CN109774708B - Control method and device for automatic driving vehicle - Google Patents
Control method and device for automatic driving vehicle Download PDFInfo
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Abstract
The embodiment of the invention provides a control method and device for an automatic driving vehicle, and belongs to the field of automatic driving. The method comprises the following steps: acquiring the longitudinal speed of the current vehicle; determining whether the longitudinal speed is greater than a target speed, wherein the target speed is a minimum of: the speed set by the user, the maximum speed limit of the current lane and the system speed limit; and one of: controlling a distance between the current vehicle and a first preceding vehicle to be not less than a safety distance in a case where the longitudinal speed is not greater than the target speed, wherein the first preceding vehicle is a first vehicle located ahead of the current vehicle within the current lane; and controlling the speed of the current vehicle to be the target speed under the condition that the longitudinal speed is greater than the target speed. The automatic driving vehicle control system can ensure the comfort of the automatic driving vehicle and can control the automatic driving vehicle to arrive at a destination as soon as possible under the condition of ensuring the driving safety.
Description
Technical Field
The present invention relates to the field of autonomous driving, and in particular, to a control method and apparatus for an autonomous vehicle.
Background
The automatic driving technology provides convenience for vehicle driving, and is particularly beneficial to the condition that the vehicle needs to be driven for a long time. The driving safety and reliability can be guaranteed and fatigue driving can be avoided under the condition that the driving stroke is not influenced.
The driving strategy of the autonomous vehicle is a single mapping from the driving environment to the driving behavior, and is a key factor influencing the behavior safety and the user experience, so that it is very important to provide a comprehensive, safe and interpretable driving strategy.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device for an automatic driving vehicle, and aims to realize comprehensive, safe and interpretable driving strategies.
In order to achieve the above object, an embodiment of the present invention provides a control method for an autonomous vehicle, the method including: acquiring the longitudinal speed of the current vehicle; determining whether the longitudinal speed is greater than a target speed, wherein the target speed is a minimum of: the speed set by the user, the maximum speed limit of the current lane and the system speed limit; and one of: controlling a distance between the current vehicle and a first preceding vehicle to be not less than a safety distance in a case where the longitudinal speed is not greater than the target speed, wherein the first preceding vehicle is a first vehicle located ahead of the current vehicle within the current lane; and controlling the speed of the current vehicle to be the target speed under the condition that the longitudinal speed is greater than the target speed.
Optionally, the method further includes: acquiring parameter information of a second preceding vehicle, the second preceding vehicle being a vehicle in front of the current vehicle in an adjacent lane, the parameter information including: a longitudinal distance between the second preceding vehicle and the current vehicle, a lateral distance between the second preceding vehicle and the current vehicle, position information of the second preceding vehicle, a type of the second preceding vehicle; and controlling a lateral distance between the current vehicle and the second preceding vehicle according to the parameter information of the second preceding vehicle.
Optionally, the controlling the lateral distance between the current vehicle and the second preceding vehicle according to the parameter information of the second preceding vehicle includes: controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a second preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is greater than zero and less than a first preset distance; controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fourth preset distance in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is less than the third preset distance, wherein the fourth preset distance is less than the second preset distance; controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fifth preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a first preset proportion of bodies of the second preceding vehicle are located in the current lane; and controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a sixth preset distance in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a second preset proportion of bodies of the second preceding vehicle are located in the current lane, wherein the second preset proportion is greater than the first preset proportion.
Optionally, one or more of: the second preset distance is in a range of 2.0m to 2.2m, the fourth preset distance is in a range of 1.6m to 1.9m, the first preset proportion is in a range of 25% to 45%, the second preset proportion is in a range of 35% to 55%, the fifth preset distance is in a range of 0.8m to 1.0m, or the sixth preset distance is in a range of 0.8m to 1.0 m.
Optionally, the safety distance is obtained by the following formula:
and/or the system speed limit is obtained by the following formula:
wherein D is the safe distance, ρ is the response time of the current vehicle, amax,accelIs the maximum acceleration of the current vehicle; a ismax,brakeIs the maximum deceleration of the first preceding vehicle, amin,brakeIs the minimum deceleration, v, of the current vehiclerIs the speed, v, of the current vehiclefVelocity of the preceding vehicle, EMsys.limitLimiting the speed of the system.
