CN108399792A - A kind of automatic driving vehicle preventing collision method, device and electronic equipment - Google Patents

Abstract

The invention discloses a kind of automatic driving vehicle preventing collision method and devices, are related to unmanned technical field, and this method includes：Obtain the result of detection to road conditions；When the result of detection is unsatisfactory for preset meeting condition, evacuation information is generated according to the result of detection and preset evacuation rule；The evacuation information includes the evacuation rule；The evacuation information is sent at least one nearby vehicle, so that at least one nearby vehicle carries out meeting according to the evacuation information.The present invention can judge whether road disclosure satisfy that meeting, and when road cannot meet meeting, provide a kind of Automatic Negotiation Mechanism, so that mode realizes the evacuation of vehicle through consultation between the vehicle of meeting by identifying condition of road surface.

Description

An avoidance method, device and electronic equipment for an unmanned vehicle

technical field

The invention relates to the technical field of unmanned driving, in particular to an avoidance method, device and electronic equipment for an unmanned vehicle.

Background technique

Driverless car is a kind of smart car, also known as wheeled mobile robot, which mainly relies on the computer system-based smart driver in the car to achieve the goal of driverless driving.

There are two scenarios for unmanned vehicle avoidance. One is that driving errors lead to possible frontal collisions or rear-end collisions, and the other is that the road itself is not wide enough to meet the meeting of vehicles on both sides or there are obstacles on the road. The original road narrowed so that cars could not pass.

Since the development of unmanned driving technology is still in the experimental stage, it has not been put into use. And in the prior art, most unmanned driving technologies are to study the problem of how to prevent vehicle collisions under the assumption that the lane width is sufficient.

However, in practical applications, many roads will have the latter problem. For example, in many cities in China, there are some roads that are not wide enough to accommodate two cars driving in the opposite direction, or roads that are wide enough but occupy too many lanes for parking and cannot accommodate two parallel cars. When this kind of problem occurs, the avoidance technology of existing unmanned vehicle will not be able to solve this kind of problem.

Contents of the invention

(1) Purpose of the invention

The purpose of the present invention is to solve the technical problem that when an unmanned vehicle meets a manned vehicle or an unmanned vehicle, it is impossible to avoid due to insufficient road width.

(2) Technical solution

In order to solve the above problems, the first aspect of the present invention provides an avoidance method for unmanned vehicles, including: obtaining the detection results of road conditions; when the detection results do not meet the preset meeting conditions, according to the detection The result and the preset avoidance rules generate avoidance information; the avoidance information includes the avoidance rules; and the avoidance information is sent to at least one surrounding vehicle, so that the at least one surrounding vehicle meets vehicles according to the avoidance information.

Optionally, said obtaining the detection result of the road condition also includes:

Obtain the driving direction and identification data of surrounding vehicles;

Based on the identification data, the vehicle arrangement relationship and communication address of the vehicles around the vehicle are obtained.

Optionally, the preset meeting condition is: L1-C1-C2≥2*S1 or L1-C1-C2≥2*S1+S2; wherein, L1 is the width of the road, and C1 is the width of the vehicle ahead , C2 is the width of the vehicle, S1 is the preset distance between vehicles, and S2 is the width of obstacles.

Optionally, the identification data is a license plate number or a predetermined unique identification code.

Optionally, the carrier of the identification data is one or more of a license plate, a two-dimensional code, and an RFID tag.

Optionally, the method also includes:

Obtain the real-time information of the meeting vehicle;

adjusting the avoidance rules according to the live information;

Sending the adjusted avoidance rule to the at least one surrounding vehicle.

Optionally, the live information is data collected by sensors and/or feedback information from surrounding vehicles.

Optionally, the surrounding vehicle feedback information includes a second avoidance rule.

Optionally, the acquiring the driving directions of surrounding vehicles includes:

Receive its own driving direction broadcast by surrounding vehicles; or obtain the driving direction of surrounding vehicles by comparing the current vehicle speed with the relative driving speed.

Optionally, the avoidance rule includes: according to the vehicle distance in the detection result and the distance information of the rear meeting place, the driving direction information of the vehicle, the communication address information and the road congestion situation information of the vehicle avoidance direction At least one decision avoids the party.

Optionally, the rear meeting point is determined based on the width of the road behind.

