CN110221605A - Meeting method, apparatus, equipment and the storage medium of pilotless automobile - Google Patents
Meeting method, apparatus, equipment and the storage medium of pilotless automobile Download PDFInfo
- Publication number
- CN110221605A CN110221605A CN201910408746.9A CN201910408746A CN110221605A CN 110221605 A CN110221605 A CN 110221605A CN 201910408746 A CN201910408746 A CN 201910408746A CN 110221605 A CN110221605 A CN 110221605A
- Authority
- CN
- China
- Prior art keywords
- pilotless automobile
- meeting
- vehicle
- vehicles
- reversed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000003860 storage Methods 0.000 title claims abstract description 16
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000004590 computer program Methods 0.000 claims description 16
- 238000013481 data capture Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- 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
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides meeting method, apparatus, equipment and the storage medium of a kind of pilotless automobile, is related to pilotless automobile and drives field.The meeting method includes: the information of vehicles of running region where obtaining pilotless automobile, and information of vehicles is for obtaining the reversed vehicle opposite with pilotless automobile driving direction；Based on reversed vehicle, controls pilotless automobile and enter meeting mode；Wherein, meeting mode is the Information Sharing Mode that pilotless automobile and reversed vehicle carry out data communication；Obtain the location data of pilotless automobile and reversed vehicle and the road surface data of running region；Based on location data and road surface data, confirm that crossing place, crossing place carry out meeting for pilotless automobile and reversed vehicle.This method can find the crossing place of two vehicle-widths of accommodating, guarantee that two vehicles improve meeting efficiency in crossing place safety meeting, and then improve the safety of pilotless automobile traveling.
Description
Technical field
The present invention relates to pilotless automobiles to drive field, in particular to a kind of meeting side of pilotless automobile
Method, device, equipment and storage medium.
Background technique
The unmanned industry process in the whole world is significantly accelerated, and unmanned automatic driving technology has become upsurge, and each major company just adds
Speed promotes the research of pilotless automobile.The appearance of pilotless automobile will improve out line efficiency for us, but when traveling compared with
When narrow road surface, how to make that opposite two pilotless automobiles travelled carry out meeting and the safety road surface is a disaster
Topic.
Therefore, develop it is a kind of can guarantee pilotless automobile carry out safety meeting method be solved by the invention ask
Topic.
Summary of the invention
In view of this, a kind of meeting method, apparatus for being designed to provide pilotless automobile of the embodiment of the present invention, setting
Standby and storage medium, to improve pilotless automobile traveling in the meeting difficult problem of narrow road section.
Present pre-ferred embodiments provide a kind of meeting method of pilotless automobile, comprising:
Obtain pilotless automobile where running region information of vehicles, the information of vehicles for obtain with it is described nobody
The opposite reversed vehicle of the driving direction that drives a car；
Based on the reversed vehicle, controls the pilotless automobile and enter meeting mode；Wherein, the meeting mode is
The pilotless automobile and the reversed vehicle carry out the Information Sharing Mode of data communication；
Obtain the location data of the pilotless automobile and the reversed vehicle and the road surface data of the running region；
Based on the location data and the road surface data, confirm crossing place, the crossing place for it is described nobody
Driving and the reversed vehicle carry out meeting.
Preferably, it controls before the pilotless automobile enters meeting mode and includes:
Based on the reversed vehicle, the travel speed for controlling the pilotless automobile is less than or equal to threshold speed.
Preferably, the pilotless automobile and the data of the reversed vehicle progress data communication include:
Between the length of the pilotless automobile and the reversed vehicle, width, volume, travel speed and two vehicles
Distance.
Preferably, obtain pilotless automobile where running region information of vehicles, the information of vehicles for obtain with
The step of pilotless automobile driving direction opposite reversed vehicle includes:
The information of vehicles of running region where obtaining the pilotless automobile using radar sensor；
Based on the information of vehicles and default map datum, the institute opposite with the pilotless automobile driving direction is obtained
State reversed vehicle.
Preferably, the location data of the pilotless automobile and the reversed vehicle and the road of the running region are obtained
The step of face data includes:
The positioning of the pilotless automobile and the reversed vehicle is obtained using the radar sensor and GPS sensor
Data；Wherein, the location data includes between the pilotless automobile and the real time position and two vehicles of the reversed vehicle
Distance；
The road surface data of the running region are obtained using the radar sensor and video camera；Wherein, the road surface number
According to width of roadway and obstacle information including the running region.
The step of being preferably based on the location data and the road surface data, confirming crossing place include:
Based on the location data and the road surface data, confirm the running region with the presence or absence of two vehicle-widths of accommodating,
The place of length；
It if it exists, is the crossing place by the place marks；
If it does not exist, it is out of service to control the pilotless automobile, requests artificial help.
