CN106502248B - A kind of method and device starting intelligent vehicle - Google Patents
A kind of method and device starting intelligent vehicle Download PDFInfo
- Publication number
- CN106502248B CN106502248B CN201611004854.2A CN201611004854A CN106502248B CN 106502248 B CN106502248 B CN 106502248B CN 201611004854 A CN201611004854 A CN 201611004854A CN 106502248 B CN106502248 B CN 106502248B
- Authority
- CN
- China
- Prior art keywords
- barrier
- intelligent vehicle
- preset range
- obstacle information
- current location
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of method and device for starting intelligent vehicle, before the method for wherein starting intelligent vehicle includes: starting automatic Pilot, judge that whether there are obstacles in the preset range of intelligent vehicle current location according to barrier historical record, if not, starting automatic Pilot；If it is, driving mode is switched to pilot steering.The present invention can be improved the safety coefficient of automatic Pilot, reduce the security risk in start-up course.
Description
[technical field]
The present invention relates to automatic Pilot technical field more particularly to a kind of method and devices for starting intelligent vehicle.
[background technique]
It is general various by being arranged for the vehicle for driving function with unmanned, automatic Pilot or auxiliary
The sensor of type obtains the information of outside vehicle environment, then by judging that the information that sensor obtains makes correct row
Sail decision.But in the prior art, have a defect when being configured the design of vehicle sensors, be exactly for close to vehicle body and
And height is no more than the object of headstock, recognition capability is not very strong.For example, if in last time driving process, unmanned vehicle
After having seen the obstacle of distant place, buffer stop can be selected when close to obstacle, last headstock is close to obstacle and has stopped getting off.When
When unmanned vehicle is again started up, it is possible to unmanned vehicle can be caused to make front because sensor is negligent of observation to closer object
There is no the judgement of barrier, obstacle will be knocked during startup.Therefore, cause unmanned vehicle during startup due to sensing
Device does not observe barrier and generates erroneous judgement situation, reduces unmanned vehicle in the safety coefficient of start-up course, brings greatly
Security risk.
And the prior art usually adds greater number or a greater variety of to the way to solve the problem on vehicle body
Sensor more enriches accurately external information with this to obtain, but solve problems in a manner of adding sensor to make
It obtains unmanned vehicle manufacturing cost and manufacture difficulty is promoted.Therefore it needs a kind of without adding additional sensor, vehicle can be realized
Evade the method for short distance barrier when starting, the security risk in start-up course is reduced with this, improves the peace of automatic Pilot
Overall coefficient.
[summary of the invention]
The present invention provides a kind of method and apparatus for starting intelligent vehicle, and not needing additionally to add sensor can be real
Evade the function of short distance barrier when existing vehicle launch, reduces the security risk in start-up course, improve the peace of automatic Pilot
Overall coefficient.
The present invention in order to solve the technical problem and the technical solution adopted is that provide it is a kind of start intelligent vehicle method, it is described
Before method includes: starting automatic Pilot, judge according to barrier historical record apart from intelligent vehicle current location preset range
Interior whether there are obstacles, if not, starting automatic Pilot；If it is, driving mode is switched to pilot steering.
According to one preferred embodiment of the present invention, described to judge according to barrier historical record apart from intelligent vehicle present bit
Set in preset range there are can also include: when barrier examination intelligent vehicle entrained by sensor whether can detect the barrier
Hinder object, if it is, starting automatic Pilot, and voluntarily avoid the barrier；Otherwise, it continues to execute and described switchs to driving mode
Pilot steering.
According to one preferred embodiment of the present invention, the barrier historical record by intelligent vehicle in the process of moving, to by
Obstacle information detected by the sensor that the intelligent vehicle carries is recorded to obtain.
According to one preferred embodiment of the present invention, the obstacle information includes: the location of barrier, size and hair
Between current.
According to one preferred embodiment of the present invention, described to obstacle detected by the sensor carried as the intelligent vehicle
Object information is recorded further include: in discovery barrier every time, is updated to the obstacle information recorded；Periodically remove
Discovery time exceeds the obstacle information of preset time range.
According to one preferred embodiment of the present invention, described to judge according to barrier historical record apart from intelligent vehicle current location
Whether there are obstacles in preset range specifically includes: to acquisite approachs planning information；According to barrier historical record, judge to be advised
Whether there are obstacles in the preset range of intelligent vehicle current location on the path drawn.
