CN108646752A - The control method and device of automated driving system - Google Patents
The control method and device of automated driving system Download PDFInfo
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- CN108646752A CN108646752A CN201810650806.3A CN201810650806A CN108646752A CN 108646752 A CN108646752 A CN 108646752A CN 201810650806 A CN201810650806 A CN 201810650806A CN 108646752 A CN108646752 A CN 108646752A
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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
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Abstract
The invention discloses a kind of control method of automated driving system, this method includes：Cartographic information is obtained in real time from cloud platform, and cartographic information includes geographical location information and link characteristic information corresponding with geographical location information, and link characteristic information is that multiple vehicle terminations acquire and are sent to cloud platform in the process of moving；Cartographic information is imported to the roadway characteristic map being locally stored；Roadway characteristic map partitioning is obtained by grating map at multiple grid cells with two value informations using Grid Method；Corresponding first grid cell in vehicle position the second grid cell corresponding with setting terminal is determined in grating map；The path between the first grid cell and the second grid cell is planned in grating map；According to path, vehicle automatic running is controlled.The map that the present invention can use real-time update, timeliness high carries out vehicle the planning of driving path, improves the accuracy in the path of planning.
Description
Technical field
The present invention relates to automatic Pilot field, more particularly to a kind of control method and device of automated driving system.
Background technology
Automatic vehicle control system, also known as autonomous driving vehicle are also referred to as pilotless automobile, are that one kind passing through vehicle-mounted computer
System realizes unpiloted personal vehicle system.Currently, automatic vehicle control system is cooked up usually using map for vehicle
Driving path navigates to vehicle, control vehicle traveling.In the process of moving utilize video camera, radar sensor with
And the obstacle information of the sensor modules such as airborne laser range finder detection vehicle periphery, the obstacle of control vehicle evacuation vehicle periphery
Object.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems：
It is used to plan that the update of the map of driving path is periodically by special mapping vehicle for vehicle in the prior art
Gathered data is then based on collected data and is updated, and the update cycle is longer, poor in timeliness, therefore is advised using this kind of map
The vehicle running path precision marked is not high, is unfavorable for the automatic Pilot of automobile.
Invention content
An embodiment of the present invention provides a kind of control method and device of automated driving system, can use real-time update, when
The high map of effect property carries out vehicle the planning of driving path, improves the accuracy in the path of planning.The technical solution is such as
Under：
On the one hand, an embodiment of the present invention provides a kind of control method of automated driving system, the method includes：From cloud
Platform obtains cartographic information in real time, and the cartographic information includes geographical location information and road corresponding with the geographical location information
Road characteristic information, the link characteristic information include：Lane width, road curvature, road grade, length of tunnel, lane line, road
Face arrow and traffic mark, the link characteristic information are that multiple vehicle terminations acquire and are sent to the cloud in the process of moving
Platform；The cartographic information is imported to the roadway characteristic map being locally stored；Using Grid Method by the roadway characteristic map
Multiple grid cells with two value informations are divided into, grating map is obtained；Determine that vehicle institute is in place in the grating map
Set corresponding first grid cell the second grid cell corresponding with setting terminal；Described first is planned in the grating map
Path between grid cell and second grid cell；According to the path, the vehicle automatic running is controlled.
Further, the method further includes：In the driving process of the vehicle, the roadway characteristic letter is acquired in real time
Breath；Link characteristic information in the link characteristic information got and the cartographic information is subjected to Characteristic Contrast, is obtained
Increment feature, the increment feature are the road spy being different from the link characteristic information got in the cartographic information
The link characteristic information of reference breath；The increment feature is uploaded to the cloud platform.
Further, it is described planned in the grating map first grid cell and second grid cell it
Between path after, the method further includes：Traffic information, the traffic information packet are obtained by vehicle and infrastructure communication
It includes：At least one of indicator light information, road speed-limiting messages and road congestion information；According to traffic information control
The travel speed of vehicle in the path for which.
Further, the method further includes：In vehicle travel process, the vehicle periphery is obtained by the communication of vehicle vehicle
Vehicle status information, the status information be used to indicate corresponding vehicle whether failure；If the status information indicates institute
It states in the vehicle of vehicle periphery that there are fault cars, then obtains position and the size information of the fault car；According to the event
Position and the size information for hindering vehicle, control the vehicle and avoid the fault car.
Further, the method further includes：The path of the front vehicles of the vehicle is obtained by the communication of vehicle vehicle, it is described
Front vehicles are the vehicle in the travel direction of the vehicle at a distance from the vehicle in setpoint distance；If the vehicle
It is at least partly identical as the path of the front vehicles, then it controls front vehicles described in the vehicle tracking and travels.
On the other hand, an embodiment of the present invention provides a kind of control device of automated driving system, described device includes：It obtains
Modulus block, for obtaining cartographic information in real time from cloud platform, the cartographic information include geographical location information and with the geography
The corresponding link characteristic information of location information, the link characteristic information include：Lane width, road curvature, road grade, tunnel
Road length, lane line, road surface arrow and traffic mark, the link characteristic information are that multiple vehicle terminations are adopted in the process of moving
Collect and is sent to the cloud platform；Import modul, for the cartographic information to be imported the roadway characteristic map being locally stored；
Division module, for using Grid Method by the roadway characteristic map partitioning at multiple grid cells with two value informations, obtain
To grating map；Determining module, for determined in the grating map corresponding first grid cell in vehicle position and
Set corresponding second grid cell of terminal；Planning module, for planning first grid cell in the grating map
Path between second grid cell；Control module, for according to the path, controlling the vehicle automatic running.
In a kind of realization method of the present invention, described device further includes：Acquisition module, for the traveling in the vehicle
In the process, the link characteristic information is acquired in real time；Contrast module, for by the link characteristic information got with it is described
Link characteristic information in cartographic information carries out Characteristic Contrast, obtains increment feature, the increment feature be get it is described
The link characteristic information of the link characteristic information in the cartographic information is different from link characteristic information；Sending module is used for
The increment feature is uploaded to the cloud platform.
In a kind of realization method of the present invention, the acquisition module is additionally operable to obtain road by vehicle and infrastructure communication
Condition information, the traffic information include：At least one of indicator light information, road speed-limiting messages and road congestion information；Institute
Control module is stated, is additionally operable to control the travel speed of the vehicle in the path for which according to the traffic information.
In a kind of realization method of the present invention, the acquisition module is additionally operable in vehicle travel process, passes through vehicle vehicle
Communication obtains the status information of the vehicle of the vehicle periphery, the status information be used to indicate corresponding vehicle whether failure；
If being additionally operable to the status information indicates that there are fault cars in the vehicle of the vehicle periphery, obtain the fault car
Position and size information；The control module is additionally operable to the position according to the fault car and size information, controls the vehicle
Avoid the fault car.
