CN215322519U

CN215322519U - Automatic driving behavior decision system based on surrounding vehicle behaviors

Info

Publication number: CN215322519U
Application number: CN202121336848.3U
Authority: CN
Inventors: 刘勇超; 夏晴; 蒋如意; 马光林; 于萌萌; 田钧
Original assignee: Shanghai Zhuoshi Technology Co ltd
Current assignee: Shanghai Zhuoshi Technology Co ltd
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2021-12-28
Anticipated expiration: 2031-06-16

Abstract

The utility model belongs to the technical field of automatic driving, and discloses an automatic driving behavior decision system based on surrounding vehicle behaviors, which comprises: the system comprises a plurality of cameras and a data processing module which are arranged on a self vehicle; the cameras are used for obtaining steering lamps, double flashing lamps and brake lamps of vehicles around the vehicles; the data processing module comprises a receiving unit, and the receiving unit is connected with the camera and used for receiving the information acquired by the camera; and the processing unit is connected with the receiving unit and is used for fusing the information of the steering lamps, the double flashing lamps and the brake lamps of the vehicles around the self-vehicle, which is received by the receiving unit, so as to form a control signal. The utility model improves the safety of driving and parking; the comfort level of passengers in the vehicle is increased, and the uncomfortable feeling of emergency braking caused by suddenly appearing barriers on a driving route is avoided; this can be done based on existing vehicle sensors, without additional sensor information.

Description

Automatic driving behavior decision system based on surrounding vehicle behaviors

Technical Field

The utility model belongs to the technical field of automatic driving, and particularly relates to an automatic driving behavior decision system based on surrounding vehicle behaviors.

Background

The automatic driving system is an intelligent system capable of driving a vehicle independently, and can assist people and even replace people to drive the vehicle. According to the intelligence degree, the system can be generally divided into five levels of Level1-Level 5. At a lower level, people generally drive mainly, an automatic driving system is used for assisting, the driver can be reminded to carry out some operations, and at a high level, the driver can not intervene a steering wheel, an accelerator and a brake, or even can not sit in the vehicle, and the vehicle can automatically plan a driving destination and park. In general, in such a high-level automatic driving system, a behavior decision module is provided to guide the planning of the behavior of the own vehicle.

The existing behavior decision module generally decides the behavior of the vehicle at the next moment based on information such as the position, type, lane line, vehicle location line, deceleration strip, road condition and the like of surrounding obstacles. However, these methods lack an important information: intention information of objects in surrounding motion or ready for motion. The object in motion means, for example, a vehicle and a non-vehicle in motion, a person in motion, and the like. The object to be moved is a vehicle which is stopped at the roadside and is ready to start after turning on a turn signal. The behaviors of the objects often contain important information which can be used by the decision module, for example, a vehicle in the same lane ahead suddenly turns on a left steering lamp or a right steering lamp or a double flashing lamp, the speed of the vehicle is often reduced, so that the speed of the current vehicle (hereinafter referred to as the vehicle) is reduced in advance, or when the vehicle is about to change lanes, the vehicle in front suddenly turns on the steering lamp, and the vehicle is required to take corresponding measures to deal with the situation, but the situation that the vehicle is directly changed lanes like the current traditional decision module is avoided, so that the potential safety hazard is certainly increased. The other point is that the current decision module generally considers the obstacle information outside the driving route only and mostly considers the obstacle information on the current driving track only, so that if very quick obstacles appear on the driving track of the self vehicle around, potential safety hazards are possibly caused, or vehicles on the side lanes change from the driving track to the driving track suddenly, and the self vehicle is difficult to decelerate and avoid in advance due to lack of the information of the side vehicles. Therefore, the new generation of behavior decision modules must be able to utilize the movement and intent information of surrounding obstacles in addition to the traditional sensor information.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an automatic driving behavior decision system based on surrounding vehicle behaviors so as to solve the existing problems.

In order to achieve the purpose, the utility model provides the following technical scheme: an automated driving behavior decision system based on surrounding vehicle behavior, comprising:

the system comprises a plurality of cameras and a data processing module which are arranged on a self vehicle;

the cameras are used for obtaining steering lamps, double flashing lamps and brake lamps of vehicles around the vehicles;

the data processing module comprises a receiving unit, and the receiving unit is connected with the camera and used for receiving the information acquired by the camera;

and the processing unit is connected with the receiving unit and is used for fusing the information of the steering lamps, the double flashing lamps and the brake lamps of the vehicles around the self-vehicle, which is received by the receiving unit, so as to form a control signal.

As an automatic driving behavior decision system based on surrounding vehicle behaviors, the system is preferably further provided with a decision module, and the decision module is used for generating a decision result.

Preferably, the data processing module further comprises a sending unit, and the sending unit is connected with the processing unit and used for feeding back the control signal to the decision module.

Preferably, the automatic driving behavior decision system based on the surrounding vehicle behaviors is further provided with an automatic driving system, and the automatic driving system is connected with the decision module and is used for carrying out automatic driving according to a decision structure.

Compared with the prior art, the utility model has the following beneficial effects: the utility model improves the safety of driving and parking; the comfort level of passengers in the vehicle is increased, and the uncomfortable feeling of emergency braking caused by suddenly appearing barriers on a driving route is avoided; this can be done based on existing vehicle sensors, without additional sensor information.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, the present invention provides the following technical solutions: an automated driving behavior decision system based on surrounding vehicle behavior, comprising:

Specifically, the self-vehicle is further provided with a decision module, and the decision module is used for generating a decision result.

Specifically, the data processing module further includes a sending unit, and the sending unit is connected to the processing unit and configured to feed back the control signal to the decision module.

Specifically, an automatic driving system is further installed on the self-vehicle, and the automatic driving system is connected with the decision module and used for carrying out automatic driving according to a decision structure.

In this embodiment, since the behavior decision algorithm depends on the input of the sensor, the perception processing module, and the fusion module, the automatic driving decision algorithm based on the surrounding vehicle behavior includes the following contents:

the input of the sensing module is a real world result sensed by the camera, the post-processing result is output to the subsequent module on the input result, and the behavior decision module can adapt to the results of different sensors according to the sensor assembly scheme of the actual vehicle, namely, for example, if the vehicle only has the camera, the information of the steering lamps, the double flashing lamps and the brake lamps of the surrounding vehicles sensed by the camera is used for judging. The new generation of decision modules requires additional camera information for turn lights, double flashing lights, and brake lights of surrounding vehicles in addition to the sensor information traditionally required.

The results of the four main sensors of the sensing module are fused and judged, and the data such as the ID, the category, the size, the relative motion relation and the like of the obstacles detected by the sensing module are compared to filter noise and interference, so that the lamp which is turned on by which obstacle is accurately positioned, the speed of which obstacle to drive in which direction is determined, and the position of which obstacle is reached at which time. And outputs this information to the behavioral decision module.

And the behavior decision algorithm carries out the behavior from the next moment of the vehicle in real time according to the fused information.

Another embodiment of the utility model: based on the camera, set up the destination back on jiamingao shelf, let the self-vehicle independently cruise, specifically include:

the camera is already installed on the bicycle.

And extracting the turn lights, the double flashing lights, the brake lights and the obstacle type information of the surrounding vehicles from the camera.

And outputting the sensing processing results of the sensors to a fusion module.

And after the fusion module integrates the information of the sensors, the final result is output to the decision module.

And the behavior decision module plans the behavior of the self vehicle according to the information. When the lane of the front next door is turned and the lane of the vehicle is changed, the vehicle needs to be decelerated, and when the lane of the opposite vehicle is changed, the speed is recovered according to the actual distance and the relative speed.

The utility model has the advantages of forethought, and forethought of surrounding obstacles; the safety is high, and the potential safety hazard is reduced; the universality is strong, and the judgment mode of a human driver is better met; independent of a single specific sensor, in the case of the absence of any one sensor, the decision can be made depending on the information of the other sensors.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An automated driving behavior decision system based on surrounding vehicle behavior, comprising:

2. The system of claim 1, wherein the self-vehicle is further equipped with a decision module, and the decision module is configured to generate a decision result.

3. The system of claim 2, wherein the data processing module further comprises a sending unit, and the sending unit is connected to the processing unit and configured to feed the control signal back to the decision module.

4. The automatic driving behavior decision system based on surrounding vehicle behaviors of claim 3, characterized in that an automatic driving system is further installed on the self vehicle, and the automatic driving system is connected with the decision module and used for automatic driving according to a decision structure.