CN113147792A - Vehicle control method and device and automatic driving vehicle - Google Patents
Vehicle control method and device and automatic driving vehicle Download PDFInfo
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- CN113147792A CN113147792A CN202110517242.8A CN202110517242A CN113147792A CN 113147792 A CN113147792 A CN 113147792A CN 202110517242 A CN202110517242 A CN 202110517242A CN 113147792 A CN113147792 A CN 113147792A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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Abstract
The application discloses a control method and device of a vehicle and an automatic driving vehicle. Wherein, the method comprises the following steps: acquiring an image in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode; identifying whether a traffic signal lamp and a stop line exist in the image; under the condition that a traffic signal lamp and a stop line exist in the image, determining the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp. The application solves the technical problems that when the automatic driving vehicle passes through the intersection provided with the traffic signal lamp, the driving state of the vehicle can not be controlled according to the indication state of the traffic signal lamp, the risk of traffic accidents can be increased, and the driving safety is poor.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a vehicle control method and device and an automatic driving vehicle.
Background
At present, the development of the automatic driving technology is fast, but many technical problems still exist and are not overcome, for example, when an automatic driving vehicle passes through a crossing provided with a traffic signal lamp, the driving state of the vehicle cannot be controlled according to the indication state of the traffic signal lamp, the risk of traffic accidents may be increased, and the driving safety is poor.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the application provides a vehicle control method and device and an automatic driving vehicle, and aims to at least solve the technical problems that when the automatic driving vehicle passes through a crossing provided with a traffic signal lamp, the driving state of the vehicle cannot be controlled according to the indication state of the traffic signal lamp, the risk of traffic accidents is possibly increased, and the driving safety is poor.
According to an aspect of an embodiment of the present application, there is provided a control method of a vehicle, including: acquiring an image in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode; identifying whether a traffic signal lamp and a stop line exist in the image; under the condition that a traffic signal lamp and a stop line exist in the image, determining the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
Optionally, the controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp comprises: if the indication state of the traffic light is red, determining whether the traffic light displays the remaining time; if the traffic signal lamp does not display the remaining time, controlling the current vehicle to run at a reduced speed, and stopping the current vehicle from running before the current vehicle reaches a stop line; and if the traffic signal lamp displays the remaining time, controlling the running speed of the current vehicle according to the remaining time and the distance of the red light.
Optionally, the controlling the running speed of the current vehicle according to the remaining time and distance of the red light comprises: determining a first remaining time for a red light; comparing a first product of a current vehicle's travel speed and a first remaining time with the distance; if the first product is larger than or equal to the distance, controlling the current vehicle to run at a reduced speed, and stopping the current vehicle from running before the current vehicle reaches a stop line; and if the first product is smaller than the distance, controlling the current vehicle to continue to run according to the current running speed.
Optionally, the method for controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp further comprises: if the indication state of the traffic signal lamp is green, determining whether the traffic signal lamp displays the remaining time; if the traffic signal lamp does not display the remaining time, controlling the current vehicle to continue to run according to the current running speed; and if the traffic signal lamp displays the remaining time, controlling the running speed of the current vehicle according to the remaining time and the distance of the green light.
Optionally, controlling the driving speed of the current vehicle according to the remaining time and distance of the green light comprises: determining a second remaining time for a green light; comparing a second product of the current vehicle's travel speed and the second remaining time with the distance; if the second product is larger than the distance, controlling the current vehicle to continuously run according to the current running speed; and if the second product is less than or equal to the distance, controlling the current vehicle to run at a reduced speed so that the current vehicle stops running before reaching the stop line.
Optionally, before controlling the running speed of the current vehicle according to the indication state and the distance of the traffic light, the method further comprises: acquiring the running state of a target vehicle which is positioned on a lane adjacent to the lane where the current vehicle is positioned and has the same running direction as the current vehicle; judging whether the running state of the target vehicle is the same as that of the current vehicle; if the running state of the target vehicle is the same as that of the current vehicle, controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp; and if the running state of the target vehicle is different from that of the current vehicle, re-determining the indication state of the traffic signal lamp.