Optionally, the minimum deceleration of the current vehicle is determined according to the following steps: acquiring the brake performance state of the current vehicle; and determining a minimum deceleration of the current vehicle corresponding to the brake performance state; and/or the effective perceived distance of the current vehicle is determined according to the following steps: acquiring the perception performance state of the current vehicle; and determining an effective perceived distance of the current vehicle corresponding to the perceived performance state.
Accordingly, an embodiment of the present invention further provides a control apparatus for an autonomous vehicle, the apparatus including: the acquisition module is used for acquiring the longitudinal speed of the current vehicle; a judging module, configured to judge whether the longitudinal speed is greater than a target speed, where the target speed is a minimum value of: the speed set by the user, the maximum speed limit of the current lane and the system speed limit; and a control module configured to control a distance between the current vehicle and a first preceding vehicle to be not less than a safe distance if the longitudinal speed is not greater than the target speed, wherein the first preceding vehicle is a first vehicle located ahead of the current vehicle in the current lane, and control a speed of the current vehicle to be the target speed if the longitudinal speed is greater than the target speed.
Optionally, the obtaining module is further configured to obtain parameter information of a second preceding vehicle, where the second preceding vehicle is a vehicle ahead of the current vehicle in an adjacent lane, and the parameter information includes: a longitudinal distance between the second preceding vehicle and the current vehicle, a lateral distance between the second preceding vehicle and the current vehicle, position information of the second preceding vehicle, a type of the second preceding vehicle; and the control module is further configured to control a lateral distance between the current vehicle and the second preceding vehicle according to the parameter information of the second preceding vehicle.
Optionally, the control module is configured to control a lateral distance between the current vehicle and the second preceding vehicle according to the following steps: controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a second preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is greater than zero and less than a first preset distance; controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fourth preset distance in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is less than the third preset distance, wherein the fourth preset distance is less than the second preset distance; controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fifth preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a first preset proportion of bodies of the second preceding vehicle are located in the current lane; and controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a sixth preset distance in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a second preset proportion of bodies of the second preceding vehicle are located in the current lane, wherein the second preset proportion is greater than the first preset proportion.
Optionally, one or more of: the second preset distance is in a range of 2.0m to 2.2m, the fourth preset distance is in a range of 1.6m to 1.9m, the first preset proportion is in a range of 25% to 45%, the second preset proportion is in a range of 35% to 55%, the fifth preset distance is in a range of 0.8m to 1.0m, or the sixth preset distance is in a range of 0.8m to 1.0 m.
Optionally, the control module is configured to:
the safety distance is obtained by the following formula:
and/or obtaining the system speed limit through the following formula:
wherein D is the safe distance, ρ is the response time of the current vehicle, amax,accelIs the maximum acceleration of the current vehicle; a ismax,brakeIs the maximum deceleration of the first preceding vehicle, amin,brakeIs the minimum deceleration, v, of the current vehiclerIs the speed, v, of the current vehiclefVelocity of the preceding vehicle, EMsys.limitLimiting the speed of the system.
Optionally, the control module is configured to determine a minimum deceleration of the current vehicle according to: acquiring the brake performance state of the current vehicle; and determining a minimum deceleration of the current vehicle corresponding to the brake performance state; and/or the control module is used for determining the effective perception distance of the current vehicle according to the following steps: acquiring the perception performance state of the current vehicle; and determining an effective perceived distance of the current vehicle corresponding to the perceived performance state.
Accordingly, embodiments of the present invention also provide a machine-readable storage medium having stored thereon instructions for enabling a machine to execute the above-described control method for an autonomous vehicle.