The present invention provides a kind of device for starting intelligent vehicle in order to solve the technical problem, and described device includes:
Judging unit, for judging according to barrier historical record current apart from intelligent vehicle before starting automatic Pilot
Whether there are obstacles in the preset range of position；
Unit is driven, is judged according to barrier historical record apart from intelligent vehicle current location preset range in judging unit
It is interior be not present barrier when, start automatic Pilot；Judge to work as apart from intelligent vehicle according to barrier historical record in judging unit
There are when barrier in the preset range of front position, driving mode is switched into pilot steering.
According to one preferred embodiment of the present invention, described device further include: inspection unit, in judging unit foundation obstacle
Object historical record judges to check entrained by intelligent vehicle in the preset range of intelligent vehicle current location there are when barrier
Whether sensor can detect the barrier；
When sensor entrained by inspection unit examination intelligent vehicle can detect the barrier, it is automatic to drive unit starting
It drives, and voluntarily avoids the barrier；Sensor entrained by inspection unit examination intelligent vehicle can not detect the barrier
When, unit, which is driven, by driving mode switchs to pilot steering.
According to one preferred embodiment of the present invention, described device further include: recording unit, for intelligent vehicle in driving process
In, obstacle information detected by the sensor carried as the intelligent vehicle is recorded, barrier history note is obtained
Record.
According to one preferred embodiment of the present invention, the obstacle information of the recording unit records includes: locating for barrier
Position, size and discovery time.
According to one preferred embodiment of the present invention, detected by the sensor that the recording unit carries the intelligent vehicle
Obstacle information also further execute when being recorded: in discovery barrier every time, to the obstacle information recorded into
Row updates；Periodically remove the obstacle information that discovery time exceeds preset time range.
According to one preferred embodiment of the present invention, the judging unit judges according to barrier historical record apart from intelligent vehicle
It is specifically executed when whether there are obstacles in the preset range of current location: to acquisite approachs planning information；Remember according to barrier history
Record judges that whether there are obstacles in the preset range of intelligent vehicle current location on planned path.
As can be seen from the above technical solutions, the present invention does not need that sensor is additionally arranged on vehicle body, according to intelligent vehicle
The obstacle information recorded in the process of moving, can not observe barrier on startup to avoid due to intelligent vehicle
And the case where bumping against barrier, improves the safety system of automatic Pilot to reduce the security risk in intelligent vehicle start-up course
Number.
[Detailed description of the invention]
Fig. 1 is the method flow diagram that one embodiment of the invention provides.
Fig. 2 is structure drawing of device provided in an embodiment of the present invention.
Fig. 3 is equipment structure chart provided in an embodiment of the present invention.
[specific embodiment]
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination " or " in response to detection ".Similarly, depend on context, phrase " if it is determined that " or " if detection
(condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when the detection (condition of statement
Or event) when " or " in response to detection (condition or event of statement) ".
Fig. 1 is the method flow diagram that one embodiment of the invention provides, as shown in Figure 1, this method can mainly include following
Step:
In 101, before starting automatic Pilot, judge according to barrier historical record pre- apart from intelligent vehicle current location
If in range, whether there are obstacles, if not, starting automatic Pilot.
Described intelligent vehicle in the present invention refers to automatic Pilot, unmanned or auxiliary driving ability
Vehicle.
In this step, barrier historical record be intelligent vehicle in the process of moving, to by its carry sensor institute
What the obstacle information detected was recorded, the obstacle information recorded can be mainly the position of barrier, also
It may further include the size of barrier and the discovery time of barrier.
Intelligent vehicle records the obstacle information detected by sensor, and is stored in specific file, also
The particular memory file can be named, for example, by file designation be " specific obstacle record ", consequently facilitating subsequent step
Suddenly it is stored and is searched.The storage file is located locally, and intelligent vehicle is operated according to the storage file being located locally.
Intelligent vehicle can send cloud server for the file that obstacle information is locally stored and back up, can be with
To preset uplink time interval, then periodically there is the storage file of obstacle information to be uploaded and standby record
Part.It may be after being triggered upload function by user, local storage file to be uploaded into cloud server and is backed up.This
Sample ensures that in the case where locally stored file is surprisingly lost, the previous day institute that can also take from cloud server is standby
The storage file of part, so that it is guaranteed that intelligent vehicle can be completed to be examined according to recorded obstacle information under any circumstance
The operation looked into.
