when lane changing is needed, and if the main system breaks down in the lane changing process, the intelligent automobile can control the standby system of the automatic driving system to take over the intelligent automobile according to the take-over strategy corresponding to the automobile body volume when the intelligent automobile crosses the lane changing lane line, so that lane changing safety and driving safety of the intelligent automobile are guaranteed.
Wherein, the standby system of the intelligent automobile control automatic driving system takes over the operation of the intelligent automobile according to the take-over strategy corresponding to the automobile body volume when the intelligent automobile crosses the lane-changing lane line can be as follows: when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to the first multiple volume of the total volume of the automobile body, the standby system controls the intelligent automobile to run to the lane after lane changing according to the navigation track and then run in the lane after lane changing according to the first deceleration; when the volume of the intelligent automobile crossing the lane-changing lane line is smaller than the second multiple volume of the total volume of the automobile body, the intelligent automobile is controlled by the standby system to return to the lane before lane changing and run in the lane before lane changing according to a second deceleration; when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to the second multiple of the total volume of the automobile body and smaller than the first multiple of the total volume of the automobile body, the intelligent automobile is controlled by the standby system to run according to a third deceleration by taking the lane-changing lane line as a running center line.
It should be noted that the first multiple volume and the second multiple volume may be set in advance, for example, the first multiple volume is 2/3 of the total volume of the vehicle body, the second multiple volume is 1/3 of the total volume of the vehicle body, and so on.
Because when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to the first multiple volume of the total volume of the automobile body, the fact that most of the automobile body of the intelligent automobile enters the lane after lane changing is shown, the lane changing danger can be reduced by completing the lane changing according to the navigation path, and therefore the intelligent automobile can control the intelligent automobile to run in the lane after lane changing according to the first deceleration after the intelligent automobile runs to the lane after lane changing according to the navigation track through the standby system. Because when the volume of the intelligent automobile crossing the lane-changing lane line is smaller than the second multiple volume of the total volume of the automobile body, the fact that most of the automobile body of the intelligent automobile is located in the lane before lane changing is shown, at this moment, if lane changing is continued, the intelligent automobile may be out of control, and lane changing risks are increased, therefore, in order to guarantee lane changing safety, the intelligent automobile can control the intelligent automobile to return to the lane before lane changing through the standby system and run in the lane before lane changing according to the second deceleration. When the volume of the intelligent automobile passing through the lane-changing lane line is greater than or equal to the second multiple volume of the total volume of the automobile and smaller than the first multiple volume of the total volume of the automobile, it is shown that the difference between the volume of the automobile in the lane before lane changing and the volume of the automobile in the lane after lane changing is not great, and at this time, no matter the intelligent automobile returns to the lane before lane changing or changes to the lane after lane changing according to needs, a certain risk exists, so that in order to ensure driving safety, the intelligent automobile can be controlled by the standby system to run by taking the lane-changing lane line as a running center line according to a third deceleration.
It should be noted that the first deceleration, the second deceleration and the third deceleration may be set in advance, for example, the first deceleration may be 10 km/h, 20 km/h, etc., the second deceleration may be 10 km/h, 20 km/h, etc., the third deceleration may be 10 km/h, 20 km/h, etc., and the first deceleration, the second deceleration and the third deceleration may be the same or different.
The first deceleration, the second deceleration, and the third deceleration may be determined based on the current running speed. That is, the smart car may determine the current running speed, the first parking duration, the second parking duration, and the third parking duration, and determine the corresponding first deceleration, second deceleration, and third deceleration based on the running speed, the first parking duration, the second parking duration, and the third parking duration, respectively. It should be noted that the first parking duration, the second parking duration, and the third parking duration may also be set in advance, for example, the first parking duration may be 10 seconds, 15 seconds, etc., the second parking duration may be 10 seconds, 15 seconds, etc., the third parking duration may be 10 seconds, 15 seconds, etc., and the first parking duration, the second parking duration, and the third parking duration may be the same or different.
And after the intelligent automobile is controlled by the standby system to run to the lane after lane change according to the navigation track, the driver can be reminded to take over the intelligent automobile when the intelligent automobile runs in the lane after lane change according to the first deceleration, if the driver takes over the intelligent automobile in the first taking over time period, the intelligent automobile is switched from the automatic driving mode to the manual driving mode, and if the driver does not take over the intelligent automobile in the first taking over time period, the intelligent automobile runs according to the first deceleration until the intelligent automobile stops.
Similarly, when the intelligent automobile is controlled by the standby system to return to the lane before lane changing and run in the lane before lane changing according to the second deceleration, the driver can be reminded to take over the intelligent automobile, if the driver takes over the intelligent automobile in the second taking over time period, the intelligent automobile is switched from the automatic driving mode to the manual driving mode, and if the driver does not take over the intelligent automobile in the second taking over time period, the intelligent automobile runs according to the second deceleration until the intelligent automobile stops.