According to another aspect of the embodiments of the present application, there is also provided a control method of a vehicle, including: displaying an image in front of a current vehicle in a human-computer interaction interface of the current vehicle in the process that the current vehicle runs according to an automatic driving mode; displaying the indication state of a traffic signal lamp, the position of a stop line and the distance between a current vehicle and the stop line in an image in a man-machine interaction interface, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and displaying a control instruction of the current vehicle in the man-machine interaction interface, wherein the control instruction is used for controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
According to another aspect of the embodiments of the present application, there is also provided a control apparatus of a vehicle, including: the acquisition module is used for acquiring images in front of the current vehicle in real time in the process that the current vehicle runs according to the automatic driving mode; the identification module is used for identifying whether a traffic signal lamp and a stop line exist in the image; the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining the indicating state of a traffic signal lamp and the distance between a current vehicle and a stop line under the condition that the traffic signal lamp and the stop line exist in an image, and the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and the control module is used for controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
According to another aspect of the embodiments of the present application, there is also provided an autonomous vehicle, including: the system comprises image acquisition equipment and a controller, wherein the image acquisition equipment is used for acquiring an image in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode; the controller is communicated with the image acquisition equipment and is used for identifying whether a traffic signal lamp and a stop line exist in the image; under the condition that a traffic signal lamp and a stop line exist in the image, determining the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
According to still another aspect of the embodiments of the present application, there is also provided a nonvolatile storage medium including a stored program, wherein the apparatus in which the nonvolatile storage medium is controlled when the program is executed performs the above control method of the vehicle.
According to still another aspect of the embodiments of the present application, there is also provided a processor for executing a program stored in a memory, wherein the program executes the above control method of the vehicle.
In the embodiment of the application, the method comprises the steps of collecting images in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode; identifying whether a traffic signal lamp and a stop line exist in the image; under the condition that a traffic signal lamp and a stop line exist in the image, determining the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; according to the method for controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp, the indication state of the traffic signal lamp is identified, then the running speed of the automatic driving vehicle is controlled according to the indication state of the traffic signal lamp and the distance between the current vehicle and a stop line, and the purpose that the automatic driving vehicle is controlled to safely pass through the intersection provided with the traffic signal lamp is achieved, so that the technical effect of improving the running safety of the automatic driving vehicle when the automatic driving vehicle passes through the intersection provided with the traffic signal lamp is achieved, and the technical problem that the running state of the vehicle cannot be controlled according to the indication state of the traffic signal lamp when the automatic driving vehicle passes through the intersection provided with the traffic signal lamp is solved, the risk of traffic accidents is possibly increased, and the running safety is poor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of a method of controlling a vehicle according to an embodiment of the present application;
FIG. 2 is a flow chart of another method of controlling a vehicle according to an embodiment of the present application;
fig. 3 is a block diagram of a control apparatus of a vehicle according to an embodiment of the present application;
fig. 4 is a block diagram of an autonomous vehicle according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, there is provided an embodiment of a control method for a vehicle, it should be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and that while a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that here.
Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present application, as shown in fig. 1, the method including the steps of:
step S102, acquiring images in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode;
step S104, identifying whether a traffic signal lamp and a stop line exist in the image;
step S106, under the condition that a traffic signal lamp and a stop line exist in the image, determining the indication state of the traffic signal lamp and the distance between the current vehicle and the stop line, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp;
and step S108, controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
Through the steps, the purpose of controlling the automatic driving vehicle to safely pass through the intersection provided with the traffic signal lamp is achieved by identifying the indicating state of the traffic signal lamp and then controlling the running speed of the automatic driving vehicle according to the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line, and therefore the technical effect of improving the running safety of the automatic driving vehicle when the automatic driving vehicle passes through the intersection provided with the traffic signal lamp is achieved.
According to an alternative embodiment of the present application, step S108 is implemented by: if the indication state of the traffic light is red, determining whether the traffic light displays the remaining time; if the traffic signal lamp does not display the remaining time, controlling the current vehicle to run at a reduced speed, and stopping the current vehicle from running before the current vehicle reaches a stop line; and if the traffic signal lamp displays the remaining time, controlling the running speed of the current vehicle according to the remaining time and the distance of the red light.
In this step, if the traffic signal lamp only displays three indication states of red light, yellow light and green light and does not have the function of displaying time, for the sake of safety, if the indication state of the traffic signal lamp is recognized as the red light, the current vehicle is controlled to decelerate, and the vehicle is guaranteed to stop running before reaching the stop line.
If the traffic signal lamp not only displays three indication states of red light, yellow light and green light, but also has the function of displaying time, if the indication state of the traffic signal lamp is identified to be the red light, the remaining time of the red light needs to be further identified, and then the running state of the vehicle is controlled according to the remaining time of the red light.
