CN117585021A - Following driving method and device of outdoor riding vehicle, electronic equipment and medium - Google Patents

Following driving method and device of outdoor riding vehicle, electronic equipment and medium Download PDF

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Publication number
CN117585021A
CN117585021A CN202311802106.9A CN202311802106A CN117585021A CN 117585021 A CN117585021 A CN 117585021A CN 202311802106 A CN202311802106 A CN 202311802106A CN 117585021 A CN117585021 A CN 117585021A
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China
Prior art keywords
vehicle
driving
rider
following
automatic
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CN202311802106.9A
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Chinese (zh)
Inventor
章洋
张奇
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Shanghai Rox Intelligent Technology Co Ltd
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Shanghai Rox Intelligent Technology Co Ltd
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Priority to CN202311802106.9A priority Critical patent/CN117585021A/en
Publication of CN117585021A publication Critical patent/CN117585021A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4026—Cycles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a following driving method, a following driving device, electronic equipment and a following driving medium of an outdoor riding vehicle, comprising the following steps: the automatic driving vehicle automatically follows the rear of the riding vehicle of the rider and acquires first position information of the riding vehicle in real time; controlling the autonomous vehicle to automatically follow driving and maintaining a vehicle speed based on the first position information of the front riding vehicle, the second position information of the autonomous vehicle, and a safe distance between the riding vehicle and the autonomous vehicle; controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process to carry out safety monitoring on the rider; and after receiving the following driving stopping request sent by the rider, determining the parkable place of the automatic driving vehicle, and ending the following driving of the automatic driving vehicle. The method and the system avoid the situation that the riding vehicle and the self-driving vehicle cannot be driven when the user rides in the open air by a single person or multiple persons, and the self-driving vehicle detects the surrounding environment state to monitor the safety of the user, so that corresponding safety guarantee is provided.

Description

Following driving method and device of outdoor riding vehicle, electronic equipment and medium
Technical Field
The application relates to the technical field of automatic driving, in particular to a following driving method, a following driving device, electronic equipment and a following driving medium for an outdoor riding vehicle.
Background
The outdoor riding exercise of the bicycle is becoming an amateur of many people nowadays, and the riding exercise of the bicycle is one of the favorite exercise modes of many people. Along with the development of bicycle motion, when single or many people are in the open air, the user carries the bicycle to the open air through driving the vehicle certainly, can't take into account the driving of vehicle when the user rides the bicycle, and under the general circumstances the driving vehicle is in situ waited for the user to ride the bicycle and then is driven away again to can't realize riding the safety monitoring of person yet. Therefore, it is a technical problem to make a safe monitoring for the user while considering the driving of the bicycle and the self-driving vehicle.
Disclosure of Invention
Accordingly, an object of the present application is to provide a following driving method, apparatus, electronic device and medium for an outdoor riding vehicle, which can automatically follow the rear of the riding vehicle of the rider through an automatic driving vehicle, thereby avoiding that the riding vehicle and the automatic driving vehicle cannot be simultaneously driven when the rider rides in the open air by a single person or multiple persons, and the automatic driving vehicle detects the surrounding environment state to safely monitor the rider, and providing a corresponding safety guarantee.
The embodiment of the application provides a following driving method of an outdoor riding vehicle, which comprises the following driving steps of:
after an automatic driving vehicle automatic following driving request sent by a rider is obtained, the automatic driving vehicle automatically follows the rear of the rider, and first position information of the rider is acquired in real time;
controlling the autonomous vehicle to automatically follow driving and maintain a vehicle speed based on first position information of the preceding autonomous vehicle, second position information of the autonomous vehicle, and a safe distance between the autonomous vehicle and the riding vehicle;
controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process to safely monitor the rider;
and after receiving the following driving stopping request sent by the rider, determining the parkable place of the automatic driving vehicle, and ending the following driving of the automatic driving vehicle.
