CN113306575A

CN113306575A - Vehicle running control method and device

Info

Publication number: CN113306575A
Application number: CN202110764342.0A
Authority: CN
Inventors: 严浩南; 王彬彬; 吴临政
Original assignee: Beijing Jingwei Hirain Tech Co Ltd
Current assignee: Beijing Jingwei Hirain Tech Co Ltd
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2021-08-27
Anticipated expiration: 2041-07-06
Also published as: CN113306575B

Abstract

The application provides a vehicle running control method and a vehicle running control device, wherein the method comprises the following steps: acquiring vehicle state information within a target intersection range, wherein the vehicle state information comprises manned vehicle state information and unmanned vehicle state information, and each of the manned vehicle state information and the unmanned vehicle state information respectively comprises vehicle position information and/or vehicle speed information; determining a virtual traffic light state corresponding to the target intersection at least according to the vehicle state information in the range of the target intersection; the virtual traffic light is used for marking the passable state of each driving direction of the target intersection; and controlling the unmanned vehicles which are in the range of the target intersection and drive into the range of the target intersection along each driving direction based on the states of the virtual traffic lights. By the scheme, the driving order and the driving safety of the unmanned vehicle can be guaranteed, and the influence of the unmanned vehicle on the driving of the vehicle with people can be avoided.

Description

Vehicle running control method and device

Technical Field

The application relates to the technical field of intelligent traffic, in particular to a vehicle running control method and device.

Background

In road traffic scenarios, it is common to control the traffic at the intersection by traffic lights. However, in some road traffic scenes, there is no traffic light, for example, at some small intersections or inside parks, and the vehicle runs completely depending on the experience and awareness of the driver.

For the unmanned vehicle, the driving in the road traffic scene without the traffic signal lamp is more difficult, and especially, when the unmanned vehicle is mixed with the manned vehicle, how to control the driving of the unmanned vehicle so as to ensure the safety of the unmanned vehicle and avoid the threat of the unmanned vehicle to the normal driving of other vehicles becomes a problem to be solved urgently.

Disclosure of Invention

Based on the above requirements, the application provides a vehicle driving control method and device, which can perform driving control on an unmanned vehicle, ensure the safety of the unmanned vehicle, and avoid the threat of the unmanned vehicle to the normal driving of other vehicles.

In order to achieve the above purpose, the present application proposes the following technical solutions:

a vehicle travel control method comprising: acquiring vehicle state information within a target intersection range, wherein the vehicle state information comprises manned vehicle state information and unmanned vehicle state information, and each of the manned vehicle state information and the unmanned vehicle state information respectively comprises vehicle position information and/or vehicle speed information; determining a virtual traffic light state corresponding to the target intersection at least according to the vehicle state information in the range of the target intersection; the virtual traffic light is used for marking the passable state of each driving direction of the target intersection; and controlling the unmanned vehicles which are in the range of the target intersection and drive into the range of the target intersection along each driving direction based on the states of the virtual traffic lights.

For example, the vehicle state information further includes obstacle information located in front of the unmanned vehicle, wherein the obstacle information includes at least obstacle position information.

For example, the determining the virtual traffic light state corresponding to the target intersection according to at least the vehicle state information within the range of the target intersection includes:

and determining the virtual traffic light state corresponding to the target intersection according to the state information of the manned vehicle, the unmanned vehicle and the obstacle information in front of the unmanned vehicle within the range of the target intersection.

For example, the determining the virtual traffic light state corresponding to the target intersection according to the manned vehicle state information, the unmanned vehicle state information and the obstacle information in front of the unmanned vehicle within the range of the target intersection includes:

determining a traffic restriction direction and a release direction according to the state information of the manned vehicle, the state information of the unmanned vehicle and the information of the obstacle in front of the unmanned vehicle in the range of the target intersection, wherein the traffic restriction direction is a driving direction for restricting the unmanned vehicle from passing, and the release direction is a driving direction for allowing the unmanned vehicle to pass;

and determining the virtual traffic light state corresponding to the target intersection according to the traffic control direction and the release direction.

For example, the determining a traffic restriction direction and a clearance direction according to the state information of the manned vehicle, the state information of the unmanned vehicle and the information of the obstacle in front of the unmanned vehicle within the range of the target intersection includes:

determining whether the vehicles driven by the persons exist in all driving directions in the range of the target intersection or not according to the state information of the vehicles driven by the persons in the range of the target intersection;

if the manned vehicle exists, selecting at least one driving direction from the driving directions of the individual manned vehicles as a release direction, and determining other driving directions which conflict with the selected release direction as a restriction direction;

and if no manned vehicle exists, determining a traffic control direction and a release direction according to the unmanned vehicle state information in each driving direction in the range of the target intersection and the obstacle information in front of the unmanned vehicle.