It is local expired will also to execute removing when being recorded the obstacle information detected by sensor for intelligent vehicle
The operation of obstacle information needs to preset the retention time of obstacle information in this step, i.e., clear in storage file
Except discovery time exceeds the obstacle information of default retention time range, to ensure obstacle information recorded in storage file
It is all authentic and valid.
It optionally, can be the barrier that is recorded by intelligent vehicle during a specific implementation of the present embodiment
Information is voluntarily purged according to preset time, that is to say, that and obstacle information has timeliness in preset time range,
Obstacle information more than the preset time range is voluntarily removed.
For example, if preset retention time is 7 days, and the discovery time of certain obstacle information is 2016
23 minutes 13 points of on November 2, then 23 minutes 13 points of on November 9th, 2016, this obstacle information is voluntarily deleted.
Or discovery time is removed beyond default according to default retention time after intelligent vehicle is by user's triggering
The obstacle information of time range, can for intelligent vehicle it is daily start for the first time when according to being currently up the time and preset
Time is purged, and the mode of removing button or voice control present in intelligent vehicle that can also click for user carried out
The clear operation of phase obstacle information.
For example, if preset time range be 7 days, i.e., the obstacle information recorded in storage file 7 days it
It is interior effectively, when intelligent vehicle it is daily start for the first time when, searched in storage file according to the starting time on the same day, will
Barrier of the discovery time of recorded barrier compared with current time more than 7 days records erasing of information.
Also, when intelligent vehicle finds barrier every time, need to obstacle information recorded in storage file into
Row updates.
It is searched in storage file according to the location information of found barrier, determines whether intelligent vehicle is for the first time
It was found that the barrier.Optionally, during a specific implementation of the present embodiment, if intelligent vehicle is to find the barrier for the first time
When hindering object, then position, size and the discovery time of the barrier are recorded, and the information of the barrier is added to storage file
In.If intelligent vehicle is the case where finding the barrier again in the process of moving, to be existed according to the location information of barrier
The record information that the corresponding barrier is found in storage file, by the size and discovery time of the rear barrier once recorded
The corresponding contents recorded before covering, be to ensure obstacle information recorded in storage file all it is newest, to mention
The accuracy of high intelligent vehicle avoiding barrier.
In this step, judge whether deposit in the preset range of intelligent vehicle current location according to barrier historical record
In barrier, the route planning information of intelligent vehicle can be obtained first, and route planning information therein mainly includes intelligence
The travel route of this automatic Pilot of vehicle.
Then according to barrier historical record, judge on planned path apart from intelligent vehicle current location preset range
It is interior that whether there are obstacles.According to current location of the intelligent vehicle in travel route and set distance, obtain apart from intelligent vehicle
The preset range of current location in travel route, obtained preset range are that Obstacle Position is searched in storage file
The range of information.
Optionally, during a specific implementation of the present embodiment, the mode of set distance can be user according to reality
Border situation sets itself, take be manually entered or sound control by way of complete to set.Or intelligent vehicle is certainly
Row setting, the location information of the barrier in conjunction with recorded in intelligent vehicle current location and storage file are completed to set.
In this step, the location information of the barrier according to recorded in storage file is checked and is travelled apart from intelligent vehicle
There is the record of clear, if do not recorded, can be determined that in intelligent vehicle row in route in the preset range of current location
It sails and barrier is not present in route in the preset range of current location, intelligent vehicle can be with clean boot.
For example, if set distance is 3m, then the region in intelligent vehicle travel route in the 3m of current location is worked as
Make preset range, checking in storage file has the record information of clear in the 3m preset range, be then specifically pre- at this
If the location information of the barrier according to recorded in storage file is checked in range.If not checking barrier
Record, intelligent vehicle starting traveling；If checking the record of barrier, then step 102 is further executed.
In 102, check sensor entrained by intelligent vehicle can detect according to barrier historical record judge away from
From existing barrier in the preset range of intelligent vehicle current location, if being able to detect that, start automatic Pilot, and voluntarily keep away
Open the barrier；If being unable to detect that, step 103 is continued to execute.
In this step, determining there is barrier record in the preset range of intelligent vehicle current location by step 101
Afterwards, intelligent vehicle can not directly initiate, to prevent colliding the generation that barrier causes the accident, it is therefore desirable to further determine whether
The barrier can be hidden by intelligent vehicle itself.And the mode of intelligent vehicle avoiding barrier in the process of moving is more at present
Ambient conditions are perceived for the sensor according to entrained by vehicle, and operation is carried out according to the obstacle information that sensor obtains
Voluntarily avoiding barrier afterwards, the barrier that intelligent vehicle voluntarily hides discovery in this step belong to the prior art, herein without
It repeats.