In one possible embodiment, the controlling the autonomous vehicle to automatically follow the drive and maintain the vehicle speed based on the first position information of the front-facing vehicle, the second position information of the autonomous vehicle, and the safe distance between the riding vehicle and the autonomous vehicle includes:
detecting whether a following distance between the first position information and the second position information is smaller than the safety distance;
if yes, controlling the automatic driving vehicle to decelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed;
if not, controlling the automatic driving vehicle to accelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed.
In one possible embodiment, the controlling the autonomous vehicle to detect the ambient condition during the auto-following driving to safely monitor the rider includes:
when the rear vehicle of the automatic driving vehicle is detected to be a large vehicle, sending a safety prompt to the wearing equipment of the rider;
and after the parking of the riding vehicle is detected, controlling the automatic driving vehicle to park at a first preset distance of the riding vehicle, and controlling the automatic driving vehicle to automatically follow driving when the riding vehicle continues to ride.
In one possible embodiment, the controlling the autonomous vehicle to detect the ambient condition during the auto-following driving to safely monitor the rider includes:
judging whether the rider gets up in a preset time period after detecting that the rider falls down;
if not, controlling the automatic driving vehicle to park at a second preset distance of the falling position of the rider, and controlling the automatic driving vehicle to initiate rescue seeking help.
In one possible embodiment, the controlling the autonomous vehicle to detect the ambient condition during the auto-following driving to safely monitor the rider includes:
acquiring real-time abnormal weather broadcasting of the current place of the riding vehicle, and sending the abnormal weather broadcasting to wearing equipment of the rider to prompt the rider to safely ride.
In one possible embodiment, the controlling the autonomous vehicle to detect the ambient condition during the auto-following driving to safely monitor the rider includes:
and when the oil quantity of the automatic driving vehicle is detected to be lower than the target oil quantity in the automatic following driving process, sending alarm information to the wearing equipment of the rider, and determining surrounding oiling/charging station information.
In one possible embodiment, after the automatic following driving request sent by the rider is acquired, the automatic driving vehicle automatically follows the rider's riding vehicle, and before the first position information of the riding vehicle is collected in real time, the following driving method further includes:
controlling said autonomous vehicle to automatically follow the last said rider's ride vehicle when a plurality of said riders and one said autonomous vehicle are detected;
when a plurality of riders and a plurality of automatic driving vehicles are detected, the plurality of automatic driving vehicles are controlled to be arranged according to a preset queue, and the first automatic driving vehicle is controlled to automatically follow the last riding vehicle of the last rider.
The embodiment of the application also provides a follow-up driving device of an outdoor riding vehicle, which comprises:
the automatic driving system comprises a following module, a first position information acquisition module and a second position information acquisition module, wherein the following module is used for acquiring an automatic following driving request of an automatic driving vehicle sent by a rider, automatically following the rear of the riding vehicle of the rider, and acquiring the first position information of the riding vehicle in real time;
a distance maintenance module for controlling the autonomous vehicle to automatically follow driving and maintaining a vehicle speed based on first position information of the preceding autonomous vehicle, second position information of the autonomous vehicle, and a safe distance between the autonomous vehicle and the riding vehicle;
the safety monitoring module is used for controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process so as to safely monitor the rider;
and the following driving ending module is used for determining the parkable place of the automatic driving vehicle after receiving the following driving stopping request sent by the rider and ending the following driving of the automatic driving vehicle.
The embodiment of the application also provides electronic equipment, which comprises: the outdoor riding vehicle following driving method comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, when the electronic device is running, the processor and the memory are communicated through the bus, and the machine-readable instructions are executed by the processor to execute the following driving method steps of the outdoor riding vehicle.
Embodiments of the present application also provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the following driving method of an outdoor riding vehicle as described above.