According to another aspect of the present invention, there is provided an avoidance device for unmanned vehicles, including: a data acquisition module, used to obtain the detection results of road conditions; a judgment module, used to judge whether the detection results meet the preset meeting Vehicle conditions, and when the judgment result is yes, generate avoidance information according to the detection result and preset avoidance rules; the avoidance information sending module sends the avoidance information to at least one surrounding vehicle, so that the at least one surrounding vehicle Meet vehicles according to the avoidance information.

Optionally, the data acquisition module includes:

The vehicle data acquisition module is used to acquire the driving direction and identification data of surrounding vehicles;

The vehicle identification module is used to obtain the vehicle arrangement relationship and communication address of the surrounding vehicles of the vehicle based on the identification data.

Optionally, the device also includes:

The live acquisition module is used to obtain the live information of the meeting vehicle;

a rule adjustment module, configured to adjust the avoidance rules according to the live information;

A rule updating module, configured to send the adjusted avoidance rule to the at least one surrounding vehicle.

Optionally, the vehicle data acquisition module includes:

A broadcast receiving module, configured to receive its own driving direction broadcast by surrounding vehicles; and/or,

The speed comparison module is used to obtain the driving direction of surrounding vehicles through the comparison result of the current vehicle speed and the relative driving speed.

Optionally, the judging module includes: an avoiding party judging module, which is used to judge the vehicle according to the distance of the vehicle in the detection result and the distance information of the possible meeting point behind, the driving direction information of the vehicle, the communication address information and the vehicle avoiding direction At least one item in the road congestion situation information determines the avoiding party.

According to another aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned method for avoiding an unmanned vehicle are realized.

According to another aspect of the present invention, an electronic device is provided, including: a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the program The steps of realizing the avoidance method for unmanned vehicles.

(3) Beneficial effects

The above-mentioned technical solution of the present invention has the following beneficial technical effects: the present invention can judge whether the road can satisfy meeting traffic by identifying road conditions, and provides an automatic negotiation mechanism when the road cannot meet meeting traffic, thereby enabling meeting traffic Vehicle avoidance is achieved through negotiation.

Description of drawings

Fig. 1 is a flow chart of the steps of the first embodiment of the avoidance method of the present invention;

FIG. 2 is a schematic diagram of the application scene of the embodiment shown in FIG. 1;

Fig. 3 is a flow chart of the steps of the second embodiment of the avoidance method of the present invention;

FIG. 4 is a schematic diagram of the application scene of the embodiment shown in FIG. 3;

Fig. 5 is a schematic diagram of the module relationship of an embodiment of an avoidance device provided by the present invention;

Fig. 6 is a schematic diagram of the hardware structure of the electronic device provided by the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

Fig. 1 is a flow chart of the steps of the first embodiment of the avoidance method of the present invention.

FIG. 2 is a schematic diagram of an application scenario of the embodiment shown in FIG. 1 .

As shown in FIG. 2 , B1 is the own vehicle, and A is the vehicle in front of the own vehicle. The "√" on the arrow between A and B1 indicates that the vehicle A and the vehicle B1 can communicate with each other.

As shown in FIG. 1 , in this embodiment, the avoidance method is applied to an application scenario where two vehicles meet each other. Avoidance methods include the following S1-S3:

S1. Obtain the detection result of the road condition.

Obtaining detection results of road conditions includes: S11 and S12.

S11 acquires detection data on road conditions.

The detection data includes the width of the road, the width of the object on the road and the relative speed of the object and the vehicle. Specifically, detection data is obtained by detecting roads and objects on the roads by using detection devices such as lasers or radars installed on vehicles.

S12 analyzes the detection data to obtain a detection result.

Judging whether the object is a vehicle, judging whether the object is an obstacle, and judging the driving direction of the object according to the comparison results of the relative speed V2 of the object and the vehicle and the driving speed V1 of the vehicle; according to the relative speed V2 of the object and the vehicle and the vehicle The difference of the traveling speed V1 is used to judge the traveling speed of the object.

Wherein, the relative speed V2 of the object and the vehicle is obtained according to the detection data, and the driving speed V1 of the vehicle can be obtained through the navigation system or calculated according to the relative change of the GPS position of the vehicle itself. Specifically, if V1=V2, it is determined that the object is an obstacle; if V1≠v2, it is determined that the object is a vehicle; if V1<V2, it is determined that the object is a vehicle, and the vehicle is traveling in the opposite direction to the vehicle; if V1> V2, it is determined that the object is a vehicle, and the vehicle is traveling in the same direction as the own vehicle. According to the difference between V1 and V2, the speed of the vehicle ahead is estimated: when the direction of travel is opposite, the speed of the vehicle ahead is V2-V1; when the direction of travel is the same, the speed of the vehicle ahead is V1-V2 (V2 value can be positive or negative) ). Based on the analysis and comparison of V2 and V1, it can be obtained that if there is no obstacle on the road, the detection result includes: the width of the road and the width of the vehicle in front; if there is an obstacle on the road, the detection result also includes: the width of the obstacle.

