CN114572208A

CN114572208A - Control method and device for safe parking of emergency lane of automatic driving vehicle and vehicle

Info

Publication number: CN114572208A
Application number: CN202210171724.7A
Authority: CN
Inventors: 戚胜涛; 贺锦鹏
Original assignee: Zhiji Automobile Technology Co Ltd
Current assignee: Zhiji Automobile Technology Co Ltd
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2022-06-03

Abstract

The invention discloses a control method, a control device and a vehicle for safe parking of an emergency lane of an automatic driving vehicle, wherein the method comprises the steps of acquiring the lane position, the vehicle running speed and lane changing environment information of the vehicle in an automatic driving map in a driving system; if the current lane position is a non-emergency lane, controlling the vehicle to change the lane to the emergency lane according to the driving speed of the vehicle and the lane change environment information; and when the lane position of the vehicle is an emergency lane, the emergency lane brake is executed after the vehicle running speed is reduced to a preset speed interval, and the automatic driving mode is released.

Description

Control method and device for safe parking of automatic-driving vehicle in emergency lane and vehicle

Technical Field

The invention relates to the technical field of intelligent driving, in particular to a control method and device for safe parking of an emergency lane of an automatic driving vehicle and the vehicle.

Background

There are two main strategies for autonomous vehicles on the market today when the system is abnormally exited and the driver takes over. The first is direct exit, which applies primarily to the autopilot function below L2. The second is that the lane stops, and both of these two modes have obvious safety defect, and direct withdrawal can lead to the vehicle out of control, and the risk of rear-end collision of vehicle behind can appear in this lane stops.

The prior art therefore remains to be developed further.

Disclosure of Invention

In view of the above technical problems, the present invention provides a method and an apparatus for controlling an emergency lane safe parking of an autonomous vehicle, and a vehicle, so as to provide a better autonomous driving environment and more effectively perform a switch to a manual driving mode.

In a first aspect of the embodiments of the present invention, a control method for safely stopping an emergency lane of an autonomous vehicle is provided, including:

acquiring the lane position, the vehicle running speed and lane change environment information of a vehicle in an automatic driving map in a driving system;

if the current lane position is a non-emergency lane, controlling the vehicle to change the lane to the emergency lane according to the driving speed of the vehicle and the lane change environment information;

and when the lane position of the vehicle is an emergency lane, the emergency lane brake is executed after the vehicle running speed is reduced to a preset speed interval, and the automatic driving mode is released.

Optionally, the acquiring the lane position of the vehicle in the automatic driving map in the driving system includes:

acquiring the number of lanes at the current position according to the automatic driving map, and acquiring the number of lane lines on two sides of a current driving lane line or relative positions of other vehicles according to a sensing module in a driving system;

and judging the position of the lane where the current vehicle is located.

Optionally, the determining the lane position of the current vehicle includes:

if the left side and the right side of the current driving lane line are both provided with the lane line or other vehicles, taking a second lane on the right side of the current lane line as a target lane;

judging whether the lane position of the current vehicle is a target lane or not according to the number of lanes at the current position and the historical lane changing times; and the target lane is not matched with the emergency lane on the automatic driving map, and the current driving lane is updated to be the driving lane after the vehicle drives to the target lane.

Optionally, the obtaining of the lane position of the vehicle in the automatic driving map in the driving system further includes:

and controlling the vehicle to run in the lane change mode and judging whether the current lane is an emergency lane, if not, continuing to control the vehicle to run in the lane change mode to the right side until the current lane is judged to be the emergency lane.

Optionally, the controlling the vehicle to make lane change driving and then determining whether the current lane is an emergency lane includes:

whether the right side is a continuous obstacle is analyzed through a right side image acquired by a camera, or whether the right side is a continuous obstacle is analyzed through point cloud data acquired by a radar;

if the right side is the continuous barrier, the current lane is the emergency lane.

Optionally, the controlling the vehicle to make lane change driving according to the driving speed of the vehicle and the lane change environment information includes:

acquiring a speed-limiting interval of the current position according to an automatic driving map, and controlling the running speed of a vehicle in the speed-limiting interval; judging whether a lane change condition is met or not by utilizing the type of a right lane line acquired from a driving system, whether a short-distance obstacle exists in a lane to be changed or not and the effective length of the lane to be changed;

and if the lane change condition is met, controlling the vehicle to drive at the current driving speed or the driving speed after the speed change adjustment for lane change.

