CN117022330A - Narrow-road passing automatic driving control method and device, electronic equipment and medium - Google Patents

Abstract

The application provides a narrow road passing automatic driving control method, a narrow road passing automatic driving control device, electronic equipment and a medium.

Description

Narrow-road passing automatic driving control method and device, electronic equipment and medium

Technical Field

The application relates to the technical field of automatic driving, in particular to a narrow-road passing automatic driving control method, a narrow-road passing automatic driving control device, electronic equipment and a medium.

Background

With the development of intelligent internet-connected automobiles, the automobiles can realize automatic driving in most environments with simpler road conditions, but because of more coverage scenes, the automatic driving function cannot cover all scenes by a single function. Thus, an automatic driving function such as automatic parking has been developed for specific scenes in which narrow road traffic is a scene that is currently possible for low-speed automatic driving but is difficult for a novice or a driver unfamiliar with the characteristics of the vehicle.

The existing automatic driving application is mainly focused on recognition of narrow roads in the related technology of narrow road traffic, and the technical problems that novice drivers are difficult to drive through narrow roads and automatic driving is not popularized and applied in narrow road scenes are not solved.

Disclosure of Invention

In view of the above-mentioned drawbacks of the related art, the present application provides a narrow road traffic automatic driving control method, apparatus, electronic device and medium, so as to solve the technical problems that the driver is difficult to drive through a narrow road and the automatic driving is not popularized and applied in a narrow road scene.

The application provides a narrow road passing automatic driving control method, which comprises the steps of obtaining a narrow road judgment coefficient; determining a current road type based on the narrow road judgment coefficient, and if the current road type is a narrow road type, detecting a pre-activation vehicle state of a vehicle; if the vehicle state before activation meets the preset activation condition, pushing a confirmation activation message, and obtaining a driver confirmation state based on the confirmation activation message; and if the driver confirmation state is confirmation activation, converting the automatic driving state of the vehicle into an activation state.

In one embodiment of the application, the current road width and the vehicle body width are detected; and if the current road width is larger than the product of the vehicle body width and the first coefficient and the current road width is smaller than the product of the vehicle body width and the second coefficient, determining that the current road type is a narrow road type, wherein the narrow road judging coefficient comprises the first coefficient and the second coefficient.

In an embodiment of the present application, if the pre-activation vehicle state is that the vehicle does not detect that the driver performs the steering wheel or the accelerator pedal operation within a preset detection time, the pre-activation vehicle state satisfies the preset activation condition.

In an embodiment of the present application, if it is detected that the activated vehicle state of the vehicle satisfies a preset exit condition, the vehicle exits from automatic driving, and the automatic driving state is converted into a standby state.

In an embodiment of the present application, if the vehicle detects that the driver performs a steering wheel or accelerator operation in the automatic driving state, the activated vehicle state satisfies the preset exit condition.

In an embodiment of the present application, if it is detected that the current road type on which the vehicle is traveling is changed from the narrow road type to the non-narrow road type, the activated vehicle state satisfies the preset exit condition.

In an embodiment of the present application, the automatic driving state is detected, and if the automatic driving state is a closed state, an opening request is pushed to the driver, where the opening request is used to prompt the driver to adjust the automatic driving state to the standby state.

An embodiment of the present application provides a narrow road traffic automatic driving control device including: the information acquisition module is used for acquiring the narrow-road judgment coefficient; the road detection module is used for determining the current road type based on the narrow road judgment coefficient, and detecting the vehicle state before activation of the vehicle if the current road type is the narrow road type; the state detection module is used for pushing a confirmation activation message if the vehicle state before activation meets a preset activation condition, and obtaining a driver confirmation state based on the confirmation activation message; and the automatic driving module is used for converting the automatic driving state of the vehicle into an activated state if the driver confirmation state is confirmation activation.

An embodiment of the present application provides an electronic device including: one or more processors; and a storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the narrow road traffic autopilot control method as described in any one of the embodiments above.

Embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the narrow road traffic automatic driving control method as described in any of the above embodiments.