For example, the determining a traffic restriction direction and a release direction according to the unmanned vehicle state information in each driving direction within the range of the target intersection and the obstacle information in front of the unmanned vehicle includes:

determining whether an obstacle exists in front of each unmanned vehicle in each driving direction within the range of the target intersection or not according to the state information of the unmanned vehicle in each driving direction within the range of the target intersection and the information of the obstacle in front of the unmanned vehicle;

if an obstacle exists in front of the unmanned vehicle, determining the driving direction of the unmanned vehicle with the obstacle in front as a traffic control direction, and determining a release direction from each driving direction according to the determined traffic control direction;

and if no obstacle exists in front of all the unmanned vehicles, determining the driving direction of the unmanned vehicle entering the target intersection as a release direction, and determining other driving directions conflicting with the release direction as a restriction direction.

For example, the method further comprises: when the vehicles in the passable driving direction marked by the virtual traffic light state pass through the target intersection, the state of the virtual traffic light is adjusted, so that the driving direction originally marked as the impassable state is marked as the passable state.

For example, the method further comprises:

detecting whether vehicles in all driving directions within the range of the target intersection pass through the target intersection;

and if the traffic lights pass through the target intersection, adjusting the state of the virtual traffic light so that the virtual traffic light indicates that all driving directions of the target intersection are passable states.

For example, the acquiring of the vehicle state information within the range of the target intersection includes:

acquiring vehicle position information and vehicle speed information reported by an unmanned vehicle, and acquiring the position information and the vehicle speed information of each vehicle in the range of the target intersection, which are monitored by a drive test sensing device;

according to vehicle position information and vehicle speed information reported by the unmanned vehicles and the position information and the vehicle speed information of each vehicle in the target intersection range monitored by the drive test sensing equipment, respectively determining the vehicle position information and the vehicle speed information of each unmanned vehicle in the target intersection range and the vehicle position information and the vehicle speed information of each unmanned vehicle in the target intersection range.

A vehicle travel control apparatus comprising:

the system comprises an information acquisition unit, a traffic information acquisition unit and a traffic information acquisition unit, wherein the information acquisition unit is used for acquiring vehicle state information within a target intersection range, the vehicle state information comprises manned vehicle state information and unmanned vehicle state information, and each of the manned vehicle state information and the unmanned vehicle state information respectively comprises vehicle position information and/or vehicle speed information;

the analysis processing unit is used for determining the virtual traffic light state corresponding to the target intersection at least according to the vehicle state information in the range of the target intersection; the virtual traffic light is used for marking the passable state of each driving direction of the target intersection;

and the control processing unit is used for controlling the unmanned vehicles which are in the range of the target intersection and drive into the range of the target intersection along each driving direction based on the state of the virtual traffic light.

According to the vehicle running control method, the virtual traffic light state corresponding to the target intersection can be determined according to the vehicle state information of the manned vehicle and the vehicle state information of the unmanned vehicle in the range of the target intersection, the virtual traffic light state is used for marking the passable state of each running direction of the target intersection, and the unmanned vehicle which runs into the range of the target intersection along each running direction in the range of the target intersection is controlled based on the virtual traffic light state. The driving control strategy for the unmanned vehicle fully considers the vehicle state information of each of the unmanned vehicles and the unmanned vehicles within the range of the target intersection, so that the control of the unmanned vehicle can meet the current road condition of the target intersection, the driving order and the driving safety of the unmanned vehicle are ensured, and the influence of the unmanned vehicle on the driving of the unmanned vehicle can be avoided.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic flow chart of a vehicle driving control method according to an embodiment of the present application;

FIG. 2 is a schematic flow chart diagram illustrating another method for controlling vehicle operation according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a vehicle travel control device according to an embodiment of the present application.

Detailed Description

The technical scheme of the embodiment of the application is suitable for the technical field of intelligent traffic control, and by the adoption of the technical scheme of the embodiment of the application, the unmanned vehicle can be controlled to run under the mixed flow scene of the unmanned vehicle and the unmanned vehicle, so that the safety of the unmanned vehicle is ensured, and the influence of the unmanned vehicle on the running of other vehicles is avoided.

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 a part of the embodiments of the present application, and not all of the 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.

An embodiment of the present application provides a vehicle driving control method, which is shown in fig. 1 and includes:

s101, obtaining vehicle state information in the range of the target intersection.

Specifically, the target intersection refers to an intersection where vehicles in all driving directions need to be controlled to ensure that vehicles in all driving directions smoothly pass through, and specifically may be an intersection on an open road or a road intersection in a closed environment.

In the above-mentioned target intersection, since there is no traffic light control, the vehicles in all directions travel according to the experience and consciousness of the driver. However, when the manned vehicle and the unmanned vehicle travel within the range of the target intersection at the same time, there may occur a problem that the unmanned vehicle is collided with by the manned vehicle or the travel of the manned vehicle is affected due to the lack of overall control of the traffic signal lights. Therefore, the embodiment of the application controls the unmanned vehicle to run within the range of the target intersection, so that the unmanned vehicle can run safely, and the influence on the form of the manned vehicle is avoided.

In order to determine a vehicle control strategy for a target intersection, the embodiment of the application firstly obtains vehicle state information within the range of the target intersection.

The target intersection range is a spatial range formed by a set distance from the center of the target intersection in each traveling direction of the target intersection. For example, assuming that the target intersection is an intersection, the target intersection range may be spatial regions within a range of 100 meters from the center of the intersection, respectively, along the four driving directions into the intersection.