In a kind of realization method of the present invention, the acquisition module is additionally operable to obtain the vehicle by the communication of vehicle vehicle
The path of front vehicles, the front vehicles be in the travel direction of the vehicle at a distance from the vehicle in setpoint distance
Interior vehicle；The control module controls if it is at least partly identical as the path of the front vehicles to be additionally operable to the vehicle
Front vehicles described in the vehicle tracking travel.
The advantageous effect that technical solution provided in an embodiment of the present invention is brought is：
The embodiment of the present invention, will using Grid Method by obtaining cartographic information, and information according to the map in real time from cloud platform
The working space of vehicle is divided into multiple grid cells with two value informations, by the row for cooking up vehicle on grating map
Path is sailed, to realize the planning for carrying out driving path to vehicle using the high map of real-time update, timeliness, improves planning
Path accuracy.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of schematic diagram of the application scenarios of automated driving system provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of the control method of automated driving system provided in an embodiment of the present invention；
Fig. 3 is the flow chart of the control method of another automated driving system provided in an embodiment of the present invention；
Fig. 4 is a kind of arrangement schematic diagram of the sensor of automated driving system provided in an embodiment of the present invention；
Fig. 5 is a kind of information communication schematic diagram of automated driving system provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of the control device of automated driving system provided in an embodiment of the present invention；
Fig. 7 is a kind of structure diagram of the control device of automated driving system provided in an embodiment of the present invention.
Each symbolic indication meaning is as follows in figure：
1- laser radars, the first radar sensors of 21-, the second radar sensors of 22-, 3- ultrasonic radars, 41- solids are taken the photograph
As head, 42- looks around camera, 5- locating modules.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Fig. 1 is a kind of schematic diagram of the application scenarios of automated driving system provided in an embodiment of the present invention.As shown in Figure 1,
Multiple vehicle terminations 100 carry out data interaction with cloud platform 200, and vehicle termination 100 realizes data by network and cloud platform 200
Interaction.Each vehicle termination 100 can from cloud platform 200 download cartographic information, cartographic information include geographical location information and with
The corresponding link characteristic information of geographical location information, link characteristic information include：Lane width, road curvature, road grade, tunnel
Road length, lane line, road surface arrow and traffic mark.And each vehicle termination 100 can also will collect in driving process
Cartographic information be uploaded to cloud platform 200.
Fig. 2 is a kind of flow chart of the control method of automated driving system provided in an embodiment of the present invention.This method can be with
It is executed by the control unit of vehicle.As shown in Fig. 2, this method includes：
Step 101：Cartographic information is obtained in real time from cloud platform.
Wherein, cartographic information includes geographical location information and link characteristic information corresponding with geographical location information, road
Characteristic information includes：Lane width, road curvature, road grade, length of tunnel, lane line, road surface arrow and traffic mark, and
And link characteristic information is that each vehicle termination acquires and is sent to cloud platform in the process of moving.
In a step 101, link characteristic information corresponding with geographical location information, refers to that link characteristic information carries
Geographical location information, which road that the link characteristic information convenient for the control unit resolution acquisition of vehicle refers to.For example, with
The corresponding lane width of geographical location information refers to that the lane width carries geographical location information, according to the geographical location
Information can obtain the lane width which section the lane width specifically refers to, in embodiments of the present invention, carrying
Geographical location information can be the longitude and latitude of the lane width corresponding road section.
Step 102：Cartographic information is imported to the roadway characteristic map being locally stored.
Wherein, the roadway characteristic map being locally stored is the map for the storage unit for being stored in vehicle, the roadway characteristic
There is the road travelled for vehicle, road distribution situation, and all kinds of link characteristic informations as described in step 101 in figure.
In a step 102, it is then to the road in roadway characteristic map cartographic information to be imported the process of roadway characteristic map
The process that road characteristic information is updated, to obtain updated roadway characteristic map.
Step 103：Roadway characteristic map partitioning is obtained at multiple grid cells with two value informations using Grid Method
Grating map.
Wherein, two value informations refer to that each section has barrier and without two kinds of letters of barrier in roadway characteristic map
Breath, if such as without any barrier in some grid cell, this grid cell is referred to as free grid；Conversely, referred to as obstacle
Grid.For the free space and barrier of vehicle traveling it is the integrated of grid cell in the embodiment of the present invention.Such as road
Part in characteristics map other than road can be divided into obstacle grid, and vehicle wheeled part is then free grid in road
Lattice.
In embodiments of the present invention, when being divided to roadway characteristic map using Grid Method, first by roadway characteristic
Figure is divided into the consistent grid cell of multiple sizes, i.e., so that entire roadway characteristic map is in latticed, then judges road spy
Each grid cell is free grid or obstacle grid in expropriation of land figure.In some embodiments of the invention, judge road spy
Each grid cell, which is the method for free grid or obstacle grid, in expropriation of land figure can follow following principle, first determine that road is special
The grid cell in the representative track in expropriation of land figure and the grid cell for representing non-track define the grid cell for representing non-track
For obstacle grid, the grid cell for representing track is temporarily positioned as free grid, then from the roadway characteristic map being locally stored
Middle acquisition cartographic information, and lane line is obtained from cartographic information filters out instruction can not cross in lane line lane line (such as
Solid line), replaced using the lane line filtered out as obstacle grid represent in the grid cell in track with the lane line filtered out
Grid cell in same position completes the division of grating map.
In addition, after having divided grating map, grating map can be indicated by method of direct coordinate, serial number method or quadtree approach
In each grid cell specific location.
In some embodiments of the invention, when vehicle will upload institute's collected link characteristic information, in addition to using step
Will be added other than longitude and latitude in each link characteristic information described in rapid 101, can also use the label of above-mentioned grating map
After mode positions, the label location information of grating map is matched with link characteristic information and is uploaded to cloud platform.It can be flat convenient for cloud
The location information of platform and vehicle quick obtaining link characteristic information.
Step 104：Determine that corresponding first grid cell in vehicle position is corresponding with setting terminal in grating map
The second grid cell.
Include obtaining setting terminal before step 104.
In some realization methods of the embodiment of the present invention, setting terminal can be obtained from vehicle-mounted human-computer interaction module,
Such as the terminal entr screen being arranged in vehicle, voluntarily inputted by user.
In some realization methods of the embodiment of the present invention, setting terminal can also pass through mobile terminal (such as smart mobile phone)
It is obtained in the terminal instruction remotely sent to vehicle.