The application has the beneficial effects that: according to the narrow road passing automatic driving control method, the narrow road judgment coefficient is obtained, the current road type is determined based on the narrow road judgment coefficient, if the current road type is the narrow road type, the vehicle state before activation of the vehicle is detected, if the vehicle state before activation meets the preset activation condition, the confirmation activation message is pushed, the driver confirmation state is obtained based on the confirmation activation message, if the driver confirmation state is confirmation activation, the automatic driving state of the vehicle is converted into the activation state, the vehicle passes on the narrow road in the automatic driving state until the fact that the vehicle state after activation meets the preset exit condition is detected, the automatic driving state is converted into the standby state, and the problem that whether a new driver or a driver unfamiliar with the characteristics of the vehicle can pass through the narrow road or the road can not be judged visually when the driver passes through the narrow road is solved, and the scraping and collision problems caused by insufficient driving technology or the estimated deviation of the vehicle size and the movement track through the narrow road can not cover the full automatic driving scene can not be solved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:

FIG. 1 is a schematic illustration of a narrow road traffic autopilot control function application scenario shown in an exemplary embodiment of the present application;

FIG. 2 is a flow chart illustrating a narrow road traffic autopilot control method in accordance with an exemplary embodiment of the present application;

FIG. 3 is a schematic diagram of a control screen interface in a narrow road traffic autopilot control function shown in an exemplary embodiment of the present application;

FIG. 4 is a schematic diagram of a meter pop-up prompt interface before activation of a narrow road traffic autopilot control function, shown in an exemplary embodiment of the present application;

FIG. 5 is a schematic diagram of a meter pop-up window prompt interface after a narrow road passing autopilot control function is exited after passing through a narrow road, according to an exemplary embodiment of the present application;

FIG. 6 is a schematic view of a meter pop-up interface in front of a road non-passing exit in front of a narrow-road passing autopilot control function according to an exemplary embodiment of the present application;

FIG. 7 (a) is a narrow road traffic autopilot control function enter standby meter display icon shown in an exemplary embodiment of the present application;

FIG. 7 (b) is a narrow road traffic autopilot control function entry activation meter display icon shown in an exemplary embodiment of the present application;

FIG. 8 is a logic diagram illustrating the status of the narrow road traffic autopilot control function in accordance with one exemplary embodiment of the present application;

FIG. 9 is a main logic diagram of a narrow road traffic autopilot control function shown in an exemplary embodiment of the present application;

FIG. 10 is a schematic diagram of a narrow road traffic autopilot control plan and control logic shown in accordance with an exemplary embodiment of the present application;

FIG. 11 is a block diagram of a narrow road traffic autopilot control apparatus shown in an exemplary embodiment of the present application;

fig. 12 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application.

Detailed Description

Further advantages and effects of the present application will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present application, it will be apparent, however, to one skilled in the art that embodiments of the present application may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present application.

Referring to fig. 1, an application scenario of a narrow road passing autopilot control function according to an exemplary embodiment of the present application is shown, when a vehicle is driving to a narrow road, a current road type is determined based on a narrow road determination coefficient, if the current road type is a narrow road type, a pre-activation vehicle state of the vehicle is detected, if the pre-activation vehicle state satisfies a preset activation condition, a confirmation activation message is pushed, a driver confirmation state is obtained based on the confirmation activation message, if the driver confirmation state is confirmation activation, the autopilot state of the vehicle is converted into an activated state, the vehicle is passed on the narrow road in the autopilot state until the post-activation vehicle state of the vehicle is detected to satisfy a preset exit condition, and the autopilot state is converted into a standby state. Determining the current road type based on the narrow road coefficient in the present embodiment includes detecting a current road width and a vehicle body width; and if the current road width is larger than the product of the vehicle body width and the first coefficient and the current road width is smaller than the product of the vehicle body width and the second coefficient, determining that the current road type is a narrow road type, wherein the narrow road judging coefficient comprises the first coefficient and the second coefficient. As shown in fig. 1, if the current road width D > the vehicle body width D is a first coefficient and the current road width D < the vehicle body width D is a second coefficient, the current road type is determined to be a narrow road type, and in this embodiment, the current road width is the distance between the narrowest positions on both sides of the road calculated by the automatic driving system, and the distance between the narrowest positions of the current road width may be the width between both ends of the road or the distance between objects such as an obstacle, a vehicle, a pedestrian, etc. on the road.