According to another alternative embodiment of the present application, the controlling of the driving speed of the present vehicle according to the remaining time and distance of the red light includes: determining a first remaining time for a red light; comparing a first product of a current vehicle's travel speed and a first remaining time with the distance; if the first product is larger than or equal to the distance, controlling the current vehicle to run at a reduced speed, and stopping the current vehicle from running before the current vehicle reaches a stop line; and if the first product is smaller than the distance, controlling the current vehicle to continue to run according to the current running speed.
For example, the remaining time of the red light is 10s, the current vehicle has a traveling speed of 40Km/h, the distance between the current vehicle and the stop line is 50m, and if the vehicle travels at a constant speed according to the current speed, the distance traveled before the red light changes is 111 m. If the vehicle is controlled to continue to run according to the current speed, the vehicle can cross the stop line before the red light changes into the light, and the traffic regulation can be violated, and at the moment, the vehicle is controlled to run at a reduced speed, so that the vehicle stops running before reaching the stop line.
The distance between the current vehicle and the stop line is 120m, if the vehicle is controlled to continue to run according to the current speed, the vehicle cannot cross the stop line before the red light is changed into the light, namely, after the traffic signal light is changed from the red light into the green light, the vehicle does not reach the stop line, the running speed of the vehicle does not need to be changed at the moment, and the vehicle is controlled to continue to run according to the current running speed.
By the method, the driving speed of the vehicle passing through the intersection can be controlled according to the display time of the traffic signal lamp, and the efficiency of the automatic driving vehicle passing through the intersection can be improved on the basis of ensuring the driving safety of the automatic driving vehicle passing through the intersection.
In some optional embodiments of the present application, step S108 may also be implemented by: if the indication state of the traffic signal lamp is green, determining whether the traffic signal lamp displays the remaining time; if the traffic signal lamp does not display the remaining time, controlling the current vehicle to continue to run according to the current running speed; and if the traffic signal lamp displays the remaining time, controlling the running speed of the current vehicle according to the remaining time and the distance of the green light.
In this step, if the traffic signal lamp only displays three indication states of red light, yellow light and green light, the traffic signal lamp does not have the function of displaying time, and if the indication state of the traffic signal lamp is identified to be the green light, the vehicle is controlled to continue to run according to the current running speed.
If the traffic signal lamp has the function of displaying time besides three indication states of red light, yellow light and green light, if the indication state of the traffic signal lamp is identified to be green light, the remaining time of the green light needs to be further identified, and then the driving state of the vehicle is controlled according to the remaining time of the green light.
According to another alternative embodiment of the present application, the controlling of the driving speed of the present vehicle according to the remaining time and distance of the green light includes: determining a second remaining time for a green light; comparing a second product of the current vehicle's travel speed and the second remaining time with the distance; if the second product is larger than the distance, controlling the current vehicle to continuously run according to the current running speed; and if the second product is less than or equal to the distance, controlling the current vehicle to run at a reduced speed so that the current vehicle stops running before reaching the stop line.
For example, the remaining time of the green light is 10s, the current vehicle has a traveling speed of 40Km/h, the distance between the current vehicle and the stop line is 50m, and if the vehicle travels at a constant speed according to the current speed, the distance traveled before the green light changes to be 111 m. If the vehicle is controlled to continue to run according to the current speed, the vehicle can cross the stop line before the light is changed from green, and the running speed of the vehicle does not need to be changed at the moment, so that the vehicle can be controlled to continue to run according to the current running speed.
The distance between the current vehicle and the stop line is 120m, if the vehicle is controlled to continue to run according to the current speed, the vehicle cannot cross the stop line before the red light changes into the yellow light, namely after the traffic signal light changes from the green light to the yellow light, the vehicle does not reach the stop line, and the vehicle is controlled to decelerate to run at the moment so that the vehicle stops running before reaching the stop line.
According to an alternative embodiment of the present application, before executing step S108, the driving state of the target vehicle located on the lane adjacent to the lane where the current vehicle is located and having the same driving direction as the current vehicle needs to be acquired; judging whether the running state of the target vehicle is the same as that of the current vehicle; if the running state of the target vehicle is the same as that of the current vehicle, controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp; and if the running state of the target vehicle is different from that of the current vehicle, re-determining the indication state of the traffic signal lamp.
By acquiring the running state of the vehicle which is adjacent to the lane where the current vehicle is located and has the same running direction as the current vehicle, if the running state of the vehicle is the same as the running state of the current vehicle, the indication state of the traffic signal lamp acquired by the current vehicle is correct, otherwise, the indication state of the traffic signal lamp acquired by the current vehicle is wrong, and the indication state of the traffic signal lamp needs to be acquired again.