Through the technical scheme, if the longitudinal speed is not greater than the target speed, the distance between the current vehicle and the previous vehicle is controlled to be out of the safe distance, if the longitudinal speed is greater than the target speed, the speed of the current vehicle is controlled to be the target speed, the current vehicle is controlled through the longitudinal speed and the target speed of the current vehicle, and the vehicle can reach the destination as soon as possible while the driving safety of the vehicle is guaranteed.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 shows a flow diagram of a control method for an autonomous vehicle according to an embodiment of the invention;
FIG. 2 shows a flow diagram of a control method for an autonomous vehicle according to an embodiment of the invention; and
fig. 3 shows a block diagram of a control apparatus for an autonomous vehicle according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 shows a flow diagram of a control method for an autonomous vehicle according to an embodiment of the invention. As shown in fig. 1, an embodiment of the present invention provides a control method for an autonomous vehicle, which may include the steps of:
step S110, a longitudinal speed of the current vehicle is acquired. The longitudinal speed of the vehicle can be acquired in real time by a data acquisition device arranged on the vehicle.
Step S120, determining whether the longitudinal speed is greater than a target speed, wherein the target speed is a minimum value of: the speed set by the user, the maximum speed limit of the current lane and the system speed limit. The user may set a desired vehicle speed through an interactive interface between the vehicle and the user, and the maximum speed limit of the current lane may be obtained from, for example, a navigation system, and the system speed limit is a maximum speed at which the vehicle is allowed to travel determined based on the current driving scene, and the determination of the system speed limit will be described in detail later.
If it is determined in step S120 that the longitudinal speed is not greater than the target speed, step S130 is performed. If it is determined in step S120 that the longitudinal speed is greater than the target speed, step S140 is performed.
Step S130, in a case that the longitudinal speed is not greater than the target speed, controlling a distance between the current vehicle and a first preceding vehicle to be not less than a safe distance, wherein the first preceding vehicle is a first vehicle located ahead of the current vehicle in the current lane. The safe distance in the embodiment of the invention is related to both the vehicle speeds of the preceding vehicle and the current vehicle, and in the case where the longitudinal speed is less than or equal to the target speed, it is sufficient if the distance to the preceding vehicle is outside the safe distance, that is, if the distance to the first preceding vehicle is still outside the safe distance even if the speed of the first preceding vehicle is increased, the speed of the current vehicle may not be changed intentionally. If the longitudinal distance between the current vehicle and the first preceding vehicle is less than the safety distance, the longitudinal distance between the two may be increased by decelerating. If the preceding vehicle suddenly decelerates, but the distance of the current vehicle from the first preceding vehicle is still outside the safe distance at this time, the current vehicle may not be suddenly decelerated. Therefore, when the front vehicle is emergently braked, the current vehicle does not need to be emergently braked therewith, and the comfort of the automatic driving vehicle is ensured.
And step S140, controlling the speed of the current vehicle to be the target speed under the condition that the longitudinal speed is greater than the target speed. The target speed will vary with the intention of the driver, the driving scene of the vehicle, for example, the driver may set a low speed for some reasons (e.g., a need to travel at a slow speed to enjoy a landscape, etc.), a decrease in the system speed limit due to a current sudden rain, etc., which may cause a decrease in the target speed. In the case where the target speed suddenly decreases, the longitudinal speed of the vehicle may be greater than the target speed, and in such a case, it is necessary to control the current speed of the vehicle to the target speed in order to reach the destination as soon as possible while securing driving safety.
The safety distance in the embodiment of the invention can be the minimum safety distance when the moving obstacle follows the vehicle, and can be obtained by calculating according to the following formula:
in the formula (1), D is the safe distance, rho is the system response time of the current vehicle (automatic driving vehicle), the unit is s, the system response time is the inherent parameter of the vehicle, and the system response time can be calibrated offline; a ismax,accelThe maximum acceleration allowed by the current vehicle is in the unit of m/s2The vehicle intrinsic parameters are calibrated offline; a ismax,brakeIs the maximum deceleration of the first preceding vehicle in m/s2After determining the model (e.g., make, model, etc.) of the first preceding vehicle, it may be obtained by querying a database in which the maximum decelerations of vehicles of various models are stored, wherein the model of the preceding vehicle may be obtained by a sensor provided on the vehicle; a ismin,brakeIs the minimum deceleration of the current vehicle and has the unit of m/s2；vrThe unit is m/s which is the speed of the current vehicle and can be measured on line in real time; v. offThe speed of the target vehicle is measured in m/s on line in real time. As can be seen from the formula (1), the safe distance is related to the speed and deceleration of the first preceding vehicle, the speed and minimum deceleration of the current vehicle, and the like, and the safe distance changes when these parameters change, and therefore, it is necessary to calculate the safe distance in real timeThe distance determines the safety of the autonomous vehicle.