Optionally, the executing emergency lane parking comprises:

and after the vehicle is static, starting the EPB, and after the EPB is switched to the P gear, exiting the automatic driving mode function.

Optionally, the method further comprises:

and if the driver state is detected to meet the manual driving mode, displaying the recommended lane changing strategy and the position for executing the lane changing strategy.

Optionally, the method further comprises:

if the current lane position is a non-emergency lane, the lane change environmental information does not meet the lane change condition, and the lane change cannot be completed within the preset time, the running speed of the vehicle is reduced to the preset speed.

In a second aspect of the embodiments of the present invention, there is provided a control apparatus for safely stopping an emergency lane of an autonomous vehicle, including:

the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring the lane position of a vehicle in an automatic driving map, the vehicle driving speed and lane change environment information in a driving system;

the lane changing module is used for controlling the vehicle to change the lane to an emergency lane according to the running speed of the vehicle and the lane changing environment information if the current lane position is a non-emergency lane;

and the control module is used for executing emergency lane braking after the driving speed of the vehicle is reduced to a preset speed interval when the lane position where the vehicle is located is an emergency lane, and releasing the automatic driving mode.

In a third aspect of the embodiments of the present invention, a vehicle is provided, which includes a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the control method for emergency lane safe parking of an autonomous vehicle as described above.

In a fourth aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the control method for emergency lane safe parking of an autonomous vehicle as described above.

According to the technical scheme provided by the invention, the lane position, the vehicle running speed and the lane changing environment information of the vehicle in the driving system in the automatic driving map are obtained; if the current lane position is a non-emergency lane, controlling the vehicle to change the lane to the emergency lane according to the driving speed of the vehicle and the lane change environment information; and when the lane position of the vehicle is an emergency lane, the emergency lane brake is executed after the vehicle running speed is reduced to a preset speed interval, and the automatic driving mode is released. The invention adopts the safety strategy of emergency lane parking, and when a driver needs to take over, the operations of speed adjustment, lane change and the like are preferentially adopted according to the road environment, so that the vehicle can enter the emergency lane and park, and the safety is improved.

Drawings

FIG. 1 is a schematic flow chart illustrating a method for controlling an autonomous vehicle to safely stop in an emergency lane according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a control device for safely stopping an emergency lane of an autonomous vehicle according to an embodiment of the present invention.

Detailed Description

With the development of intelligent driving technology, higher-order automatic driving function mass production, the problem of automatic driving safety becomes more and more important. Aiming at the high-level automatic driving function, a minimum risk mechanism is considered, namely when a driver does not operate for a long time or the automatic driving system needs to quit due to system faults, the automatic driving system enters the minimum risk mechanism at the moment, and the system adopts an active strategy to ensure that the automatic driving system quits safely and reasonably as far as possible.

The risk minimizing mechanism is divided into two types of HMI alarm reminding and HMI alarm + system control parking according to whether control is adopted, the first type is mainly applied to a lower-order automatic driving function or a state that a vehicle cannot be controlled due to system faults, the expression form at the moment is that the HMI continuously reminds that the vehicle is required to be taken over immediately, the function quits immediately, and the vehicle is expressed in a non-control sliding state. And when the second type is applied to a higher-order automatic driving function and enters a risk minimizing mechanism, the vehicle still has basic longitudinal and transverse control, and in the expression form, the HMI continuously reminds that a user immediately takes over the control, meanwhile, the vehicle keeps transverse and longitudinal control, takes a lane line as a boundary, brakes the vehicle on the lane, and has a function after complete braking.

However, the automatic driving system is generally started on a high-speed overhead, and because the vehicle speed is high, if the vehicle is dense or the distance between the vehicle and the automatic driving system is short, the conventional auxiliary parking method for immediately controlling the vehicle to decelerate to park cannot realize safe parking, and rear-end accidents are easily caused. The present invention provides a problem solution for solving the related technical problems.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

Fig. 1 is a flowchart illustrating a control method for safely stopping an emergency lane of an autonomous vehicle according to an embodiment of the present invention. As shown in fig. 1, the control method for safely stopping an emergency lane of an autonomous vehicle provided by the invention comprises the following steps:

step S100: the method comprises the steps of obtaining the position of a lane where a vehicle in a driving system is located in an automatic driving map, the driving speed of the vehicle and lane changing environment information.