According to the following driving method, device, electronic equipment and medium of the outdoor riding vehicle, the following driving method comprises the following steps of: after an automatic driving vehicle automatic following driving request sent by a rider is obtained, the automatic driving vehicle automatically follows the rear of the rider, and first position information of the rider is acquired in real time; controlling the autonomous vehicle to automatically follow driving and maintain a vehicle speed based on first position information of the preceding autonomous vehicle, second position information of the autonomous vehicle, and a safe distance between the autonomous vehicle and the riding vehicle; controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process to safely monitor the rider; and after receiving the following driving stopping request sent by the rider, determining the parkable place of the automatic driving vehicle, and ending the following driving of the automatic driving vehicle. The automatic driving vehicle automatically follows the rear of the riding vehicle of the rider, so that the situation that the riding vehicle and the self-driving vehicle cannot be driven when a single person or multiple persons ride outdoors is avoided, the surrounding environment state is detected by the automatic driving vehicle to safely monitor the rider, and corresponding safety guarantee is provided.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of following a ride of an outdoor ride vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a method of following a ride of an outdoor ride vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of a following driving apparatus of an outdoor riding vehicle according to an embodiment of the present disclosure;
FIG. 4 is a second schematic view of a following driving apparatus of an outdoor riding vehicle according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.
In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In order to enable one skilled in the art to use the present disclosure, the following embodiments are provided in connection with a particular application scenario "follow-up driving an outdoor riding vehicle", and the general principles defined herein may be applied to other embodiments and application scenarios by one skilled in the art without departing from the spirit and scope of the present disclosure.
The following method, device, electronic device or computer readable storage medium of the embodiment of the application may be applied to any scenario in which the outdoor riding vehicle needs to be driven in a following manner, and the embodiment of the application is not limited to a specific application scenario, and any scheme using the following driving method, device, electronic device and medium of the outdoor riding vehicle provided by the embodiment of the application is within the protection scope of the application.
First, application scenarios applicable to the present application will be described. The method and the device can be applied to the technical field of automatic driving.
It is found that outdoor cycling has become an hobby for many people nowadays, and cycling is one of the favorite exercise modes for many people. Along with the development of bicycle motion, when single or many people are in the open air, the user carries the bicycle to the open air through driving the vehicle certainly, can't take into account the driving of vehicle when the user rides the bicycle, and under the general circumstances the driving vehicle is in situ waited for the user to ride the bicycle and then is driven away again to can't realize riding the safety monitoring of person yet. Therefore, it is a technical problem to make a safe monitoring for the user while considering the driving of the bicycle and the self-driving vehicle.
Based on this, the embodiment of the application provides a method for driving outdoor riding vehicle, through the automatic back of riding vehicle that follows the person of riding of autopilot, avoided can't take into account the driving of riding vehicle and autopilot vehicle when single or many people are field riding, autopilot vehicle detects surrounding environment state and carries out safety monitoring to the person of riding, provides corresponding safety guarantee.
Referring to fig. 1, fig. 1 is a flowchart of a following driving method of an outdoor riding vehicle according to an embodiment of the present application. As shown in fig. 1, the following driving method provided in the embodiment of the present application includes:
s101: after an automatic driving vehicle automatic following driving request sent by a rider is obtained, the automatic driving vehicle automatically follows the rear of the rider, and first position information of the rider is collected in real time.
In the step, after the automatic following driving request sent by the rider is acquired, the automatic driving vehicle automatically follows the rear of the riding vehicle of the rider, and the first position information of the riding vehicle is acquired in real time.
When a rider selects a riding motion-following mode through the wearable device, the automatic driving vehicle communicates with the wearable device.
S102: the second position information of the autonomous vehicle and a safe distance between the autonomous vehicle and the autonomous vehicle control the autonomous vehicle to automatically follow driving and maintain a vehicle speed based on the first position information of the preceding autonomous vehicle.
In this step, the autonomous vehicle is controlled to automatically follow the drive and maintain the vehicle speed based on the first position information of the preceding vehicle, the second position information of the autonomous vehicle, and the safe distance between the vehicle and the autonomous vehicle.