As shown in fig. 2, in an exemplary embodiment, the narrow-road traffic automatic driving control method at least includes steps S210 to S240, which are described in detail as follows:

step S210, obtaining a narrow-path judgment coefficient.

In one embodiment of the application, the first coefficient of the narrow road judgment coefficient is set to be 1.1 by default, the second coefficient is set to be 1.5 by default, the driver can modify and set the narrow road judgment coefficient within a certain range on the central control screen, and the minimum value of the first coefficient and the second coefficient is 0.1.

In a specific embodiment of the present application, according to fig. 3, fig. 3 is a schematic view of a central screen interface of a narrow road traffic automatic driving control function according to an exemplary embodiment of the present application, as the central screen interface shown in fig. 3, a driver may set a narrow road traffic automatic driving maximum speed, a function activation waiting time, a takeover waiting setting time, and a narrow road judgment traffic width coefficient (i.e., a narrow road judgment coefficient) on the interface, wherein a value at an x1 end in the narrow road judgment width coefficient is a first coefficient, a value at an x2 end is a second coefficient, the narrow road traffic automatic driving maximum speed in the present embodiment is a maximum speed of a vehicle running when the automatic driving state of the narrow road traffic is an activated state, the function activation confirmation time is a vehicle entering the automatic driving state after waiting for the function activation confirmation time after the driver confirms the automatic driving state, the vehicle exits the automatic driving state after the takeover waiting setting time satisfies a preset exit condition after the vehicle waiting takeover waiting setting time, the automatic driving state is converted into the standby state, and the vehicle is taken over and manipulated by the driver.

Step S220, determining the current road type based on the extraction judgment coefficient, and detecting the vehicle state before activation if the current road type is a narrow road type.

In one embodiment of the application, determining the current road type based on the narrow road decision coefficient comprises: detecting the current road width and the vehicle body width; if the current road width is greater than the product of the vehicle body width and the first coefficient and the current road width is less than the product of the vehicle body width and the second coefficient, determining that the current road type is a narrow road type, wherein the narrow road judging coefficient comprises the first coefficient and the second coefficient.

In one embodiment of the present application, the current road width is the distance between the narrowest positions on both sides of the road calculated by the automatic driving system, and the current road width is comprehensively determined according to the determination of the front or rear road width, the positions and the movement conditions of obstacles, vehicles, pedestrians, etc. on the road.

In one embodiment of the present application, before detecting the pre-activation vehicle state of the vehicle, further comprising: and detecting the automatic driving state, and if the automatic driving state is in a closed state, pushing an opening request to a driver, wherein the opening request is used for prompting the driver to adjust the automatic driving state to a standby state.

In one embodiment of the present application, the autopilot state includes an off state, an active state, and a standby state, the off state not being directly convertible to the active state, the standby state being convertible to the active state by a driver after the driver is converted to the standby state.

Step S230, if the vehicle state before activation meets the preset activation condition, pushing a confirmation activation message, and obtaining the driver confirmation state based on the confirmation activation message.

In one embodiment of the present application, the pre-activation vehicle state and the pre-activation road condition state satisfying the preset activation condition includes: if the pre-activation vehicle state is that the vehicle does not detect that the driver performs the steering wheel or accelerator pedal operation within the preset detection time, the pre-activation vehicle state satisfies the preset activation condition, and the preset detection time in this embodiment may be 30s.

In one embodiment of the present application, the preset activation condition further includes that the automatic driving state is a standby state, the current vehicle speed is lower than the preset activation vehicle speed, the current road type is detected to be a narrow road type, the obstacle moving speed is lower than the preset speed, the automatic driving system path planning does not collide, the current gear is a D or R gear, the automatic driving system road detection does not have a fault, and the like.