In step 104, when determining vehicle position, then it is current can to obtain vehicle by the positioning system of vehicle self-carrying
The geographical location information (such as longitude and latitude) of present position is matched to position that vehicle is presently in grid by geographical location information
Corresponding first grid cell in lattice map.It is right in grating map to be determined simultaneously also according to terminal input by user (setting terminal)
The second grid cell answered.
Step 105：The path between the first grid cell and the second grid cell is planned in grating map.
Step 105 includes：First grid cell and the second grid cell in grating map are obtained using path search algorithm
Between path.
In some embodiments of the invention, path search algorithm can be A* (A-Star) algorithm, can by the algorithm
Solve in grating map shortest path between the first grid cell and the second grid cell.Wherein A* algorithms are the prior art,
It is not described in detail herein.Other than A* algorithms, dijkstra's algorithm (enlightening can also be used in some embodiments of the invention
Jie Sitela algorithms) and many algorithms such as Floyd algorithms (Floyd-Warshall, Freud's algorithm).
Step 106：According to cook up come path, control vehicle automatic running.
The embodiment of the present invention, will using Grid Method by obtaining cartographic information, and information according to the map in real time from cloud platform
The working space of vehicle is divided into multiple grid cells with two value informations, by the row for cooking up vehicle on grating map
Path is sailed, to realize the planning for carrying out driving path to vehicle using the high map of real-time update, timeliness, improves planning
Path accuracy.
Fig. 3 is the flow chart of the control method of another automated driving system provided in an embodiment of the present invention.This method can
To be executed by the control unit of vehicle.As shown in figure 3, this method includes：
Step 201：Cartographic information is obtained in real time from cloud platform.
Wherein, cartographic information includes link characteristic information, and link characteristic information includes：Track with station location marker is wide
Degree, the length of tunnel with station location marker, has the road curvature with station location marker, the road grade with station location marker
The lane line of station location marker, the road surface arrow with station location marker and the traffic mark with station location marker.
It can periodically obtain ground from cloud platform in vehicle travel process to obtain cartographic information in step 201 in real time
Figure information, and the period is shorter.Obtaining cartographic information can be interrogated (Vehicle to Network, abbreviation V2N) by vehicle Netcom
Unit downloads cartographic information by network from cloud platform.
Step 202：Cartographic information is imported into roadway characteristic map, roadway characteristic map is the ground with initial cartographic information
Figure.
Wherein, by cartographic information import roadway characteristic map after, then be equivalent to in roadway characteristic map lane width,
Road curvature, road grade, length of tunnel, lane line, road surface arrow and traffic mark are updated.
In embodiments of the present invention, lane width is used to define lateral direction of car movement model of the vehicle in the lanes
It encloses, vehicle is can avoid after update and the case where getting over road traveling occurs, improves the safety of vehicle traveling.Lane curvature is for defining this
Track (track be bend) the degree of bending, can avoid after update vehicle when travelling turning on bend and bend it is curved
Qu Chengdu is not consistent, to deviate bend.Road grade is used to define the suddenly slow degree in the track, after update can vehicle into
Speed governing of shifting gears in advance when entering ramp, which occurs setting vehicle, passes through ramp.Length of tunnel is used to define the length in the tunnel, after update
It can prevent the steering instructions that vehicle executes mistake according to mistakenly length of tunnel from (opening car light influence when not entering tunnel such as in advance
The driver of Facing Movement or erroneous judgement sail out of tunnel and carry out lane change or closing vehicle lamp in tunnel), improve the peace of vehicle traveling
Quan Xing.Lane line is the line for dividing track, and vehicle is can avoid after update and occurs the case where crimping is got over when driving.Road surface arrow is
Arrow on road surface for travelling direction for vehicle can avoid what vehicle did not travelled as indicated against road traveling etc. after update
Situation.Traffic mark is the road equipment that guiding, limitation, warning or instruction information are transmitted with word or symbol, is convenient for after update
Guide vehicle traveling.
In embodiments of the present invention, when the cartographic information of importing is lane width, the control unit of vehicle is first from ground
Geographical location information corresponding with lane width is obtained in figure information, determines that the lane width is specific by geographical location information
Which track width, and then the lane width in roadway characteristic map is modified.It should be noted that the track
Width is the strip track that vehicle travels in track, such as when track is multilane, in order to accurately determine vehicle traveling
Be what strip track in multilane, can be by each sub- track in track into line label.In some embodiments of the present invention
In, the label principle in track can be, on the basis of the travel direction in track, by each sub- track in track with from left to right
For sequence into line label, such as when track is six-lane, label sequence from left to right, then can be 1,2,3,4,5,6.Therefore vehicle
The cartographic information of the lane width of cloud platform is uploaded to other than the width in track and geographical location information, should also include tool
The serial number in the sub- track of body.The control unit of vehicle imports feature road after cloud platform gets the cartographic information of lane width
When the map of road, then can in addition to need confirm track geographical location, also need determination that need to update the sequence in the sub- track of lane width
Number, occur the sub- track changed to accurately find width in track and update the width in the sub- track.
In embodiments of the present invention, when the cartographic information of importing is road curvature, since the road in different sub- tracks is bent
Rate differs, i.e., the bending degree per strip track is different, therefore vehicle does not need the angle of deflecting also not by different sub- tracks
Together, with similarly, in the cartographic information of road curvature other than including road curvature and geographical location information, should also wrap above
Include the serial number in the sub- track that need to update road curvature, wherein specific serial number numbering principle with it is described previously consistent.
In embodiments of the present invention, when the cartographic information of importing is road grade, the control unit of vehicle is first from ground
Geographical location information corresponding with road grade is obtained in figure information, determines that the road grade is specific by geographical location information
Which track the gradient, and then the road grade in roadway characteristic map is modified.Since track is there are when the gradient,
The gradient for the ease of each sub- track in vehicle pass-through track should be consistent, so can be in the cartographic information of road grade
The serial number information in sub- track is not included.
In embodiments of the present invention, when the cartographic information of importing is length of tunnel, the control unit of vehicle is first from ground
Geographical location information corresponding with length of tunnel is obtained in figure information, determines that the length of tunnel is specific by geographical location information
Which tunnel length, and then the length of tunnel in roadway characteristic map is modified.
In embodiments of the present invention, when the cartographic information of importing is lane line, road surface arrow and traffic mark, vehicle
Control unit obtains geographical location information corresponding with lane line, road surface arrow and traffic mark first out of cartographic information, leads to
Cross the roadway characteristic letter that geographical location information determines that the lane line, road surface arrow and traffic mark are which specific road
Breath.