By the method, the accuracy of the indication state of the traffic signal lamp acquired by the current vehicle can be improved, and the technical effect of driving safety when the automatic driving vehicle passes through the intersection is further improved.
Fig. 2 is a flowchart of another control method of a vehicle according to an embodiment of the present application, as shown in fig. 2, the method including the steps of:
step S202, displaying an image in front of the current vehicle in a human-computer interaction interface of the current vehicle in the process that the current vehicle runs according to an automatic driving mode;
step S204, displaying the indication state of a traffic signal lamp, the position of a stop line and the distance between the current vehicle and the stop line in the image in a human-computer interaction interface, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp;
and S206, displaying a control instruction of the current vehicle in the human-computer interaction interface, wherein the control instruction is used for controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
The vehicle control method provided in steps S202 to S206 can improve the human-computer interaction experience of the user.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 2, and details are not described here again.
Fig. 3 is a block diagram of a control apparatus of a vehicle according to an embodiment of the present application, and as shown in fig. 3, the apparatus includes:
the acquisition module 30 is used for acquiring images in front of the current vehicle in real time in the process that the current vehicle runs according to the automatic driving mode;
the recognition module 32 is used for recognizing whether a traffic signal lamp and a stop line exist in the image;
a determining module 34, configured to determine an indication state of a traffic light and a distance between the current vehicle and the stop line if the traffic light and the stop line exist in the image, where the stop line and the current vehicle are located on the same side of the traffic light;
and the control module 36 is used for controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 3, and details are not described here again.
Fig. 4 is a block diagram of a structure of an autonomous vehicle according to an embodiment of the present application, which includes, as shown in fig. 4: an image acquisition device 40, and a controller 42, wherein,
the image acquisition device 40 is used for acquiring images in front of the current vehicle in real time in the process that the current vehicle runs according to the automatic driving mode;
according to an alternative embodiment of the present application, image capture device 40 is a high-definition camera disposed on an autonomous vehicle.
A controller 42 in communication with the image capturing device 40 for identifying the presence of traffic lights and stop lines in the image; under the condition that a traffic signal lamp and a stop line exist in the image, determining the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 4, and details are not described here again.
The embodiment of the application also provides a nonvolatile storage medium, which comprises a stored program, wherein the device where the nonvolatile storage medium is located is controlled to execute the control method of the vehicle when the program runs.
The nonvolatile storage medium stores a program for executing the following functions: acquiring an image in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode; identifying whether a traffic signal lamp and a stop line exist in the image; under the condition that a traffic signal lamp and a stop line exist in the image, determining the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp. Or
Displaying an image in front of a current vehicle in a human-computer interaction interface of the current vehicle in the process that the current vehicle runs according to an automatic driving mode; displaying the indication state of a traffic signal lamp, the position of a stop line and the distance between a current vehicle and the stop line in an image in a man-machine interaction interface, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and displaying a control instruction of the current vehicle in the man-machine interaction interface, wherein the control instruction is used for controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
The embodiment of the application also provides a processor which is used for operating the program stored in the memory, wherein the program is used for executing the control method of the vehicle when running.
The processor is used for running a program for executing the following functions: acquiring an image in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode; identifying whether a traffic signal lamp and a stop line exist in the image; under the condition that a traffic signal lamp and a stop line exist in the image, determining the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp. Or
Displaying an image in front of a current vehicle in a human-computer interaction interface of the current vehicle in the process that the current vehicle runs according to an automatic driving mode; displaying the indication state of a traffic signal lamp, the position of a stop line and the distance between a current vehicle and the stop line in an image in a man-machine interaction interface, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and displaying a control instruction of the current vehicle in the man-machine interaction interface, wherein the control instruction is used for controlling the running speed of the current vehicle according to the indication state and the distance of the traffic signal lamp.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (10)
1. A control method of a vehicle, characterized by comprising:
acquiring an image in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode;
identifying whether a traffic signal lamp and a stop line exist in the image;
determining the indication state of the traffic signal lamp and the distance between the current vehicle and the stop line under the condition that the traffic signal lamp and the stop line exist in the image, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp;
and controlling the running speed of the current vehicle according to the indication state of the traffic signal lamp and the distance.