Similarly, when the intelligent automobile is controlled by the standby system to run according to the third deceleration by taking the lane-changing lane line as the running center line, the driver can be reminded to take over the intelligent automobile, if the driver takes over the intelligent automobile in the third taking-over time period, the intelligent automobile is switched from the automatic driving mode to the manual driving mode, and if the driver does not take over the intelligent automobile in the third taking-over time period, the intelligent automobile runs according to the third deceleration until the intelligent automobile stops.
It should be noted that the first connection duration, the second connection duration, and the third connection duration may be set in advance, for example, the first connection duration may be 10 seconds, 15 seconds, and the like, the second connection duration may be 10 seconds, 15 seconds, and the like, the third connection duration may be 10 seconds, 15 seconds, and the like, and the first connection duration, the second connection duration, and the third connection duration may be the same or different. In addition, the first takeover duration may be the same as the first parking duration, the second takeover duration may be the same as the second parking duration, and the third takeover duration may be the same as the third parking duration.
In addition, after the intelligent automobile stops running, the double-flash warning lamp of the intelligent automobile can be started, and the driver is continuously reminded to take over the intelligent automobile.
In the embodiment of the invention, when detecting that the main system in the automatic driving system of the intelligent automobile breaks down in the lane changing process of the intelligent automobile, the intelligent automobile can detect the volume of the automobile body of the intelligent automobile crossing the lane changing lane line, and control the standby system of the automatic driving system to take over the intelligent automobile according to the take-over strategy corresponding to the volume of the automobile body of the intelligent automobile crossing the lane changing lane line, so that the situation that the intelligent automobile is out of control because the lane changing cannot be realized after the standby system of the automatic driving system takes over the intelligent automobile is avoided, and the driving safety and the lane changing safety of the intelligent automobile are improved.
After explaining the method for taking over when the intelligent automobile lane change fails according to the embodiment of the present invention, a device for taking over when the intelligent automobile lane change fails according to the embodiment of the present invention will be described.
Fig. 3 is a block diagram of a take-over device in case of a lane change failure of an intelligent vehicle according to an embodiment of the present disclosure, and referring to fig. 3, the device may be implemented by software, hardware, or a combination of the two. The device includes: a first detection module 301, a second detection module 302, and a first control module 303.
The first detection module 301 is used for detecting the state of an automatic driving system of the intelligent automobile;
a second detection module 302, configured to detect, when it is detected that a main system of the automatic driving system fails in a lane change process of an intelligent vehicle, a vehicle body volume of the intelligent vehicle passing a lane change lane line, where the lane change lane line is a lane line between a lane before the lane change of the intelligent vehicle and a lane after the lane change;
and the first control module 303 is configured to control a standby system of the automatic driving system to take over the intelligent vehicle according to a take-over strategy corresponding to a vehicle body volume of the intelligent vehicle crossing the lane-changing lane line.
Optionally, the first control module 303 is configured to:
when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to a first multiple volume of the total volume of the automobile body, the standby system controls the intelligent automobile to run to the lane after the lane changing according to the navigation track and then run in the lane after the lane changing according to a first deceleration;
when the volume of the intelligent automobile crossing the lane-changing lane line is smaller than a second multiple of the total volume of the automobile body, controlling the intelligent automobile to return to the lane before lane changing through the standby system and run in the lane before lane changing according to a second deceleration;
when the volume of the intelligent automobile, which crosses the lane-changing lane line, is greater than or equal to a second multiple of the total volume of the automobile body and is less than a first multiple of the total volume of the automobile body, the intelligent automobile is controlled by the standby system to run according to a third deceleration by taking the lane-changing lane line as a running center line.
Optionally, referring to fig. 4, the apparatus further comprises:
a reminding module 305 for reminding a driver of the intelligent automobile to take over the intelligent automobile;
the switching module 306 is configured to switch the intelligent automobile from an automatic driving mode to a manual driving mode when it is detected that the driver takes over the intelligent automobile within a first take-over duration after taking over the reminder;
and a second control module 307, configured to control the intelligent vehicle to stop and turn on the double-flashing warning light of the intelligent vehicle, and continue to remind the driver to take over the intelligent vehicle when detecting that the driver is in the first taking over duration without taking over the intelligent vehicle.
Optionally, referring to fig. 5, the apparatus further comprises:
a third detecting module 308, configured to detect whether the smart car meets a condition for entering an automatic driving mode after the smart car is powered on;
a third control module 309, configured to control, by the main system of the automatic driving system, the smart car to enter the automatic driving mode when the smart car meets the condition for entering the automatic driving mode.