In 103, intelligent vehicle sounds an alarm informing cause, and driving mode is switched to pilot steering.
In this step, the barrier that sensor entrained by intelligent vehicle can not detect the presence of, therefore just can not be
After obtaining the information of the barrier, carrying out evading for barrier by intelligent vehicle itself, then intelligent vehicle can sound an alarm, and
It informs to interior user since there are barrier, intelligent vehicle can not start, driving mode is switched into pilot steering, used by car
Family is operated manually.
Optionally, during a specific implementation of the present embodiment, judge in step 101 according to barrier historical record
When whether there are obstacles in the preset range of intelligent vehicle current location, if set preset range is less than intelligent vehicle
When the minimum zone that entrained sensor can detect, then without step 102, barrier history is checked in a step 101
When recording and finding to have barrier record in preset range, step 103 is directly executed, sound an alarm and informs cause to user,
Driving mode is switched into pilot steering.This is primarily due to sensor entrained by current intelligent vehicle to the barrier in short distance 1m
There are blind area risks when hindering analyte detection, therefore, when set preset range is less than 1m, then have determined that intelligent vehicle can not lead to
It crosses self-contained sensor and detects that the barrier, intelligent vehicle directly issue alarm, driving mode is switched into pilot steering,
To realize clean boot.
For example, if set preset range is 0.5m, which is less than intelligent vehicle and carries sensing
The minimum range that device can be detected, therefore intelligent vehicle, after obtaining the preset range, having been acknowledged can not be passed by itself
Sensor detects the barrier in 0.5m preset range.Therefore, check there is barrier record in the preset range when step 101
When, then step 102 is needed not move through, directly execution step 103, sounds an alarm and inform cause to user, driving mode is turned
For pilot steering.
Using technical solution provided by the invention, using sensor existing on intelligent vehicle, even if in the barrier of sensor
Hindering analyte detection blind area, there are barriers, and by the record to obstacle information, the function of short distance barrier is evaded in realization, thus
The safety coefficient in unmanned or automatic Pilot start-up course is improved, security risk in the process of moving is reduced.
And it is not necessarily to increase big quantity sensor additionally to reduce detection of obstacles blind area, reduces manufacturing cost and manufacture difficulty,
Device figure provided in an embodiment of the present invention is described in detail below.As shown in Figure 2, described device specifically includes that
Recording unit 21, judging unit 22, inspection unit 23 and driving unit 24.
The obstacle information detected by sensor is recorded for intelligent vehicle, and is stored in by recording unit 21
In specific file, which can also be named, for example, by file designation be " specific obstacle record ", from
And it is stored and is searched convenient for subsequent step.The storage file is located locally, and intelligent vehicle is according to the storage being located locally
File is operated.
Intelligent vehicle can send cloud server for the file that obstacle information is locally stored to back up, can
Uplink time interval is preset and, which is thought, and periodically have the storage file of obstacle information to be uploaded and standby record
Part.It may be after being triggered upload function by user, local storage file to be uploaded into cloud server and is backed up.This
Sample ensures that in the case where locally stored file is surprisingly lost, the previous day institute that can also take from cloud server is standby
The storage file of part, so that it is guaranteed that intelligent vehicle can be completed to be examined according to recorded obstacle information under any circumstance
The operation looked into.
It is local expired will also to execute removing when being recorded the obstacle information detected by sensor for intelligent vehicle
The operation of obstacle information needs to preset the retention time of obstacle information in this step, i.e., clear in storage file
Except discovery time exceeds the obstacle information of default retention time range, to ensure obstacle information recorded in storage file
It is all authentic and valid.
It optionally, can be the barrier that is recorded by intelligent vehicle during a specific implementation of the present embodiment
Information is voluntarily removed according to preset time range, that is to say, that and obstacle information has timeliness in preset time range,
Obstacle information more than the preset time range is voluntarily removed.
For example, if preset time range is 7 days, and the discovery time of certain obstacle information is in November, 2016
2 days 13 points 23 minutes, then 23 minutes 13 points of on November 9th, 2016, this obstacle information is voluntarily deleted.
Or discovery time is removed beyond default according to preset time range after intelligent vehicle is by user's triggering
The obstacle information of time range, can for intelligent vehicle it is daily start for the first time when according to being currently up the time and preset
Time is purged, and the mode of removing button or voice control present in intelligent vehicle that can also click for user carried out
The clear operation of phase obstacle information.