The driving system comprises a sensing system, namely information in the surrounding environment can be acquired through hardware equipment such as a sensing sensor, the surrounding environment is analyzed in a software computing mode, useful data are extracted, and the common hardware equipment comprises a camera and a radar. For example: front angle Radar (FSR), Rear angle Radar (RSR), Front Long range Radar (FLR), Front Long range Camera (FLC1, Front Long Camera), Wheel Speed Sensor (WSS1, Wheel Speed Sensor), Inertial Measurement Unit (IMU1, Inertial Measurement Unit), and Driver Monitoring System (DMS); there are also a forward Long range Camera (FLC2, Front Long Camera), a Front Camera (FSC, Front Side Camera), a Front horn Camera (RSC, real Side Camera), a Wheel Speed Sensor (WSS2, Wheel Speed Sensor), an Inertial Measurement Unit (IMU2, Inertial Measurement Unit), an Electric Power Steering System (EPS1, Electric Power Steering System), an Electric Power Steering System (EPS2, Electric Power Steering System), an Engine Control System (ECM, Engine Control module), an Electronic Stability Control System (ESC1, Electronic Stability Control System), an Electronic Stability Control System (ESC2, Electronic Stability Control System).

The running speed of the vehicle can be obtained by a wheel speed sensor, and can also be obtained by a GPS (global positioning system); and the lane change environment information is calculated by combining the information obtained by the sensors with computer software. If a high-precision map is adopted, the specific position coordinates of the vehicle can be directly obtained so as to determine the specific lane of the vehicle. For example, from the left side to the right side of the lane, there are a first lane and a second lane.

However, many vehicles are not provided with high-precision maps, and only the positions of the vehicles on the automatic driving maps can be determined, and the determination of the lanes of the vehicles on the lanes needs further judgment; it can be determined that the lane where the current position is located has a plurality of lanes, such as four lanes, including the emergency lane, based on the automatic driving map.

If the lane position of the vehicle needs to be determined, the driving system needs to be used for sensing and judging so as to determine the specific lane of the vehicle in the four lanes, and the lane position of the vehicle can be determined so as to accurately control the vehicle to stop or decelerate on the target lane. In the embodiment of the invention, the vehicle accident can be greatly reduced when the vehicle stops on the emergency lane, and the times of controlling the vehicle to change lanes can be determined by determining the lane where the vehicle is located and the number of lanes at the current position.

Step S200: and if the current lane position is a non-emergency lane, controlling the vehicle to change the lane to the emergency lane according to the running speed of the vehicle and the lane change environment information.

If the vehicle runs on the lane at the current lane position, the vehicle is controlled to stop or leave the vehicle to run freely, so that the vehicle is out of control or a rear-end collision and other traffic accidents are caused. In order to reduce the driving risk, the driver is reminded to take over the driving and simultaneously judge whether the lane changing environment in the driving process of the vehicle meets the lane changing condition, if so, lane changing driving is carried out, and if not, waiting is carried out.

The lane change of the vehicle has certain requirements, for example, if the vehicle is driven at high speed and the lane change is sudden, unnecessary driving risks are caused, if the vehicle is slowly changed, a steering lamp needs to be controlled to prompt lane change operation, and whether obstacles (namely other vehicles) exist in front of and behind the vehicle or not is monitored to influence the lane change of the vehicle. If there is another vehicle at the rear right and the distance is detected to be short by the radar, it is inconvenient to perform lane change. If other vehicles exist behind the left side, no influence is caused because the vehicles need to drive to the right side to change lanes to emergency lanes. Of course, if the vehicle is decelerated in the front or the right front or the camera shoots that the brake lamp of the vehicle is on, other vehicles have the deceleration driving behavior, the lane changing driving is not the optimal driving control, and the control of the self vehicle to correspondingly decelerate is the optimal driving control until the driving states of other vehicles meet the lane changing condition of the self vehicle. The control of lane change driving may be performed if there is no vehicle at the front and rear of the lane change trajectory of the vehicle and the type of lane line driven is a dotted line.