2. The method of claim 1, wherein controlling the driving speed of the current vehicle in accordance with the indication state of the traffic signal and the distance comprises:
if the indication state of the traffic signal lamp is a red lamp, determining whether the traffic signal lamp displays the remaining time;
if the traffic signal lamp does not display the remaining time, controlling the current vehicle to run at a reduced speed so that the current vehicle stops running before reaching the stop line;
and if the traffic signal lamp displays the remaining time, controlling the running speed of the current vehicle according to the remaining time of the red light and the distance.
3. The method of claim 2, wherein controlling the travel speed of the current vehicle as a function of the distance and the remaining time of the red light comprises:
determining a first remaining time of the red light;
comparing a first product of the travel speed of the current vehicle and the first remaining time with the distance;
if the first product is larger than or equal to the distance, controlling the current vehicle to run at a reduced speed so that the current vehicle stops running before reaching the stop line;
and if the first product is smaller than the distance, controlling the current vehicle to continuously run according to the current running speed.
4. The method of claim 1, wherein controlling the traveling speed of the current vehicle in accordance with the indication state of the traffic signal and the distance further comprises:
if the indication state of the traffic signal lamp is green, determining whether the traffic signal lamp displays the remaining time;
if the traffic signal lamp does not display the remaining time, controlling the current vehicle to continuously run according to the current running speed;
and if the traffic signal lamp displays the remaining time, controlling the running speed of the current vehicle according to the remaining time of the green light and the distance.
5. The method of claim 4, wherein controlling the travel speed of the current vehicle as a function of the distance and the remaining time of the green light comprises:
determining a second remaining time for the green light;
comparing a second product of the travel speed of the current vehicle and the second remaining time with the distance;
if the second product is larger than the distance, controlling the current vehicle to continuously run according to the current running speed;
and if the second product is less than or equal to the distance, controlling the current vehicle to run at a reduced speed so that the current vehicle stops running before reaching the stop line.
6. The method according to claim 1, wherein before controlling the traveling speed of the current vehicle according to the indication state of the traffic signal and the distance, the method further comprises:
acquiring the running state of a target vehicle which is positioned on a lane adjacent to the lane where the current vehicle is positioned and has the same running direction as the current vehicle;
judging whether the running state of the target vehicle is the same as the running state of the current vehicle;
if the running state of the target vehicle is the same as that of the current vehicle, controlling the running speed of the current vehicle according to the indication state of the traffic signal lamp and the distance;
and if the running state of the target vehicle is different from the running state of the current vehicle, re-determining the indicating state of the traffic signal lamp.
7. A control method of a vehicle, characterized by comprising:
displaying an image in front of a current vehicle in a human-computer interaction interface of the current vehicle in the process that the current vehicle runs according to an automatic driving mode;
displaying the indication state of a traffic signal lamp and the position of a stop line existing in the image and the distance between the current vehicle and the stop line in the human-computer interaction interface, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp;
and displaying a control instruction of the current vehicle in the human-computer interaction interface, wherein the control instruction is used for controlling the running speed of the current vehicle according to the indication state of the traffic signal lamp and the distance.
8. A control apparatus of a vehicle, characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring images in front of a current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode;
the identification module is used for identifying whether a traffic signal lamp and a stop line exist in the image;
the determining module is used for determining the indicating state of the traffic signal lamp and the distance between the current vehicle and the stop line under the condition that the traffic signal lamp and the stop line exist in the image, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp;
and the control module is used for controlling the running speed of the current vehicle according to the indication state of the traffic signal lamp and the distance.
9. An autonomous vehicle, comprising: an image acquisition device and a controller, wherein,
the image acquisition equipment is used for acquiring images in front of the current vehicle in real time in the process that the current vehicle runs according to an automatic driving mode;
the controller is communicated with the image acquisition equipment and is used for identifying whether a traffic signal lamp and a stop line exist in the image; determining the indication state of the traffic signal lamp and the distance between the current vehicle and the stop line under the condition that the traffic signal lamp and the stop line exist in the image, wherein the stop line and the current vehicle are positioned on the same side of the traffic signal lamp; and controlling the running speed of the current vehicle according to the indication state of the traffic signal lamp and the distance.
10. A nonvolatile storage medium characterized by comprising a stored program, wherein a device on which the nonvolatile storage medium is installed is controlled to execute the control method of the vehicle according to any one of claims 1 to 7 when the program is executed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115273461A (en) * | 2022-06-28 | 2022-11-01 | 重庆长安汽车股份有限公司 | Intersection driving method and device for vehicle, vehicle and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115273461A (en) * | 2022-06-28 | 2022-11-01 | 重庆长安汽车股份有限公司 | Intersection driving method and device for vehicle, vehicle and storage medium |
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