In one embodiment of the application, obtaining the driver confirmation status based on the confirmation activation message comprises: when it is detected that the driver presses an "OK" button or a button equivalent to the "OK" button on the steering wheel, the driver confirms that the state is activated, as shown in fig. 4, fig. 4 is a schematic view of a meter pop-up window prompt interface before activation of the narrow-road traffic automatic driving control function according to an exemplary embodiment of the present application, and the driver may select to activate in the prompt interface.

In step S240, if the driver confirms that the state is the confirmation activation, the automatic driving state of the vehicle is converted to the activated state, and the automatic driving state of the vehicle is converted to the activated state.

In one embodiment of the present application, after the automatic driving state of the vehicle is converted into the activated state, if the activated vehicle state of the vehicle is detected to satisfy the preset exit condition, the automatic driving state is converted into the standby state.

In one embodiment of the present application, detecting that the post-activation vehicle condition of the vehicle satisfies the preset exit condition includes: if the vehicle is in the automatic driving state as the activated state, detecting that the driver performs steering wheel or accelerator pedal operation, and enabling the activated vehicle state to meet the preset exit condition. Or if the current road type is detected not to be the narrow road type, the activated vehicle state meets the preset exit condition.

In one embodiment of the present application, the preset exit condition further includes that the driver presses the steering wheel or steps on a brake opening degree or steps on an accelerator that exceeds the current automatic driving brake demand torque, and responds to the accelerator, brake and steering operation of the driver after the preset exit condition is satisfied.

In one embodiment of the present application, if it is detected that the current road type on which the vehicle is traveling is changed from the narrow road type to the non-narrow road type, the activated vehicle state satisfies the preset exit condition, the non-narrow road type in the present embodiment includes a wide road type and an unvented road type, and when the vehicle is traveling to the wide road and the unvented road, the current road type is the non-narrow road type, and the activated vehicle state satisfies the preset exit condition.

In an embodiment of the present application, the preset exit condition further includes waiting for exceeding a take-over waiting set time when detecting that the current road type is not a narrow road type but a passable wide road, stopping in place after the preset exit condition is met, waiting for a driver to perform a subsequent operation, as shown in fig. 5, fig. 5 is a schematic view of an instrument pop-up window prompt interface after the narrow road exits, and popping up the prompt interface as shown in fig. 5 after the vehicle reaches an open zone, so as to prompt the driver to take over to control the vehicle. In this embodiment, the waiting time for taking over may be a default value of the system, or may be modified by the driver within a preset range (1-10 s) through the central control screen.

In one embodiment of the present application, the preset exit condition further includes, when detecting that the current road type is not a narrow road type, but a narrower road (the current road width is smaller than the product of the vehicle body width and the first coefficient), or no road or no risk of collision cannot pass, waiting for exceeding the take-over waiting set time, and after meeting the preset exit condition, stopping in place, waiting for the driver to perform the subsequent operation. As shown in fig. 6, fig. 6 is a schematic view of a front-road non-passing exit front instrument popup interface of a narrow-road passing autopilot control function according to an exemplary embodiment of the present application, where the front of the driver is prompted to be non-passing through the prompt interface, and the driver is prompted to take over to control the vehicle.

It should be noted that, when the vehicle exits from the autopilot and the autopilot state is converted to the standby state, and when the vehicle transitions from the autopilot state to the active state, all of the preset activation conditions are satisfied, please refer to fig. 7 (a) and fig. 7 (b), fig. 7 (a) is a narrow-road traffic autopilot control function entering standby meter display icon shown in an exemplary embodiment of the present application, fig. 7 (b) is a narrow-road traffic autopilot control function entering active meter display icon shown in an exemplary embodiment of the present application, fig. 7 (a) is orange in display color, indicating that the autopilot state is converted to the standby state, and fig. 7 (b) is green in display color, indicating that the autopilot state is converted to the active state.