In order to have enough time to control the vehicles within the range of the target intersection, the range of the target intersection can be a larger space range, such as a space area with a distance from the center of the target intersection greater than a certain set distance, for example, a space range with a distance from the center of the target intersection greater than 50 meters.

When the manned vehicle and the unmanned vehicle drive into the range of the target intersection, the embodiment of the application acquires the vehicle state information of the manned vehicle and the unmanned vehicle in the range of the target intersection, and the vehicle state information is used for determining the driving control strategy of the unmanned vehicle in the range of the target intersection.

Wherein each of the manned vehicle state information and the unmanned vehicle state information respectively comprises vehicle position information and/or vehicle speed information, namely the position of the vehicle in the range of the target intersection and the running speed in the range of the target intersection, and the running speed comprises running direction information.

As an exemplary implementation manner, the vehicle state information of the unmanned vehicle and the manned vehicle may be acquired by acquiring and uploading the vehicle state information to a server through a positioning device in the vehicle, where the positioning device may be a positioning module built in the vehicle, or a positioning function module on an intelligent terminal such as a mobile phone used by a driver; alternatively, the vehicle state information may be determined based on other sensing device scanning, such as intersection monitoring equipment or satellite monitoring equipment.

S102, determining the virtual traffic light state corresponding to the target intersection at least according to the vehicle state information in the range of the target intersection. The virtual traffic light is used for marking the passable state of each driving direction of the target intersection.

Specifically, the vehicle state information in the target intersection range includes the positions and the traveling speeds of the manned vehicle and the unmanned vehicle in the target intersection range. Based on the vehicle state information, the traveling direction and traveling speed of each of the manned vehicle and the unmanned vehicle at the next time can be predicted, and based on the information, a traveling control strategy for the vehicle within the target intersection range can be specified.

Since the driving of the manned vehicle is controlled by the driver, the manned vehicle cannot be easily controlled, the driver is familiar with the driving rules and has abundant driving experience, and the control of the vehicle is stable enough, the embodiment of the application mainly controls the driving of the unmanned vehicle, and at the moment, the driving control strategy of the unmanned vehicle in the range of the target intersection is determined according to the vehicle state information in the range of the target intersection. The driving control strategy aims to control the unmanned vehicle to safely pass through the intersection and not to interfere the normal driving of the manned vehicle.

For example, the above-mentioned driving control strategy for the unmanned vehicle may be formulated by referring to the intersection passing rule on the public road, such as "first arrival first", "turn and leave straight", "slow speed at the intersection", "priority passing of the unmanned vehicle", and the like.

The driving control strategy for the unmanned vehicles in the target intersection range includes, but is not limited to, control strategies for each unmanned vehicle in the target intersection range in one or more aspects of driving direction, driving speed, driving or not, and the like.

As an implementation manner, in the embodiments of the present application, a virtual traffic light is disposed at the target intersection, and the virtual traffic light is used to indicate the passable states of the respective driving directions at the target intersection, and the state transition may be the same as or similar to the state transition of a conventional physical traffic light, for example, a vehicle with a red light for indicating a certain driving direction may not pass, a vehicle with a green light for indicating a certain driving direction may pass, and the like.

It will be appreciated that the virtual traffic light is virtually present, and is only used for travel control of unmanned vehicles, but is not visible to manned vehicles. For example, the virtual traffic light may be in the form of an electric signal or a wireless communication signal with a variable state, and when the signal is transmitted to the unmanned vehicle, the purpose of communicating intersection passable state information to the unmanned vehicle can be achieved, such as indicating an intersection passable state with a valid signal, indicating an intersection impassable state with an invalid signal, and the like.

Then, based on the above-mentioned setting of the virtual traffic light, when determining the driving control strategy for the unmanned vehicle within the range of the target intersection according to the vehicle state information within the range of the target intersection, the virtual traffic light state corresponding to the target intersection can be determined according to the vehicle state information within the range of the target intersection. That is, according to the vehicle state information in the range of the target intersection, the virtual traffic light state of the target intersection is adjusted, so that the adjusted virtual traffic light state can indicate that the unmanned vehicles in the range of the target intersection smoothly and orderly pass through the target intersection.

S103, controlling the unmanned vehicles which are in the range of the target intersection and drive into the range of the target intersection along each driving direction based on the state of the virtual traffic light.

Specifically, according to the determined virtual traffic light state, the driving of each unmanned vehicle which enters the target intersection range along each driving direction in the intersection range is controlled respectively.

For example, according to the determined virtual traffic light state, the unmanned vehicles in the range of the target intersection, which enter the range of the target intersection along each driving direction, are controlled to stop driving, or to decelerate or accelerate to pass through the intersection, so that the unmanned vehicles can drive orderly, the safety of the unmanned vehicles is guaranteed, and the influence on the unmanned vehicles is avoided.