S2. When the detection result does not satisfy a preset meeting condition, generate avoidance information according to the detection result and a pre-stored avoidance rule.

The preset meeting condition is to determine whether the difference between the width of the road and the width of each object on the road is greater than a preset safe meeting distance. If the detection result does not meet the preset meeting conditions, it means that the road cannot meet the meeting requirements. At this time, the avoidance problem needs to be considered. Conversely, if the detection result satisfies the preset meeting conditions, it means that the width of the road can meet the requirements of meeting vehicles. In this case, there is no need to avoid the situation. This situation is out of the scope of the present invention.

In another embodiment of the present invention, when there is no obstacle on the road, the preset meeting condition is: L1-C1-C2≥2*S1; wherein, L1 is the width of the road, and C1 is the width of the vehicle in front Width, C2 is the width of the vehicle, and S1 is the preset distance between vehicles. In another embodiment of the present invention, when there is an obstacle on the road, the preset meeting condition is: L1-C1-C2≥2*S1+S2; wherein, L1 is the width of the road, and C1 is the vehicle ahead C2 is the width of the vehicle, S1 is the preset inter-vehicle distance, and S2 is the width of the obstacle.

The avoidance rules are pre-set and stored in the vehicle's memory, and can also be stored in a remote server, and the avoidance rules are obtained from the remote server according to the user's trigger. The avoidance rule refers to a rule that determines which of the two parties meeting the vehicle is the avoiding party according to preset rules. In order to make the public better understand the dodging rules described in the present invention, the dodging rules can adopt any one of the following rules: the first rule: according to the distance between the vehicle and its rear meeting place, the avoiding party is determined; the second rule : Determine the avoiding party according to the driving direction of the vehicle; the third rule: determine the avoiding party according to the communication address; the fourth rule: determine the avoiding party according to the road congestion in the backward direction of the vehicle. It should be noted that, in addition to these four rules, other rules can also be used to determine which party is the avoiding party, such as a random method, and the avoiding rules listed above cannot limit the protection scope of the present invention.

The generated avoidance information includes avoidance rules and avoidance results. The avoidance result is the determined avoiding party vehicle. The avoidance result may be the vehicle in front, the vehicle behind, or the own vehicle.

S3. Send avoidance information to at least one surrounding vehicle, so that the at least one surrounding vehicle performs a meeting according to the avoidance information.

The surrounding vehicles can be manned vehicles or unmanned vehicles. When the surrounding vehicles and the vehicle support DSRC (Dedicated Short Range Communications, dedicated short-range communication technology), LTE-V, 5G and other communication methods, the vehicle can communicate with the surrounding vehicles through this communication method, that is, through the communication channel Send avoidance information to surrounding vehicles.

The surrounding vehicles here include the own vehicle, that is, in the worst case, only the own vehicle is controlled to avoid.

In another embodiment of the present invention, S1 acquiring the detection result of the road condition further includes the following steps S13 and S14.

S13. Obtain the identification data of the surrounding vehicles of the own vehicle.

Identification data refers to unique identification data representing a vehicle, which may be a vehicle's license plate number or other defined unique identification data.

Identification data can be presented in one or more different forms. For example: via license plate number or QR code.

S14. Obtain the vehicle arrangement relationship and communication address of the surrounding vehicles of the own vehicle based on the identification data.

Obtaining the communication addresses of vehicles around the vehicle based on the identification data specifically includes: accessing the server based on the identification data to obtain communication addresses corresponding to the identification data. Wherein, the communication address is the IP address or the MAC address of the vehicle. Obtaining the vehicle arrangement relationship of the surrounding vehicles based on the identification data specifically includes: generating the surrounding vehicle arrangement relationship of the own vehicle based on the identification data of the self and the identification data of the surrounding vehicles.

The following describes in detail the process of obtaining the identification data of the surrounding vehicles of the own vehicle, and obtaining the vehicle arrangement relationship and communication address of the surrounding vehicles of the own vehicle based on the identification data in combination with four specific embodiments.