For example, if preset time range be 7 days, i.e., the obstacle information recorded in storage file 7 days it
It is interior effectively, when intelligent vehicle it is daily start for the first time when, searched in storage file according to the starting time on the same day, will
Barrier of the discovery time of recorded barrier compared with current time more than 7 days records erasing of information.
Also, when intelligent vehicle finds barrier every time, need to the information of barrier recorded in storage file into
Row updates.
It is searched in storage file according to the location information of found barrier, determines whether intelligent vehicle is for the first time
It was found that the barrier.Optionally, during a specific implementation of the present embodiment, if intelligent vehicle is to find the barrier for the first time
When hindering object, then position, size and the discovery time of the barrier are recorded, and the information of the barrier is added to storage file
In.If intelligent vehicle is when finding the barrier again in the process of moving, to be stored according to the location information of barrier
The record information that the corresponding barrier is found in file, the size of the rear barrier once recorded and discovery time are covered
The corresponding contents recorded before, be to ensure obstacle information recorded in storage file all it is newest, to improve intelligence
The accuracy of energy vehicle avoiding barrier.
Judging unit 22, for judging according to barrier historical record apart from intelligent vehicle before starting automatic Pilot
Whether there are obstacles in the preset range of current location.
In this step, judge whether deposit in the preset range of intelligent vehicle current location according to barrier historical record
In barrier, the route planning information of intelligent vehicle can be obtained first, and route planning information therein mainly includes intelligence
The travel route of this automatic Pilot of vehicle.
Then according to barrier historical record, judge on planned path apart from intelligent vehicle current location preset range
It is interior that whether there are obstacles.According to current location of the intelligent vehicle in travel route and set distance, obtain apart from intelligent vehicle
The preset range of current location in travel route, obtained preset range are that Obstacle Position is searched in storage file
The range of information.
Optionally, during a specific implementation of the present embodiment, the mode of set distance can be user according to reality
Border situation sets itself, take be manually entered or sound control by way of complete to set.Or intelligent vehicle is certainly
Row setting, the location information of the barrier in conjunction with recorded in intelligent vehicle current location and storage file are completed to set.
In this step, the location information of the barrier according to recorded in storage file is checked and is travelled apart from intelligent vehicle
Having the record of clear in route in the preset range of current location can be determined that if do not recorded in intelligent vehicle
Barrier is not present in travel route in the preset range of current location, intelligent vehicle can be with clean boot.
For example, if set distance is 3m, then the region in intelligent vehicle travel route in the 3m of current location is worked as
Make preset range, checking in storage file has the record information of clear in the 3m preset range, be then specifically pre- at this
If the location information of the barrier according to recorded in storage file is checked in range.If not checking barrier
Record, intelligent vehicle starting traveling；If checking the record of barrier, then further carried out really by inspection unit 23
Recognize.
Inspection unit 23, it is pre- apart from intelligent vehicle current location for judging in judging unit foundation barrier historical record
If there are when barrier, checking that can sensor entrained by intelligent vehicle detect the barrier in range, if being able to detect
It arrives, then starts automatic Pilot, and voluntarily avoid the barrier；Driving mode is turned if it could not, continuing to execute and driving unit 24
For pilot steering.
In this step, judging unit 22 is determining there is barrier record in the preset range of intelligent vehicle current location
Afterwards, intelligent vehicle can not directly initiate, to prevent colliding the generation that barrier causes the accident, it is therefore desirable to further determine whether
The barrier can be hidden by intelligent vehicle itself.And the mode of intelligent vehicle avoiding barrier in the process of moving is more at present
Ambient conditions are perceived for the sensor according to entrained by vehicle, and operation is carried out according to the obstacle information that sensor obtains
Voluntarily avoiding barrier, the barrier that this step intelligent vehicle voluntarily hides discovery belong to the prior art afterwards, herein without superfluous
It states.If inspection unit 23 can not detect barrier, continues to execute driving unit 24 and driving mode is switched into pilot steering.
Unit 24 is driven, judges to preset apart from intelligent vehicle current location according to barrier historical record in judging unit 22
When barrier being not present in range, start automatic Pilot；Distance intelligence is judged according to barrier historical record in judging unit 22
There are when barrier in current vehicle position preset range, driving mode is switched into pilot steering.