As can be seen from the above description, the vehicle driving control method provided in the embodiment of the present application can determine the virtual traffic light state of the corresponding target intersection based on the vehicle state information of the manned vehicle and the vehicle state information of the unmanned vehicle within the range of the target intersection, so as to mark the passable state of each driving direction of the target intersection, and further control the unmanned vehicle within the range of the target intersection, which enters the range of the target intersection along each driving direction, based on the virtual traffic light state. The driving control strategy for the unmanned vehicle fully considers the vehicle state information of each of the unmanned vehicles and the unmanned vehicles within the range of the target intersection, so that the control of the unmanned vehicle can meet the current road condition of the target intersection, the driving order and the driving safety of the unmanned vehicle are ensured, and the influence of the unmanned vehicle on the driving of the unmanned vehicle can be avoided.

For example, when acquiring vehicle state information within a range of a target intersection, the embodiment of the present application also acquires obstacle information located in front of an unmanned vehicle.

The obstacle located in front of the unmanned vehicle is an object that may obstruct the unmanned vehicle from traveling, and may be another vehicle or a pedestrian, and the like, located in front of the unmanned vehicle in the traveling direction of the unmanned vehicle and on the traveling locus of the unmanned vehicle.

In the embodiment of the present application, the obstacle information described above includes vehicle information.

For example, it may be determined whether there is an obstacle in front of each unmanned vehicle (for example, it may be determined whether there is an obstacle in the traveling route of each unmanned vehicle) by using the position and speed information uploaded by the unmanned vehicle and the intersection vehicle position and speed information uploaded by the drive test sensing device within the range of the target intersection, and when there is an obstacle in front of the unmanned vehicle, it may further determine obstacle information, where the obstacle information at least includes obstacle position information (for example, the position information may be position information of other vehicles, including position information of the unmanned vehicle and the unmanned vehicle), and may further include information of the speed, volume, and the like of the obstacle.

The obstacle information can be directly applied to determining a driving control strategy for the unmanned vehicle within the range of the target intersection. For example, when there is an obstacle in front of the unmanned vehicle in a certain traveling direction, the unmanned vehicle needs to be controlled to decelerate or detour to avoid the obstacle in front, or the unmanned vehicle may be controlled to stop passing if necessary to allow the vehicle in the other traveling direction that conflicts with the traveling direction to pass preferentially, so that the influence on the traveling of the vehicle in the other traveling direction due to the fact that the unmanned vehicle cannot normally pass under the influence of the obstacle can be avoided.

The virtual traffic light is arranged at the target intersection and used for marking the passable states of all driving directions of the target intersection, and the state conversion of the virtual traffic light can be the same as or similar to the state conversion of a conventional solid traffic light, for example, a vehicle with a certain driving direction marked by a red light can not pass through, a vehicle with a certain driving direction marked by a green light can pass through, and the like. In the present embodiment, the state of the virtual traffic light corresponds to a driving control strategy for the unmanned vehicle.

Then, based on the above-mentioned setting of the virtual traffic light, when the virtual traffic light state corresponding to the target intersection is determined according to the vehicle state information within the range of the target intersection, the virtual traffic light state corresponding to the target intersection may be determined according to the manned vehicle state information, the unmanned vehicle state information, and the obstacle information in front of the unmanned vehicle within the range of the target intersection.

For example, according to the state information of the manned vehicle, the unmanned vehicle and the obstacle information in front of the unmanned vehicle within the range of the target intersection, the traffic pressure of each driving direction of the target intersection can be analyzed and determined, according to the traffic pressure of each driving direction, the driving direction with higher traffic pressure can be set to be a passable state, and the driving direction with lower traffic pressure can be set to be a non-passable state, so that the traffic pressure of the intersection can be relieved. At this time, the virtual traffic light state of the target intersection can be determined according to the driving direction of the passable state and the driving direction of the impassable state determined by analysis. For example, assuming that the target intersection is an intersection crossing the east-west direction and the north-south direction, it is determined through analysis that the traffic pressure in the east-west direction is large, and the traffic pressure in the north-south direction is small, and at this time, the vehicle in the east-west direction should be released, and the vehicle in the north-south direction should be restricted, so that the state of the virtual traffic light can be set to indicate a state in which the vehicle in the east-west direction is passable and the vehicle in the north-south direction is impassable, so that the unmanned vehicles in the respective traveling directions travel in accordance with the state of the virtual traffic light.

Based on the virtual traffic light state of the target intersection, when controlling the unmanned vehicles within the range of the target intersection, the unmanned vehicles within the range of the target intersection are controlled specifically according to the virtual traffic light state.

Specifically, when the virtual traffic light state of the target intersection indicates that a certain driving direction can pass, a passing instruction is sent to the unmanned vehicle in the driving direction, so that the unmanned vehicle can move forward along the driving direction; correspondingly, when the virtual traffic light state of the target intersection indicates that a certain driving direction is not available, a parking instruction is sent to the unmanned vehicle in the driving direction, so that the unmanned vehicle stops passing.

For example, the above-mentioned determining the virtual traffic light state corresponding to the target intersection according to the manned vehicle state information, the unmanned vehicle state information, and the obstacle information in front of the unmanned vehicle within the range of the target intersection can be specifically realized by executing the following steps a1 to a 2:

and A1, determining a traffic control direction and a release direction according to the state information of the manned vehicle, the unmanned vehicle and the obstacle information in front of the unmanned vehicle in the range of the target intersection.