In a specific embodiment, the identification data is a license plate number, and the carrier carrying the identification data is a license plate. Specifically, the front and rear of the vehicle body are provided with cameras, which are used to take pictures of the license plate numbers of the vehicles in front of the vehicle and the vehicles behind, and send the photographed results to the license plate recognition system of the vehicle. The photos are identified to obtain the license plate numbers of the front and rear vehicles of the vehicle. After obtaining the license plate numbers of the front and rear vehicles of the vehicle, the vehicle generates the arrangement relationship between the vehicle and the front and rear vehicles based on its own license plate number and the license plate numbers of the front and rear vehicles, and generates surrounding information based on the communication interaction between vehicles or the interaction with the server Arrangement of vehicles. After generating the arrangement relationship of the surrounding vehicles, the vehicle can find the license plate number to which the avoidance information is sent based on the arrangement relationship of the surrounding vehicles, and obtain the communication address (IP address or MAC address) of the vehicle from the server based on the license plate number, Thus, avoidance information is sent to the communication address. Among them, the arrangement relationship of surrounding vehicles is generated based on the communication interaction between vehicles, specifically including: receiving the vehicle itself and other information sent by surrounding vehicles through communication methods such as DSRC (Dedicated Short Range Communications), LTE-V, 5G, etc. The license plate number and arrangement relationship of the front and rear vehicles, and generate the arrangement relationship of surrounding vehicles based on the received license plate number and arrangement relationship and the arrangement relationship between the vehicle and the front and rear vehicles. Generate the arrangement relationship of surrounding vehicles based on the interaction with the server, including: the vehicle sends the license plate number and arrangement relationship of the vehicle and the vehicles in front and behind to the server through the base station, and obtains the vehicle itself and the license plate numbers of the vehicles in front and behind it from the server and the arrangement relationship to generate the arrangement relationship of surrounding vehicles.

In another specific embodiment, the identification data is a unique identification number pre-defined for each vehicle, and the carrier carrying the identification data is a two-dimensional code. Specifically, the front and rear of the vehicle body are provided with cameras, which are used to take pictures of the two-dimensional codes of the vehicles in front and behind the vehicle, and send the results of the pictures to the two-dimensional code recognition system of the vehicle. The two-dimensional code recognition system recognizes the photos to obtain the identification data of the front and rear vehicles of the vehicle. After obtaining the identification data of the front and rear vehicles of the vehicle, the vehicle generates the arrangement relationship between the vehicle and the front and rear vehicles based on its own identification data and the identification data of the front and rear vehicles, and based on the communication interaction between vehicles or the communication with the server Interactively generate the arrangement relationship of surrounding vehicles. After the mutual arrangement relationship of multiple vehicles is generated, the vehicle can find the identification data corresponding to the vehicle to which the avoidance information is to be sent based on the arrangement relationship of the generated surrounding vehicles, and obtain the communication information of the vehicle from the server based on the identification data. address, so as to send avoidance information to the communication address. Among them, the arrangement relationship of surrounding vehicles is generated based on the communication interaction between vehicles, specifically including: the vehicles themselves and other information sent by surrounding vehicles can be received through communication methods such as DSRC (Dedicated Short Range Communications), LTE-V, 5G, etc. The identification data and arrangement relationship of the front and rear vehicles, and generate the arrangement relationship of surrounding vehicles based on the received identification data and arrangement relationship and the arrangement relationship between the own vehicle and the front and rear vehicles. Based on the interaction with the server, the arrangement relationship of the surrounding vehicles is generated, including: the vehicle sends the identification data and arrangement relationship of the vehicle and the front and rear vehicles to the server through the base station, and obtains the identity of the vehicle itself and the front and rear vehicles of the surrounding vehicles from the server Identify the data and the arrangement relationship to generate the arrangement relationship of the surrounding vehicles.

In another specific embodiment, the identification data is a defined unique identification code, and the carrier carrying the identification data is an RFID tag.

Specifically, the vehicle obtains the RFID tags and geographic locations of surrounding vehicles through communication channels such as DSRC (Dedicated Short Range Communications), LTE-V, and 5G, and based on the acquired RFID tags and geographic locations of surrounding vehicles Generate vehicle alignments. Or, the vehicle obtains the vehicle arrangement relationship of surrounding vehicles from the server (the vehicle uploads its own geographic location and RFID tags to the server in real time, and the server generates the vehicle arrangement relationship based on the geographic location and RFID tags uploaded by each vehicle). After obtaining the arrangement relationship of the surrounding vehicles, the vehicle can find the identification data corresponding to the vehicle to which the avoidance information is to be sent based on the arrangement relationship of the surrounding vehicles, and obtain the communication address of the vehicle from the server based on the identification data, thereby Send avoidance information to the mailing address.