In this step, judging unit 22 judges to preset model apart from intelligent vehicle current location according to barrier historical record
There is no when barrier, drive unit 24 to start automatic Pilot in enclosing.Judge in judging unit 22 according to barrier historical record
There are barriers in the preset range of intelligent vehicle current location, and can detect the barrier by inspection unit 23
When, it drives unit 24 and starts automatic Pilot, and voluntarily evade the barrier.Sentence in judging unit 22 according to barrier historical record
Turn-off can not detect the barrier by inspection unit 23 from there are barriers in the preset range of intelligent vehicle current location
And when intelligent vehicle voluntarily evades the barrier, driving unit 24 sounds an alarm, and informs to interior user due to existing
Barrier, intelligent vehicle can not start, and driving mode is then switched to pilot steering, be operated manually by interior user.
Optionally, it during a specific implementation of the present embodiment, can also be gone through in judging unit 22 according to barrier
When Records of the Historian record judges that whether there are obstacles in the preset range of intelligent vehicle current location, if set preset range
When the range that can be detected less than sensor entrained by intelligent vehicle, then without inspection unit 23, examined in judging unit 22
When looking into barrier historical record and finding to have barrier record in preset range, directly executes and drive unit 24, by driving unit
24 sound an alarm and inform cause to user, and driving mode is switched to pilot steering.This is primarily due to current intelligent vehicle institute
There are blind area risks when the sensor of carrying is to detection of obstacles in short distance 1m, therefore, when set preset range is small
When 1m, then have determined that intelligent vehicle can not detect that the barrier, intelligent vehicle are directly sent out by self-contained sensor
It alarms out, driving mode is switched into pilot steering, to realize clean boot.
For example, if set preset range is 0.5m, which is less than intelligent vehicle and carries sensing
The minimum range that device can be detected, therefore intelligent vehicle, after obtaining the preset range, having been acknowledged can not be passed by itself
Sensor detects the barrier in 0.5m preset range.Therefore, check there is barrier in the preset range when judging unit 22
When record, then inspection unit 23 is needed not move through, directly switch to drive unit 24, sounded an alarm and inform cause to user, it will
Driving mode switchs to pilot steering.
The above method and device provided in an embodiment of the present invention can be to be arranged and run on the computer program in equipment
It embodies.The equipment may include one or more processors, further include memory and one or more programs, as shown in Figure 3.
Wherein the one or more program is stored in memory, and is executed by said one or multiple processors to realize that the present invention is above-mentioned
Method flow shown in embodiment and/or device operation.For example, the method stream executed by said one or multiple processors
Journey may include:
Before starting automatic Pilot, judge in the preset range of intelligent vehicle current location according to barrier historical record
Whether there are obstacles, if not, starting automatic Pilot；
If it is, driving mode is switched to pilot steering.
Using technical solution provided by the invention, using sensor existing on intelligent vehicle, even if in the barrier of sensor
Hindering analyte detection blind area, there are barriers, and by the record to obstacle information, the function of short distance barrier is evaded in realization, thus
The safety coefficient in unmanned or automatic Pilot start-up course is improved, security risk in the process of moving is reduced.
And it is not necessarily to increase big quantity sensor additionally to reduce detection of obstacles blind area, reduces manufacturing cost and manufacture difficulty,
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the present invention.
Claims (10)
1. a kind of method for starting intelligent vehicle, which is characterized in that the described method includes:
Before starting automatic Pilot, the barrier historical record according to intelligent vehicle local record judges apart from the intelligent vehicle
Whether there are obstacles in the preset range of current location, if not, starting automatic Pilot；If it is, driving mode is switched to
Pilot steering；
Judging that there are go back when barrier in the preset range of the intelligent vehicle current location according to barrier historical record
Include:
Check whether sensor entrained by the intelligent vehicle can detect the barrier, if it is, starting automatic Pilot,
And voluntarily avoid the barrier；Otherwise, it continues to execute and described driving mode is switched into pilot steering.
2. the method according to claim 1, wherein the barrier historical record is being run over by intelligent vehicle
Cheng Zhong is recorded to obtain to obstacle information detected by the sensor carried as the intelligent vehicle.
3. according to the method described in claim 2, it is characterized in that, the obstacle information includes:
The location of barrier, size and discovery time.
4. according to the method described in claim 2, it is characterized in that, described examine the sensor carried by the intelligent vehicle
The obstacle information measured is recorded further include:
In discovery barrier every time, the obstacle information recorded is updated；
Periodically remove the obstacle information that discovery time exceeds preset time range.