Referring to fig. 8, fig. 8 is a logic diagram of a state of a narrow-road passing autopilot control function according to an exemplary embodiment of the present application, in which in an embodiment of the present application, the logic diagram of the state of the narrow-road passing autopilot control function is shown in fig. 8, and in this embodiment, a narrow-road passing autopilot function on button (hereinafter referred to as a function switch button) is a soft switch button of a central control screen, and when the narrow-road passing function soft switch is not opened, the autopilot state of the narrow-road passing function is a closed state, and when the narrow-road passing function soft switch is opened, the autopilot state of the narrow-road passing function jumps to a standby state. When the automatic driving state is the standby state, the soft switch is turned off, and the automatic driving state jumps to the off state. When the automatic driving state is the standby state, if the activation condition of the narrow road passing automatic driving function, namely the preset activation condition is met, the automatic driving state of the narrow road passing function can jump to the activation state. After the automatic driving state of the narrow road passing function is activated, the automatic driving activation state of the narrow road passing function can be withdrawn only when the withdrawal condition of the narrow road passing automatic driving function is met, namely, the preset withdrawal condition is met, the automatic driving state of the narrow road passing function is returned to the standby state after withdrawal, rather than directly returned to the closing state, and only when the soft switch is closed in the standby state, the automatic driving state of the narrow road passing function can be returned to the closing state.

Referring to fig. 9, fig. 9 is a main logic diagram of a narrow-road automatic driving control function shown in an exemplary embodiment of the present application, in which when the automatic driving state of the narrow-road automatic driving function is in a closed state, the meter does not display any information related to the narrow-road automatic driving function, when the narrow-road automatic driving function switch is turned on, the automatic driving state is in a standby state, the system displays a standby icon of the narrow-road automatic driving function at a proper position of the meter, the icon is yellow, when the activatable condition of the narrow-road automatic driving function is satisfied, the system prompts the user whether to activate the narrow-road automatic driving state of the narrow-road automatic driving function in the meter popup window, and after the user clicks an "OK" button or a button with the same function, the system indicates that the user confirms to activate the narrow-road automatic driving state, and the automatic driving state activating icon of the narrow-road on the meter turns green. The system opens a panoramic image of the vehicle including, but not limited to, 360 ° images, 540 ° images. And simultaneously, the voice prompts the automatic driving state of narrow road traffic to be activated. When the driver operates the automatic driving activation state which leads to exiting the narrow road passing function, the automatic driving state of the narrow road passing function returns to the standby state, and the meter displays a standby state icon. When the system detects that the front road is not narrow due to the fact that the front road is too narrow or no road exists or collision risk exists and the waiting time exceeds the taking over waiting set time, the instrument popup prompts the road to exit information of the function, and when the system detects that the front road is not narrow in the activated state of the narrow road passing function, the instrument popup prompts the front road not to be narrow and countdown information, if the countdown time exceeds the taking over waiting time and the driver does not take over or the countdown time does not timeout the driver to operate, the panoramic image is closed, the automatic driving state of the narrow road passing function returns to the standby state, and the instrument displays the standby icon of the narrow road passing function. When the narrow road passing function exits under any condition, voice prompt of one function exit is carried out, and the voice prompt content can be designed into 'the narrow road passing automatic driving function exits' or other voice prompt content according to requirements.

Referring to fig. 10, fig. 10 is a schematic diagram of a plan and control logic for controlling a narrow-road automatic driving according to an exemplary embodiment of the present application, in an embodiment of the present application, as shown in fig. 10, a narrow-road passing function multiplexes functions of road recognition, obstacle recognition, non-driver recognition, etc. of a vehicle currently being driven by a conditional automatic driving, which is different from automatic driving under other road environments in that a maximum vehicle speed is set, and the maximum vehicle speed may be modified by a driver within a certain range (e.g., 5-15 km/h) through a central control screen, when an automatic driving state is in an activated state, the narrow-road automatic driving maximum vehicle speed set by the central control screen and a smaller value of a system default narrow-road automatic driving maximum vehicle speed are taken into consideration and received during plan control of the set maximum vehicle speed, and other self-driving paths and control are multiplexed to plan and control.