Step 203：Roadway characteristic map partitioning is obtained at multiple grid cells with two value informations using Grid Method
Grating map.
Wherein, two value informations refer to that each section has barrier and without two kinds of letters of barrier in roadway characteristic map
Breath, if such as without any barrier in some grid cell, this grid cell is referred to as free grid；Conversely, referred to as obstacle
Grid.For the free space and barrier of vehicle traveling it is the integrated of grid cell in the embodiment of the present invention.Such as road
Part in characteristics map other than road can be divided into obstacle grid, and vehicle wheeled part is then free grid in road
Lattice.
In embodiments of the present invention, when being divided to roadway characteristic map using Grid Method, first by roadway characteristic
Figure is divided into the consistent grid cell of multiple sizes, i.e., so that entire roadway characteristic map is in latticed, then judges road spy
Each grid cell is free grid or obstacle grid in expropriation of land figure.In some embodiments of the invention, judge road spy
Each grid cell, which is the method for free grid or obstacle grid, in expropriation of land figure can follow following principle, first determine that road is special
The grid cell in the representative track in expropriation of land figure and the grid cell for representing non-track define the grid cell for representing non-track
For obstacle grid, the grid cell for representing track is temporarily positioned as free grid, then from the roadway characteristic map being locally stored
Middle acquisition cartographic information, and lane line is obtained from cartographic information filters out instruction can not cross in lane line lane line (such as
Solid line), replaced using the lane line filtered out as obstacle grid represent in the grid cell in track with the lane line filtered out
Grid cell in same position completes the division of grating map.
Illustratively, the size of grid cell can be 0.2m × 0.2m, and the size of grid cell is smaller, then shows grid
The precision of map is higher.The size that grid cell can be reduced if the required precision higher to grating map, if to grid
The required precision of figure is relatively low, can increase the size of grid cell, can reduce the working strength of the control unit of vehicle.
In embodiments of the present invention, by Grid Method by roadway characteristic map partitioning at grating map after, can to grid
Each grid in figure is into line label, generally use method of direct coordinate, serial number method or quadtree approach.And in grating map
When each grid label, the corresponding geographical location information of the grid or location information and the label of the grid can be matched,
Pairing, which as passes through grid label, can determine to the geographical location information of grid, or can by the geographical location information of the grid
To determine grid label.
Step 204：Determine that corresponding first grid cell in vehicle position is corresponding with setting terminal in grating map
The second grid cell.
In step 204, vehicle position is obtained by vehicle positioning system and determines the first grid cell, while basis
Setting terminal input by user determines the second grid cell.
In embodiments of the present invention, when determining the first grid cell, determine that vehicle institute is in place by positioning system first
How the geographical location information set matches out with the geographical location information corresponding grid serial number by geographical location information, from
And determine the serial number of the first grid cell.
In addition, when determining the second grid cell after user inputs setting terminal, can first be determined according to the setting terminal
Go out terminal feature building or terminal feature building facilities, then according to obtaining terminal feature building or terminal feature building facilities
Geographical location information is simultaneously matched according to the geographical location information, the corresponding grid serial number of the geographical location information is obtained, to really
Make the second grid cell.
Illustratively, setting terminal input by user, usually so-and-so road or certain building (such as shopping square, office building),
When it is input by user set terminal as so-and-so road when, the control unit of vehicle can then be obtained special existing for the road by V2N
Sign building (such as office building) or feature facility (such as belisha beacon) lead to simultaneously as terminal feature building or terminal feature facility
It crosses V2N and obtains terminal feature building or the corresponding geographical feature information of terminal feature facility, then matched, determine to correspond to
The second grid cell.When it is input by user set terminal as certain building, then can directly using the building as terminal feature building,
Terminal feature is obtained by V2N and builds corresponding geographical feature information, is then matched, determines corresponding second grid list
Member.
Step 205：The path between the first grid cell and the second grid cell is planned in grating map.
In step 205, using path search algorithm obtain in grating map the first grid cell and the second grid cell it
Between path.Wherein path search algorithm may be used A* algorithms, dijkstra's algorithm (Dijkstra's algorithm) and Floyd and calculate
The many algorithms such as method (Floyd-Warshall, Freud's algorithm).
It in some embodiments of the invention, can when planning the path between the first grid cell and the second grid cell
Roadway characteristic Roads in Maps limit is first obtained by vehicle and infrastructure communication (Vehicle to Infrastructure, V2I)
Row information, and determine the restricted driving road in include grid cell, when carrying out path planning, avoid plan path include
The grid cell for representing restricted driving road, planning path again again after avoiding vehicle from travelling to restricted driving path, improves the control of vehicle
The working efficiency of unit processed.
Step 206：According to path, vehicle automatic running is controlled.
After getting path by step 204-206, also its speed need to be controlled when driving in vehicle, for vehicle setting row
Speed is sailed, the speed of vehicle traveling can be obtained by executing step 206a-206b, you can when executing step 206, to execute step
Rapid 206a-206b, or after step 205, execute step 206a-206b.
Step 206a：Traffic information is obtained by vehicle and infrastructure communication, traffic information includes：Indicator light information, road
At least one of road speed-limiting messages and road congestion information.
In step 206a, vehicle obtains traffic information by the V2I built in it.When obtaining indicator light information, need to obtain
The state of indicator light and the temporal information of the state, V2I can be by establishing with the traffic signals facility (such as signal lamp) on road
Communication, obtains the state of current indicator light and the temporal information of the state from traffic signals facility.Believe when obtaining road speed limit
When breath, the information that need to be obtained should include speed limit and information on the road, and the speed limit that V2I can obtain the road by networking is believed
Breath.When obtaining road congestion information, it can be established and be communicated by the monitor and control facility being arranged by V2I and road, obtained on the road
Vehicle congestion information or crowded information.
Step 206b：The travel speed of vehicle in the paths is controlled according to traffic information.
In step 206b, when getting indicator light information, it can be determined according to the time of the state and the state of indicator light
The travel speed of vehicle.For example, the speed of distance and current vehicle of the vehicle away from indicator light can be obtained, calculates vehicle arrival and refer to
Show the time of lamp, and judges that the state of indicator light when vehicle arrives at indicator light place crossing should be turned down if indicator light is red light
The travel speed of vehicle, the state of indicator light is green light when crossing where so that vehicle is arrived at indicator light；Or works as and judge that vehicle supports
Indicator light will be become red light phase from green light when crossing where up to indicator light, then the travel speed of vehicle should be turned up, make vehicle
The state of indicator light is also green light when crossing where arriving at indicator light.