Here, after the start of riding, real-time ranging is performed by the laser radar, and automatic driving is performed with a safety distance of 15 meters.
In one possible embodiment, the controlling the autonomous vehicle to automatically follow the drive and maintain the vehicle speed based on the first position information of the front-facing vehicle, the second position information of the autonomous vehicle, and the safe distance between the riding vehicle and the autonomous vehicle includes:
a: detecting whether a following distance between the first position information and the second position information is smaller than the safety distance.
Here, it is detected whether or not a following distance between the first position information and the second position information is smaller than a safety distance.
B: if yes, controlling the automatic driving vehicle to decelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed.
Here, if the following distance is smaller than the safe distance, the automatically driven vehicle is controlled to decelerate until the following distance is restored to the safe distance, and the automatically driven vehicle is controlled to maintain the current vehicle speed.
C: if not, controlling the automatic driving vehicle to accelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed.
Here, if the following distance is greater than the safe distance, the automated driving vehicle is controlled to accelerate until the following distance is restored to the safe distance, and the automated driving vehicle is controlled to maintain the current vehicle speed.
S103: and controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process so as to monitor the safety of the rider.
In the step, the automatic driving vehicle is controlled to detect the surrounding environment state in the automatic following driving process so as to monitor the safety of the rider.
Here, the two-flash warning rear vehicle is turned on during the automatic driving, and the safety information is prompted to the rider in real time according to the detection of the surrounding environment state by the sensor (millimeter wave radar/lidar/camera, etc.).
In one possible embodiment, the controlling the autonomous vehicle to detect the ambient condition during the auto-following driving to safely monitor the rider includes:
a: and when the rear vehicle of the automatic driving vehicle is detected to be a large-sized vehicle, sending a safety prompt to the wearing equipment of the rider.
Here, when it is detected that the rear vehicle of the automated driving vehicle is a large vehicle, a safety reminder is sent to the wearing device of the rider for the rear coming vehicle.
When a vehicle with a vehicle body which is rapidly approaching to the rear and exceeds 3 meters is detected, a driver can timely and forward ride the vehicle through wearing equipment (a mobile phone/a watch and the like) to safely remind the driver of the vehicle coming to the rear.
b: and after the parking of the riding vehicle is detected, controlling the automatic driving vehicle to park at a first preset distance of the riding vehicle, and controlling the automatic driving vehicle to automatically follow driving when the riding vehicle continues to ride.
Here, the autonomous vehicle is controlled to park at a first preset distance of the ride vehicle when it is detected that the ride vehicle is parked, and the autonomous vehicle is controlled to automatically follow driving when the ride vehicle continues to ride.
In one possible embodiment, the controlling the autonomous vehicle to detect the ambient condition during the auto-following driving to safely monitor the rider includes:
judging whether the rider gets up in a preset time period after detecting that the rider falls down; if not, controlling the automatic driving vehicle to park at a second preset distance of the falling position of the rider, and controlling the automatic driving vehicle to initiate rescue seeking help.
Here, after detecting that the rider falls, judging whether the rider rises in a preset time period; if not, controlling the automatic driving vehicle to park at a second preset distance of the falling position of the rider, and controlling the automatic driving vehicle to initiate rescue and help seeking.
Wherein, after the front rider falls down, the vehicle-mounted sensor judges that the rider does not rise for more than 3 minutes, the automatic driving vehicle automatically stops at a position 2 meters away from the rider, so that the safety of the rider is protected, and meanwhile, a rescue phone is dialed to carry out medical rescue on the rider.
In one possible embodiment, the controlling the autonomous vehicle to detect the ambient condition during the auto-following driving to safely monitor the rider includes:
acquiring real-time abnormal weather broadcasting of the current place of the riding vehicle, and sending the abnormal weather broadcasting to wearing equipment of the rider to prompt the rider to safely ride.