In the embodiment of the application, whether the current road type is a narrow road type or not is judged by detecting the current road width and the vehicle body width, if the current road width is too wide, the automatic driving state is not required to be activated, and if the current road width is too narrow, the automatic driving state cannot be activated, so that whether the current road of a driver can pass through the road can be helped.

In the embodiment of the application, if the vehicle does not detect that the driver performs steering wheel or accelerator pedal operation within the preset detection time, the preset activation condition is met, and the driver is prevented from entering an automatic driving state when the driver is operating the vehicle, so that the vehicle is more humanized.

In the embodiment of the application, when the vehicle state after the activation from the front side to the vehicle meets the preset exit condition, the automatic driving state is automatically exited, and the situation that the narrow-road automatic driving mode is still continuously executed when the vehicle runs to a road section unsuitable for narrow-road automatic driving is prevented, and adverse effects are caused is avoided.

In the embodiment of the application, if the vehicle is in the automatic driving state, the driver operates the vehicle, the automatic driving state is automatically exited, the driver is responded to the operation, the user-friendly exiting is realized, and the experience of the user is improved.

In the embodiment of the application, if the current road is not of a narrow road type, the automatic driving state is exited, and when the current road type is of a wide road type or the current road type is of a non-passing type, the automatic driving state is exited, so that the driving speed is prevented from being reduced, or scratch is prevented from being caused by non-passing.

In the embodiment of the application, if the automatic driving state is the off state, the automatic driving state can be activated only by switching the automatic driving state into the standby state after the driver starts the automatic driving state, multiple operations are required, double insurance is realized, and the safety is improved.

Fig. 11 is a block diagram of a narrow-road traffic automatic driving control apparatus according to an exemplary embodiment of the present application, which includes, as shown in fig. 11, an information acquisition module 1101, a road detection module 1102, a state detection module 1103, and an automatic driving module 1104.

An information acquisition module 1101, configured to acquire a narrow-path determination coefficient;

the road detection module 1102 is configured to determine a current road type based on the narrow road determination coefficient, and if the current road type is a narrow road type, detect a pre-activation vehicle state of the vehicle;

the state detection module 1103 is configured to push a confirmation activation message if the vehicle state before activation meets a preset activation condition, and obtain a driver confirmation state based on the confirmation activation message;

the autopilot module 1104 is configured to transition the autopilot state to an active state if the driver confirmation state is confirmation activated.

It should be noted that, the narrow road traffic automatic driving control device provided in the above embodiment and the narrow road traffic automatic driving control method provided in the above embodiment belong to the same concept, and the specific manner in which each module and unit execute the operation has been described in detail in the method embodiment, which is not repeated here. In practical application, the narrow-road traffic automatic driving control device provided in the above embodiment may distribute the functions to be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.

The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic apparatus to implement the narrow-road traffic automatic driving control method provided in the above embodiments.

Fig. 12 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the application. It should be noted that, the computer system 1200 of the electronic device shown in fig. 12 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

As shown in fig. 12, the computer system 1200 includes a central processing unit (Central Processing Unit, CPU) 1201 that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-only memory (ROM) 1202 or a program loaded from a storage section 1208 into a random access memory (Random Access Memory, RAM) 1203. In the RAM1203, various programs and data required for the system operation are also stored. The CPU 1201, ROM 1202, and RAM1203 are connected to each other through a bus 1204. An Input/Output (I/O) interface 1205 is also connected to bus 1204.

The following components are connected to the I/O interface 1205: an input section 1206 including a keyboard, a mouse, and the like; an output portion 1207 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and a speaker, etc.; a storage section 1208 including a hard disk or the like; and a communication section 1209 including a network interface card such as a LAN (Local AreaNetwork ) card, a modem, or the like. The communication section 1209 performs communication processing via a network such as the internet. The drive 1210 is also connected to the I/O interface 1205 as needed. A removable medium 1211 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on the drive 1210 so that a computer program read out therefrom is installed into the storage section 1208 as needed.