Therefore, it is necessary to consider the current running state of the own vehicle and whether the running environment satisfies the lane change condition in performing the lane change. Usually, when the vehicle runs at a high speed, the right steering lamp is controlled to be turned on before lane changing, so that the lane changing success rate can be increased, and other vehicles can give appropriate lane changing space after receiving the warning steering lamp. The lane change control of the vehicle belongs to the conventional control process of automatic driving, and is not described in detail herein.

Step S300: and when the lane position of the vehicle is an emergency lane, the emergency lane brake is executed after the vehicle running speed is reduced to a preset speed interval, and the automatic driving mode is released.

When the vehicle is in the emergency lane, the parking of the vehicle cannot influence other vehicles, and the safety is relatively high. The speed reduction treatment is obviously safer when the vehicle is positioned on an emergency lane than the speed reduction treatment on a driving lane, and the driving speed of the vehicle is braked and stopped after the speed reduction is carried out to the interval of 20km/h to 30km/h, for example, a brake system is controlled to start braking. The speed interval is set to be convenient for executing the brake-off effect, if the vehicle is decelerated to a certain vehicle speed, such as 30km/h, the brake-off is obviously not friendly enough to the driving feeling of a user, the automatic driving mode can be exited after the brake-off, and the parking-on-site parking or the manual driving mode is selected to be switched.

In one embodiment, the braking system can be controlled to be started, the electronic parking braking system EPB is started after the vehicle is controlled to be stationary, the automatic driving mode function is exited after the P gear is switched, or the vehicle is manually taken over to enter a manual driving mode.

In view of the above, the method provided by the present invention obtains the lane position, the vehicle running speed and the lane change environment information of the vehicle in the driving system in the automatic driving map; if the current lane position is judged to be a non-emergency lane, controlling the vehicle to change the lane to the emergency lane according to the running speed of the vehicle and the lane change environment information; and when the lane position of the vehicle is an emergency lane, the emergency lane brake is executed after the vehicle running speed is reduced to a preset speed interval, and the automatic driving mode is released. The invention adopts the safety strategy of emergency lane parking, and preferentially adopts speed adjustment, lane change and other operations according to the road environment when a driver needs to take over, so that the vehicle can enter the emergency lane and park, and the safety is improved.

In the above step S100, the position of the lane in the automatic driving map of the vehicle in the driving system is obtained, that is, the lane in the multiple lanes of the vehicle is determined by obtaining some data in the automatic driving system and analyzing the data in combination with the known lane information, position information, etc. in the automatic driving map. The specific implementation process comprises the following steps:

acquiring the number of lanes at the current position according to the automatic driving map, and acquiring the number of lane lines on two sides of a current driving lane line or relative positions of other vehicles according to a sensing module in a driving system; and judging the position of the current vehicle lane.

Based on the automatic driving map, the number of lanes on a certain road section or a certain position can be obtained, particularly on a highway, the number of lanes has a certain rule, and emergency lanes are inevitably existed. The driving system may generally obtain driving data of the vehicle, which specifically includes surrounding images collected during driving of the vehicle, positions of other vehicles sensed by the radar, positions of other obstacles, and the like. In some embodiments, the perception module is comprised of an onboard camera and an onboard radar.

Based on the camera perception module, when the number of lanes of the current driving road section is known, which lane belongs to the plurality of lanes can be confirmed through information collected when the current lane is driven. For example, the vehicle is in the leftmost lane, there is no lane line on the left side of the current lane, there are multiple lane lines on the right side, and the left side is usually an obstacle (isolation area). If the vehicle runs on the second lane on the left side, the lane line of another lane should exist on the left side, the lane line may exist on the right side, no lane line may exist, when no lane line exists, the right side is necessarily an emergency lane, and an isolation area such as an isolation wall should exist on the right side of the emergency lane. Based on which the lane position where the vehicle is located can be determined.