Preferably, the meeting step includes:
It controls the pilotless automobile to travel to the crossing place, confirms the crossing place with the presence or absence of described anti-
To vehicle；
If it exists, it keeps to the right through the crossing place until completion meeting, closes the meeting mode；
If it does not exist, into waiting after the crossing place the reversed vehicle by the crossing place until completing meeting
Vehicle closes the meeting mode.
The embodiment of the present invention also provides a kind of device for meeting of pilotless automobile, comprising:
Information of vehicles acquiring unit, for the information of vehicles of running region where obtaining pilotless automobile, the vehicle
Information is for obtaining the reversed vehicle opposite with the pilotless automobile driving direction；
Meeting mode unit controls the pilotless automobile and enters meeting mode for being based on the reversed vehicle；Its
In, the meeting mode is the Information Sharing Mode that the pilotless automobile and the reversed vehicle carry out data communication；
Data capture unit, for obtain the pilotless automobile and the reversed vehicle location data and the row
Sail the road surface data in region；
Crossing place acquiring unit, for being based on the location data and the road surface data, confirmation crossing place is described
Crossing place carries out meeting for the pilotless automobile and the reversed vehicle.
The embodiments of the present invention also provide a kind of cart-mounted computing device, including memory, processor and it is stored in storage
On device and the computer program that can run on a processor, the processor is realized above-mentioned unmanned when executing described program
The meeting method of automobile.
The embodiments of the present invention also provide a kind of computer readable storage mediums, are stored thereon with computer program, should
The step of meeting method of above-mentioned pilotless automobile is realized when program is executed by processor.
Meeting method, apparatus, equipment and the storage medium of a kind of pilotless automobile provided by the invention, when unmanned
Running car is in narrow road section, the information of vehicles and therefrom of running region where cart-mounted computing device obtains pilotless automobile
Obtain the reversed vehicle opposite with its driving direction, by carrying out data communication with opposite vehicle, acquisition pilotless automobile with
The distance between real time position, length, width, volume, travel speed and two vehicles of reversed vehicle information, then passed by radar
The equipment such as sensor, video camera are calculated all crossing places for accommodating two vehicle-widths between this running region and are selected
It is preferred that taking, guaranteeing two vehicles in crossing place safety meeting and reducing by two vehicles in the time of crossing place meeting, meeting effect is improved
Rate, and then improve the safety of pilotless automobile traveling.The meeting method of pilotless automobile provided in this embodiment can be with
The problem of the meeting difficulty of the pilotless automobile vehicle in narrow route running is well solved, practicability with higher is full
Sufficient practical application request.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow diagram of the first embodiment of the meeting method of pilotless automobile provided by the invention；
Fig. 2 is the execution flow chart of the first embodiment for the meeting method that the present invention provides pilotless automobile；
Fig. 3 is the structural schematic diagram of the second embodiment of the device for meeting of pilotless automobile provided by the invention.
Icon: 201- information of vehicles acquiring unit；202- meeting mode unit；203- data capture unit；204- meeting
Place acquiring unit.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Referring to FIG. 1, the first embodiment of the present invention provides a kind of meeting method of pilotless automobile, it can be by vehicle
It carries and calculates equipment to execute, for example, car-mounted computer of the configuration on pilotless automobile, has control pilotless automobile
And computing capability, specifically include at least following steps:
S101, the information of vehicles of running region where obtaining pilotless automobile, the information of vehicles is for acquisition and institute
State the opposite reversed vehicle of pilotless automobile driving direction.
It, can be unmanned according to the sensor acquisition that pilotless automobile configures in the driving process of pilotless automobile
The information of vehicles of running region where automobile, such as the thunder using running region where radar sensor acquisition pilotless automobile
Up to data, radar data can be used for confirming the presence of pilotless automobile traveling front region vehicle and barrier.Or it utilizes
Pilotless automobile is accurately positioned in the real time position of running region in GPS sensor.It should be noted that institute in the present embodiment
Running region where the pilotless automobile stated refers to being located at sensor on the pilotless automobile travel route and can examine
The all areas measured.Reversed vehicle described in the present embodiment includes the common vapour opposite with pilotless automobile driving direction
Vehicle or other pilotless automobile.
In a preferred embodiment of the invention, the information of vehicles of running region, described where obtaining pilotless automobile
Information of vehicles for confirm the reversed vehicle opposite with the pilotless automobile driving direction the step of include:
The information of vehicles of running region where obtaining the pilotless automobile using radar sensor；
Based on the information of vehicles and default map datum, the institute opposite with the pilotless automobile driving direction is confirmed
State reversed vehicle.