In yet another specific embodiment, the identification data is a defined unique identification code, and the carrier carrying the identification data is a two-dimensional code and an RFID tag.

Specifically, the front and rear of the vehicle body are provided with cameras, which are used to take pictures of the two-dimensional codes of the vehicles in front and behind the vehicle, and send the results of the pictures to the two-dimensional code recognition system of the vehicle. The two-dimensional code recognition system recognizes the photos to obtain the identification data of the front and rear vehicles of the vehicle. The vehicle receives RFID tags broadcast by surrounding vehicles through communication channels such as DSRC (Dedicated Short Range Communications), LTE-V, and 5G. Based on the identification data and RFID tags, the arrangement relationship of surrounding vehicles is obtained. Based on the generated arrangement of surrounding vehicles, the vehicle can find out the identification data and communication address corresponding to the vehicle to which the avoidance information is to be sent, so as to send the avoidance information to the communication address.

The traveling directions of the surrounding vehicles of the own vehicle are obtained by means of the following step S131 or S132.

S131, if the vehicle can communicate with other surrounding vehicles through communication methods such as DSRC (Dedicated Short Range Communications, dedicated short-range communication technology), LTE-V, 5G, etc., receive its own information broadcast by the vehicle in front through the communication channel. direction of travel.

S132, if it is not possible to communicate with the vehicle in front through communication methods such as DSRC (Dedicated Short Range Communications), LTE-V, 5G, etc., then use the driving speed V1 of the vehicle and the relative distance between other surrounding vehicles and the vehicle. The speed V2 is compared to obtain the traveling directions of other surrounding vehicles (the specific comparison method has been introduced above and will not be repeated here). For the car: the driving direction of the car can be obtained from the on-board navigation data or the on-board compass sensor; the driving speed V1 of the car can be obtained from sensors such as the on-board speedometer.

After acquiring the traveling direction of the surrounding vehicles of the own vehicle, it is judged whether the traveling direction of the own vehicle is opposite to that of the preceding vehicle. If the driving direction of the vehicle is opposite to that of the vehicle in front, it means that one of the vehicle and the vehicle in front must avoid (that is, the vehicle is the first vehicle traveling in the same direction). Conversely, if the driving direction of the own vehicle is the same as that of the front, it means that the own vehicle is not the leading vehicle traveling in the same direction, and there is no need to negotiate with the preceding vehicle for avoidance, and only need to receive the avoidance command from the leading vehicle.

Fig. 3 is a flow chart of the steps of the second embodiment of the avoidance method of the present invention.

FIG. 4 is a schematic diagram of an application scenario of the embodiment shown in FIG. 3 .

As shown in FIG. 3 , the embodiment of the present invention is used in a scenario where multiple vehicles meet. The avoidance method includes the following steps S10-S30:

S10, acquiring the live information of the meeting vehicle.

Wherein, the live information is data collected by sensors and/or feedback information from surrounding vehicles. The surrounding vehicle feedback information includes a second avoidance rule.

S20. Adjust the avoidance rule according to the live information;

If the second avoidance rule in the feedback information of the surrounding vehicles indicates that the own vehicle is the avoiding party, the avoidance rule is adjusted according to the feedback information of the surrounding vehicles.

S30. Send the adjusted avoidance rule to the at least one surrounding vehicle.

Specifically, if the feedback information from surrounding vehicles indicates that the own vehicle is an avoidance party, an avoidance instruction is generated and sent to one or more rear vehicles in the same driving direction as the own vehicle. The evasion command is used to control the vehicle to evade, so as to control the own vehicle to evade and control the vehicle receiving the evasion command to evade.

Wherein, when sending avoidance rules, one avoidance rule and avoidance party information generated based on the avoidance rule may be sent at a time, or multiple avoidance rules and avoidance party information generated based on each avoidance rule may be sent at one time. When an avoidance rule is sent each time, the response information of the vehicle in front based on the avoidance rule is obtained; if the response information is confirmation information, an avoidance instruction is generated; if the response information is negative information, other avoidance rules are sent , until the response of the vehicle in front based on a certain avoidance rule is obtained as confirmation information.