It should be understood that it is also possible to determine whether there are other driving lanes on the left and right sides of the host vehicle by determining the position of the surrounding vehicle. Based on the radar sensing module, when the number of lanes of the current driving road section is known, the relative position of the moving vehicle can be judged through the relative position obtained when the lane is driven; certainly, in some scenes, a plurality of driving lanes exist, but no other vehicles drive, so that the judgment is not easy, and the judgment can be carried out by combining the camera sensing module. In some embodiments, the distance between the two partition walls on the two sides of the vehicle can be detected by the radar sensing module to judge the position of the vehicle. Because the number of the lanes is fixed, the width of the driving lane is the national standard distance, and the lane position can be judged by calculating the distance of the vehicle relative to the partition walls on the two sides.

Further, when the lane position of the current vehicle is judged, the following method can be used for realizing the following steps:

and if the left side and the right side of the current driving lane line are provided with the lane line or other vehicles, taking the second lane on the right side of the current lane line as a target lane. When the vehicle is driven in the lane change, the lane change control is executed by taking the driving speed of the vehicle and the lane change environment information as judgment basis. When the vehicle is located in the middle lane, for example, the left second lane, the left third lane is the target lane, if the left third lane is the emergency lane according to the judgment result, the parking control can be executed, if the left third lane is the driving lane, the left fourth lane is taken as the target lane when the lane is changed to the third lane until the target lane is the emergency lane.

When judging whether the lane of lane change is an emergency lane, judging whether the current lane position of the vehicle is a target lane according to the number of lanes at the current position and the historical lane change times. For example, the current road section has 3 lanes, and when the vehicle is on the second lane on the left side, the lane is changed to the right side once, and then the current lane is the emergency lane. In addition, during the driving of the vehicle, there may be some cases of wrong determination, for example, the vehicle signal is not good, an obstacle (temporary isolation zone) on the lane influences the distance determination, and the like, and it is determined that the target lane does not match the emergency lane on the automatic driving map, and after the vehicle is driven to the target lane, the current driving lane is updated to be the driving lane. In order to drive safely, the vehicle should be stopped carefully to eliminate the influence of abnormal factors, so as to prevent accidents caused by the vehicle stopping during the driving process, and the vehicle can continue to drive or slow down based on the current driving lane.

In another embodiment, in step S100, the position of the lane of the vehicle in the automatic driving map in the driving system is obtained, and the position of the lane may be determined by determining the road characteristics through a camera and a radar. In this embodiment, the specific position of the lane does not need to be accurately determined, and only whether the current lane is an emergency lane or not needs to be determined. The method is realized by the following steps:

and controlling the vehicle to run in the lane change mode and judging whether the current lane is an emergency lane, if not, continuing to control the vehicle to run in the lane change mode to the right side until the current lane is judged to be the emergency lane. For example, the vehicle is located in the left second lane after the vehicle is located in the left first lane for lane change. And the driving system judges whether the second lane is an emergency lane or not, if so, the step S300 is executed, and if not, lane change driving is continued. The process of judging whether the current lane is an emergency lane after the vehicle is controlled to drive in a lane change mode can be judged through data collected by the camera sensing module and the radar sensing module, and the process specifically comprises the following steps:

whether the right side is a continuous obstacle is analyzed through a right side image acquired by a camera, or whether the right side is a continuous obstacle is analyzed through point cloud data acquired by a radar; if the right side is the continuous barrier, the current lane is the emergency lane.

The automatic driving can be realized at different levels based on artificial intelligence, and the driving system can identify entities in the images through the influence acquired by the camera, so that the driving judgment is realized. In the image recognition technology, the fact that an entity in an image is a vehicle, which vehicle, an isolation zone, a maintenance isolation and other scenes can be judged through the acquired image information, so that the boundary of an emergency lane, namely an isolation zone area, can be recognized based on model training, and whether the current lane is the emergency lane or not is judged; the separator zone may be identified as a continuous obstacle in the actual identification process.

Similarly, the obstacle in the fixed distance range on the right side of the lane can be identified based on the point cloud data acquired by the radar, and then the current lane can be judged to be an emergency lane. Of course, if there are many vehicles around the current driving lane, it may be further determined whether the current driving lane is an emergency lane by combining with the camera, or whether the point cloud data collected by the radar is other vehicles in the adjacent lane, if there is no vehicle in the right position, the current driving lane is an emergency lane.