Specifically, compare visual sensor, and the point cloud data of laser radar sensor can embody pilotless automobile
Distance, height and the form of barrier in running region, and algorithm complexity is lower, and positioning accuracy is high.Therefore at this
In embodiment, laser radar sensor is selected to obtain the information of vehicles of pilotless automobile place running region.Laser
Each point that radar sensor scanning returns includes a coordinate information and an intensity information, and radar often rotates a circle,
The all the points being collected into constitute cloud, utilize the progress of the high-precision map of the cloud and pre-existing cart-mounted computing device
Match, can not only determine the current position of pilotless automobile, can also confirm that it is opposite with pilotless automobile driving direction or
Identical information of vehicles, to guarantee the carry out high accuracy positioning in running region to all vehicles, finally again by vehicle-mounted meter
Calculating equipment, screen acquisition from these information of vehicles opposite with pilotless automobile driving direction and apart from nearest reversed vehicle
Carry out meeting.Wherein, the matching algorithm of laser radar sensor obtains point cloud data and default map datum can utilize ICP
(Iterative Closest Point iteration closest approach) algorithm idea, i.e., first match the point of twice sweep, for the first time
It scans each point come and finds nearest match point in second of scanning, obtain multipair match point, calculate each pair of point
Mean error reduces this error by repeating rotation R and translation T transformation, and iteration runs the above process, until the small Mr. Yu of error
A threshold value finally finds between laser radar scanning and high-precision map and matches, and is converted into the corresponding position of high-precision map,
It calculates the exact position on map and obtains accurate vehicle position.
S102 is based on the reversed vehicle, controls the pilotless automobile and enter meeting mode；Wherein, the meeting
Mode is the Information Sharing Mode that the pilotless automobile and the reversed vehicle carry out data communication.
Preferably, in a preferred embodiment of the invention, the pilotless automobile is counted with the reversed vehicle
Include: according to the data of communication
Between the length of the pilotless automobile and the reversed vehicle, width, volume, travel speed and two vehicles
Distance.
Specifically, in the present embodiment, the relevant information of pilotless automobile is stored in cart-mounted computing device, it is true at it
Recognize opposite with pilotless automobile driving direction and after nearest reversed vehicle, communicated by being established with reversed vehicle,
Information sharing is carried out, so that the sum of the sum of width of two vehicles, length is calculated, consequently facilitating cart-mounted computing device finds meeting
Place, and calculate the time etc. that crossing place is reached with the travel speed.Wherein, pilotless automobile is built with reversed vehicle
The mode of vertical communication can use for reference the communication mode of establishing of interplane, here with regard to not repeated.
S103 obtains the location data of the pilotless automobile and the reversed vehicle and the road surface of the running region
Data.
Preferably, in a preferred embodiment of the invention, the pilotless automobile and the reversed vehicle are obtained
The step of location data and the road surface data of the running region includes:
The positioning of the pilotless automobile and the reversed vehicle is obtained using the radar sensor and GPS sensor
Data；Wherein, the location data includes between the pilotless automobile and the real time position and two vehicles of the reversed vehicle
Distance；
The road surface data of the running region are obtained using the radar sensor and video camera；Wherein, the road surface number
According to width of roadway and obstacle information including the running region.
Specifically, pass through the stroke distances between the real time position and determining two cars between two vehicles of accurate positioning, so that it may
Suitable place is found in the trip distance and carries out meeting, and reduce crossing place looks for range, improves efficiency.At this
In embodiment, in order to improve the positioning accuracy of pilotless automobile Yu reversed vehicle, radar sensor and GPS sensor are obtained
Data be combined, more conducively precisely, efficiently locate out the real-time position information and range information of two cars.And pass through again
The image data that the radar data and video camera that radar sensor obtains obtain, the two data are combined and are carried out at image
Reason, so that it may the width of roadway information and obstacle information of the running region are obtained, the place that can accommodate two vehicle-widths is found,
And there is no roadblocks etc., more conducively the meeting safety of pilotless automobile and reversed vehicle at this.It should be noted that this
The distance between two vehicles described in embodiment refer to the stroke between pilotless automobile and reversed vehicle.
S104 is based on the location data and the road surface data, confirms crossing place, the crossing place is for described
Pilotless automobile and the reversed vehicle carry out meeting.
Specifically, after cart-mounted computing device finds the alternative place of suitable meeting by location data and road surface data, lead to
It crosses and is preferentially chosen, two vehicle maximum widths, maximum length will be accommodated and the place marks of roadblock are not present for meeting
Point guarantees two vehicle safety meetings and reduces the two in crossing place time of cars meeting, improves meeting efficiency.