In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication portion 1209, and/or installed from the removable media 1211. When executed by a Central Processing Unit (CPU) 1201, performs the various functions defined in the system of the present application.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.

Another aspect of the application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a narrow road traffic autopilot control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.

Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device executes the narrow-road-passing automatic driving control method provided in the above-described respective embodiments.

The above embodiments are merely illustrative of the principles of the present application and its effectiveness, and are not intended to limit the application. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the application. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present application shall be covered by the appended claims.

Claims (10)

1. The narrow road traffic automatic driving control method is characterized by comprising the following steps of:

obtaining a narrow road judgment coefficient;

determining a current road type based on the narrow road judgment coefficient, and if the current road type is a narrow road type, detecting a pre-activation vehicle state of a vehicle;

if the vehicle state before activation meets the preset activation condition, pushing a confirmation activation message, and obtaining a driver confirmation state based on the confirmation activation message;

and if the driver confirmation state is confirmation activation, converting the automatic driving state of the vehicle into an activation state.

2. The narrow-road traffic automatic driving control method according to claim 1, characterized in that determining the current road type based on the narrow-road determination coefficient includes:

detecting the current road width and the vehicle body width;

and if the current road width is larger than the product of the vehicle body width and the first coefficient and the current road width is smaller than the product of the vehicle body width and the second coefficient, determining that the current road type is a narrow road type, wherein the narrow road judging coefficient comprises the first coefficient and the second coefficient.

3. The narrow-road traffic automatic driving control method according to claim 1, wherein the pre-activation vehicle state satisfying a preset activation condition includes:

and if the pre-activation vehicle state is that the vehicle does not detect that the driver performs steering wheel or accelerator pedal operation within the preset detection time, the pre-activation vehicle state meets the preset activation condition.

4. A narrow-road traffic automatic driving control method according to any one of claims 1 to 3, characterized by further comprising, after switching the automatic driving state of the vehicle to an activated state:

and if the vehicle state after the activation of the vehicle is detected to meet the preset exit condition, the vehicle exits from automatic driving, and the automatic driving state is converted into a standby state.

5. The narrow-road traffic automatic driving control method according to claim 4, wherein detecting that the activated vehicle state of the vehicle satisfies a preset exit condition includes:

if the vehicle is in an activated state in the automatic driving state, and the driver is detected to perform steering wheel or accelerator pedal operation, the activated vehicle state meets the preset exit condition.

6. The narrow-road traffic automatic driving control method according to claim 4, wherein detecting that the activated vehicle state of the vehicle satisfies a preset exit condition includes:

and if the current road type of the vehicle is detected to be changed from the narrow road type to the non-narrow road type, the activated vehicle state meets the preset exit condition.

7. A narrow-road traffic automatic driving control method according to any one of claims 1 to 3, characterized by further comprising, before detecting the pre-activation vehicle state of the vehicle:

and detecting the automatic driving state, and pushing an opening request to the driver if the automatic driving state is a closed state, wherein the opening request is used for prompting the driver to adjust the automatic driving state to a standby state.

8. An automatic narrow road traffic control device, characterized in that the automatic narrow road traffic control device comprises:

the information acquisition module is used for acquiring the narrow-road judgment coefficient;

the road detection module is used for determining the current road type based on the narrow road judgment coefficient, and detecting the vehicle state before activation of the vehicle if the current road type is the narrow road type;

the state detection module is used for pushing a confirmation activation message if the vehicle state before activation meets a preset activation condition, and obtaining a driver confirmation state based on the confirmation activation message;

and the automatic driving module is used for converting the automatic driving state of the vehicle into an activated state if the driver confirmation state is confirmation activation.

9. An electronic device, the electronic device comprising:

one or more processors;

storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the narrow road traffic autopilot control method of any one of claims 1 to 7.

10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the narrow road traffic automatic driving control method according to any one of claims 1 to 7.