In summary, in the embodiment of the present invention, when it is detected that the main system in the automatic driving system of the intelligent vehicle has a fault in the lane changing process of the intelligent vehicle, the intelligent vehicle may detect the body volume of the intelligent vehicle crossing the lane changing lane line, and control the standby system of the automatic driving system to take over the intelligent vehicle according to the take-over strategy corresponding to the body volume of the intelligent vehicle crossing the lane changing lane line, so as to avoid the situation that the intelligent vehicle is out of control because the standby system of the automatic driving system cannot realize lane changing after taking over the intelligent vehicle, thereby improving the driving safety and lane changing safety of the intelligent vehicle.
It should be noted that: the taking-over device for the intelligent automobile during lane change failure provided by the embodiment is exemplified by only the division of the functional modules when taking over the intelligent automobile, and in practical application, the function distribution can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules so as to complete all or part of the functions described above. In addition, the embodiment of the taking-over device for the intelligent automobile lane change failure and the embodiment of the taking-over method for the intelligent automobile lane change failure belong to the same concept, and specific implementation processes are detailed in the embodiment of the method and are not described herein again.
Fig. 6 shows a block diagram of an intelligent vehicle 600 according to an exemplary embodiment of the present invention.
In general, the smart car 600 includes: a processor 601 and a memory 602.
The processor 601 may include one or more processing cores, such as a 4-core processor, a 6-core processor, and so on. The processor 601 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 601 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 601 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 601 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.
The memory 602 may include one or more computer-readable storage media, which may be non-transitory. The memory 602 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 602 is used to store at least one instruction for execution by processor 601 to implement the take-over method in the event of an intelligent vehicle lane change failure provided by method embodiments herein.
In some embodiments, the smart car 600 may further optionally include: a peripheral interface 603 and at least one peripheral. The processor 601, memory 602, and peripheral interface 603 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 603 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 604, a touch screen display 605, a camera 606, an audio circuit 607, a positioning component 608, and a power supply 609.
The peripheral interface 603 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 601 and the memory 602. In some embodiments, the processor 601, memory 602, and peripheral interface 603 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 601, the memory 602, and the peripheral interface 603 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 604 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 604 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 604 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 604 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 604 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 604 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display 605 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 605 is a touch display screen, the display screen 605 also has the ability to capture touch signals on or over the surface of the display screen 605. The touch signal may be input to the processor 601 as a control signal for processing. At this point, the display 605 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 605 may be one, providing the front panel of the smart car 600; in other embodiments, the number of the display screens 605 may be at least two, and the at least two display screens are respectively disposed on different surfaces of the smart car 600 or are in a folding design; in still other embodiments, the display 605 may be a flexible display disposed on a curved surface or on a folding surface of the smart car 600. Even more, the display 605 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The Display 605 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The camera assembly 606 is used to capture images or video. Optionally, camera assembly 606 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions.
Audio circuitry 607 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 601 for processing or inputting the electric signals to the radio frequency circuit 604 to realize voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be respectively disposed at different positions of the smart car 600. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 601 or the radio frequency circuit 604 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuitry 607 may also include a headphone jack.
The Location component 608 is used to locate the current geographic Location of the smart car 600 to implement navigation or LBS (Location Based Service). The Positioning component 608 can be a Positioning component based on the united states GPS (Global Positioning System), the chinese beidou System, the russian graves System, or the european union's galileo System.
The power supply 609 is used to supply power to various components in the smart car 600. The power supply 609 may be ac, dc, disposable or rechargeable. When the power supply 609 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, the smart car 600 also includes one or more sensors 610. The one or more sensors 610 include, but are not limited to: an acceleration sensor 611.
The acceleration sensor 611 may detect the magnitude of acceleration in three coordinate axes of the coordinate system established with the smart car 600. For example, the acceleration sensor 611 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 601 may control the touch screen display 605 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 611. The acceleration sensor 611 may also be used for acquisition of motion data of a game or a user.
That is, not only is an embodiment of the present invention provide an intelligent vehicle including a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the method in the embodiment shown in fig. 1 and 2, but also an embodiment of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by the processor, can implement the takeover method in case of lane change failure of the intelligent vehicle in the embodiment shown in fig. 1 and 2.