The traffic control method comprises the following steps of obtaining a traffic control command, and obtaining a traffic control command, wherein the traffic control command is a traffic control command.

Specifically, according to the state information of the manned vehicle, the unmanned vehicle and the obstacle information in front of the unmanned vehicle in the range of the target intersection, the information such as the traffic flow and the traffic flow speed in each driving direction of the target intersection can be analyzed and determined, and according to the information such as the traffic flow and the traffic flow speed in each driving direction of the target intersection, the release direction and the restricted driving direction can be analyzed and determined.

For example, in a normal situation, when the difference between the traffic flow speeds in the driving directions is not large, the vehicles in the driving directions with large traffic flow are allowed to pass preferentially, which is beneficial to relieving the traffic pressure in the driving directions; under the condition of balanced traffic flow, the vehicles in the driving direction with higher traffic flow speed can be controlled to pass preferentially, so that the influence of the vehicles in other directions caused by the passing of the vehicles with lower traffic flow speed is avoided.

In the intersection environment without traffic lights, the running of the manned vehicle is completely controlled by the driver, the running track, the running speed and the like of the unmanned vehicle have high diversity and unpredictability, and at the moment, in order to guarantee the safety of the unmanned vehicle, as a preferred implementation mode, the embodiment of the application sets the preferred passing authority for the manned vehicle, namely when the manned vehicle runs in conflict with the unmanned vehicle, the manned vehicle is controlled to go ahead, and the unmanned vehicle needs to give way.

Specifically, when determining the traffic restriction direction and the clearance direction according to the manned vehicle state information, the unmanned vehicle state information, and the obstacle information in front of the unmanned vehicle within the range of the target intersection, the following steps a11 to a13 may be performed:

and A11, determining whether the vehicles driven by the persons exist in each driving direction in the range of the target intersection according to the state information of the vehicles driven by the persons in the range of the target intersection.

Specifically, according to the acquired state information of the manned vehicle in the target intersection range, and specifically according to the position information of the manned vehicle in the target intersection range, whether the manned vehicle exists in each driving direction in the target intersection range can be respectively determined.

If there is a human-driven vehicle in at least one of the traveling directions, step a12 is executed to select at least one traveling direction as a release direction from among the traveling directions of the respective human-driven vehicles, and determine the other traveling direction that conflicts with the selected release direction as a restriction direction.

Specifically, since the manned vehicle has the highest traffic authority, when the manned vehicle exists in at least one driving direction within the range of the target intersection, at least one driving direction is selected from the driving directions of the individual manned vehicles as a release direction, and meanwhile, other driving directions which conflict with the determined release direction are determined as limited directions, so that the vehicles in the release direction can pass smoothly. For a traveling direction that does not conflict with the determined clear direction, the passable state may be set or the impassable state may be set as it is, while ensuring that the vehicle in the traveling direction does not affect the traveling of the vehicle in the direction.

When there are vehicles driven by persons in a plurality of driving directions within the range of the target intersection, one or more driving directions are selected as the releasing directions from the driving directions of the vehicles driven by persons, and it should be noted that there should be no conflict between the selected releasing directions.

In the specific selection, the traveling direction of the manned vehicle with a large number of manned vehicles may be selected as the release direction, or the traveling direction of the manned vehicle closest to the target intersection may be selected as the release direction.

It should be noted that, when there is a drived vehicle entering the intersection in a certain driving direction of the target intersection, the virtual traffic light controls the driving direction to be in a release state, i.e. controls the drived vehicle in the driving direction to normally drive, and correspondingly controls other driving directions (driving directions conflicting with the drived vehicle) to be in a restricted state, i.e. controls the drived vehicle in other driving directions to stop driving.

Therefore, the driving control of the unmanned vehicle by the virtual traffic light is matched with the driving state of the manned vehicle to a certain extent, so that the mixed flow driving efficiency of the manned vehicle and the unmanned vehicle is improved.

In contrast, if there is no manned vehicle in each direction of travel within the range of the target intersection, step a13 is performed to determine the direction of restriction and the direction of clearance based on the unmanned vehicle state information in each direction of travel within the range of the target intersection and the obstacle information in front of the unmanned vehicle.

At this time, it can be determined that the vehicles traveling in the respective traveling directions within the target intersection range are unmanned vehicles, and thus the traffic restriction direction and the release direction are determined based on the unmanned vehicle state information in the respective traveling directions within the target intersection range and the obstacle information in front of the unmanned vehicle.

For example, the restriction direction and the release direction may be determined according to the number of unmanned vehicles in each traveling direction within the range of the target intersection. For example, a travel direction in which the number of unmanned vehicles is large may be determined as the release direction, and a travel direction in which the number of unmanned vehicles is small may be determined as the limit direction. As an example, the embodiment of the present application implements determination of the restriction direction and the release direction according to the following steps a131 to a 133:

and A131, determining whether an obstacle exists in front of each unmanned vehicle in each driving direction in the range of the target intersection according to the state information of the unmanned vehicle in each driving direction in the range of the target intersection and the information of the obstacle in front of the unmanned vehicle.