Furthermore, in step S200, the controlling the vehicle to perform lane change driving according to the driving speed of the vehicle and the lane change environment information includes:

acquiring a speed-limiting interval of the current position according to an automatic driving map, and controlling the running speed of a vehicle in the speed-limiting interval; judging whether a lane change condition is met or not by utilizing the type of a right lane line acquired from a driving system, whether a short-distance obstacle exists in a lane to be changed or not and the effective length of the lane to be changed; and if the lane change condition is met, controlling the vehicle to perform lane change driving at the current driving speed or the driving speed after speed change adjustment.

Specifically, the lane change environment information may include a minimum vehicle speed limit of the lane to be changed, a type of the lane on the right side of the current lane is a solid line or a dotted line, a length of the lane line as the dotted line, whether there is another short-distance vehicle in the lane to be changed, a lane change time, and the like. The lane changing time refers to time required for comprehensively considering whether the lane changing environment information meets preset lane changing conditions when the vehicle changes lanes. The lane-changing environment may be obtained by a plurality of sensing modules in an operating state, or may be partially obtained by the sensing modules in the operating state, for example, the sensing module on the right side of the vehicle.

After the step S300, the method further includes the steps of:

Specifically, if it is detected that the driver takes over the vehicle, for example, it is detected that the driver controls the steering wheel with both hands, or it is detected that the driver steps on the brake pedal, or it is detected that the driver cancels the operation of the automatic driving mode, or it is detected that the driver rotates the steering wheel, or it is detected that the driver simultaneously steps on the accelerator pedal with both hands controlling the steering wheel, a control request instruction is sent to the automatic driving system, and the control instruction is used for instructing the vehicle to switch the automatic driving mode to the manual driving mode.

Information such as the position of having calculated the lane change under the automatic driving mode, the number of times of lane change, whether current position is fit for the lane change demonstrates in on-vehicle display screen, or cooperates the pronunciation to remind to report the user. For example, the number of vehicles at the current driving position is large, the driving speed of the front and rear vehicles is greatly changed, and lane change driving is recommended to be carried out at the position of the front lane dotted line after the vehicles are driven for 1 minute at the reduced speed. The condition is mostly suitable for reminding the user of the fault occurrence in the automatic driving mode, and the user can continue driving forward without stopping when the general user actively switches to manual driving.

Further, after the step S300, the method further includes the steps of:

For example, the current lane is a driving lane, the vehicle executes a right lane change driving instruction, but the lane change environment information does not satisfy the lane change regulation, for example, the vehicle exists on the right side, the rear vehicle accelerates, the front vehicle brakes, and the right side has no lane change space. The driving system can continuously calculate and judge whether to execute right-side lane changing driving, if the right-side lane changing cannot be finished within a certain time within 15 seconds, the speed of the vehicle is reduced to the preset vehicle speed of 30km/h for driving, meanwhile, the vehicle lamp is started to flicker, and rear-end collision of the vehicle in the rear vehicle high-speed driving is avoided. If the right lane change can be completed within 15 seconds, it is necessary to determine whether the lane is located in an emergency lane, and if so, the process of step S300 is performed.

According to the embodiments, before the automatic driving mode is released and the user takes over the manual driving mode, the accident rate easily caused by the fact that the vehicle stops on the driving lane is reduced by using the mode that the vehicle drives to the emergency lane by changing the lane; and judging whether the lane where the vehicle is located is an emergency lane or not in different modes in the process, and controlling the vehicle to run according to the judgment result. When the lane is not changed to the emergency lane, the vehicle is controlled to run at a low speed, and the probability of accidents caused by automatic driving failure is reduced.

As shown in fig. 2, the present invention also provides a control apparatus for safely stopping an emergency lane of an autonomous vehicle, comprising:

the obtaining module 210 is configured to obtain a lane position of a vehicle in an automatic driving map in a driving system, a vehicle driving speed, and lane change environment information;

the lane changing module 220 is configured to control the vehicle to change the lane to an emergency lane according to the driving speed of the vehicle and the lane changing environment information if the current lane position is a non-emergency lane;

and the control module 230 is configured to, when the lane position of the vehicle is an emergency lane, execute emergency lane braking after the vehicle driving speed is reduced to a preset speed interval, and release the automatic driving mode. And after the vehicle is static, starting the EPB, and after the EPB is switched to the P gear, exiting the automatic driving mode function.