When pilotless automobile traveling is in narrow road section, cart-mounted computing device travels area where obtaining pilotless automobile
The information of vehicles in domain simultaneously therefrom obtains the reversed vehicle opposite with its driving direction, by carrying out data communication with opposite vehicle,
Obtain between real time position, length, width, volume, travel speed and two vehicles of pilotless automobile and reversed vehicle away from
From, then by equipment such as radar sensor, video cameras all two vehicle-widths of accommodating between this running region are calculated
Crossing place simultaneously carries out optimum selecting, guarantees two vehicle safety meetings and reduces the two in crossing place time of cars meeting, improves meeting
Vehicle efficiency, and then improve the safety of pilotless automobile traveling.Unmanned vehicle tracking control method provided in this embodiment can
To well solve the problem of the meeting difficulty of the pilotless automobile vehicle in narrow route running, practicability with higher,
Meet practical application request.
Preferably, on the basis of the above embodiments, in the preferred embodiment of the present invention, control described unmanned
Automobile enters meeting mode
Based on the reversed vehicle, the travel speed for controlling the pilotless automobile is less than or equal to threshold speed.
Specifically, in the present embodiment, the cart-mounted computing device obtains opposite with pilotless automobile driving direction
After reversed vehicle, by reducing the speed of pilotless automobile, first is that guarantee two vehicles can car fare to have time enough to allow vehicle-mounted
It calculates equipment and finds suitable crossing place between two vehicles, second is that guaranteeing can Chinese herbaceous peony safety traffic.
Preferably, on the basis of the above embodiments, in the preferred embodiment of the present invention, it is based on the location data
With the road surface data, confirm crossing place the step of include:
Based on the location data and the road surface data, confirm the running region with the presence or absence of two vehicle-widths of accommodating,
The place of length；
It if it exists, is the crossing place by the place marks；
If it does not exist, it is out of service to control the pilotless automobile, requests artificial help.
Specifically, in the present embodiment, in narrow road section, which may deposit the pilotless automobile traveling
There is the crossing place of two vehicle-widths of accommodating, length for the narrow road section in two kinds of situations, one, two are not present for the narrow road section
Accommodate the crossing place of two vehicle-widths, length.Therefore when cart-mounted computing device needs to first pass through location data and road surface data meter
It calculates judgement and obtains the section with the presence or absence of crossing place, then preferentially choose if it exists.Crossing place if it does not exist, then vehicle computing
It is out of service that equipment controls the pilotless automobile, and request it is artificial help, allowed under manual operation pilotless automobile and
The smooth meeting of reversed vehicle, guarantees safety traffic.
Preferably, on the basis of the above embodiments, in the preferred embodiment of the present invention, the meeting step packet
It includes:
It controls the pilotless automobile to travel to the crossing place, confirms the crossing place with the presence or absence of described anti-
To vehicle；
If it exists, it keeps to the right through the crossing place until completion meeting, closes the meeting mode；
If it does not exist, into waiting after the crossing place the reversed vehicle by the crossing place until completing meeting
Vehicle closes the meeting mode.
Specifically, in the present embodiment, there may be two kinds of situations for crossing place, first is that the crossing place is a Duan Changlu
Section can accommodate the length of two vehicles, second is that the length of the crossing place can not accommodate the sum of the length of two vehicles, but the meeting
The length of more any one than two vehicles vehicle of point is all long.When a situation arises for the moment, as long as ensuring pilotless automobile and reversed vehicle
Traveling does not need to carry out shut-down operation can be well on meeting on the section.And when a situation arises two when, two vehicles
There must be a vehicle first to stop in crossing place, just can ensure that safety meeting.Therefore, in the present embodiment, it is contemplated that feelings
Condition two, cart-mounted computing device first confirm whether crossing place stops the reversed vehicle.If it exists, then pilotless automobile leans on
For right travel by the crossing place until completing meeting, finally closing the meeting mode terminates the operation of this meeting.If no
In the presence of, then pilotless automobile be introduced into after the crossing place wait the reversed vehicle to first pass through the crossing place until
Meeting is completed, finally closing the meeting mode terminates the operation of this meeting, guarantees that the safety of meeting carries out.It needs to illustrate
It is in the present embodiment, pilotless automobile and reversed vehicle can be accurately positioned by radar sensor and GPS sensor
Position terminates meeting mode when cart-mounted computing device confirms the distance in two workshops greater than apart from some threshold value.
Also referring to the execution flow chart for the meeting method that 2, Fig. 2 is the pilotless automobile.
S1: the information of vehicles of running region is obtained.
S2: whether confirmation running region has reversed vehicle, and if it exists, then enters S3；If it does not exist, S1 is returned.
S3: enter meeting mode.
S4: running region whether there is crossing place, if it exists crossing place, then enters S5；If it does not exist, then it jumps
S6。
S5 preferentially chooses crossing place.
Manual control is requested in S6, parking.
S7, crossing place is all to stop reversed vehicle, if stopping reversed vehicle, enters S8；If not stopping reversed vehicle
, then jump S9.
S8, course changing control, low speed pass through.