Specifically, it is possible to determine whether an obstacle exists in front of each unmanned vehicle in each driving direction within the range of the target intersection or not, or whether an obstacle exists on a traveling route in a certain driving direction, respectively, by combining position information and speed information of the unmanned vehicle in each driving direction within the range of the target intersection and position information of an obstacle in front of the unmanned vehicle.

If there is an obstacle in front of the unmanned vehicle, step a132 is executed to determine the driving direction of the unmanned vehicle with the obstacle in front as a restricted driving direction, and determine a release direction from each driving direction according to the determined restricted driving direction.

Specifically, if there is an obstacle in front of the unmanned vehicle, it can be judged that the travel of the unmanned vehicle in the travel direction is decelerated or suspended by the influence of the obstacle, which has an influence on the travel of the unmanned vehicle in other travel directions that conflict with the travel direction.

Therefore, the driving direction of the unmanned vehicle with the obstacle in front is determined as the traffic control direction, that is, the unmanned vehicle with the obstacle in front is limited to drive, and then the release direction is determined from each driving direction according to the determined traffic control direction.

For example, if the target intersection is an intersection where the east-west direction and the south-north direction intersect, when an obstacle exists in front of an unmanned vehicle traveling in the east-west direction, the east-west direction is set as a restricted-passage and the vehicle can pass in the south-north direction, and therefore the south-north direction is set as a released direction, the vehicle traveling in the south-north direction can be guaranteed to preferentially pass, and the vehicle traveling in the east-west direction can wait for the obstacle to clear and then pass, so that the passing efficiency can be guaranteed.

In the above-mentioned determination of the release direction, it is necessary to determine the release direction from the respective driving directions within the range of the target intersection, in consideration of whether or not the determined release directions conflict with each other, that is, on the basis that no conflict occurs between the release directions.

And if no obstacle exists in front of all the unmanned vehicles, executing the step A133, determining the driving direction of the unmanned vehicle which enters the target intersection firstly as a release direction, and determining other driving directions which conflict with the release direction as limit directions.

Specifically, if no obstacle exists in front of the unmanned vehicle in each driving direction within the range of the target intersection, it is indicated that the unmanned vehicle in each driving direction can smoothly drive. In this case, according to the traffic rule of "first-come-first-come" in the embodiment of the present application, the travel direction of the unmanned vehicle that enters the target intersection range first is determined as the release direction, and the other travel direction that conflicts with the release direction is determined as the restriction direction.

The travel direction that does not conflict with the release direction may be set as the restricted travel direction or the release direction in accordance with the number of the unmanned vehicles.

And A2, determining the virtual traffic light state corresponding to the target intersection according to the traffic control direction and the release direction.

Specifically, according to the above processing, after the traffic control direction and the release direction of the target intersection are determined, the virtual traffic light state of the corresponding target intersection can be determined according to each driving direction of the target intersection. For example, the virtual traffic light corresponding to the restricted direction is set to indicate a state of no passage, and the virtual traffic light corresponding to the released direction is set to indicate a state of passage permission.

Then, the travel of each unmanned vehicle within the range of the target intersection is controlled, for example, the unmanned vehicle in the traffic restricted direction is controlled to stop traveling, and the unmanned vehicle in the traffic released direction is controlled to keep traveling normally, according to the state of the virtual traffic light corresponding to the target intersection.

Or controlling each unmanned vehicle within the range of the target intersection, and automatically passing according to the virtual traffic light corresponding to the target intersection.

As an alternative embodiment, the virtual traffic light limits the driving of the unmanned vehicle by issuing a speed limit signal to the unmanned vehicle, through which the unmanned vehicle is safely and smoothly stopped on the driving lane.

As a preferred implementation, referring to fig. 2, after controlling the unmanned vehicles within the range of the target intersection according to the virtual traffic light state, the embodiment of the present application further continues to track the vehicles within the range of the target intersection, and simultaneously performs step S204 to detect whether all the vehicles in the passable driving direction indicated by the virtual traffic light state pass through the target intersection.

When all the vehicles in the passable driving direction marked by the virtual traffic light state pass through the target intersection, step S205 is executed to adjust the state of the virtual traffic light so that the driving direction originally marked as the impassable state is marked as the passable state, and at the same time, the driving direction originally marked as the passable state is marked as the impassable state.

Specifically, the embodiment of the application continuously tracks each vehicle within the range of the target intersection, and when both the manned vehicle and the unmanned vehicle marked by the virtual traffic light in the passable direction at the current moment pass through the target intersection, the state of the virtual traffic light is switched, the travel direction originally marked as the impassable state is marked as the passable state, and the travel direction originally marked as the passable state is marked as the impassable state, so that the unmanned vehicle in the impassable travel direction is controlled to pass through the intersection.

For example, assuming that the virtual traffic light indicates that the east-west direction is an impassable state and the north-south direction is an impassable state, when it is determined that both the driveable vehicle and the driveable vehicle in the north-south direction pass through the target intersection, the state of the virtual traffic light is switched, the east-west direction is indicated as an impassable state, the north-south direction is indicated as an impassable state, and the driveable vehicle in the east-west direction can be controlled to pass through the target intersection.