In the formula (1), the minimum deceleration a of the current vehiclemin,brakeThe braking performance of the current vehicle can be embodied. In some embodiments, the minimum deceleration a may bemin,brakeWhen the vehicle is used as the inherent parameter of the vehicle, a specific numerical value is obtained through offline calibration, and the numerical value is directly used when the safe distance is calculated. However, in some cases, the vehicle braking performance may be affected by the driving environment, for example, may vary with a change in the road adhesion coefficient. For more accurate calculation of the safe distance, the braking performance state of the current vehicle may be acquired in real time, and the minimum deceleration a of the current vehicle corresponding to the braking performance state may be determinedmin,brake. Alternatively, the minimum deceleration a corresponding to different brake performance states may be stored in advance in the control system of the autonomous vehiclemin,brakeThe value of (c).
The braking performance states can be classified into the following: good, normal, weak, difference, where "good" corresponds to the value of the highest minimum deceleration and "difference" corresponds to the lowest minimum deceleration amin,brakeThe value of (c).
Optionally, the braking performance state may be determined according to the tire slip rate, and different tire slip rate ranges may be set to correspond to different braking performances. During detection, the corresponding braking performance state can be determined only by determining the current tire slip rate. It is understood that the larger the tire slip ratio, the worse the braking performance.
Alternatively, the braking performance state may be determined in accordance with the road surface environment or the tire state of the vehicle. For example, in the case where the dry asphalt pavement or the tire condition is good, the braking performance condition may be determined to be "good", and in the case where the road surface is icy or the tire condition is abnormal, the braking performance condition may be determined to be "poor". Table 1 shows the braking performance state and the corresponding minimum deceleration a of the vehicle under different road surface environments or vehicle conditionsmin,brake"g" in Table 1 represents the acceleration of gravity. The road surface state in table 1 may be obtained from weather forecast information, or may be obtained from a pair of cameras provided on the vehicleThe road surface state is obtained from the image taken of the road surface, and it is understood that the range of the minimum deceleration in table 1 is only for example and not intended to limit the present invention.
TABLE 1
| Brake performance status | amin,brake | Driving environment |
| Good effect | 0.9g to 1.0g | Good condition of dry asphalt pavement or tire, etc |
| In general | 0.7g to 0.9g | Wet road surface or normal tire condition, etc |
| Weak (weak) | 0.5g to 0.7g | Severe water accumulation on road surface, tire aging, etc |
| Difference (D) | 0.2g to 0.5g | Ice on road or abnormal tire condition |
In a further embodiment of the present invention, the system speed limit may also be calculated according to the following formula:
wherein EM.boundary is effective sensing distance of the current vehicle and the unit is m, vsys.limitFor the system speed limit, the unit is m/s, and the definition of other parameters in the formula (2) is the same as that of the formula (1).
Boundary is effective sensing distance limit of automatic driving vehicle to car type obstacle in flat straight road, which can embody vehicle sensing performance. In some embodiments, the effective sensing distance em of the vehicle may be regarded as an inherent parameter of the vehicle, and a specific value may be obtained by offline calibration, and may be directly used when calculating the speed limit of the system. However, in some cases, the perception performance of the vehicle may be affected by the driving environment, for example, as visibility or atmospheric transparency changes, and the lower the visibility or atmospheric transparency, the poorer the perception performance.
Similar to the braking performance state, the perceived performance state of the vehicle can be classified into the following: good, general, weak, and bad, where "good" corresponds to the highest value of effective sensing distance em. For example, different visibility ranges may be set to correspond to different vehicle perception performance states, and the visibility information may be obtained through weather forecast, for example. Alternatively, the vehicle perception performance may also be determined according to the quality of an image captured by a camera provided on the vehicle for a specific object, for example, a lane line, a guardrail, or the like.
Optionally, the perceptual performance state may also be determined by weather information, for example, in a case of clear weather, the perceptual performance state may be determined to be "good", and in a case of heavy rain, snow, heavy haze, and the like, the perceptual performance state may be determined to be "poor". Table 2 shows the perceived performance state of the vehicle and the corresponding value of the effective perceived distance em. The weather conditions in table 2 can be obtained from weather forecast information, and it is understood that the range of effective perceived distance in table 2 is only used for example and is not used to limit the embodiment of the present invention.
TABLE 2
| Sensing performance states | EM.boundary | Weather information |
| Good effect | 130m to 170m | Clear and clear |
| In general | 110m to 130m | Cloudy day, little rain and snow, etc |
| Weak (weak) | 80m to 110m | Rain, snow and moderate haze |
| Difference (D) | 40m to 80m | Rain, snow, severe haze and the like |
When the safety distance and the system speed limit are calculated, the change of the vehicle perception performance state and/or the brake performance state is considered, so that the safety and the accuracy of the driving strategy can be ensured.
While the foregoing has generally described a longitudinal security strategy for an autonomous vehicle, embodiments of the present invention further provide a lateral security strategy for an autonomous vehicle, which is described below in conjunction with fig. 2. Fig. 2 shows a flow diagram of a control method for an autonomous vehicle according to an embodiment of the invention. As shown in fig. 2, the control method of an autonomous vehicle according to an embodiment of the present invention may further include:
step S210, obtaining parameter information of a second preceding vehicle, where the second preceding vehicle is a vehicle in front of the current vehicle in an adjacent lane, and the parameter information includes: a longitudinal distance between the second preceding vehicle and the current vehicle, a lateral distance between the second preceding vehicle and the current vehicle, position information of the second preceding vehicle, a type of the second preceding vehicle. Such parameter information may be obtained by sensors provided on the autonomous vehicle, such as a laser radar, a millimeter wave radar, a camera, and the like. The position information of the second preceding vehicle refers to a position of the second preceding vehicle with respect to a lane line of the current lane. The type of the second preceding vehicle may be a treasure house large vehicle and a small vehicle, which may be determined according to the height and length of the second preceding vehicle, for example, if the height of the vehicle is more than 1.6m and/or the length is more than 3.8m, the vehicle may be determined to be a large vehicle, otherwise, the vehicle may be determined to be a small vehicle.
Step S220, controlling the transverse distance between the current vehicle and the second preceding vehicle according to the parameter information of the second preceding vehicle.
Specifically, in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not more than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and the lane line of the current lane is greater than zero and less than a first preset distance, the lateral distance between the current vehicle and the second preceding vehicle is controlled to be greater than a second preset distance. The safe distance corresponding to the second preceding vehicle may be calculated through the bulletin (1), and the determination manner of each parameter in the bulletin (1), including the determination of the minimum deceleration of the current vehicle and the determination of the maximum deceleration of the second preceding vehicle, is the same as the determination manner described above, and will not be described again here. The first preset distance may range from 0.3m to 0.6m, for example, and the second preset distance may range from 2.0m to 2.2 m. The second preset distance may be, for example, 2.1m, that is, if the longitudinal distance between the large vehicle in the adjacent lane and the current vehicle is not greater than the corresponding safety distance and the large vehicle approaches the lane line of the current lane, the lateral distance between the current vehicle and the large vehicle should be controlled to be greater than 2.1 m.
Controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fourth preset distance, in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is less than the third preset distance, wherein the fourth preset distance is less than the second preset distance. The third preset distance may range from 0 to 0.3m, for example, and the fourth preset distance may range from 1.6m to 1.9 m. For example, the fourth preset distance may be 1.8m, that is, if the longitudinal distance between the small vehicle in the adjacent lane and the current vehicle is not more than the corresponding safety distance and the small vehicle basically presses the lane line of the current lane, the lateral distance between the current vehicle and the small vehicle should be controlled to be more than 1.8 m.
Controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fifth preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a first preset proportion of bodies of the second preceding vehicle are located in the current lane. The first preset ratio may range from 25% to 45%, and the fifth preset distance may range from 0.8m to 1.0 m. The fifth preset distance may be, for example, 0.9m, and the first preset proportion may be 40%, that is, if the longitudinal distance between the large vehicle in the adjacent lane and the current vehicle is greater than the corresponding safety distance, and 40% of the vehicle body of the large vehicle crosses the lane line of the current lane, the lateral distance between the current vehicle and the large vehicle should be controlled to be greater than 0.9 m.
Controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a sixth preset distance in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a second preset proportion of bodies of the second preceding vehicle are located in the current lane, wherein the second preset proportion is greater than the first preset proportion. The sixth preset distance may be the same as the fifth preset distance, the second preset ratio may range from 35% to 55%, and the sixth preset distance may range from 0.8m to 1.0 m. The second preset ratio may be 50% for example, and the sixth preset distance may be 0.9m for example, that is, if the longitudinal distance between the small car in the adjacent lane and the current car is greater than the corresponding safety distance and 50% of the body of the small car crosses the lane line of the current lane, the lateral distance between the current car and the small car should be controlled to be greater than 0.9 m.
When it is necessary to increase the lateral distance between the present vehicle and the second preceding vehicle, the lateral distance between the present vehicle and the second preceding vehicle may be reduced by reducing or decreasing the lateral acceleration of the present vehicle, or the longitudinal distance between the present vehicle and the second preceding vehicle may also be increased by decelerating, so that the restriction on the lateral distance may be reduced. For example, if the second preceding vehicle is a large vehicle, the large vehicle is located near a lane line of the current lane, the longitudinal distance between the second preceding vehicle and the current vehicle is smaller than the corresponding safety distance, and the lateral distance between the second preceding vehicle and the current vehicle is smaller than the second preset distance, the current vehicle may be decelerated such that the longitudinal distance between the two is larger than the corresponding safety distance, and at this time, the lateral distance between the two will not affect the safety of the current vehicle any more. It will be appreciated that in order to reach the destination as quickly as possible, it is preferable to adjust the lateral acceleration without adjusting the longitudinal speed when it is desired to adjust the lateral distance.
Compared with a small vehicle, the transverse safety strategy provided by the embodiment of the invention controls the automatic driving vehicle to keep a larger transverse distance with a large vehicle, so that the sense of the personnel in the automatic driving vehicle is safer, and the sense comfort of the user is improved while the automatic driving safety is ensured.
Accordingly, embodiments of the present invention also provide a machine-readable storage medium having stored thereon instructions for enabling a machine to execute a control method for an autonomous vehicle according to any of the embodiments of the present application.
Fig. 3 shows a block diagram of a control apparatus for an autonomous vehicle according to an embodiment of the present invention. As shown in fig. 3, an embodiment of the present invention also provides a control apparatus for an autonomous vehicle, which may include: an obtaining module 310, configured to obtain a longitudinal speed of a current vehicle; a determining module 320, configured to determine whether the longitudinal speed is greater than a target speed, where the target speed is a minimum value of: the speed set by the user, the maximum speed limit of the current lane and the system speed limit; and a control module 330 configured to control a distance between the current vehicle and a first preceding vehicle to be not less than a safety distance if the longitudinal speed is not greater than the target speed, wherein the first preceding vehicle is a first vehicle located ahead of the current vehicle in the current lane, and control the speed of the current vehicle to be the target speed if the longitudinal speed is greater than the target speed. The automatic driving vehicle control system can ensure the comfort of the automatic driving vehicle and can control the automatic driving vehicle to arrive at a destination as soon as possible under the condition of ensuring the driving safety.
Further, the obtaining module may be further configured to obtain parameter information of a second preceding vehicle, the second preceding vehicle being a vehicle ahead of the current vehicle in an adjacent lane, the parameter information including: a longitudinal distance between the second preceding vehicle and the current vehicle, a lateral distance between the second preceding vehicle and the current vehicle, position information of the second preceding vehicle, a type of the second preceding vehicle. The control module may be further configured to control a lateral distance between a current vehicle and the second preceding vehicle based on the parameter information of the second preceding vehicle. The sense organ comfort level of a user is improved while the safety of automatic driving can be guaranteed.
The specific operating principle and benefits of the control device for the autonomous vehicle provided by the embodiment of the invention are similar to those of the control method for the autonomous vehicle provided by the embodiment of the invention, and will not be described herein again.
The control device for the automatic driving vehicle comprises a processor and a memory, wherein the acquisition module, the judgment module, the control module and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more than one kernel can be set, and the control method for the automatic driving vehicle, which is disclosed by any embodiment of the invention, is realized by adjusting the kernel parameters. The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (13)
1. A control method for an autonomous vehicle, the method comprising:
acquiring the longitudinal speed of the current vehicle;
determining whether the longitudinal speed is greater than a target speed, wherein the target speed is a minimum of: the speed set by the user, the maximum speed limit of the current lane and the system speed limit; and
one of the following:
controlling a distance between the current vehicle and a first preceding vehicle to be not less than a safety distance in a case where the longitudinal speed is not greater than the target speed, wherein the first preceding vehicle is a first vehicle located ahead of the current vehicle within the current lane;
controlling the speed of the current vehicle to the target speed in a case where the longitudinal speed is greater than the target speed,
wherein the method further comprises:
acquiring parameter information of a second preceding vehicle, the second preceding vehicle being a vehicle in front of the current vehicle in an adjacent lane, the parameter information including: a longitudinal distance between the second preceding vehicle and the current vehicle, a lateral distance between the second preceding vehicle and the current vehicle, position information of the second preceding vehicle, a type of the second preceding vehicle; and
controlling a lateral distance between a current vehicle and the second preceding vehicle according to the parameter information of the second preceding vehicle, including:
controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fifth preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a first preset proportion of bodies of the second preceding vehicle are located in the current lane; and
controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a sixth preset distance in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a second preset proportion of bodies of the second preceding vehicle are located in the current lane, wherein the second preset proportion is greater than the first preset proportion.
2. The method of claim 1,
the system speed limit is determined by the effective sensing distance of the current vehicle, the response time of the current vehicle, the maximum acceleration of the current vehicle and the minimum deceleration of the current vehicle; or
If the speed of the first preceding vehicle is increased, controlling the speed of the current vehicle not to change under the condition that the distance between the current vehicle and the first preceding vehicle is not smaller than a safe distance; or if the first preceding vehicle suddenly decelerates or performs emergency braking, not controlling the current vehicle to suddenly decelerate or emergency brake if the distance between the current vehicle and the first preceding vehicle is not less than a safe distance.
3. The method of claim 1, wherein said controlling the lateral distance between the current vehicle and the second preceding vehicle in accordance with the parameter information of the second preceding vehicle further comprises:
controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a second preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is greater than zero and less than a first preset distance; and
controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fourth preset distance, in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is less than the third preset distance, wherein the fourth preset distance is less than the second preset distance.
4. The method of claim 3, wherein one or more of: the second preset distance is in a range of 2.0m to 2.2m, the fourth preset distance is in a range of 1.6m to 1.9m, the first preset proportion is in a range of 25% to 45%, the second preset proportion is in a range of 35% to 55%, the fifth preset distance is in a range of 0.8m to 1.0m, or the sixth preset distance is in a range of 0.8m to 1.0 m.
5. The method of claim 1,
the safety distance is obtained by the following formula:
and/or the system speed limit is obtained by the following formula:
wherein D is the safe distance, ρ is the response time of the current vehicle, amax,accelIs the maximum acceleration of the current vehicle; a ismax,brakeIs the maximum deceleration of the first preceding vehicle, amin,brakeIs the minimum deceleration, v, of the current vehiclerIs the speed, v, of the current vehiclefBoundary is the effective perception of the current vehicle as the speed of the preceding vehicleDistance, vsys.limitLimiting the speed of the system.
6. The method of claim 5,
the minimum deceleration of the present vehicle is determined according to the following steps: acquiring the brake performance state of the current vehicle; and determining a minimum deceleration of the current vehicle corresponding to the brake performance state; and/or
The effective perceived distance of the current vehicle is determined according to the following steps: acquiring the perception performance state of the current vehicle; and determining an effective perceived distance of the current vehicle corresponding to the perceived performance state.
7. A control apparatus for an autonomous vehicle, the apparatus comprising:
the acquisition module is used for acquiring the longitudinal speed of the current vehicle;
a judging module, configured to judge whether the longitudinal speed is greater than a target speed, where the target speed is a minimum value of: the speed set by the user, the maximum speed limit of the current lane and the system speed limit; and
a control module configured to control a distance between the current vehicle and a first preceding vehicle to be not less than a safe distance in a case where the longitudinal speed is not greater than the target speed, wherein the first preceding vehicle is a first vehicle located ahead of the current vehicle in the current lane, and to control a speed of the current vehicle to be the target speed in a case where the longitudinal speed is greater than the target speed;
the acquisition module is further configured to acquire parameter information of a second preceding vehicle, the second preceding vehicle being a vehicle in front of the current vehicle in an adjacent lane, the parameter information including: a longitudinal distance between the second preceding vehicle and the current vehicle, a lateral distance between the second preceding vehicle and the current vehicle, position information of the second preceding vehicle, a type of the second preceding vehicle; and
the control module is further configured to control a lateral distance between a current vehicle and the second preceding vehicle in accordance with the parameter information of the second preceding vehicle,
wherein the control module is configured to control a lateral distance between a current vehicle and the second preceding vehicle according to:
controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fifth preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a first preset proportion of bodies of the second preceding vehicle are located in the current lane; and
controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a sixth preset distance in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is greater than the safe distance, and the position information of the second preceding vehicle indicates that a second preset proportion of bodies of the second preceding vehicle are located in the current lane, wherein the second preset proportion is greater than the first preset proportion.
8. The apparatus of claim 7,
the system speed limit is determined by the effective sensing distance of the current vehicle, the response time of the current vehicle, the maximum acceleration of the current vehicle and the minimum deceleration of the current vehicle; or
The control module is further configured to: if the speed of the first preceding vehicle is increased, controlling the speed of the current vehicle not to change under the condition that the distance between the current vehicle and the first preceding vehicle is not smaller than a safe distance; or if the first preceding vehicle suddenly decelerates or performs emergency braking, not controlling the current vehicle to suddenly decelerate or emergency brake if the distance between the current vehicle and the first preceding vehicle is not less than a safe distance.
9. The apparatus of claim 7, wherein the control module is configured to control the lateral distance between the current vehicle and the second preceding vehicle according to:
controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a second preset distance in a case where the second preceding vehicle is a large-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is greater than zero and less than a first preset distance; and
controlling a lateral distance between the current vehicle and the second preceding vehicle to be greater than a fourth preset distance, in a case where the second preceding vehicle is a small-sized vehicle, the longitudinal distance between the second preceding vehicle and the current vehicle is not greater than the safe distance, and the position information of the second preceding vehicle indicates that the lateral distance between the second preceding vehicle and a lane line of the current lane is less than the third preset distance, wherein the fourth preset distance is less than the second preset distance.
10. The apparatus of claim 9, wherein one or more of: the second preset distance is in a range of 2.0m to 2.2m, the fourth preset distance is in a range of 1.6m to 1.9m, the first preset proportion is in a range of 25% to 45%, the second preset proportion is in a range of 35% to 55%, the fifth preset distance is in a range of 0.8m to 1.0m, or the sixth preset distance is in a range of 0.8m to 1.0 m.
11. The apparatus of claim 7, wherein the control module is configured to:
the safety distance is obtained by the following formula:
and/or obtaining the system speed limit through the following formula:
wherein D is the safe distance, ρ is the response time of the current vehicle, amax,accelIs the maximum acceleration of the current vehicle; a ismax,brakeIs the maximum deceleration of the first preceding vehicle, amin,brakeIs the minimum deceleration, v, of the current vehiclerIs the speed, v, of the current vehiclefVelocity of the preceding vehicle, EMsys.limitLimiting the speed of the system.
12. The apparatus of claim 7,
the control module is configured to determine a minimum deceleration of the current vehicle according to: acquiring the brake performance state of the current vehicle; and determining a minimum deceleration of the current vehicle corresponding to the brake performance state; and/or
The control module is used for determining the effective perception distance of the current vehicle according to the following steps: acquiring the perception performance state of the current vehicle; and determining an effective perceived distance of the current vehicle corresponding to the perceived performance state.
13. A machine-readable storage medium having stored thereon instructions for enabling a machine to execute the control method for an autonomous vehicle according to any of claims 1 to 6.
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| CN114966740A (en) * | 2022-04-26 | 2022-08-30 | 岚图汽车科技有限公司 | Vehicle laser radar control system and control method |
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