Here, the real-time abnormal weather report of the current location of the riding vehicle is acquired, and the abnormal weather report is sent to the wearing equipment of the rider to prompt the rider to safely ride.
In one possible embodiment, the controlling the autonomous vehicle to detect the ambient condition during the auto-following driving to safely monitor the rider includes:
and when the oil quantity of the automatic driving vehicle is detected to be lower than the target oil quantity in the automatic following driving process, sending alarm information to the wearing equipment of the rider, and determining surrounding oiling/charging station information.
Here, when it is detected that the oil amount of the automatically driven vehicle is lower than the target oil amount in the automatic following driving process, alarm information is sent to the wearing equipment of the rider, and peripheral refueling/charging station information is determined.
When the oil quantity of the vehicle is lower than 10%, the vehicle emergency warning device gives an alarm to a rider, displays the real-time state of the vehicle, searches for the information of the peripheral refueling/charging stations of the vehicle, searches for a parking place according to the peripheral environment, and automatically parks the vehicle.
In the scheme, the automatic driving vehicle assists Gao Jielei to scan according to the moving position of a front person, calculates a following route in real time, starts a following function, and dynamically keeps automatic driving at a safe distance interval of about 15 meters. Through the rear perception, give the pedestrian early warning through flashing lights and message push, say the back car that comes, through the perception of place ahead, monitor the people's state of riding, if meet bicycle trouble, the person of riding falls and gives response accident handling.
In one possible embodiment, after the automatic following driving request sent by the rider is acquired, the automatic driving vehicle automatically follows the rider's riding vehicle, and before the first position information of the riding vehicle is collected in real time, the following driving method further includes:
(1): when a plurality of said riders and one said autonomous vehicle are detected, controlling said autonomous vehicle to automatically follow the riding vehicle of the last said rider.
Here, when a plurality of riders and one autonomous vehicle are detected, the autonomous vehicle is controlled to automatically follow the riding vehicle of the last said rider.
(2): when a plurality of riders and a plurality of automatic driving vehicles are detected, the plurality of automatic driving vehicles are controlled to be arranged according to a preset queue, and the first automatic driving vehicle is controlled to automatically follow the last riding vehicle of the last rider.
Here, when a plurality of riders and a plurality of autonomous vehicles are detected, the plurality of autonomous vehicles are controlled to be arranged in a preset queue, and the first autonomous vehicle is controlled to automatically follow the riding vehicle of the last rider.
The preset queue may be a longitudinal queue.
S104: and after receiving the following driving stopping request sent by the rider, determining the parkable place of the automatic driving vehicle, and ending the following driving of the automatic driving vehicle.
In the step, after receiving a request for stopping following driving sent by a rider, determining a parkable place of the automatic driving vehicle, and ending the following driving of the automatic driving vehicle.
In this aspect, the execution subject of the following driving method of the outdoor riding vehicle is a controller of the autonomous vehicle.
Further, referring to fig. 2, fig. 2 is a schematic diagram of a following driving method of an outdoor riding vehicle according to an embodiment of the present application. As shown in fig. 2, when a rider selects a riding motion-following mode through the wearable device, the autonomous vehicle communicates with the wearable device, and the autonomous vehicle judges the following distance between the rider and the autonomous vehicle through the millimeter wave radar; whether the following distance is less than the safe distance; if yes, controlling the automatic driving vehicle to decelerate, and controlling the automatic driving vehicle to keep the current speed until the following distance is equal to the safe distance; if not, controlling the automatic driving vehicle to accelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed. Controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process to carry out safety monitoring on the rider; and after receiving the following driving stopping request sent by the rider, determining the parkable place of the automatic driving vehicle, and ending the following driving of the automatic driving vehicle.