Those skilled in the art will appreciate that the configuration shown in fig. 6 does not constitute a limitation of the smart car 600, and may include more or fewer components than those shown, or combine certain components, or employ a different arrangement of components.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (7)

1. A take-over method for a lane change failure of an intelligent automobile is characterized by comprising the following steps:
detecting the state of an automatic driving system of the intelligent automobile;
when detecting that a main system of the automatic driving system breaks down in the lane changing process of the intelligent automobile, detecting the volume of the automobile body of the intelligent automobile passing through a lane changing lane line, wherein the lane changing lane line is a lane line between a lane before lane changing and a lane after lane changing of the intelligent automobile;
when the volume of the body of the intelligent automobile crossing the lane-changing lane line is greater than or equal to a first multiple volume of the total volume of the body, the intelligent automobile is controlled by a standby system of the automatic driving system to travel to the lane after lane changing according to a navigation track and then travel in the lane after lane changing according to a first deceleration;
when the volume of the intelligent automobile crossing the lane-changing lane line is smaller than a second multiple of the total volume of the automobile body, controlling the intelligent automobile to return to the lane before lane changing through the standby system and driving according to a second deceleration in the lane before lane changing;
when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to a second multiple volume of the total volume of the automobile body and smaller than a first multiple volume of the total volume of the automobile body, the standby system controls the intelligent automobile to run according to a third deceleration by taking the lane-changing lane line as a running center line, and the first deceleration, the second deceleration and the third deceleration are determined by the current running speed of the intelligent automobile.
2. The method of claim 1, wherein after detecting that the smart car crosses the body volume of the lane-change lane line, further comprising:
reminding a driver of the intelligent automobile to take over the intelligent automobile;
when the fact that the driver takes over the intelligent automobile within the first taking-over duration after taking over reminding is detected, the intelligent automobile is switched from an automatic driving mode to a manual driving mode;
when detecting the driver is in during the long interior non-management of first takeover intelligent automobile, control intelligent automobile parks, and opens intelligent automobile's two flashing warning lights to continue to remind the driver takes over intelligent automobile.
3. The method of claim 1, wherein prior to detecting the state of the autonomous driving system of the smart car, further comprising:
after the intelligent automobile is powered on, detecting whether the intelligent automobile meets the condition of entering an automatic driving mode;
and when the intelligent automobile meets the condition of entering the automatic driving mode, controlling the intelligent automobile to enter the automatic driving mode through a main system of the automatic driving system.
4. The utility model provides a takeover device when intelligent car lane change became invalid which characterized in that, the device includes:
the first detection module is used for detecting the state of an automatic driving system of the intelligent automobile;
the second detection module is used for detecting the body volume of the intelligent automobile crossing a lane-changing lane line when detecting that the main system of the automatic driving system breaks down in the lane-changing process of the intelligent automobile, wherein the lane-changing lane line is a lane line between a lane before lane changing and a lane after lane changing of the intelligent automobile;
the first control module is used for controlling a standby system of the automatic driving system to take over the intelligent automobile according to a take-over strategy corresponding to the automobile body volume of the intelligent automobile crossing the lane-changing lane line;
the first control module is configured to:
when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to a first multiple volume of the total volume of the automobile body, the standby system controls the intelligent automobile to run to the lane after the lane changing according to the navigation track and then run in the lane after the lane changing according to a first deceleration;
when the volume of the intelligent automobile crossing the lane-changing lane line is smaller than a second multiple of the total volume of the automobile body, controlling the intelligent automobile to return to the lane before lane changing through the standby system and driving according to a second deceleration in the lane before lane changing;
when the volume of the intelligent automobile crossing the lane-changing lane line is larger than or equal to a second multiple volume of the total volume of the automobile body and smaller than a first multiple volume of the total volume of the automobile body, the standby system controls the intelligent automobile to run according to a third deceleration by taking the lane-changing lane line as a running center line, and the first deceleration, the second deceleration and the third deceleration are determined by the current running speed of the intelligent automobile.
5. The apparatus of claim 4, wherein the apparatus further comprises:
the reminding module is used for reminding a driver of the intelligent automobile to take over the intelligent automobile;
the switching module is used for switching the intelligent automobile from an automatic driving mode to a manual driving mode when the fact that the driver takes over the intelligent automobile in a first taking-over duration after taking over reminding is detected;
and the second control module is used for controlling the intelligent automobile to stop and turn on the double-flash warning lamp of the intelligent automobile and continuously remind the driver to take over the intelligent automobile when the driver detects that the driver is in the first taking over time period without taking over the intelligent automobile.
6. The apparatus of claim 4, wherein the apparatus further comprises:
the third detection module is used for detecting whether the intelligent automobile meets the condition of entering an automatic driving mode or not after the intelligent automobile is powered on;
and the third control module is used for controlling the intelligent automobile to enter the automatic driving mode through the main system of the automatic driving system when the intelligent automobile meets the condition of entering the automatic driving mode.
7. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when being executed by a processor, carries out the method of any one of claims 1-3.
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