Illustratively, as being 400m, the at this time instruction when vehicle gets vehicle away from next indicator light distance by V2I
The state of lamp is red light, and the red light phase duration is 30s, and Vehicle Speed is 20m/s at this time, understands vehicle afterwards judged
It will arrive at indicator light after 20s, and to be still red light need to be adjusted to vehicle speed low indicator light to avoid waiting for parking at this time
In 13.3m/s, to ensure that vehicle can be not to wait for directly crossing indicator light.
When getting road speed-limiting messages, can directly according to speed-limiting messages adjust vehicle the section travel speed.
When it is vehicle congestion information to obtain road congestion information, vehicle lane-changing traveling is can control, similarly, by lane-change
Afterwards, step 204-205 should be re-executed, new path is obtained；When it is stream of people's dense information to obtain road congestion information, should drop
Car speed is such as down to safe velocity 5m/s by low Vehicle Speed, to ensure that it is crowded that vehicle safety crosses
Region.
After determining path by step 201-206, and when along the route planned, step can also be performed
207a-207c, link characteristic information is acquired by step 207a-207c, updates cartographic information for cloud platform, that is, is executing step
When 206, it should synchronize and carry out step 207a-207c, and 207a-207c and 206a-206b is mutual indepedent, no sequencing.
Step 207a：In the driving process of vehicle, link characteristic information is acquired in real time.
Step 207a includes：Vehicle when driving, road spy is acquired by the sensor of vehicle self-carrying in real time along planning path
Reference ceases.
Fig. 4 is a kind of arrangement schematic diagram of the sensor of automated driving system provided in an embodiment of the present invention, such as Fig. 4 institutes
Show, in the present embodiment, the sensor being arranged on vehicle includes：Laser radar 1 is set on roof, is circumferentially positioned on vehicle body
Radar sensor, the ultrasonic radar 3 and camera that are circumferentially positioned on vehicle body.The laser radar 1 is that horizontal radiation angle is
360 °, therefore the obstacle information of intelligent vehicle can be obtained in the range of 360 °；After the radar sensor may be provided at intelligent vehicle
Standby case, the both sides of preceding bonnet and vehicle body front or dead astern, therefore can on direction all around barrier distance
Information；3 detection range of usual ultrasonic radar is shorter, so it can be used for the obstacle detection of short distance, in setting ultrasonic wave
It can equidistantly be arranged around vehicle body when radar 3, it also can somewhere (vehicle easily occurs to wipe the position of position such as vehicle body quadrangle touched when driving
Set) the multiple ultrasonic radars 3 of concentrated setting, setting ultrasonic radar 3 is detecting the distance of intelligent vehicle barrier in the circumferential
Information；Camera is used to observe the obstacle information and traffic information of intelligent vehicle surrounding.
In embodiments of the present invention, vehicle further includes locating module 5, and the positioning accuracy of locating module 5 is 1-2cm.Pass through
Locating module 5 obtains the location information of intelligent vehicle, can be convenient for control unit obtain intelligent vehicle location cartographic information and with
Position relationship between road bed facility improves the reliability of intelligent vehicle.
As shown in figure 4, radar sensor includes four the first radar sensors 21 and one being arranged in vehicle body corner location
A the second radar sensor 22 being arranged in vehicle front.Wherein the detection angle of the first radar sensor 21 is 150 °, detection
Distance is 0-80m, and the detection angle of the second radar sensor 22 is 20 °, detection range 0-175m.It is arranged in vehicle front
Second radar sensor 22 can be arranged near the bonnet centre position of vehicle body, in embodiments of the present invention, the second radar
Sensor 22 can be that carry out the horizontally rotate radar sensor and detection range of 20 ° or 90 ° ranges be 0-175m, rotation
Range is little, is mainly used for detecting intelligent vehicle front position barrier.The first radar sensor in vehicle body corner location is set
21, detection angle is 150 °, detection range 0-80m, is mainly used for the barrier of position after detection vehicle body position and vehicle
Information.
Optionally, ultrasonic radar 3 includes ten ultrasonic radars 3 being arranged on being circumferentially positioned at vehicle body, ultrasonic wave
The detection range of radar 3 is 0-60m.Wherein 3 detection range of ultrasonic radar is smaller than radar sensor, in embodiments of the present invention
It is mainly used for the obstacle information for obtaining intelligent vehicle short distance position, and radar sensor is then to obtain remote barrier letter
Breath, shares out the work and helps one another with radar sensor, improves the reliability of intelligent vehicle.
As shown in figure 4, camera, which includes a three-dimensional camera 41 and four, looks around camera 42, a three-dimensional camera
41 are arranged on the front windshield of vehicle window, look around camera 42 for two and are arranged in the both sides of intelligent vehicle, another two looks around camera shooting
First 42 are arranged the front and back in intelligent vehicle.Three-dimensional camera 41 is that forward sight camera is set on the front windshield of vehicle window,
It is responsible for the object or signal lamp of observation vehicle front, and the camera 42 of looking around set on both sides is then used to observe around intelligent vehicle
Object.
Fig. 5 is a kind of information communication schematic diagram of automated driving system provided in an embodiment of the present invention, as shown in figure 5, thunder
Up to sensor, ultrasonic radar 3 using controller local area network's (Controller Area Network, abbreviation CAN) bus with
Control unit connects, and control unit is connected by CAN bus.CAN bus is real-time, transmission range farther out, electromagnetism interference
Ability is strong, error detecing capability is strong, can work in strong noise interference environment, improves the stability of intelligent vehicle system signal transmission.
As shown in figure 5, laser radar 1 is single with control by User Datagram Protocol (User Datagram Protocol, abbreviation UDP)
Member connection, camera are single with control by transmission control protocol (Transmission Control Protocol, abbreviation TCP)
Member connection.Due to the information that camera obtains obtains with laser radar 1 it is even more important, in camera and control unit company
Use stability better TCP connection mode when connecing, and due to there are radar sensor and ultrasonic radar 3,
Laser radar 1 uses stability general UDP connection types when being connect with control unit, embody connection of the present invention with
The reasonability of distribution.
Lane width, road curvature, road grade, length of tunnel, lane line, road surface arrow are detected by the sensor
Head and traffic mark.Lane width, road curvature, road grade and length of tunnel can be detected by laser radar, radar sensor,
For example, lane width can shoot track picture by camera, the distance of lane line is determined using image processing techniques, to
To lane width.For another example, road grade can detect 2 points of longitude and latitude and height on road by the locating module of vehicle,
So that it is determined that 2 points of distance and difference in height, so that it is determined that road grade.Lane line, road surface arrow and traffic mark, then can lead to
After crossing camera shooting, feature recognition is carried out, is judged as which kind of lane line, road surface arrow or traffic mark, the mistake of feature recognition
Journey can be that the picture of shooting is compared with the masterplate in the masterplate database of lane line, road surface arrow and traffic mark,
When the similarity of comparison is greater than the set value, it is determined that be the lane line, road surface arrow or traffic mark.