The embodiment of the application provides a following driving method of an outdoor riding vehicle, which comprises the following driving steps of: after an automatic driving vehicle automatic following driving request sent by a rider is obtained, the automatic driving vehicle automatically follows the rear of the rider, and first position information of the rider is acquired in real time; controlling the autonomous vehicle to automatically follow driving and maintain a vehicle speed based on first position information of the preceding autonomous vehicle, second position information of the autonomous vehicle, and a safe distance between the autonomous vehicle and the riding vehicle; controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process to safely monitor the rider; and after receiving the following driving stopping request sent by the rider, determining the parkable place of the automatic driving vehicle, and ending the following driving of the automatic driving vehicle. The automatic driving vehicle automatically follows the rear of the riding vehicle of the rider, so that the situation that the riding vehicle and the self-driving vehicle cannot be driven when a single person or multiple persons ride outdoors is avoided, the surrounding environment state is detected by the automatic driving vehicle to safely monitor the rider, and corresponding safety guarantee is provided.
Referring to fig. 3 and 4, fig. 3 is a schematic structural diagram of a following driving device of an outdoor riding vehicle according to an embodiment of the present disclosure; fig. 4 is a second schematic structural diagram of a following driving device of an outdoor riding vehicle according to an embodiment of the present disclosure. As shown in fig. 3, the following driving apparatus 300 includes:
the following module 310 is configured to, after acquiring an automatic following driving request sent by a rider, automatically follow the rider's riding vehicle by the automatic driving vehicle, and collect first position information of the riding vehicle in real time;
a distance maintenance module 320 for controlling the autonomous vehicle to automatically follow driving and maintaining a vehicle speed based on first position information of the preceding autonomous vehicle, second position information of the autonomous vehicle, and a safe distance between the autonomous vehicle and the riding vehicle;
a safety monitoring module 330, configured to control the autopilot vehicle to detect a surrounding environment state during autopilot driving, so as to perform safety monitoring on the rider;
and the following driving ending module 340 is configured to determine a stoppable place of the automatic driving vehicle after receiving a request for stopping following driving sent by the rider, and end following driving of the automatic driving vehicle.
Further, the distance keeping module 320 is specifically configured to, when the first position information for the front-based riding vehicle, the second position information for the autonomous vehicle, and the safe distance between the riding vehicle and the autonomous vehicle control the autonomous vehicle to automatically follow the driving and keep the vehicle speed, keep the distance keeping module 320:
detecting whether a following distance between the first position information and the second position information is smaller than the safety distance;
if yes, controlling the automatic driving vehicle to decelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed;
if not, controlling the automatic driving vehicle to accelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed.
Further, when the safety monitoring module 330 is configured to control the automatic driving vehicle to detect the ambient environment state during the automatic following driving process to perform safety monitoring on the rider, the safety monitoring module 330 is specifically configured to:
when the rear vehicle of the automatic driving vehicle is detected to be a large vehicle, sending a safety prompt to the wearing equipment of the rider;
and after the parking of the riding vehicle is detected, controlling the automatic driving vehicle to park at a first preset distance of the riding vehicle, and controlling the automatic driving vehicle to automatically follow driving when the riding vehicle continues to ride.
Further, when the safety monitoring module 330 is configured to control the automatic driving vehicle to detect the ambient environment state during the automatic following driving process to perform safety monitoring on the rider, the safety monitoring module 330 is specifically configured to:
judging whether the rider gets up in a preset time period after detecting that the rider falls down;
if not, controlling the automatic driving vehicle to park at a second preset distance of the falling position of the rider, and controlling the automatic driving vehicle to initiate rescue seeking help.
Further, when the safety monitoring module 330 is configured to control the automatic driving vehicle to detect the ambient environment state during the automatic following driving process to perform safety monitoring on the rider, the safety monitoring module 330 is specifically configured to:
acquiring real-time abnormal weather broadcasting of the current place of the riding vehicle, and sending the abnormal weather broadcasting to wearing equipment of the rider to prompt the rider to safely ride.