5. the method according to claim 1, wherein described judge according to barrier historical record apart from intelligent vehicle
Whether there are obstacles in current location preset range specifically includes:
To acquisite approachs planning information；
According to barrier historical record, judge whether deposit in the preset range of intelligent vehicle current location on planned path
In barrier.
6. a kind of device for starting intelligent vehicle, which is characterized in that described device includes:
Judging unit, for before starting automatic Pilot, the barrier historical record according to intelligent vehicle local record judge away from
From whether there are obstacles in the preset range of the intelligent vehicle current location；
Unit is driven, judges to work as apart from the intelligent vehicle according to the barrier historical record of intelligent vehicle record in judging unit
When barrier being not present in the preset range of front position, start automatic Pilot；In obstacle of the judging unit according to intelligent vehicle record
Object historical record judges that driving mode is switched to people there are when barrier in the preset range of the intelligent vehicle current location
Work drives；
Inspection unit, for judging according to the barrier historical record of intelligent vehicle record apart from the intelligent vehicle in judging unit
There are when barrier, check whether sensor entrained by the intelligent vehicle can detect this in current location preset range
Barrier；
When inspection unit checks sensor entrained by the intelligent vehicle and can detect the barrier, it is automatic to drive unit starting
It drives, and voluntarily avoids the barrier；Inspection unit, which checks sensor entrained by the intelligent vehicle, can not detect the barrier
When hindering object, unit is driven by driving mode and switchs to pilot steering.
7. device according to claim 6, which is characterized in that described device further include:
Recording unit, in the process of moving for intelligent vehicle, to detected by the sensor carried as the intelligent vehicle
Obstacle information is recorded.
8. device according to claim 7, which is characterized in that the obstacle information of the recording unit records includes:
The location of barrier, size and discovery time.
9. device according to claim 7, which is characterized in that the recording unit is to the biography carried by the intelligent vehicle
It is also further executed when obstacle information detected by sensor is recorded:
In discovery barrier every time, the obstacle information recorded is updated；
Periodically remove the obstacle information that discovery time exceeds preset time range.
10. device according to claim 6, which is characterized in that the judging unit judges according to barrier historical record
It is specifically executed when whether there are obstacles in the preset range of intelligent vehicle current location:
To acquisite approachs planning information；
According to barrier historical record, judge whether deposit in the preset range of intelligent vehicle current location on planned path
In barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611004854.2A CN106502248B (en) | 2016-11-15 | 2016-11-15 | A kind of method and device starting intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611004854.2A CN106502248B (en) | 2016-11-15 | 2016-11-15 | A kind of method and device starting intelligent vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106502248A CN106502248A (en) | 2017-03-15 |
| CN106502248B true CN106502248B (en) | 2019-11-05 |
Family
ID=58323548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611004854.2A Active CN106502248B (en) | 2016-11-15 | 2016-11-15 | A kind of method and device starting intelligent vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106502248B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018217498A1 (en) * | 2017-05-22 | 2018-11-29 | Pcms Holdings, Inc. | Method and apparatus for in-vehicle augmented reality visualization of sensor range and field-of-view |
| CN108973898B (en) * | 2018-07-25 | 2021-08-10 | 吉林大学 | Unmanned vehicle and safe starting method, device and equipment thereof |
| CN109709966B (en) * | 2019-01-15 | 2021-12-07 | 阿波罗智能技术(北京)有限公司 | Control method and device for unmanned vehicle |
| CN112284389B (en) * | 2020-09-28 | 2023-02-03 | 深圳优地科技有限公司 | Mobile robot path planning method and device, mobile robot and storage medium |
| CN113311767A (en) * | 2021-06-04 | 2021-08-27 | 上海骋驿信息科技有限公司 | Whole car intelligent electronic system design system |