In addition, during acquiring link characteristic information, needs in real time to position vehicle, the position after positioning is believed
Breath is matched with corresponding link characteristic information, i.e., each link characteristic information all has its corresponding location information.
Step 207b：Link characteristic information in the link characteristic information and cartographic information of acquisition is subjected to Characteristic Contrast,
Increment feature is obtained, increment feature is the road for the link characteristic information being different from the link characteristic information obtained in cartographic information
Road characteristic information.
The lane width of link characteristic information, road curvature, road grade and length of tunnel can lead in step 207b
When crossing numerical value expression, therefore carrying out Characteristic Contrast, by comparing the whether identical of respective value, if after carrying out Characteristic Contrast
It was found that numerical value differs, that is, illustrate that the numerical value of collected lane width, road curvature, road grade or length of tunnel is increment
Feature.
After lane line, road surface arrow and traffic mark in link characteristic information are identified by step 207a, feature is carried out
When comparison, can directly compare the link characteristic information and indicate whether same feature, such as into the Characteristic Contrast of driveway line when, sentence
Whether two lane lines that break are solid line or dotted line etc., if the two is not all solid line or dotted line etc., show collected track
Line is increment feature.The process that road surface arrow and traffic mark carry out Characteristic Contrast is consistent with lane line, and the embodiment of the present invention exists
This is not repeated.
Step 207c：Increment feature is uploaded to cloud platform.
In step 207c, increment feature is uploaded to by cloud platform by network by V2N.
It in some embodiments of the invention, can be by the link characteristic information of acquisition without the feature in step 207b
Comparison is uploaded to cloud platform, directly covers the cartographic information in cloud platform after upload.
Step 207c only uploads increment feature value cloud platform, can be with saving network flow so that cartographic information it is updated
Cheng Gengjia is faster.
After determining path by step 201-206, and when along the route planned, also need to execute step 208a-
208c obtains the status information of the surrounding vehicles of vehicle by step 208a-208c, controls Vehicular automatic driving, that is, is executing
When step 206, it can synchronize and carry out step 208a-208c, and 208a-208c and 206a-206b and 207a-207c are mutually only
It is vertical, no sequencing.
Step 208a：In vehicle travel process, the status information for the vehicle for obtaining vehicle periphery is communicated by vehicle vehicle.
Step 208a includes that during route of the vehicle along planning, (Vehicle to are communicated by vehicle vehicle
Vehicle, abbreviation V2V) unit obtain surrounding vehicles status information, wherein status information, which is used to indicate corresponding vehicle, is
No failure.
Step 208b:If in the vehicle of status information instruction vehicle periphery, there are fault cars, obtain fault car
Position and size information.
In step 208b, if detecting there is the vehicle in malfunction in surrounding vehicles by vehicle vehicle communication unit,
Position and the size information of fault car can be then obtained by two ways.One is to establish to lead to by V2V and fault car
News, the storage unit that geographical location information and vehicle that the fault car is determined by positioning system are obtained from fault car are protected
The size information deposited；Secondly for by the orientation and distance of the sensor detection failure vehicle of vehicle self-carrying so that it is determined that failure
The location information of vehicle, and the size information for the vehicle that is out of order by sensor direct detection.In example in real time of the invention, pass through
Above two mode gets position and the size information of fault car, can obtain the sensor of V2V and vehicle self-carrying
Information is compared, if the position for the fault car that the two obtains is consistent with size information, preserves the position of the fault car
And size information is visited if the position for the fault car that the two obtains and size information are inconsistent with the sensor of vehicle self-carrying
Subject to the position of survey and size information.
Step 208c：According to the position of fault car and size information, control vehicle avoids fault car.
In step 208c, control vehicle can be according to the location information and size information of fault car when avoiding fault car
The fault car is judged whether on the driving path in vehicle, if determining the traveling road that the fault car is not at vehicle
Diameter does not change the driving path of vehicle then；If determining the driving path that the fault car is in vehicle, control vehicle is controlled
The path travelled originally is deviated to the left or to the right, to avoid fault car.If in addition, be loaded with driver in vehicle, driver
Emergency braking can also be carried out to vehicle.
Step 209a:The path for the front vehicles for obtaining vehicle is communicated by vehicle vehicle.
It in step 209a, is established and is communicated by V2V and front vehicles, obtain the path of front vehicles traveling, wherein front
Vehicle is the vehicle in the travel direction of vehicle at a distance from vehicle in setpoint distance, and setpoint distance can be 1-2 vehicle
The distance of length.
Step 209b：If the path of vehicle and front vehicles is at least partly identical, vehicle tracking front vehicles row is controlled
It sails.
In step 209b, the path of vehicle and front vehicles is at least partly identical to refer to front vehicles from current location
For the part path phase in being starting point its subsequent path from current location there are part path and vehicle in starting point its subsequent path
Together.In identical part path, adjustment vehicle speed makes to reach safe distance between vehicle and the front vehicles, such as one
The distance of Vehicle length, then obtains the speed of the front vehicles in real time by V2V, and controls before vehicle follows this with the speed
Square vehicle traveling is until travelled the identical path in part.Step 209a-209b can be executed again at this time.If vehicle and front vehicle
Path be not present same section, then follow the steps 206.
After determining path by step 201-206, and when along the route planned, step can also be performed
209a-209b uploads obstacle information by step 209a-209b, obtains the remote control commands of cloud platform, carried out to vehicle
Control can synchronize that is, when executing step 206 and carry out step 209a-209b, and 209a-209b and 206a-206b, 207a-
207c and 208a-208c are mutual indepedent, no sequencing.
In some embodiments of the invention, can also the obstacle information that the sensor of vehicle obtains cloud be uploaded to put down
Platform.Obstacle information may include：Barrier size and location information, after which is uploaded to cloud platform, cloud platform
Whether vehicle running path similarly can be according to barrier size and location information disturbance in judgement object with step 208c, and raw
It being instructed at vehicle control, is sent to vehicle, this kind of pattern is suitable for the slow abnormality of control unit processing speed of vehicle,
Such as situations such as ageing equipment.
In some embodiments of the invention, the control unit of vehicle can also collect the daily record in vehicle operation.
And log information is saved, cloud platform is returned to, is diagnosed in cloud platform convenient for developer.
Fig. 6 is a kind of structural schematic diagram of the control device of automated driving system provided in an embodiment of the present invention, such as Fig. 6 institutes
Show, device includes：
Acquisition module 301, for obtaining cartographic information in real time from cloud platform, cartographic information include geographical location information and with
The corresponding link characteristic information of geographical location information, link characteristic information include：Lane width, road curvature, road grade, tunnel
Road length, lane line, road surface arrow and traffic mark, link characteristic information are that multiple vehicle terminations acquire simultaneously in the process of moving
It is sent to cloud platform；
Import modul 302, for cartographic information to be imported the roadway characteristic map being locally stored；
Division module 303, for using Grid Method by roadway characteristic map partitioning at multiple grids with two value informations
Unit obtains grating map；
Determining module 304, for determining corresponding first grid cell in vehicle position and setting in grating map
Corresponding second grid cell of terminal；
Planning module 305, for planning the path between the first grid cell and the second grid cell in grating map；
Control module 306, for according to path, controlling vehicle automatic running.
In an implementation of the embodiment of the present invention, device further includes：Acquisition module 307, for the row in vehicle
During sailing, link characteristic information is acquired in real time；Contrast module 308, for believing the link characteristic information got and map
Link characteristic information in breath carries out Characteristic Contrast, obtains increment feature, increment feature is in the link characteristic information got
It is different from the link characteristic information of the link characteristic information in cartographic information；Sending module 309, for increment feature to be uploaded to
Cloud platform.
In an implementation of the embodiment of the present invention, acquisition module 301 is additionally operable to communicate by vehicle and infrastructure
Traffic information is obtained, traffic information includes：At least one of indicator light information, road speed-limiting messages and road congestion information；
Control module 306 is additionally operable to control the travel speed of vehicle in the paths according to traffic information.
In an implementation of the embodiment of the present invention, acquisition module 301 is additionally operable in vehicle travel process, is passed through
Vehicle vehicle communication obtain vehicle periphery vehicle status information, status information be used to indicate corresponding vehicle whether failure；Also use
If in the vehicle that status information indicates vehicle periphery, there are fault cars, obtain position and the size information of fault car；
Control module 306, is additionally operable to the position according to fault car and size information, and control vehicle avoids disabled vehicle.
In a kind of realization method of the present invention, acquisition module 301 is additionally operable to communicate the front for obtaining vehicle by vehicle vehicle
The path of vehicle, front vehicles are the vehicle in the travel direction of vehicle at a distance from vehicle in setpoint distance；Control mould
Block 306 controls vehicle tracking front vehicles traveling if the path for being additionally operable to vehicle and front vehicles is at least partly identical.
Fig. 7 is a kind of structure diagram of the control device of automated driving system provided in an embodiment of the present invention, such as Fig. 7 institutes
Show, the control device 700 of the automated driving system can be vehicle-mounted computer etc..
In general, the control device 700 of automated driving system includes：Processor 701 and memory 702.
Processor 701 may include one or more processing cores, such as 4 core processors, 8 core processors etc..Place
DSP (Digital Signal Processing, Digital Signal Processing), FPGA (Field- may be used in reason device 701
Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, may be programmed
Logic array) at least one of example, in hardware realize.Processor 701 can also include primary processor and coprocessor, master
Processor is the processor for being handled data in the awake state, also referred to as CPU (Central Processing
Unit, central processing unit)；Coprocessor is the low power processor for being handled data in the standby state.
In some embodiments, processor 701 can be integrated with GPU (Graphics Processing Unit, image processor),
GPU is used to be responsible for the rendering and drafting of content to be shown needed for display screen.In some embodiments, processor 701 can also wrap
AI (Artificial Intelligence, artificial intelligence) processor is included, the AI processors are for handling related machine learning
Calculating operation.
Memory 702 may include one or more computer readable storage mediums, which can
To be non-transient.Memory 702 may also include high-speed random access memory and nonvolatile memory, such as one
Or multiple disk storage equipments, flash memory device.In some embodiments, the non-transient computer in memory 702 can
Storage medium is read for storing at least one instruction, at least one instruction is for performed to realize this Shen by processor 701
Please in embodiment of the method provide automated driving system control method.
In some embodiments, the control device 700 of automated driving system is also optional includes：Peripheral device interface 703
With at least one peripheral equipment.Bus or signal can be passed through between processor 701, memory 702 and peripheral device interface 703
Line is connected.Each peripheral equipment can be connected by bus, signal wire or circuit board with peripheral device interface 703.Specifically, outside
Peripheral equipment includes：Radio circuit 704, touch display screen 705, camera 706, voicefrequency circuit 707, positioning component 708 and power supply
At least one of 709.
Peripheral device interface 703 can be used for I/O (Input/Output, input/output) is relevant at least one outer
Peripheral equipment is connected to processor 701 and memory 702.In some embodiments, processor 701, memory 702 and peripheral equipment
Interface 703 is integrated on same chip or circuit board；In some other embodiments, processor 701, memory 702 and outer
Any one or two in peripheral equipment interface 703 can realize on individual chip or circuit board, the present embodiment to this not
It is limited.
Display screen 705 is for showing UI (User Interface, user interface).The UI may include figure, text, figure
Mark, video and its their arbitrary combination.When display screen 705 is touch display screen, display screen 705 also there is acquisition to show
The ability of the surface of screen 705 or the touch signal of surface.The touch signal can be used as control signal to be input to processor
701 are handled.At this point, display screen 705 can be also used for providing virtual push button and/or dummy keyboard, also referred to as soft button and/or
Soft keyboard.In some embodiments, display screen 705 can be one, be arranged before the control device 700 of automated driving system
Plate；In further embodiments, display screen 705 can be at least two, be separately positioned on the control device of automated driving system
700 different surfaces are in foldover design；In still other embodiments, display screen 705 can be flexible display screen, and setting is certainly
On the curved surface of the control device 700 of dynamic control loop or on fold plane.Even, display screen 705 can also be arranged to non-square
The irregular figure of shape, namely abnormity screen.LCD (Liquid Crystal Display, liquid crystal may be used in display screen 705
Display screen), it is prepared by the materials such as OLED (Organic Light-Emitting Diode, Organic Light Emitting Diode).
The various components that power supply 709 is used in the control device 700 for automated driving system are powered.Power supply 709 can
To be alternating current, direct current, disposable battery or rechargeable battery.When power supply 709 includes rechargeable battery, the chargeable electricity
Pond can support wired charging or wireless charging.The rechargeable battery can be also used for supporting fast charge technology.
It will be understood by those skilled in the art that structure shown in Fig. 7 does not constitute the dress of the control to automated driving system
The restriction for setting 700 may include either combining certain components than illustrating more or fewer components or using different groups
Part is arranged.
The embodiment of the present invention additionally provides a kind of non-transitorycomputer readable storage medium, when in the storage medium
When instruction is executed by the processor of the control device of automated driving system so that the control device of automated driving system is able to carry out
The control method for the automated driving system that embodiment illustrated in fig. 2 provides.
A kind of computer program product including instruction, when run on a computer so that computer executes above-mentioned
The control method for the automated driving system that embodiment illustrated in fig. 2 provides.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, all in the spirit and principles in the present invention
Within, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method of automated driving system, which is characterized in that the method includes：
Obtain cartographic information in real time from cloud platform, the cartographic information include geographical location information and with the geographical location information
Corresponding link characteristic information, the link characteristic information include：Lane width, road curvature, road grade, length of tunnel,
Lane line, road surface arrow and traffic mark, the link characteristic information are that multiple vehicle terminations acquire concurrently in the process of moving
It send to the cloud platform；
The cartographic information is imported to the roadway characteristic map being locally stored；
Using Grid Method by the roadway characteristic map partitioning at multiple grid cells with two value informations, with obtaining grid
Figure；
Corresponding first grid cell in vehicle position second gate corresponding with setting terminal is determined in the grating map
Lattice unit；
The path between first grid cell and second grid cell is planned in the grating map；
According to the path, the vehicle automatic running is controlled.
2. control method according to claim 1, which is characterized in that the method further includes：
In the driving process of the vehicle, the link characteristic information is acquired in real time；
Link characteristic information in the link characteristic information got and the cartographic information is subjected to Characteristic Contrast, is obtained
Increment feature, the increment feature are the road spy being different from the link characteristic information got in the cartographic information
The link characteristic information of reference breath；
The increment feature is uploaded to the cloud platform.
3. control method according to claim 1 or 2, which is characterized in that it is described in the grating map planning described in
After path between first grid cell and second grid cell, the method further includes：
Traffic information is obtained by vehicle and infrastructure communication, the traffic information includes：Indicator light information, road speed-limiting messages
At least one of with road congestion information；
The travel speed of the vehicle in the path for which is controlled according to the traffic information.
4. control method according to claim 1 or 2, which is characterized in that the method further includes：
In vehicle travel process, the status information of the vehicle of the vehicle periphery, the state letter are obtained by the communication of vehicle vehicle
Breath be used to indicate corresponding vehicle whether failure；
If the status information indicates that there are fault cars in the vehicle of the vehicle periphery, obtain the position of the fault car
It sets and size information；
According to the position of the fault car and size information, controls the vehicle and avoid the fault car.
5. control method according to claim 1 or 2, which is characterized in that the method further includes：
The path of the front vehicles of the vehicle is obtained by the communication of vehicle vehicle, the front vehicles are in the traveling side of the vehicle
Vehicle at a distance from the vehicle in setpoint distance upwards；
If the vehicle is at least partly identical as the path of the front vehicles, front vehicles described in the vehicle tracking are controlled
Traveling.
6. a kind of control device of automated driving system, which is characterized in that described device includes：
Acquisition module, for obtaining cartographic information in real time from cloud platform, the cartographic information include geographical location information and with institute
The corresponding link characteristic information of geographical location information is stated, the link characteristic information includes：Lane width, road curvature, road
The gradient, length of tunnel, lane line, road surface arrow and traffic mark, the link characteristic information are that multiple vehicle terminations are travelling
It acquires in the process and is sent to the cloud platform；
Import modul, for the cartographic information to be imported the roadway characteristic map being locally stored；
Division module, for using Grid Method by the roadway characteristic map partitioning at multiple grid lists with two value informations
Member obtains grating map；
Determining module, for determining corresponding first grid cell in vehicle position and setting terminal in the grating map
Corresponding second grid cell；
Planning module, for being planned in the grating map between first grid cell and second grid cell
Path；
Control module, for according to the path, controlling the vehicle automatic running.
7. control device according to claim 6, which is characterized in that described device further includes：
Acquisition module, in the driving process of the vehicle, acquiring the link characteristic information in real time；
Contrast module, for carrying out the link characteristic information in the link characteristic information got and the cartographic information
Characteristic Contrast, obtains increment feature, and the increment feature is to be different from the map in the link characteristic information got
The link characteristic information of link characteristic information in information；
Sending module, for the increment feature to be uploaded to the cloud platform.
8. the control device described according to claim 6 or 7, which is characterized in that the acquisition module is additionally operable to through vehicle and base
Infrastructure communication obtains traffic information, and the traffic information includes：Indicator light information, road speed-limiting messages and road congestion information
At least one of；
The control module is additionally operable to control the travel speed of the vehicle in the path for which according to the traffic information.
9. the control device described according to claim 6 or 7, which is characterized in that the acquisition module is additionally operable to travel in vehicle
In the process, the status information of the vehicle of the vehicle periphery is obtained by the communication of vehicle vehicle, the status information is used to indicate correspondence
Vehicle whether failure；If being additionally operable to the status information indicates that there are fault cars in the vehicle of the vehicle periphery, obtain
Take position and the size information of the fault car；
The control module is additionally operable to the position according to the fault car and size information, control the vehicle avoid it is described
Fault car.
10. the control device described according to claim 6 or 7, which is characterized in that the acquisition module is additionally operable to pass through Che Chetong
News obtain the path of the front vehicles of the vehicle, the front vehicles be in the travel direction of the vehicle with the vehicle
Vehicle of the distance in setpoint distance；
The control module, if it is at least partly identical as the path of the front vehicles to be additionally operable to the vehicle, described in control
Front vehicles described in vehicle tracking travel.
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| CN109347946A (en) * | 2018-10-15 | 2019-02-15 | 武汉格罗夫氢能汽车有限公司 | A kind of new-energy automobile communication network structure |
| CN109887278A (en) * | 2019-02-25 | 2019-06-14 | 百度在线网络技术（北京）有限公司 | Crossing travelling-crane method, device and the terminal of vehicle |
| CN110132291A (en) * | 2019-05-16 | 2019-08-16 | 深圳数翔科技有限公司 | Grating map generation method, system, equipment and storage medium for harbour |
| CN111401337A (en) * | 2020-05-15 | 2020-07-10 | 弗徕威智能机器人科技（上海）有限公司 | Lane following exploration mapping method, storage medium and robot |
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