Wherein, the avoidance rule includes: according to at least one of the vehicle distance in the detection results and the distance information of the rear meeting place, the vehicle's driving direction information, the communication address information and the road congestion situation information in the vehicle's avoidance direction Avoid side.

If the avoidance party is determined according to the distance between the vehicle and the place where the vehicle may meet behind it, steps S201-S206 are included:

S201, acquiring the width of the road behind the vehicle;

Embodiment 1: When the vehicle has a high-precision map, the road width data is obtained from the map data, and the width of the backward road is searched to obtain the width of the road behind the vehicle.

Embodiment 2: When the vehicle does not have a high-precision map, the vehicle itself continuously measures the width of the road, and in combination with the map route, continuously records the route for a certain period of time (for example, 30 minutes) or within a certain distance range (for example, within 800 meters). road width data. The recorded data includes the driving route map, the GPS position of the route where the width changes, and the road width value, so as to obtain the width of the road behind the vehicle from the recorded data.

S202. Based on the width of the road behind, it is judged whether there is a possible meeting point on the road behind.

Compare the road width L with the sum C1+C2 of the widths of two-way vehicles, if L-C1-C2 is greater than the safe width.

S203, if it exists, calculate the distance between the position of the possible meeting point and the position of the own vehicle;

S204, obtaining the distance between the vehicle in front and the possible meeting point behind it;

S205, comparing the two distance values, and determining that the side with the smaller distance or the side with the larger distance is the avoiding side;

S206. Generate avoiding party information based on the determined avoiding party.

If the avoidance party is determined according to the driving direction of the vehicle, specific steps S211-S212:

S211, acquiring the driving direction of the vehicle and the driving direction of the vehicle in front;

S212, determining that the party conforming to the preset priority driving direction is the avoiding party;

Preset priority driving directions, for example: eastbound vehicles have priority over westbound vehicles, and westbound vehicles must avoid vehicles; similarly, southbound vehicles have priority over northbound vehicles, southeastbound vehicles have priority over northwestbound vehicles, and southwest vehicles have priority over northbound vehicles. Travel northeast.

S213. Generate avoiding party information based on the determined avoiding party.

If the avoidance party is determined according to the communication address; the following steps S221-S224 are included:

S221. Obtain the communication address of the own vehicle and the communication address of the vehicle in front.

Wherein, the communication address is: RFID code or IP address. The RFID code can directly sense the goods through the RFID chip; the IP address can directly obtain the peer IP address and port number when the two vehicles communicate.

S222, determining that the party whose communication address conforms to the preset priority communication address is the avoiding party;

For example: compare the size of one digit specified in the communication address code. Designate the larger party as the avoiding party or the smaller one as the avoiding party.

S221. Generate avoiding party information based on the determined avoiding party.

If the avoidance party is determined according to the road congestion situation in the backward direction of the vehicle, the following steps S231-S233 are included:

S231. Obtain the road congestion degree value of the vehicle in the backward direction and the road congestion degree value of the vehicle in front. The degree of road congestion can be obtained from the traffic information center, or the real-time congestion situation of the route live from the navigation command center.

S232, determining that the party with the smaller road congestion degree value or the larger party is the avoiding party;

S233. Generate avoiding party information based on the determined avoiding party.

Fig. 5 is a schematic diagram of module relationships of an embodiment of an avoidance device for an unmanned vehicle provided by the present invention.

As shown in FIG. 5 , in an embodiment of the present invention, the avoidance device for an unmanned vehicle includes: a data acquisition module, a judgment module, an avoidance information generation module, and an avoidance information transmission module.

The data acquisition module is used to acquire the detection result of the road condition. The data acquisition module includes: a probe data acquisition module and a probe data analysis module.

The detection data acquisition module is used to obtain the detection data of road conditions. The detection data includes the width of the road, the width of the object on the road and the relative speed of the object and the vehicle. Specifically, detection data is obtained by detecting roads and objects on the roads by using detection devices such as lasers or radars installed on vehicles.

The detection data analysis module is used to analyze the detection data to obtain detection results. Judging whether the object is a vehicle, judging whether the object is an obstacle, and judging the driving direction of the object according to the comparison results of the relative speed V2 of the object and the vehicle and the driving speed V1 of the vehicle; according to the relative speed V2 of the object and the vehicle and the vehicle The difference of the traveling speed V1 is used to judge the traveling speed of the object.

Wherein, the relative speed V2 of the object and the vehicle is obtained according to the detection data, and the driving speed V1 of the vehicle can be obtained through the navigation system or calculated according to the relative change of the GPS position of the vehicle itself. Specifically, if V1=V2, it is determined that the object is an obstacle; if V1≠v2, it is determined that the object is a vehicle; if V1<V2, it is determined that the object is a vehicle, and the vehicle is traveling in the opposite direction to the vehicle; if V1> V2, it is determined that the object is a vehicle, and the vehicle is traveling in the same direction as the own vehicle. According to the difference between V1 and V2, the speed of the vehicle ahead is estimated: when the direction of travel is opposite, the speed of the vehicle ahead is V2-V1; when the direction of travel is the same, the speed of the vehicle ahead is V1-V2 (V2 value can be positive or negative) ). Based on the analysis and comparison of V2 and V1, it can be obtained that if there is no obstacle on the road, the detection result includes: the width of the road and the width of the vehicle in front; if there is an obstacle on the road, the detection result also includes: the width of the obstacle.

The judging module is used for judging whether the detection result satisfies the preset meeting condition, and sends the judging result to the avoidance rule information generation module.

The preset meeting condition is to determine whether the difference between the width of the road and the width of each object on the road is greater than a preset safe meeting distance. If the detection result does not meet the preset meeting conditions, it means that the road cannot meet the meeting requirements. At this time, the avoidance problem needs to be considered. Conversely, if the detection result satisfies the preset meeting conditions, it means that the width of the road can meet the requirements of meeting vehicles. In this case, there is no need to avoid the situation. This situation is out of the scope of the present invention.

In another embodiment of the present invention, when there is no obstacle on the road, the preset meeting condition is: L1-C1-C2≥2*S1; wherein, L1 is the width of the road, and C1 is the width of the vehicle in front Width, C2 is the width of the vehicle, and S1 is the preset distance between vehicles. In another embodiment of the present invention, when there is an obstacle on the road, the preset meeting condition is: L1-C1-C2≥2*S1+S2; wherein, L1 is the width of the road, and C1 is the vehicle ahead C2 is the width of the vehicle, S1 is the preset inter-vehicle distance, and S2 is the width of the obstacle.

The avoidance rules are pre-set and stored in the vehicle's memory, and can also be stored in a remote server, and the avoidance rules are obtained from the remote server according to the user's trigger. The avoidance rule refers to a rule that determines which of the two parties meeting the vehicle is the avoiding party according to preset rules. In order to make the public better understand the dodging rules described in the present invention, the dodging rules can adopt any one of the following rules: the first rule: according to the distance between the vehicle and its rear meeting place, the avoiding party is determined; the second rule : Determine the avoiding party according to the driving direction of the vehicle; the third rule: determine the avoiding party according to the communication address; the fourth rule: determine the avoiding party according to the road congestion in the backward direction of the vehicle. It should be noted that, in addition to these four rules, other rules can also be used to determine which party is the avoiding party, such as a random method, and the avoiding rules listed above cannot limit the protection scope of the present invention.

The avoidance information generation module generates avoidance information according to the detection result and pre-stored avoidance rules if the judgment result of the judgment module is that the detection result does not meet the preset meeting conditions.

The generated avoidance information includes avoidance rules and avoidance results. The avoidance result is the determined avoiding party vehicle. The avoidance result may be the vehicle in front, the vehicle behind, or the own vehicle.

The avoidance information sending module is configured to send avoidance information to at least one surrounding vehicle, so that the at least one surrounding vehicle meets vehicles according to the avoidance information.

The surrounding vehicles can be manned vehicles or unmanned vehicles. When the surrounding vehicles and the vehicle support DSRC (Dedicated Short Range Communications, dedicated short-range communication technology), LTE-V, 5G and other communication methods, the vehicle can communicate with the surrounding vehicles through this communication method, that is, through the communication channel Send avoidance information to surrounding vehicles.

The surrounding vehicles here include the own vehicle, that is, in the worst case, only the own vehicle is controlled to avoid.

Fig. 6 is a schematic diagram of the hardware structure of the electronic device provided by the present invention.

As shown in FIG. 6 , the present invention also provides an electronic device, including: one or more processors and memory, and one processor is taken as an example in FIG. 6 . Further, the electronic device may further include: an input device and an output device.

The processor, the memory, the input device and the output device may be connected through a bus or in other ways. In FIG. 6 , the connection through a bus is taken as an example.

Those skilled in the art can understand that the structure of the electronic equipment shown in Figure 6 does not constitute a limitation to the embodiment of the present invention, it can be either a bus structure or a star structure, and it can also include more than shown in the figure. or fewer components, or combining certain components, or a different arrangement of components.

The processor may be composed of an integrated circuit (Integrated Circuit, IC for short), for example, may be composed of a single packaged IC, or may be composed of multiple packaged ICs connected with the same function or different functions. For example, the processor may only include a central processing unit (Central Processing Unit, referred to as CPU), and may also be a CPU, a digital signal processor (digital signal processor, referred to as DSP), a graphics processing unit (Graphic Processing Unit, referred to as GPU) and various control chips. combination. In the embodiments of the present invention, the CPU may be a single computing core, or may include multiple computing cores.

As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer program execution programs and modules, such as the program instructions/modules corresponding to the unmanned vehicle device in the embodiment of the present application (For example, the data acquisition module, judgment module, avoidance rule sending module and avoidance command generation module shown in Figure 5). The processor executes various functional applications and data processing of the server by running the non-transitory software programs, instructions and modules stored in the memory, that is, realizes the processing method of the above embodiment of the unmanned vehicle avoidance method.

The memory can include a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; in an embodiment of the present invention, the operating system can be an Android system, an iOS system or a Windows operating system and many more. The storage data area can store data and the like created according to the use of the unmanned vehicle device. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory optionally includes memory located remotely from the processor. Examples of the aforementioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The input device can receive input numbers or character information, and generate key signal input related to user setting and function control of the processing device for list operations. The input device may include a touch screen, a keyboard, a mouse, etc., and may also include a wired interface, a wireless interface, and the like. The output device may include equipment such as a display screen and a speaker, and may also include a wired interface, a wireless interface, and the like.

It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and not to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention. Furthermore, it is intended that the appended claims of the present invention embrace all changes and modifications that come within the scope and metesques of the appended claims, or equivalents of such scope and metes and bounds.

Claims (10)

1. a kind of automatic driving vehicle preventing collision method, which is characterized in that including：

Obtain the result of detection to road conditions；

When the result of detection is unsatisfactory for preset meeting condition, generated according to the result of detection and preset evacuation rule Avoid information；The evacuation information includes the evacuation rule；

The evacuation information is sent at least one nearby vehicle, so that at least one nearby vehicle is believed according to the evacuation Breath carries out meeting.

2. according to the method described in claim 1, it is characterized in that, the acquisition further includes to the result of detection of road conditions：

Obtain the travel direction and identification data of nearby vehicle；

Identity-based identification data obtain the vehicle Rankine-Hugoniot relations and mailing address of this vehicle nearby vehicle.

3. according to the method described in claim 1, it is characterized in that, the preset meeting condition is：L1-C1-C2≥2*S1 Or L1-C1-C2 >=2*S1+S2；Wherein, L1 is the width of road, and C1 is the width of front vehicles, and C2 is the width of this vehicle, S1 is preset following distance, and S2 is barrier width.

4. according to the method described in claim 2, it is characterized in that, the identification data be the number-plate number or it is scheduled only One identification code.

5. according to the method described in claim 2, it is characterized in that, the carrier of the identification data be car plate, Quick Response Code, One or more of RFID tag.

6. according to the method described in claim 2, it is characterized in that, the method further includes：

Obtain the live state information of meeting；

The evacuation rule is adjusted according to the live state information；

Evacuation rule after adjustment is sent at least one nearby vehicle.

7. according to the method described in claim 6, it is characterized in that, the live state information is sensor gathered data and/or week Side vehicle feedback information.

8. being advised the method according to the description of claim 7 is characterized in that the nearby vehicle feedback information includes the second evacuation Then.

9. according to the method described in claim 2, it is characterized in that, it is described obtain nearby vehicle travel direction, including：

Receive its own travel direction that nearby vehicle is broadcasted；Or the comparison result by current vehicle speed and opposite travel speed Obtain the travel direction of nearby vehicle.

10. according to claim 1-9 any one of them methods, which is characterized in that the evacuation rule includes：

According in the result of detection vehicle distances and after can crossing place distance information, the travel direction of vehicle At least one in the congestion in road situation information of information, communications address information and vehicle evacuation direction determines evacuation side.