Further, when the safety monitoring module 330 is configured to control the automatic driving vehicle to detect the ambient environment state during the automatic following driving process to perform safety monitoring on the rider, the safety monitoring module 330 is specifically configured to:
and when the oil quantity of the automatic driving vehicle is detected to be lower than the target oil quantity in the automatic following driving process, sending alarm information to the wearing equipment of the rider, and determining surrounding oiling/charging station information.
Further, the following driving device 300 further includes a following setting module 350, and the following setting module 350 is configured to:
controlling said autonomous vehicle to automatically follow the last said rider's ride vehicle when a plurality of said riders and one said autonomous vehicle are detected;
when a plurality of riders and a plurality of automatic driving vehicles are detected, the plurality of automatic driving vehicles are controlled to be arranged according to a preset queue, and the first automatic driving vehicle is controlled to automatically follow the last riding vehicle of the last rider.
The embodiment of the application provides a follow driving device of outdoor riding vehicle, follow driving device includes: the automatic driving system comprises a following module, a first position information acquisition module and a second position information acquisition module, wherein the following module is used for acquiring an automatic following driving request of an automatic driving vehicle sent by a rider, automatically following the rear of the riding vehicle of the rider, and acquiring the first position information of the riding vehicle in real time; a distance maintenance module for controlling the autonomous vehicle to automatically follow driving and maintaining a vehicle speed based on first position information of the preceding autonomous vehicle, second position information of the autonomous vehicle, and a safe distance between the autonomous vehicle and the riding vehicle; the safety monitoring module is used for controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process so as to safely monitor the rider; and the following driving ending module is used for determining the parkable place of the automatic driving vehicle after receiving the following driving stopping request sent by the rider and ending the following driving of the automatic driving vehicle. The automatic driving vehicle automatically follows the rear of the riding vehicle of the rider, so that the situation that the riding vehicle and the self-driving vehicle cannot be driven when a single person or multiple persons ride outdoors is avoided, the surrounding environment state is detected by the automatic driving vehicle to safely monitor the rider, and corresponding safety guarantee is provided.
Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 5, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.
The memory 520 stores machine-readable instructions executable by the processor 510, and when the electronic device 500 is running, the processor 510 communicates with the memory 520 through the bus 530, and when the machine-readable instructions are executed by the processor 510, the steps of the following driving method of the outdoor riding vehicle in the method embodiments shown in fig. 1 and fig. 2 may be executed, and the specific implementation may refer to the method embodiments and will not be repeated herein.
The embodiment of the present application further provides a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the following driving method of the outdoor riding vehicle in the method embodiments shown in fig. 1 and fig. 2 may be executed, and specific implementation manners may refer to the method embodiments and are not repeated herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A following driving method of an outdoor riding vehicle, the following driving method comprising:
after an automatic driving vehicle automatic following driving request sent by a rider is obtained, the automatic driving vehicle automatically follows the rear of the rider, and first position information of the rider is acquired in real time;
controlling the autonomous vehicle to automatically follow driving and maintain a vehicle speed based on first position information of the preceding autonomous vehicle, second position information of the autonomous vehicle, and a safe distance between the autonomous vehicle and the riding vehicle;
controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process to safely monitor the rider;
and after receiving the following driving stopping request sent by the rider, determining the parkable place of the automatic driving vehicle, and ending the following driving of the automatic driving vehicle.
2. The following driving method according to claim 1, wherein the controlling the autonomous vehicle to automatically follow the drive and maintain a vehicle speed based on the first position information of the front riding vehicle, the second position information of the autonomous vehicle, and a safe distance between the riding vehicle and the autonomous vehicle, comprises:
detecting whether a following distance between the first position information and the second position information is smaller than the safety distance;
if yes, controlling the automatic driving vehicle to decelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed;
if not, controlling the automatic driving vehicle to accelerate until the following distance is equal to the safe distance, and controlling the automatic driving vehicle to keep the current speed.
3. The following driving method according to claim 1, wherein the controlling the autonomous vehicle to detect the ambient condition during the automatic following driving safely monitors the rider, comprises:
when the rear vehicle of the automatic driving vehicle is detected to be a large vehicle, sending a safety prompt to the wearing equipment of the rider;
and after the parking of the riding vehicle is detected, controlling the automatic driving vehicle to park at a first preset distance of the riding vehicle, and controlling the automatic driving vehicle to automatically follow driving when the riding vehicle continues to ride.
4. The following driving method according to claim 1, wherein the controlling the autonomous vehicle to detect the ambient condition during the automatic following driving safely monitors the rider, comprises:
judging whether the rider gets up in a preset time period after detecting that the rider falls down;
if not, controlling the automatic driving vehicle to park at a second preset distance of the falling position of the rider, and controlling the automatic driving vehicle to initiate rescue seeking help.
5. The following driving method according to claim 1, wherein the controlling the autonomous vehicle to detect the ambient condition during the automatic following driving safely monitors the rider, comprises:
acquiring real-time abnormal weather broadcasting of the current place of the riding vehicle, and sending the abnormal weather broadcasting to wearing equipment of the rider to prompt the rider to safely ride.
6. The following driving method according to claim 1, wherein the controlling the autonomous vehicle to detect the ambient condition during the automatic following driving safely monitors the rider, comprises:
and when the oil quantity of the automatic driving vehicle is detected to be lower than the target oil quantity in the automatic following driving process, sending alarm information to the wearing equipment of the rider, and determining surrounding oiling/charging station information.
7. The following driving method according to claim 1, wherein after the automatic following driving request of the automatic driving vehicle sent by the rider is acquired, the automatic driving vehicle automatically follows behind the rider's riding vehicle, and before the first position information of the riding vehicle is acquired in real time, the following driving method further comprises:
controlling said autonomous vehicle to automatically follow the last said rider's ride vehicle when a plurality of said riders and one said autonomous vehicle are detected;
when a plurality of riders and a plurality of automatic driving vehicles are detected, the plurality of automatic driving vehicles are controlled to be arranged according to a preset queue, and the first automatic driving vehicle is controlled to automatically follow the last riding vehicle of the last rider.
8. A follow-up driving apparatus of an outdoor riding vehicle, characterized by comprising:
the automatic driving system comprises a following module, a first position information acquisition module and a second position information acquisition module, wherein the following module is used for acquiring an automatic following driving request of an automatic driving vehicle sent by a rider, automatically following the rear of the riding vehicle of the rider, and acquiring the first position information of the riding vehicle in real time;
a distance maintenance module for controlling the autonomous vehicle to automatically follow driving and maintaining a vehicle speed based on first position information of the preceding autonomous vehicle, second position information of the autonomous vehicle, and a safe distance between the autonomous vehicle and the riding vehicle;
the safety monitoring module is used for controlling the automatic driving vehicle to detect the surrounding environment state in the automatic following driving process so as to safely monitor the rider;
and the following driving ending module is used for determining the parkable place of the automatic driving vehicle after receiving the following driving stopping request sent by the rider and ending the following driving of the automatic driving vehicle.
9. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of the follow-up method of an outdoor riding vehicle according to any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the following driving method of an outdoor riding vehicle according to any one of claims 1 to 7.
CN202311802106.9A 2023-12-25 2023-12-25 Following driving method and device of outdoor riding vehicle, electronic equipment and medium Pending CN117585021A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311802106.9A CN117585021A (en) 2023-12-25 2023-12-25 Following driving method and device of outdoor riding vehicle, electronic equipment and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311802106.9A CN117585021A (en) 2023-12-25 2023-12-25 Following driving method and device of outdoor riding vehicle, electronic equipment and medium

Publications (1)

Publication Number Publication Date
CN117585021A true CN117585021A (en) 2024-02-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311802106.9A Pending CN117585021A (en) 2023-12-25 2023-12-25 Following driving method and device of outdoor riding vehicle, electronic equipment and medium

Country Status (1)

Country Link
CN (1) CN117585021A (en)

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