Further, the obtaining module 210 further includes:

the first execution subunit is used for acquiring the number of lanes at the current position according to the automatic driving map, and acquiring the number of lane lines on two sides of a current driving lane line or the relative positions of other vehicles according to a sensing module in a driving system; and judging the position of the lane where the current vehicle is located.

The second execution subunit is used for taking a second lane on the right side of the current lane line as a target lane if the left side and the right side of the current lane line are both provided with the lane line or other vehicles; judging whether the lane position of the current vehicle is a target lane or not according to the number of lanes at the current position and the historical lane changing times; and the target lane is not matched with the emergency lane on the automatic driving map, and the current driving lane is updated to be the driving lane after the vehicle drives to the target lane.

And the third execution subunit is used for controlling the vehicle to make lane change driving and then judging whether the current lane is an emergency lane, and if not, continuing to control the vehicle to make lane change driving to the right side until the current lane is judged to be the emergency lane. Specifically, whether the right side is a continuous obstacle or not can be analyzed through a right side image acquired by a camera, or whether the right side is the continuous obstacle or not can be analyzed through point cloud data acquired by a radar; if the right side is the continuous barrier, the current lane is the emergency lane.

The lane changing module 220 includes a fourth execution subunit, configured to obtain a speed-limited interval at the current position according to an automatic driving map, and control the driving speed of the vehicle within the speed-limited interval; judging whether a lane change condition is met or not by utilizing the type of a right lane line acquired from a driving system, whether a short-distance obstacle exists in a lane to be changed or not and the effective length of the lane to be changed; and if the lane change condition is met, controlling the vehicle to drive at the current driving speed or the driving speed after the speed change adjustment for lane change.

Further, the device further comprises a display module for displaying the recommended lane change strategy and a location for executing the lane change strategy if it is detected that the driver state satisfies the manual driving mode.

And the preset driving module is used for reducing the driving speed of the vehicle to the preset speed if the current lane position is a non-emergency lane, the lane change environmental information does not meet the lane change condition, and the lane change cannot be completed within the preset time.

The invention also provides a vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the control method for emergency lane safe parking of an autonomous vehicle as described above.

The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the control method for emergency lane safe parking of an autonomous vehicle as described above.

It is understood that the computer-readable storage medium may include: any entity or device capable of carrying a computer program, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like.

In some embodiments of the present invention, the automatic parking device may include a controller, where the controller is a single chip integrated with a processor, a memory, a communication module, and the like. The processor may refer to a processor included in the controller. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A control method for safely stopping an emergency lane of an autonomous vehicle is characterized by comprising the following steps:

acquiring the lane position of a vehicle in an automatic driving map, the driving speed of the vehicle and lane changing environment information in a driving system;

2. The method of claim 1, wherein obtaining the lane position of the vehicle in the autonomous driving map in the driving system comprises:

and judging the position of the lane where the current vehicle is located.

3. The method of claim 2, wherein the determining the lane position of the current vehicle comprises:

4. The method of claim 2, wherein obtaining the lane position of the vehicle in the autonomous driving map in the driving system further comprises:

5. The method of claim 4, wherein the controlling the vehicle to determine whether the current lane is an emergency lane after the vehicle makes a lane change comprises:

6. The method according to claim 1, wherein controlling the vehicle to make lane change driving according to the driving speed of the vehicle and the lane change environment information comprises:

acquiring a speed-limiting interval of a current position according to an automatic driving map, and controlling the driving speed of a vehicle in the speed-limiting interval; judging whether a lane change condition is met or not by utilizing the type of a right lane line acquired from a driving system, whether a short-distance obstacle exists in a lane to be changed or not and the effective length of the lane to be changed;

7. The method of claim 1, wherein the performing emergency lane braking comprises:

8. The method of claim 1, further comprising:

9. The method of claim 1, further comprising:

10. A control apparatus for safe parking of an autonomous vehicle in an emergency lane, comprising:

11. A vehicle comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the method of controlling emergency lane safe parking of an autonomous vehicle as claimed in any of claims 1 to 9.

12. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of controlling an autonomous vehicle emergency lane safe stop according to any of claims 1 to 9.