| CN115444325B (en) * | 2022-07-21 | 2024-08-20 | 深圳银星智能集团股份有限公司 | Secondary cleaning method, device, cleaning robot and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103069153A (en) * | 2010-07-07 | 2013-04-24 | 罗伯特·博世有限公司 | System and method for controlling the engine of a vehicle |
| CN103646298A (en) * | 2013-12-13 | 2014-03-19 | 中国科学院深圳先进技术研究院 | Automatic driving method and automatic driving system |
| CN104290745A (en) * | 2014-10-28 | 2015-01-21 | 奇瑞汽车股份有限公司 | Semi-automatic driving system for vehicle and method thereof |
| WO2015186184A1 (en) * | 2014-06-03 | 2015-12-10 | 株式会社日立システムズ | Driving assistance system |
| CN105446338A (en) * | 2015-12-21 | 2016-03-30 | 福州华鹰重工机械有限公司 | Cloud-assisted automatic driving method and system thereof |
| CN105513392A (en) * | 2015-11-27 | 2016-04-20 | 小米科技有限责任公司 | Vehicle prompting method and apparatus |
| CN105717920A (en) * | 2016-04-22 | 2016-06-29 | 百度在线网络技术（北京）有限公司 | Rescue method and device for unmanned vehicle |
| CN105844966A (en) * | 2016-05-13 | 2016-08-10 | 乐视控股（北京）有限公司 | Danger alerting method and device and vehicle control device |
| CN105988467A (en) * | 2015-03-23 | 2016-10-05 | 丰田自动车株式会社 | Autonomous driving device |
-
2016
- 2016-11-15 CN CN201611004854.2A patent/CN106502248B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103069153A (en) * | 2010-07-07 | 2013-04-24 | 罗伯特·博世有限公司 | System and method for controlling the engine of a vehicle |
| CN103646298A (en) * | 2013-12-13 | 2014-03-19 | 中国科学院深圳先进技术研究院 | Automatic driving method and automatic driving system |
| WO2015186184A1 (en) * | 2014-06-03 | 2015-12-10 | 株式会社日立システムズ | Driving assistance system |
| CN104290745A (en) * | 2014-10-28 | 2015-01-21 | 奇瑞汽车股份有限公司 | Semi-automatic driving system for vehicle and method thereof |
| CN105988467A (en) * | 2015-03-23 | 2016-10-05 | 丰田自动车株式会社 | Autonomous driving device |
| CN105513392A (en) * | 2015-11-27 | 2016-04-20 | 小米科技有限责任公司 | Vehicle prompting method and apparatus |
| CN105446338A (en) * | 2015-12-21 | 2016-03-30 | 福州华鹰重工机械有限公司 | Cloud-assisted automatic driving method and system thereof |
| CN105717920A (en) * | 2016-04-22 | 2016-06-29 | 百度在线网络技术（北京）有限公司 | Rescue method and device for unmanned vehicle |
| CN105844966A (en) * | 2016-05-13 | 2016-08-10 | 乐视控股（北京）有限公司 | Danger alerting method and device and vehicle control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106502248A (en) | 2017-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106502248B (en) | A kind of method and device starting intelligent vehicle | |
| US11745730B2 (en) | Automatic parking control method and apparatus | |
| US20240394573A1 (en) | Joint processing for embedded data inference | |
| US9779624B2 (en) | Method and system of driving assistance for collision avoidance | |
| JP6668814B2 (en) | Automatic traveling control device and automatic traveling control system | |
| JP7403546B2 (en) | Remaining object detection | |
| EP2806335A1 (en) | Vehicle human machine interface with gaze direction and voice recognition | |
| CN110310618A (en) | Processing method, processing unit and the vehicle of vehicle running environment sound | |
| GB2559032A (en) | Autonomous school bus | |
| US20200216026A1 (en) | Detecting an event and automatically obtaining video data | |
| MX2014015331A (en) | Affective user interface in an autonomous vehicle. | |
| KR102143211B1 (en) | A method and system for preventing drowsiness driving and keeping vehicle safe | |
| CN114428260A (en) | System and method for detecting and accounting for errors in vehicle positioning | |
| US11195108B2 (en) | Abnormality detection device and abnormality detection method for a user | |
| CN111942317B (en) | Driving door anti-collision method, device, system and computer readable storage medium | |
| US11315349B2 (en) | Method, apparatus and device for identifying passenger state in unmanned vehicle, and storage medium | |
| JP2013174568A (en) | Moving body tracking device, moving body tracking method, and program | |
| WO2019040080A1 (en) | Detection of anomalies in the interior of an autonomous vehicle | |
| CN112955622A (en) | Device and control unit for automating the change of state of a window pane of a vehicle | |
| US20120155711A1 (en) | Apparatus and method for analyzing video | |
| CN107924626B (en) | Enhanced collision avoidance | |
| CN117095680A (en) | Vehicle control method, device, equipment and storage medium | |
| JP2021174405A (en) | Display system, display method, and display program | |
| CN111178194A (en) | Intrusion detection method, device and equipment | |
| JP2024540118A (en) | Method, device and vehicle for detecting when a body part of a vehicle occupant is sticking out of a window |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |