CN107797555A - A kind of tourist coach automatic Pilot control method and device - Google Patents
A kind of tourist coach automatic Pilot control method and device Download PDFInfo
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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Abstract
The invention provides a kind of tourist coach automatic Pilot control method and device, belong to automatic Pilot field.This method includes：Receive request and the corresponding positional information that user sends；Real-time reception obstacle information, navigation map information, traffic flow information and flow of the people information；According to request, positional information, navigation map information, traffic flow information and flow of the people information, corresponding global path is planned, global path is used for the road for indicating vehicle traveling；According to obstacle information Dynamic Programming local path, local path is used to indicate the track specifically travelled on road；According to global path and local path and default speed, the instruction of regulation vehicle accelerator aperture, steering angle and indicating brake action is sent, so that vehicle travels on the road that global path indicates according to the track of local path instruction.So that tourist coach more hommization, intellectuality.
Description
Technical field
The present invention relates to automatic Pilot field, more particularly to a kind of tourist coach automatic Pilot control method and device.
Background technology
Autonomous driving vehicle (Autonomous vehicles) is also known as pilotless automobile, computer driving or wheeled
Mobile robot, it is that one kind realizes unpiloted intelligent automobile by computer system.
Around automatic driving technology understands using video frequency pick-up head, radar sensor and airborne laser range finder
Traffic, and the road in front is led by a detailed map (map gathered by manned automobile)
Boat.
The continuous maturation of automatic Pilot technology, promotes the progress of automatic Pilot industry, realizes that more business may.
Research shows that the time that autonomous driving vehicle also needs to more than 2 years could travel on public way, be mainly before this
Travelled on specific garden and specified link, allow the public faster to experience the facility of automatic Pilot technology, and realize section
Learn the shock that technological progress is brought.
Intelligent vehicle technology in the market is substantially based on the acquired obstacle information of this car sensor and navigation
And cartographic information, the information for not making full use of the other information in external environment to obtain intelligent vehicle are supplemented.
The content of the invention
In view of this, the embodiments of the invention provide a kind of tourist coach automatic Pilot control method and device.
Specifically, including following technical scheme：
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of tourist coach automatic Pilot control method, this method include：
Receive request and the corresponding positional information that user sends；
Real-time reception obstacle information, navigation map information, traffic flow information and flow of the people information；
According to the request, the positional information, the navigation map information, the traffic flow information and the people
Flow information, plans corresponding global path, and the global path is used for the road for indicating vehicle traveling；
According to the obstacle information Dynamic Programming local path, the local path is used to indicate the particular row on road
The track sailed；
According to the global path and local path and default speed, regulation vehicle accelerator aperture, steering angle are sent
The instruction of degree and indicating brake action, so that vehicle travels on the road that global path indicates according to the track of local path instruction.
Selectively, it is described according to the request, the positional information, the navigation map information, the transport information
And the flow of the people information, corresponding global path is planned, including：
When the request is connects people's request, when the positional information is that user is presently in positional information, planning is corresponding
Global path is presently in position to user；
Asked when described as request of making a gift to someone, when the positional information is the positional information at the sight spot that user wishes arrival, rule
Draw the sight spot position that corresponding global path wishes to reach to user；
When the request is request of parking, and the positional information is the positional information parked a little of user's setting, planning
The position of parking that corresponding global path is set to user.
Selectively, described when the request is request of making a gift to someone, the positional information is the sight spot that user wishes to reach
During positional information, the sight spot position that corresponding global path wishes to reach to user is planned, including：
If the transport information and flow of the people information indicate that the user wishes the sight spot peripheral path congestion index reached
More than first threshold, or when sight spot flow of the people is more than Second Threshold, find out and wish the sight spot distance reached most with the user
Near, peripheral path congestion index is less than first threshold, and sight spot flow of the people is less than the recommendation sight spot of Second Threshold, and sends aobvious
Show the control instruction for recommending sight spot information.
Selectively, methods described also includes：
According to the navigation map information, identify that vehicle is presently in sight spot, and sight spot is presently according to vehicle
Numbering, send the control instruction of sight spot recommended information corresponding to playing.
Selectively, methods described also includes：
The formation request of user is received, is included in the request of forming into columns and is designated as lead a group vehicle or the finger of following vehicle
Order；
If global path is planned, by what is planned comprising the instruction for being designated as leader's vehicle in the request of forming into columns
Global path is sent to following vehicle, so that the global path received is defined as the following vehicle by the following vehicle
Global path；
If receiving global path comprising the instruction for being designated as following vehicle in the request of forming into columns, will receive
To global path be defined as global path.
According to the another aspect of the embodiment of the present disclosure, there is provided a kind of tourist coach automatic Pilot control device, described device bag
Include：
User profile receiving module, it is configured as receiving request and the corresponding positional information that user sends；
Environmental perception module, is configured as real-time reception obstacle information, navigation map information, traffic flow information and
Flow of the people information；
Global path planning module, be configured as according to the request, the positional information, the navigation map information,
The traffic flow information and the flow of the people information, plan corresponding global path, and the global path is used to indicate car
Traveling road；
Local paths planning module, it is configured as according to the obstacle information Dynamic Programming local path, the part
Path is used to indicate the track specifically travelled on road；
Driving control module, it is configured as, according to the global path and local path and default speed, sending tune
Save the instruction of vehicle accelerator aperture, steering angle and indicating brake action so that vehicle on the road that global path indicates according to office
The track traveling of portion path instruction.
Selectively, the global path planning module includes：
User asks judging submodule, is configured as：
When the request is connects people's request, when the positional information is that user is presently in positional information, planning is corresponding
Global path is presently in position to user；
Asked when described as request of making a gift to someone, when the positional information is the positional information at the sight spot that user wishes arrival, rule
Draw the sight spot position that corresponding global path wishes to reach to user；
When the request is request of parking, and the positional information is the positional information parked a little of user's setting, planning
The position of parking that corresponding global path is set to user.
Selectively, it is characterised in that the global path planning module also includes：
Recommending scenery spot submodule, is configured as：
If the transport information and flow of the people information indicate that the user wishes the sight spot peripheral path congestion index reached
More than first threshold, or when sight spot flow of the people is more than Second Threshold, find out and wish the sight spot distance reached most with the user
Near, peripheral path congestion index is less than first threshold, and sight spot flow of the people is less than the recommendation sight spot of Second Threshold, and sends aobvious
Show the control instruction for recommending sight spot information.
Selectively, the global path planning module also includes：
Submodule is introduced at sight spot, is configured as：
According to the navigation map information, identify that vehicle is presently in sight spot, and sight spot is presently according to vehicle
Numbering, send the control instruction of sight spot recommended information corresponding to playing.
Selectively, the global path planning module also includes：
Formation submodule, is configured as：
The formation request of user is received, is included in the request of forming into columns and is designated as lead a group vehicle or the finger of following vehicle
Order；
If global path is planned, by what is planned comprising the instruction for being designated as leader's vehicle in the request of forming into columns
Global path is sent to following vehicle, so that the global path received is defined as the following vehicle by the following vehicle
Global path；
If receiving global path comprising the instruction for being designated as following vehicle in the request of forming into columns, will receive
To global path be defined as global path.
The technical scheme that the embodiment of the present disclosure provides can include the following benefits：
Tourist coach automatic Pilot control method and device provided by the invention, by receiving request that user sends and corresponding
Positional information；Real-time reception obstacle information, navigation map information, traffic flow information and flow of the people information；According to institute
Request, the positional information, the navigation map information, the traffic flow information and the flow of the people information are stated, is planned
Corresponding global path, the global path are used for the road for indicating vehicle traveling；According to the obstacle information Dynamic Programming
Local path, the local path are used to indicate the track specifically travelled on road；According to the global path and local road
Footpath and default speed, the instruction of regulation vehicle accelerator aperture, steering angle and indicating brake action is sent, so that vehicle is in the overall situation
Travelled on the road of path instruction according to the track of local path instruction, so that tourist coach more hommization, intellectuality.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Accompanying drawing 1 is the flow chart for the tourist coach automatic Pilot control method that the embodiment of the present invention one provides；
Accompanying drawing 2 is the flow chart for the tourist coach automatic Pilot control method that the embodiment of the present invention two provides；
Accompanying drawing 3 is the block diagram for the tourist coach automatic Pilot control device that the embodiment of the present invention three provides；
Accompanying drawing 4 is a kind of block diagram of global path planning module according to embodiment illustrated in fig. 3.
Embodiment
To make technical scheme and advantage clearer, embodiment of the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail.
Embodiment one
Present embodiments provide a kind of tourist coach automatic Pilot control method, as shown in figure 1, including step S101, S102,
S103, S104 and S105, each step will be specifically introduced below.
In step S101, request and corresponding positional information that user sends are received；
In step s 102, real-time reception obstacle information, navigation map information, traffic flow information and flow of the people letter
Breath；
In step s 103, believed according to request, positional information, navigation map information, traffic flow information and flow of the people
Breath, plans corresponding global path, and global path is used for the road for indicating vehicle traveling；
In step S104, according to obstacle information Dynamic Programming local path, local path is used to indicate in road
The track specifically travelled；
In step S105, according to global path and local path and default speed, send regulation vehicle accelerator and open
The instruction of degree, steering angle and indicating brake action, so that what vehicle indicated on the road that global path indicates according to local path
Track travels.
As a kind of alternative embodiment, according to request, positional information, navigation map information, transport information and flow of the people
Information, corresponding global path is planned, including：
When request is asked to meet people, and positional information is that user is presently in positional information, corresponding global path is planned
Position is presently in user；
When request is request of making a gift to someone, and positional information is the positional information at the sight spot that user wishes arrival, planning is corresponding
The sight spot position that global path wishes to reach to user；
When request is request of parking, and positional information is the positional information parked a little that user is set, planning is corresponding complete
The position of parking that office path is set to user.
As a kind of alternative embodiment, when request is request of making a gift to someone, positional information is the position at the sight spot that user wishes arrival
When confidence ceases, the sight spot position that corresponding global path wishes to reach to user is planned, including：
If the sight spot peripheral path congestion index that transport information and flow of the people information instruction user wish to reach is more than first
Threshold value, or when sight spot flow of the people is more than Second Threshold, find out and wish that the sight spot that reaches is closest with user, peripheral path
Congestion index is less than first threshold, and sight spot flow of the people is less than the recommendation sight spot of Second Threshold, and sends display and recommend sight spot letter
The control instruction of breath.
As a kind of alternative embodiment, method also includes：
According to navigation map information, identify that vehicle is presently in sight spot, and the numbering at sight spot be presently according to vehicle,
Send the control instruction of sight spot recommended information corresponding to playing.
As a kind of alternative embodiment, method also includes：
The formation request of reception user, comprising the instruction for being designated as leader's vehicle or following vehicle in request of forming into columns；
If global path is planned, the overall situation that will have been planned comprising the instruction for being designated as leader's vehicle in request of forming into columns
Path is sent to following vehicle, so that the global path received is defined as the global path of following vehicle by following vehicle；
If global path is received, by what is received comprising the instruction for being designated as following vehicle in request of forming into columns
Global path is defined as global path.
The tourist coach automatic Pilot control method that the present embodiment provides, by receiving request and the corresponding position that user sends
Confidence ceases；Real-time reception obstacle information, navigation map information, traffic flow information and flow of the people information；According to request, position
Confidence breath, navigation map information, traffic flow information and flow of the people information, plan corresponding global path, and global path is used
In the road of instruction vehicle traveling；According to obstacle information Dynamic Programming local path, local path is used to indicate in road
The track specifically travelled；According to global path and local path and default speed, send regulation vehicle accelerator aperture, turn to
The instruction of angle and indicating brake action, so that the track row that vehicle indicates on the road that global path indicates according to local path
Sail, so that so that tourist coach can realize more hommization, intelligentized automatic Pilot.
Above-mentioned all optional technical schemes, any combination can be used to form the alternative embodiment of the present invention, herein no longer
Repeat one by one.
Embodiment two
Present embodiments provide a kind of tourist coach automatic Pilot control method, as shown in Fig. 2 including step S201, S202,
S203 and S204, each step will be specifically introduced below.
In step s 201, request and the corresponding positional information that user sends are received；
User can send request by mobile phone app, vehicle-mounted human-machine interface can also be utilized to send request, and in user
Before sending request, first the identity information of user is obtained；
Specifically, the request that user sends includes connecing people's request, request of making a gift to someone, request of parking,
The positional information corresponding with connecing people's request is that user is presently in position, the position corresponding with request of making a gift to someone letter
The sight spot position for ceasing to reach desired by user, the positional information corresponding with request of parking are parking place.
In step S202, real-time reception obstacle information, navigation map information, traffic flow information and flow of the people letter
Breath；
Specifically, obstacle information by being installed around vehicle body apart from radar sensor, long range radar sensor, super
Sonic sensor, close camera, three-dimensional camera receive；
Navigation map information is received by global position system GPS；
Traffic flow information and flow of the people information are received by intarconnected cotrol unit；
In addition intarconnected cotrol unit can also receive traffic lights information, dining room and rest area flow of the people information,
In step S203, believed according to request, positional information, navigation map information, traffic flow information and flow of the people
Breath, plans corresponding global path, and global path is used for the road for indicating vehicle traveling；
Specifically,
When request is asked to meet people, and positional information is that user is presently in positional information, corresponding global path is planned
Position is presently in user；
All tourist coaches calculate the distance between user respectively, and by inter-vehicle communication come compare between user away from
From size, the tourist coach nearest from user can carry out the planning of global path, so that user can take within the shortest time
Upper tourist coach, lift Consumer's Experience；
When request is request of making a gift to someone, and positional information is the positional information at the sight spot that user wishes arrival, planning is corresponding
The sight spot position that global path wishes to reach to user；
Selectively, before planning that corresponding global path wishes the sight spot position of arrival to user, first obtain and get on the bus
The identity information of user, if identity information matches with sending the identity information for the user for connecing people's application in vehicle last time stroke,
It is to send the user for connecing people's request just now then to judge user, and carries out the planning of global path；If identity information mismatches,
It is not to send the user for connecing people's request just now to judge user, sends the disabled control of the display reminding user vehicle and refers to
Order, to prompt user that the vehicle is by an other user in use, the sight spot for wishing to reach cannot be set.
If the sight spot peripheral path congestion index that transport information and flow of the people information instruction user wish to reach is more than first
Threshold value, or when sight spot flow of the people is more than Second Threshold, find out and wish that the sight spot that reaches is closest with user, peripheral path
Congestion index is less than first threshold, and sight spot flow of the people is less than the recommendation sight spot of Second Threshold, and sends display and recommend sight spot letter
The control instruction of breath,
Or the flow of the people information according to the dining room and rest area received, when sight spot flow of the people is all very big around, hair
Go out the control instruction that neighbouring dining room and rest area are recommended in display,
Control instruction is received by in-vehicle multi-media system and shows corresponding recommendation information, if user is by the position of recommendation
Point is set to wish the destination reached, then plans new global path to new destination again.
It is also possible to according to navigation map information, identify that vehicle is presently in sight spot, and it is current according to vehicle
The numbering at residing sight spot, the control instruction for playing corresponding sight spot recommended information is sent,
Control instruction can be received by in-vehicle multi-media system and play corresponding sight spot recommended information,
When request is request of parking, and positional information is the positional information parked a little that user is set, planning is corresponding complete
The position of parking that office path is set to user,
Specifically, intarconnected cotrol unit can receive the real-time remaining parking stall amount in each parking lot in scenic spot, and determine away from
The parking lot that has remaining parking stall nearest from vehicle；
Specifically, in global path planning, according to traffic flow information, the selection magnitude of traffic flow is smaller, and flow of the people is smaller,
More unobstructed road；
Selectively,
The formation request of reception user, comprising the instruction for being designated as leader's vehicle or following vehicle in request of forming into columns；
If global path is planned, the overall situation that will have been planned comprising the instruction for being designated as leader's vehicle in request of forming into columns
Path is sent to following vehicle, so that the global path received is defined as the global path of following vehicle by following vehicle；
If global path is received, by what is received comprising the instruction for being designated as following vehicle in request of forming into columns
Global path is defined as global path.
User can input formation request on mobile phone app or in Human-machine interface；
Following vehicle will keep certain distance along road driving as defined in the global path received, and with front truck；
So as to need only to that the number information of the destination to be reached and following vehicle is inputted in leader's car,
Following vehicle will follow leader's vehicle traveling, it is not necessary to input what is reached for one time in each following vehicle cumbersomely
Destination；It is more convenient, and all vehicles formed into columns can be maintained on a route and travel, it is not easy to wander away, it is more suitable
Front yard collective goes on a tour of the whole family.
In step S204, according to obstacle information Dynamic Programming local path, local path is used to indicate in road
The track specifically travelled；
Specifically, according to the obstacle information of reception, the specific track that vehicle travels on road is dynamically planned, to keep away
Exempt to collide with barrier；
Vehicle is gone sight-seeing while avoiding colliding with barrier, is remained on the road that global path is planned
Traveling.
In step S205, according to global path and local path and default speed, send regulation vehicle accelerator and open
The instruction of degree, steering angle and indicating brake action, so that what vehicle indicated on the road that global path indicates according to local path
Track travels.
Specifically, default speed can be set in advance by user on cell-phone customer terminal or Human-machine interface
Put, if user is not configured, visit vehicle travels using default speed as default speed, and default speed is used for limiting
The maximum speed that vehicle processed travels on road；
The instruction of vehicle accelerator aperture, steering angle and indicating brake action is adjusted, is received by entire car controller, and accordingly
Ground adjusts the parameters of vehicle.
The tourist coach automatic Pilot control method that the present embodiment provides, by receiving request and the corresponding position that user sends
Confidence ceases；Real-time reception obstacle information, navigation map information, traffic flow information and flow of the people information；According to request, position
Confidence breath, navigation map information, traffic flow information and flow of the people information, corresponding global path is planned, and wished in user
It is to be gone before being adapted near user recommends with regard to sight spot when hoping that congestion is compared at the sight spot reached；Global path is used to indicate vehicle row
The road sailed；According to obstacle information Dynamic Programming local path, local path is used to indicate the rail specifically travelled on road
Mark；According to global path and local path and default speed, regulation vehicle accelerator aperture, steering angle and brake force are sent
The instruction of degree, so that vehicle travels on the road that global path indicates according to the track of local path instruction.So that trip
Car of looking at can provide the user with multiple choices, plan different routes according to the demand of user and the real time information at scenic spot, realize
More hommization, intelligentized automatic Pilot.
Embodiment three
A kind of tourist coach automatic Pilot control device is present embodiments provided, as shown in figure 3, receiving mould including user profile
Block 301, environmental perception module 302, global path planning module 303, local paths planning module 304, Driving control module
305, wherein：
User profile receiving module 301, it is configured as receiving request and the corresponding positional information that user sends；
User can send request by mobile phone app, vehicle-mounted human-machine interface can also be utilized to send request, and in user
Before sending request, first the identity information of user is obtained；
Specifically, the request that user sends includes connecing people's request, request of making a gift to someone, request of parking,
The positional information corresponding with connecing people's request is that user is presently in position, the position corresponding with request of making a gift to someone letter
The sight spot position for ceasing to reach desired by user, the positional information corresponding with request of parking are parking place.
Environmental perception module 302, it is configured as real-time reception obstacle information, navigation map information, traffic flow information
And flow of the people information；
Specifically,
Obstacle information in being installed around vehicle body apart from radar sensor, long range radar sensor, ultrasonic wave by passing
Sensor, close camera, three-dimensional camera receive；
Navigation map information is received by global position system GPS；
Traffic flow information and flow of the people information are received by intarconnected cotrol unit；
In addition intarconnected cotrol unit can also receive traffic lights information, dining room and rest area flow of the people information,
Global path planning module 303, it is configured as according to request, positional information, navigation map information, magnitude of traffic flow letter
Breath and flow of the people information, plan corresponding global path, and global path is used for the road for indicating vehicle traveling；
Alternatively, global path planning module 303 also includes：
User asks judging submodule 3031, is configured as：
When request is asked to meet people, and positional information is that user is presently in positional information, corresponding global path is planned
Position is presently in user；
When request is request of making a gift to someone, and positional information is the positional information at the sight spot that user wishes arrival, planning is corresponding
The sight spot position that global path wishes to reach to user；
When request is request of parking, and positional information is the positional information parked a little that user is set, planning is corresponding complete
The position of parking that office path is set to user.
When request is asked to meet people, and positional information is that user is presently in positional information, corresponding global path is planned
Position is presently in user；
The environmental perception module 302 of all tourist coaches is additionally configured to calculate the distance between user respectively, and passes through
Inter-vehicle communication compares the size of the distance between user, and the tourist coach nearest from user can carry out the planning of global path,
So that user can take tourist coach within the shortest time, Consumer's Experience is lifted；
When request is request of making a gift to someone, and positional information is the positional information at the sight spot that user wishes arrival, planning is corresponding
The sight spot position that global path wishes to reach to user；
Selectively, before planning that corresponding global path wishes the sight spot position of arrival to user, first user is entered
The acquisition of row identity information, and the identity information with sending the user for connecing people's request before is compared, if not using before
Family is transmitted across connecing people's information, then it is the tourist coach voluntarily found to judge user, and carries out the planning of global path；If identity is believed
Breath matching, then it is to send the user for connecing people's request just now to judge user, and carries out the planning of global path；If identity information is not
Matching, then it is not to send the user for connecing people's request just now to judge user, and it is disabled to send the display reminding user vehicle
Control instruction, to prompt user's vehicle by an other user in use, the sight spot for wishing to reach cannot be set.
Alternatively, global path planning module 303 also includes：
Recommending scenery spot submodule 3032, is configured as：
If the sight spot peripheral path congestion index that transport information and flow of the people information instruction user wish to reach is more than first
Threshold value, or when sight spot flow of the people is more than Second Threshold, find out and wish that the sight spot that reaches is closest with user, peripheral path
Congestion index is less than first threshold, and sight spot flow of the people is less than the recommendation sight spot of Second Threshold, and sends display and recommend sight spot letter
The control instruction of breath,
Or the flow of the people information according to the dining room and rest area received, when sight spot flow of the people is all very big around, hair
Go out the control instruction that neighbouring dining room and rest area are recommended in display,
Control instruction is received by in-vehicle multi-media system and shows corresponding recommendation information, if user is by the position of recommendation
Point is set to wish the destination reached, then plans new global path to new destination again.Alternatively, global path planning
Module 303 also includes：
Submodule 3033 is introduced at sight spot, is configured as：
According to navigation map information, identify that vehicle is presently in sight spot, and the numbering at sight spot be presently according to vehicle,
The control instruction for playing corresponding sight spot recommended information is sent,
Control instruction can be received by on-board multimedia device and play corresponding sight spot recommended information,
When request is request of parking, and positional information is the positional information parked a little that user is set, planning is corresponding complete
The position of parking that office path is set to user,
Specifically, intarconnected cotrol unit can receive the real-time remaining parking stall amount in each parking lot in scenic spot, and determine away from
The parking lot that has remaining parking stall nearest from vehicle；
Specifically, in global path planning, global path planning module 303 is configured as according to traffic flow information,
The selection magnitude of traffic flow is smaller, and flow of the people is smaller, more unobstructed road；
Alternatively, global path planning module 303 also includes：
Formation submodule 3034, is configured as：
The formation request of reception user, comprising the instruction for being designated as leader's vehicle or following vehicle in request of forming into columns；
If global path is planned, the overall situation that will have been planned comprising the instruction for being designated as leader's vehicle in request of forming into columns
Path is sent to following vehicle, so that the global path received is defined as the global path of following vehicle by following vehicle；
If global path is received, by what is received comprising the instruction for being designated as following vehicle in request of forming into columns
Global path is defined as global path.
User can or in Human-machine interface input formation request either upper with mobile phone app；
Following vehicle will keep certain distance along road driving as defined in the global path received, and with front truck；
So as to need only to that the number information of the destination to be reached and following vehicle is inputted in leader's car,
Following vehicle will follow leader's vehicle traveling, it is not necessary to input what is reached for one time in each following vehicle cumbersomely
Destination；It is more convenient, and all vehicles formed into columns can be maintained on a route and travel, it is not easy to wander away, it is more suitable
Front yard collective goes on a tour of the whole family.
Local paths planning module 304, it is configured as being used according to obstacle information Dynamic Programming local path, local path
In the track that instruction specifically travels on road；
Specifically, according to the obstacle information of reception, the specific track that vehicle travels on road is dynamically planned, to keep away
Exempt to collide with barrier；
Vehicle is gone sight-seeing while avoiding colliding with barrier, is remained on the road that global path is planned
Traveling.
Driving control module 305, it is configured as, according to global path and local path and default speed, sending regulation
The instruction of vehicle accelerator aperture, steering angle and indicating brake action so that vehicle on the road that global path indicates according to part
The track traveling of path instruction.
The instruction of vehicle accelerator aperture, steering angle and indicating brake action is adjusted, is received by entire car controller, and accordingly
Ground adjusts the parameters of vehicle.
Specifically, default speed can be set in advance by user on cell-phone customer terminal or Human-machine interface
Put, if user is not configured, visit vehicle travels using default speed as default speed, and default speed is used for limiting
The maximum speed that vehicle processed travels on road.
The present embodiment is based on identical inventive concept with embodiment two, is that device corresponding with embodiment of the method two-phase is implemented
Example, therefore it should be appreciated by those skilled in the art that being similarly adapted to the present embodiment to the explanation of embodiment two, some technologies are thin
Section is no longer described in detail in the present embodiment.
The tourist coach automatic Pilot control device that the present embodiment provides, by receiving request and the corresponding position that user sends
Confidence ceases；Real-time reception obstacle information, navigation map information, traffic flow information and flow of the people information；According to request, position
Confidence breath, navigation map information, traffic flow information and flow of the people information, corresponding global path is planned, and wished in user
It is to be gone before being adapted near user recommends with regard to sight spot when hoping that congestion is compared at the sight spot reached；Global path is used to indicate vehicle row
The road sailed；According to obstacle information Dynamic Programming local path, local path is used to indicate the rail specifically travelled on road
Mark；According to global path and local path and default speed, regulation vehicle accelerator aperture, steering angle and brake force are sent
The instruction of degree, so that vehicle travels on the road that global path indicates according to the track of local path instruction.So that trip
Car of looking at can provide the user with multiple choices, plan different routes according to the demand of user and the real time information at scenic spot, realize
More hommization, intelligentized automatic Pilot.
One of ordinary skill in the art will appreciate that realizing the scheme of above-described embodiment can be realized by hardware, also may be used
To instruct the hardware of correlation to realize by program, described program can be stored in a kind of computer-readable recording medium,
Storage medium mentioned above can be read-only storage, disk or CD etc..
In this application, it should be understood that term " first ", " second " etc. be only used for describe purpose, and it is not intended that
Indicate or imply relative importance or the implicit quantity for indicating indicated technical characteristic.
It the above is only for the ease of it will be understood by those skilled in the art that technical scheme, not limiting this hair
It is bright.Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention
Protection domain.
Claims (10)
- A kind of 1. tourist coach automatic Pilot control method, it is characterised in that including：Receive request and the corresponding positional information that user sends；Real-time reception obstacle information, navigation map information, traffic flow information and flow of the people information；According to the request, the positional information, the navigation map information, the traffic flow information and the flow of the people Information, plans corresponding global path, and the global path is used for the road for indicating vehicle traveling；According to the obstacle information Dynamic Programming local path, the local path is used to indicate what is specifically travelled on road Track；According to the global path and local path and default speed, send regulation vehicle accelerator aperture, steering angle and The instruction of indicating brake action, so that vehicle travels on the road that global path indicates according to the track of local path instruction.
- 2. according to the method for claim 1, it is characterised in that it is described according to the request, the positional information, described lead Boat cartographic information, the transport information and the flow of the people information, plan corresponding global path, including：When the request is connects people's request, when the positional information is that user is presently in positional information, planning is corresponding global Path is presently in position to user；Asked when described as request of making a gift to someone, when the positional information is the positional information at the sight spot that user wishes arrival, planning phase The sight spot position that the global path answered wishes to reach to user；When the request is request of parking, when the positional information is the positional information parked a little that user is set, planning is corresponding The position of parking that is set to user of global path.
- 3. method according to claim 2, it is characterised in that described to be asked when described as request of making a gift to someone, the positional information During the positional information at the sight spot for wishing to reach for user, the sight spot position that corresponding global path wishes to reach to user is planned, Including：If the transport information and flow of the people information indicate that the sight spot peripheral path congestion index that the user wishes to reach is more than First threshold, or when sight spot flow of the people is more than Second Threshold, find out and wish that the sight spot that reaches is closest with the user, Peripheral path congestion index is less than first threshold, and sight spot flow of the people is less than the recommendation sight spot of Second Threshold, and sends display and push away Recommend the control instruction of sight spot information.
- 4. method according to claim 1, it is characterised in that methods described also includes：According to the navigation map information, identify that vehicle is presently in sight spot, and the numbering at sight spot be presently according to vehicle, Send the control instruction of sight spot recommended information corresponding to playing.
- 5. according to the method for claim 1, it is characterised in that methods described also includes：The formation request of reception user, comprising the instruction for being designated as leader's vehicle or following vehicle in the request of forming into columns；If global path is planned, the overall situation that will have been planned comprising the instruction for being designated as leader's vehicle in the request of forming into columns Path is sent to following vehicle, so that the global path received is defined as the overall situation of the following vehicle by the following vehicle Path；If global path is received, by what is received comprising the instruction for being designated as following vehicle in the request of forming into columns Global path is defined as global path.
- 6. a kind of tourist coach automatic Pilot control device, it is characterised in that described device includes：User profile receiving module, it is configured as receiving request and the corresponding positional information that user sends；Environmental perception module, it is configured as real-time reception obstacle information, navigation map information, traffic flow information and the stream of people Measure information；Global path planning module, it is configured as according to the request, positional information, the navigation map information, described Traffic flow information and the flow of the people information, plan corresponding global path, and the global path is used to indicate vehicle row The road sailed；Local paths planning module, it is configured as according to the obstacle information Dynamic Programming local path, the local path For the track for indicating specifically to travel on road；Driving control module, it is configured as, according to the global path and local path and default speed, sending regulation car The instruction of accelerator open degree, steering angle and indicating brake action so that vehicle on the road that global path indicates according to local road The track traveling of footpath instruction.
- 7. device according to claim 6, it is characterised in that the global path planning module includes：User asks judging submodule, is configured as：When the request is connects people's request, when the positional information is that user is presently in positional information, planning is corresponding global Path is presently in position to user；Asked when described as request of making a gift to someone, when the positional information is the positional information at the sight spot that user wishes arrival, planning phase The sight spot position that the global path answered wishes to reach to user；When the request is request of parking, when the positional information is the positional information parked a little that user is set, planning is corresponding The position of parking that is set to user of global path.
- 8. device according to claim 7, it is characterised in that the global path planning module includes：Recommending scenery spot submodule, is configured as：If the transport information and flow of the people information indicate that the sight spot peripheral path congestion index that the user wishes to reach is more than First threshold, or when sight spot flow of the people is more than Second Threshold, find out and wish that the sight spot that reaches is closest with the user, Peripheral path congestion index is less than first threshold, and sight spot flow of the people is less than the recommendation sight spot of Second Threshold, and sends display and push away Recommend the control instruction of sight spot information.
- 9. device according to claim 6, it is characterised in that the global path planning module also includes：Submodule is introduced at sight spot, is configured as：According to the navigation map information, identify that vehicle is presently in sight spot, and the numbering at sight spot be presently according to vehicle, Send the control instruction of sight spot recommended information corresponding to playing.
- 10. device according to claim 6, it is characterised in that the global path planning module also includes：Formation submodule, is configured as：The formation request of reception user, comprising the instruction for being designated as leader's vehicle or following vehicle in the request of forming into columns；If global path is planned, the overall situation that will have been planned comprising the instruction for being designated as leader's vehicle in the request of forming into columns Path is sent to following vehicle, so that the global path received is defined as the overall situation of the following vehicle by the following vehicle Path；If global path is received, by what is received comprising the instruction for being designated as following vehicle in the request of forming into columns Global path is defined as global path.
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| CN201711034376.4A CN107797555A (en) | 2017-10-30 | 2017-10-30 | A kind of tourist coach automatic Pilot control method and device |
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| CN201711034376.4A CN107797555A (en) | 2017-10-30 | 2017-10-30 | A kind of tourist coach automatic Pilot control method and device |
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| CN109084794A (en) * | 2018-08-09 | 2018-12-25 | 北京智行者科技有限公司 | A kind of paths planning method |
| CN109116852A (en) * | 2018-10-24 | 2019-01-01 | 邓银发 | Intelligent unattended drive manner and system |
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| CN111975775A (en) * | 2020-08-13 | 2020-11-24 | 山东大学 | Autonomous robot navigation method and system based on multi-angle visual perception |
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| CN114435352A (en) * | 2020-10-30 | 2022-05-06 | 大陆泰密克汽车系统（上海）有限公司 | Automatic driving system of unmanned tourist coach for wild zoo stocking area |
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| CN113324552A (en) * | 2021-05-28 | 2021-08-31 | 上海国际汽车城（集团）有限公司 | Intelligent automobile high-precision map system based on edge calculation |
| CN113324552B (en) * | 2021-05-28 | 2023-03-14 | 上海国际汽车城（集团）有限公司 | Intelligent automobile high-precision map system based on edge calculation |
| CN114418798A (en) * | 2021-12-03 | 2022-04-29 | 广东玛西尔电动科技有限公司 | Vehicle scenic spot guide method, system, vehicle and storage medium |
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| CN115655296A (en) * | 2022-09-26 | 2023-01-31 | 长城汽车股份有限公司 | Tourist site-based vehicle control method, tourist site-based vehicle control device, tourist site-based vehicle control system and vehicle |
| CN118323114A (en) * | 2024-06-17 | 2024-07-12 | 吉利汽车研究院（宁波）有限公司 | Automatic parking method, vehicle, electronic device and storage medium |
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Application publication date: 20180313 |