S9 rests in crossing place, passes through to reversed vehicle.
S10, if meet meeting termination condition, if so, into S11；If it is not, then returning to S7.
S11 terminates meeting mode.
Referring to FIG. 3, the second embodiment of the present invention also provides a kind of device for meeting of pilotless automobile, comprising:
Information of vehicles acquiring unit 201, for the information of vehicles of running region where obtaining pilotless automobile, the vehicle
Information is for obtaining the reversed vehicle opposite with the pilotless automobile driving direction；
Meeting mode unit 202 controls the pilotless automobile and enters meeting mould for being based on the reversed vehicle
Formula；Wherein, the meeting mode is the information sharing mould that the pilotless automobile and the reversed vehicle carry out data communication
Formula；
Data capture unit 203, for obtaining location data and the institute of the pilotless automobile and the reversed vehicle
State the road surface data of running region；
Crossing place acquiring unit 204, for confirming crossing place based on the location data and the road surface data,
The crossing place carries out meeting for the pilotless automobile and the reversed vehicle.
Preferably, before 202 mode of meeting mode unit before include:
Reduction unit, for being based on the reversed vehicle, the travel speed for controlling the pilotless automobile is less than or waits
In threshold speed.
Preferably, the pilotless automobile and the data of the reversed vehicle progress data communication include:
Between the length of the pilotless automobile and the reversed vehicle, width, volume, travel speed and two vehicles
Distance.
Preferably, the information of vehicles acquiring unit 201 includes:
Information of vehicles obtains module, for running region where obtaining the pilotless automobile using radar sensor
Information of vehicles；
Reversed vehicle obtains module, for being based on the information of vehicles and default map datum, obtain with it is described nobody drive
Sail the opposite reversed vehicle of vehicle traveling direction.
Preferably, the data capture unit 203 includes:
Location data obtains module, for obtaining the unmanned vapour using the radar sensor and GPS sensor
The location data of vehicle and the reversed vehicle；Wherein, the location data includes the pilotless automobile and the reversed vehicle
Real time position and the distance between two vehicles；
Road surface data acquisition module, for obtaining the road surface of the running region using the radar sensor and video camera
Data；Wherein, the road surface data include the width of roadway and obstacle information of the running region.
The step of being preferably based on the location data and the road surface data, confirming crossing place include:
Based on the location data and the road surface data, confirm the running region with the presence or absence of two vehicle-widths of accommodating,
The place of length；
It if it exists, is the crossing place by the place marks；
If it does not exist, it is out of service to control the pilotless automobile, requests artificial help.
Preferably, the meeting step includes:
It controls the pilotless automobile to travel to the crossing place, confirms the crossing place with the presence or absence of described anti-
To vehicle；
If it exists, it keeps to the right through the crossing place until completion meeting, closes the meeting mode；
If it does not exist, into waiting after the crossing place the reversed vehicle by the crossing place until completing meeting
Vehicle closes the meeting mode.
The third embodiment of the present invention provides a kind of cart-mounted computing device, including memory, processor and is stored in
On reservoir and the computer program that can run on a processor, the processor realizes that above-mentioned nobody drives when executing described program
Sail the meeting method of automobile.
The fourth embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer program,
The program realizes the step of meeting method of above-mentioned pilotless automobile when being executed by processor.
Illustratively, computer program described in the embodiment of the present invention can be divided into one or more modules, described
One or more module is stored in the memory, and is executed by the processor, to complete the present invention.It is one
Or multiple modules can be the series of computation machine program instruction section that can complete specific function, the instruction segment is described for describing
Implementation procedure of the computer program in the realization server apparatus.For example, device described in second embodiment of the invention.
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(APPlication Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the meeting method of the pilotless automobile, whole using various interfaces and connection
The various pieces of a meeting method for realizing pilotless automobile.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, realizes nobody
The various functions of the meeting method of driving.The memory can mainly include storing program area and storage data area, wherein
Storing program area can application program needed for storage program area, at least one function (such as sound-playing function, text conversion
Function etc.) etc.；Storage data area, which can be stored, uses created data (such as audio data, word message number according to mobile phone
According to etc.) etc..In addition, memory may include high-speed random access memory, it can also include nonvolatile memory, such as firmly
Disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital,
SD) card, flash card (Flash Card), at least one disk memory, flush memory device or other volatile solid-states
Part.
Wherein, if the module for realizing service equipment is realized in the form of SFU software functional unit and as independent production
Product when selling or using, can store in a computer readable storage medium.Based on this understanding, the present invention realizes
All or part of the process in above-described embodiment method can also instruct relevant hardware to complete by computer program,
The computer program can be stored in a computer readable storage medium, which is being executed by processor
When, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program code, described
Computer program code can be source code form, object identification code form, executable file or certain intermediate forms etc..The meter
Calculation machine readable medium may include: can carry the computer program code any entity or device, recording medium, USB flash disk,
Mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory
Device (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It needs to illustrate
It is that the content that the computer-readable medium includes can be fitted according to the requirement made laws in jurisdiction with patent practice
When increase and decrease, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium does not include electric carrier wave letter
Number and telecommunication signal.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of meeting method of pilotless automobile characterized by comprising
Obtain pilotless automobile where running region information of vehicles, the information of vehicles for obtain with it is described unmanned
The opposite reversed vehicle of vehicle traveling direction；
Based on the reversed vehicle, controls the pilotless automobile and enter meeting mode；Wherein, the meeting mode is described
Pilotless automobile and the reversed vehicle carry out the Information Sharing Mode of data communication；
Obtain the location data of the pilotless automobile and the reversed vehicle and the road surface data of the running region；
Based on the location data and the road surface data, crossing place is confirmed, the crossing place is for described unmanned
Automobile and the reversed vehicle carry out meeting.
2. the meeting method of pilotless automobile according to claim 1, which is characterized in that the control unmanned vapour
Vehicle enters meeting mode
Based on the reversed vehicle, the travel speed for controlling the pilotless automobile is less than or equal to threshold speed.
3. the meeting method of pilotless automobile according to claim 1, which is characterized in that the pilotless automobile with
The data that the reversed vehicle carries out data communication include:
Between the length of the pilotless automobile and the reversed vehicle, width, volume, travel speed and two vehicles away from
From.
4. the meeting method of pilotless automobile according to claim 1, which is characterized in that obtain pilotless automobile institute
In the information of vehicles of running region, the information of vehicles is used to obtain opposite with the pilotless automobile driving direction reversed
The step of vehicle includes:
The information of vehicles of running region where obtaining the pilotless automobile using radar sensor；
Based on the information of vehicles and default map datum, obtain it is opposite with the pilotless automobile driving direction it is described instead
To vehicle.
5. the meeting method of pilotless automobile according to claim 4, which is characterized in that obtain the unmanned vapour
The step of road surface data of the location data and the running region of vehicle and the reversed vehicle includes:
The positioning number of the pilotless automobile and the reversed vehicle is obtained using the radar sensor and GPS sensor
According to；Wherein, the location data includes between the pilotless automobile and the real time position and two vehicles of the reversed vehicle
Distance；
The road surface data of the running region are obtained using the radar sensor and video camera；Wherein, the road surface data packet
Include the width of roadway and obstacle information of the running region.
6. the meeting method of pilotless automobile according to claim 1, which is characterized in that based on the location data and
The road surface data, confirm crossing place the step of include:
Based on the location data and the road surface data, confirm the running region with the presence or absence of accommodating two vehicle-widths, length
Place；
It if it exists, is the crossing place by the place marks；
If it does not exist, it is out of service to control the pilotless automobile, requests artificial help.
7. the meeting method of pilotless automobile according to claim 1, which is characterized in that the meeting step includes:
It controls the pilotless automobile to travel to the crossing place, confirms the crossing place with the presence or absence of the reversed vehicle
?；
If it exists, it keeps to the right through the crossing place until completion meeting, closes the meeting mode；
If it does not exist, into waiting after the crossing place the reversed vehicle by the crossing place until complete meeting,
Close the meeting mode.
8. a kind of device for meeting of pilotless automobile characterized by comprising
Information of vehicles acquiring unit, for the information of vehicles of running region where obtaining pilotless automobile, the information of vehicles
For obtaining the reversed vehicle opposite with the pilotless automobile driving direction；
Meeting mode unit controls the pilotless automobile and enters meeting mode for being based on the reversed vehicle；Wherein,
The meeting mode is the Information Sharing Mode that the pilotless automobile and the reversed vehicle carry out data communication；
Data capture unit, for obtain the pilotless automobile and the reversed vehicle location data and the traveling area
The road surface data in domain；
Crossing place acquiring unit confirms crossing place, the meeting for being based on the location data and the road surface data
Place carries out meeting for the pilotless automobile and the reversed vehicle.
9. a kind of cart-mounted computing device, can run on a memory and on a processor including memory, processor and storage
Computer program, which is characterized in that realize as described in claim 1~7 when the processor executes described program nobody drive
Sail the meeting method of automobile.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of meeting method of any one of claim 1~7 pilotless automobile is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910408746.9A CN110221605A (en) | 2019-05-16 | 2019-05-16 | Meeting method, apparatus, equipment and the storage medium of pilotless automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910408746.9A CN110221605A (en) | 2019-05-16 | 2019-05-16 | Meeting method, apparatus, equipment and the storage medium of pilotless automobile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110221605A true CN110221605A (en) | 2019-09-10 |
Family
ID=67821200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910408746.9A Pending CN110221605A (en) | 2019-05-16 | 2019-05-16 | Meeting method, apparatus, equipment and the storage medium of pilotless automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110221605A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588666A (en) * | 2019-10-09 | 2019-12-20 | 北京百度网讯科技有限公司 | Method and device for controlling vehicle running |
| CN112339663A (en) * | 2020-10-19 | 2021-02-09 | 深圳市中天安驰有限责任公司 | Lane meeting assistance apparatus, lane meeting assistance method, computer-readable storage medium, and lane meeting assistance system |
| CN112634632A (en) * | 2020-12-15 | 2021-04-09 | 北京百度网讯科技有限公司 | Vehicle scheduling method and device, electronic equipment and storage medium |
| CN112721931A (en) * | 2021-01-18 | 2021-04-30 | 智马达汽车有限公司 | Vehicle meeting method, device, equipment and storage medium |
| CN112925313A (en) * | 2021-01-22 | 2021-06-08 | 上海擎朗智能科技有限公司 | Avoidance processing method and device for robot, electronic device and medium |
| CN114104006A (en) * | 2022-01-28 | 2022-03-01 | 阿里巴巴达摩院(杭州)科技有限公司 | Method and device for automatically driving vehicle to realize vehicle crossing by mistake |
| WO2022053026A1 (en) * | 2020-09-11 | 2022-03-17 | 武汉智行者科技有限公司 | Automatic driving meeting scene processing method and apparatus, vehicle, and storage medium |
| WO2024032148A1 (en) * | 2022-08-11 | 2024-02-15 | 华为技术有限公司 | Narrow-lane pass-through method and apparatus, and vehicle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014012508A1 (en) * | 2012-07-19 | 2014-01-23 | Zhou Wenwei | Intelligent operation navigation assistant system and method for taxicab |
| US20140244142A1 (en) * | 2011-10-03 | 2014-08-28 | Toyota Jidosha Kabushiki Kaisha | Driving assistance system for vehicle |
| CN105549591A (en) * | 2015-12-22 | 2016-05-04 | 刘莹瑜 | Information system for automobile unmanned driving |
| WO2017035744A1 (en) * | 2015-08-31 | 2017-03-09 | 陈觉明 | Motor vehicle automatic driving assist control apparatus, and control circuit and gating method thereof |
| WO2017124584A1 (en) * | 2016-01-20 | 2017-07-27 | 李万鸿 | Informatization and networking implementation method for road pavement supporting unmanned automatic driving of an automobile |
| CN107571864A (en) * | 2017-09-05 | 2018-01-12 | 百度在线网络技术（北京）有限公司 | The collecting method and device of automatic driving vehicle |
| WO2018109938A1 (en) * | 2016-12-16 | 2018-06-21 | 三菱電機株式会社 | Information processing system |
| DE202017001537U1 (en) * | 2017-03-22 | 2018-06-26 | Kamag Transporttechnik Gmbh & Co. Kg | Safety device for a vehicle, in particular for a driverless vehicle |
| CN108399792A (en) * | 2018-01-25 | 2018-08-14 | 北京墨丘科技有限公司 | A kind of automatic driving vehicle preventing collision method, device and electronic equipment |
| CN109062222A (en) * | 2018-09-04 | 2018-12-21 | 盐城骏拔汽车零部件有限公司 | Automatic driving vehicle managing and control system and method |
-
2019
- 2019-05-16 CN CN201910408746.9A patent/CN110221605A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140244142A1 (en) * | 2011-10-03 | 2014-08-28 | Toyota Jidosha Kabushiki Kaisha | Driving assistance system for vehicle |
| WO2014012508A1 (en) * | 2012-07-19 | 2014-01-23 | Zhou Wenwei | Intelligent operation navigation assistant system and method for taxicab |
| WO2017035744A1 (en) * | 2015-08-31 | 2017-03-09 | 陈觉明 | Motor vehicle automatic driving assist control apparatus, and control circuit and gating method thereof |
| CN105549591A (en) * | 2015-12-22 | 2016-05-04 | 刘莹瑜 | Information system for automobile unmanned driving |
| WO2017124584A1 (en) * | 2016-01-20 | 2017-07-27 | 李万鸿 | Informatization and networking implementation method for road pavement supporting unmanned automatic driving of an automobile |
| WO2018109938A1 (en) * | 2016-12-16 | 2018-06-21 | 三菱電機株式会社 | Information processing system |
| DE202017001537U1 (en) * | 2017-03-22 | 2018-06-26 | Kamag Transporttechnik Gmbh & Co. Kg | Safety device for a vehicle, in particular for a driverless vehicle |
| CN107571864A (en) * | 2017-09-05 | 2018-01-12 | 百度在线网络技术（北京）有限公司 | The collecting method and device of automatic driving vehicle |
| CN108399792A (en) * | 2018-01-25 | 2018-08-14 | 北京墨丘科技有限公司 | A kind of automatic driving vehicle preventing collision method, device and electronic equipment |
| CN109062222A (en) * | 2018-09-04 | 2018-12-21 | 盐城骏拔汽车零部件有限公司 | Automatic driving vehicle managing and control system and method |
Non-Patent Citations (2)
| Title |
|---|
| 汽车与安全: "行车过程中会车技巧", 《汽车与安全》 * |
| 邹浙湘等: "基于无线通信的山路盲区弯道会车提示***设计", 《电子科技》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588666A (en) * | 2019-10-09 | 2019-12-20 | 北京百度网讯科技有限公司 | Method and device for controlling vehicle running |
| WO2022053026A1 (en) * | 2020-09-11 | 2022-03-17 | 武汉智行者科技有限公司 | Automatic driving meeting scene processing method and apparatus, vehicle, and storage medium |
| CN112339663A (en) * | 2020-10-19 | 2021-02-09 | 深圳市中天安驰有限责任公司 | Lane meeting assistance apparatus, lane meeting assistance method, computer-readable storage medium, and lane meeting assistance system |
| CN112634632A (en) * | 2020-12-15 | 2021-04-09 | 北京百度网讯科技有限公司 | Vehicle scheduling method and device, electronic equipment and storage medium |
| CN112634632B (en) * | 2020-12-15 | 2022-05-13 | 阿波罗智联(北京)科技有限公司 | Vehicle scheduling method and device, electronic equipment and storage medium |
| CN112721931A (en) * | 2021-01-18 | 2021-04-30 | 智马达汽车有限公司 | Vehicle meeting method, device, equipment and storage medium |
| CN112925313A (en) * | 2021-01-22 | 2021-06-08 | 上海擎朗智能科技有限公司 | Avoidance processing method and device for robot, electronic device and medium |
| CN112925313B (en) * | 2021-01-22 | 2024-06-07 | 上海擎朗智能科技有限公司 | Avoidance processing method and device for robot, electronic equipment and medium |
| CN114104006A (en) * | 2022-01-28 | 2022-03-01 | 阿里巴巴达摩院(杭州)科技有限公司 | Method and device for automatically driving vehicle to realize vehicle crossing by mistake |
| WO2024032148A1 (en) * | 2022-08-11 | 2024-02-15 | 华为技术有限公司 | Narrow-lane pass-through method and apparatus, and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110221605A (en) | Meeting method, apparatus, equipment and the storage medium of pilotless automobile | |
| CN110763246A (en) | Automatic driving vehicle path planning method and device, vehicle and storage medium | |
| JP2021113049A (en) | Method, device, electric apparatus and storage medium for planning for automatic driving vehicle | |
| CN109916422B (en) | Global path planning method and device | |
| CN113085850B (en) | Vehicle obstacle avoidance method and device, electronic equipment and storage medium | |
| CN113223326B (en) | Multi-vehicle multi-control multi-source low-speed auxiliary parking system based on road side | |
| CN110807412B (en) | Vehicle laser positioning method, vehicle-mounted equipment and storage medium | |
| CN110008891A (en) | A kind of pedestrian detection localization method, device, cart-mounted computing device and storage medium | |
| JP2019039831A (en) | Automatic driving device | |
| WO2021213325A1 (en) | Cruise control method and system, and vehicle | |
| CN109682388A (en) | Follow the determination method in path | |
| CN114322799B (en) | Vehicle driving method and device, electronic equipment and storage medium | |
| CN113785252A (en) | Method of parking an autonomously driven vehicle for autonomous charging | |
| CN113868356A (en) | Rendering method, rendering apparatus, storage medium, and computer program | |
| CN115265564A (en) | Lane line marking method and device | |
| CN110737261B (en) | Automatic stop control method and system for vehicle | |
| CN113722342A (en) | High-precision map element change detection method, device and equipment and automatic driving vehicle | |
| CN110599790B (en) | Method for intelligent driving vehicle to get on and stop, vehicle-mounted equipment and storage medium | |
| CN110017842A (en) | Goods stock air navigation aid, terminal device and storage medium | |
| CN113386771A (en) | Road model generation method and equipment | |
| CN114119951A (en) | Method, device and equipment for labeling vehicle information and storage medium | |
| CN113682322A (en) | Method and device for determining vehicle running path | |
| CN111965665A (en) | Method and device for determining driving lane of automatic driving vehicle | |
| CN115610444A (en) | Automatic driving method, device, equipment and storage medium | |
| CN115892076B (en) | Lane obstacle screening method and device and domain controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190910 |
|
| RJ01 | Rejection of invention patent application after publication |