In addition, when the state of the virtual traffic light is adjusted and the driving direction originally marked as the impassable state is marked as the passable state, the driving direction may be marked sequentially with reference to a set passage order, for example, the states of the main road and the secondary road may be marked as the passable state sequentially according to the order of the first main road and the second main road. When there are multiple roads in the same level, the states of the roads can be sequentially marked as passable states according to the sequence that the priority of the right side road is higher than that of the left side road.

It is understood that the above adjustment of the state of the virtual traffic light may be performed multiple times, that is, each time the tracking determines that the vehicles in the current passable direction all pass through the target intersection, the state of the virtual traffic light is adjusted once, and the vehicles in the impassable direction are released.

Since the state adjustment of the virtual traffic light is adjusted when no vehicle is in the central area of the target intersection, the situation that the unmanned vehicle runs in a disordered way due to the sudden adjustment of the state of the virtual traffic light can be avoided.

In addition, in the virtual traffic light state adjustment process, if there is a case where the manned vehicle suddenly enters the target intersection, the virtual traffic light state is adjusted in real time according to the traveling direction, traveling speed, and the like of the manned vehicle suddenly entering, so that the unmanned vehicle passing through the target intersection (in the target intersection center area) continues to keep traveling normally, and the remaining unmanned vehicles are controlled by the virtual traffic light, specifically, the virtual traffic light state is adjusted by controlling the virtual traffic light to stop, so that the manned vehicle entering the target intersection passes through in advance, and after the manned vehicle leaves the intersection, the virtual traffic light state is adjusted according to the processing of the above steps S204 and S205.

It can be understood that the state adjustment of the virtual traffic lights can adapt to the real-time dynamic change of road conditions at the intersection, so that the unmanned vehicles can be controlled in time, and the running safety of the unmanned vehicles can be fully ensured.

Further, after the virtual traffic light state is adjusted, the vehicle driving control method according to the embodiment of the present application further includes the following step S206:

s206, detecting whether the vehicles in all the driving directions in the range of the target intersection pass through the target intersection.

If the traffic lights pass through the target intersection, step S207 is executed to adjust the state of the virtual traffic light, so that the virtual traffic light indicates that all driving directions of the target intersection are passable states.

Specifically, when the vehicles in each driving direction within the range of the target intersection have passed through the target intersection, it may be determined that there is no vehicle that needs to pass through the target intersection within the range of the target intersection, and at this time, the state of the virtual traffic light is set to a default state, that is, it is indicated that each driving direction of the target intersection is a passable state.

When the vehicle enters the range of the target intersection again and intends to pass through the target intersection, the step S201 is returned to, and the technical scheme of the embodiment of the application is executed to realize the running control of the unmanned vehicle.

And if the vehicles in all the driving directions within the range of the target intersection do not pass through the target intersection completely, returning to execute the step S204, and controlling the vehicles in all the driving directions to pass through by switching the states of the virtual traffic lights until the vehicles in all the driving directions pass through the target intersection, and setting the states of the virtual traffic lights as default states.

The specific processing contents of steps S201 to S203 in the method embodiment shown in fig. 2 may refer to steps S101 to S103 in the method embodiment shown in fig. 1, which are not described herein again.

For example, the embodiment of the present application also provides a specific implementation manner for obtaining the vehicle state information within the range of the target intersection.

Firstly, vehicle position information and vehicle speed information reported by an unmanned vehicle are obtained, and the position information and the vehicle speed information of each vehicle in all target intersection ranges monitored by a drive test sensing device are obtained.

Specifically, the positioning module in the unmanned vehicle can report information such as vehicle position information and driving speed to the server.

The drive test sensing equipment is arranged on the roadside and can be used for positioning vehicles on the road and calculating the speed of the vehicles.

And then respectively determining the vehicle position information and the vehicle speed information of each manned vehicle in the target intersection range and the vehicle position information and the vehicle speed information of each unmanned vehicle in the target intersection range according to the vehicle position information and the vehicle speed information reported by the unmanned vehicle and the position information and the vehicle speed information of each vehicle in the target intersection range, which are monitored by the drive test sensing equipment.

Specifically, the vehicle position and vehicle speed information in the intersection range detected by the drive test sensing device is the position information and vehicle speed information of all vehicles in the intersection range, and comprises unmanned vehicles and manned vehicles. In order to distinguish the manned vehicle from the unmanned vehicle, the vehicle state information of the unmanned vehicle is screened out from the vehicle state information monitored by the drive test sensing equipment based on the vehicle position and the vehicle speed information reported by the unmanned vehicle, and the rest is the vehicle state information of the manned vehicle, so that the vehicle state information of the manned vehicle and the vehicle state information of the unmanned vehicle in the range of the target intersection are respectively obtained.

Further, the information of the obstacle in front of the unmanned vehicle in the above embodiments of the present application may also be obtained by the detection function of the unmanned vehicle and the monitoring function of the drive test sensing device.

Another embodiment of the present application also provides a vehicle travel control apparatus, as shown in fig. 3, including:

the information acquisition unit 100 is configured to acquire vehicle state information within a range of a target intersection, where the vehicle state information includes manned vehicle state information and unmanned vehicle state information, and each of the manned vehicle state information and the unmanned vehicle state information includes vehicle position information and/or vehicle speed information, respectively;

the analysis processing unit 110 is configured to determine a virtual traffic light state corresponding to the target intersection at least according to the vehicle state information within the range of the target intersection; the virtual traffic light is used for marking the passable state of each driving direction of the target intersection;

and the control processing unit 120 is used for controlling the unmanned vehicles which are within the range of the target intersection and drive into the range of the target intersection along each driving direction based on the state of the virtual traffic light.

The vehicle driving control device provided by the embodiment of the application can determine the virtual traffic light state corresponding to the target intersection according to the vehicle state information of the manned vehicle and the vehicle state information of the unmanned vehicle in the range of the target intersection, and is used for marking the passable state of each driving direction of the target intersection, and then controlling the unmanned vehicle which enters the range of the target intersection along each driving direction in the range of the target intersection based on the virtual traffic light state. The driving control strategy for the unmanned vehicle fully considers the vehicle state information of each of the unmanned vehicles and the unmanned vehicles within the range of the target intersection, so that the control of the unmanned vehicle can meet the current road condition of the target intersection, the driving order and the driving safety of the unmanned vehicle are ensured, and the influence of the unmanned vehicle on the driving of the unmanned vehicle can be avoided.

and if no obstacle exists in front of all the unmanned vehicles, determining the driving direction of the unmanned vehicle which preferentially enters the target intersection as a release direction, and determining other driving directions which conflict with the release direction as a restricted direction.

For example, the apparatus further comprises:

and the signal adjusting unit is used for adjusting the states of the virtual traffic lights when the vehicles in the passable driving direction marked by the states of the virtual traffic lights all pass through the target intersection, so that the driving direction originally marked as the impassable state is marked as the passable state.

For example, the signal conditioning unit is further configured to:

Specifically, please refer to the contents of the embodiment of the vehicle driving control method for the specific working contents of each unit of the vehicle driving control device, which are not described herein again.

While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present application is not limited by the order of acts or acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The steps in the method of each embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and technical features described in each embodiment may be replaced or combined.

The modules and sub-modules in the device and the terminal in the embodiments of the application can be combined, divided and deleted according to actual needs.

In the several embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the above-described terminal embodiments are merely illustrative, and for example, the division of a module or a sub-module is only one logical division, and there may be other divisions when the terminal is actually implemented, for example, a plurality of sub-modules or modules may be combined or integrated into another module, 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, devices or modules, and may be in an electrical, mechanical or other form.

The modules or sub-modules described as separate parts may or may not be physically separate, and parts that are modules or sub-modules may or may not be physical modules or sub-modules, may be located in one place, or may be distributed over a plurality of network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, each functional module or sub-module in the embodiments of the present application may be integrated into one processing module, or each module or sub-module may exist alone physically, or two or more modules or sub-modules may be integrated into one module. The integrated modules or sub-modules may be implemented in the form of hardware, or may be implemented in the form of software functional modules or sub-modules.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software unit executed by a processor, or in a combination of the two. The software cells may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle travel control method characterized by comprising:

acquiring vehicle state information within a target intersection range, wherein the vehicle state information comprises manned vehicle state information and unmanned vehicle state information, and each of the manned vehicle state information and the unmanned vehicle state information respectively comprises vehicle position information and/or vehicle speed information;

determining a virtual traffic light state corresponding to the target intersection at least according to the vehicle state information in the range of the target intersection; the virtual traffic light is used for marking the passable state of each driving direction of the target intersection;

and controlling the unmanned vehicles which are in the range of the target intersection and drive into the range of the target intersection along each driving direction based on the states of the virtual traffic lights.

2. The method of claim 1, wherein the vehicle state information further comprises obstacle information located in front of the unmanned vehicle, wherein the obstacle information comprises at least obstacle position information.

3. The method of claim 2, wherein determining the virtual traffic light status corresponding to the target intersection based at least on the vehicle status information within range of the target intersection comprises:

4. The method of claim 3, wherein determining a virtual traffic light status corresponding to the target intersection based on the manned vehicle status information, the unmanned vehicle status information, and the obstacle information in front of the unmanned vehicle within range of the target intersection comprises:

5. The method of claim 4, wherein determining a direction of restriction and a direction of clearance based on the manned vehicle state information, the unmanned vehicle state information, and the obstacle information in front of the unmanned vehicle within the range of the target intersection comprises:

6. The method of claim 5, wherein determining a restriction direction and a clearance direction from the unmanned vehicle state information in each travel direction within the range of the target intersection and the obstacle information in front of the unmanned vehicle comprises:

7. The method of claim 1, further comprising:

when the vehicles in the passable driving direction marked by the virtual traffic light state pass through the target intersection, the state of the virtual traffic light is adjusted, so that the driving direction originally marked as the impassable state is marked as the passable state.

8. The method of claim 1, further comprising:

9. The method of claim 1, wherein the obtaining vehicle state information within a range of a target intersection comprises:

10. A vehicle travel control device characterized by comprising: