CN105711568B - Control method for vehicle and device - Google Patents
Control method for vehicle and device Download PDFInfo
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- CN105711568B CN105711568B CN201610048193.7A CN201610048193A CN105711568B CN 105711568 B CN105711568 B CN 105711568B CN 201610048193 A CN201610048193 A CN 201610048193A CN 105711568 B CN105711568 B CN 105711568B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims description 38
- 238000005516 engineering process Methods 0.000 abstract description 11
- 230000000694 effects Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000011217 control strategy Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
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- 101000595182 Homo sapiens Podocan Proteins 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
- B60T2210/30—Environment conditions or position therewithin
- B60T2210/36—Global Positioning System [GPS]
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a kind of control method for vehicle and devices, belong to field of vehicle control.This method comprises: obtaining travel routes information；When target vehicle is apart from first node pre-determined distance, start to detect whether target vehicle passes through corresponding stop line at first node；When passing through stop line, first node is passed through according to the curvature control target vehicle at first node；When not passing through stop line, detect whether corresponding traffic lights at first node are green light；When traffic lights are green light, first node is passed through according to the curvature control target vehicle of first node；When traffic signals are not green light, control target vehicle brake.Whether the present invention by the way that whether stop line and traffic lights are green light controls target vehicle according to the curvature of first node by first node according to target vehicle, solves the problems, such as that needing driver to manually control in the related technology passes through node.Achieve the effect that target vehicle can be according to control by node.
Description
Technical field
The present invention relates to field of vehicle control, in particular to a kind of control method for vehicle and device.
Background technique
In recent years, with the development of science and technology, especially (intelligence computation is that a kind of computer of empirical is thought for intelligence computation
The property examined program) rapid development, intelligent vehicle research become each cart enterprise focus hot spot.
There is a kind of control method for vehicle in the related technology, in the method, pre-sets as lane keeps mode and subtracts
The various controls mode such as fast brake mode executes different control to vehicle in different mode and operates.Such as: vehicle is in vehicle
When road keeps mode, control vehicle is maintained at current lane traveling；When vehicle is in slowing-down brake mode, vehicle deceleration is controlled
And brake, driver drives vehicle in some sections of road, and different control models can be selected according to different situations.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems: above-mentioned control method
It is usually applied to control vehicle in some similar section of road conditions, in vehicle, by node, (node is two sections
Intersection, can be the positions such as crossing) when, need driver to control manually.
Summary of the invention
Driver is needed to control manually in order to solve the problem of the prior art when vehicle passes through node, the present invention
Embodiment provides a kind of control method for vehicle and device.The technical solution is as follows:
According to the first aspect of the invention, a kind of control method for vehicle is provided, which comprises
Obtain travel routes information, the travel routes information includes the information at least two continuous sections and described
Curvature at least two continuous section intermediate nodes；
When target vehicle is apart from first node pre-determined distance, start to detect whether the target vehicle passes through first node
Locate corresponding stop line, the first node is any section being located in front of the target vehicle in the travel routes information
Point；
When the target vehicle passes through the stop line, according to target carriage described in the curvature control at the first node
Pass through the first node；
When the target vehicle does not pass through the stop line, detecting corresponding traffic lights at the first node is
No is green light；
When the traffic lights are green light, institute is passed through according to target vehicle described in the curvature control of the first node
State first node；
When the traffic signals are not green light, the target vehicle brake is controlled.
It is optionally, described to start to detect whether the target vehicle passes through corresponding stop line at first node, comprising:
It detects with the presence or absence of obstacle vehicle in front of the target vehicle, the obstacle vehicle is the target vehicle current line
Sail the vehicle on lane；
When the obstacle vehicle being not present in front of the target vehicle, start to detect whether the target vehicle passes through institute
State stop line.
Optionally, after whether there is obstacle vehicle in front of the detection target vehicle, the method also includes:
In front of the target vehicle there are when the obstacle vehicle, obtain the current driving speed of the target vehicle with
And the speed difference of the target vehicle and the obstacle vehicle；
When the speed difference is equal to the current driving speed of the target vehicle, the target vehicle brake is controlled；
When the speed difference is not equal to the current driving speed of the target vehicle, the target vehicle is controlled to described
Obstacle vehicle carries out automatic follow the bus.
Optionally, the control target vehicle carries out automatic follow the bus to the obstacle vehicle, comprising:
Pre-determined distance is kept with the obstacle vehicle and automatic follow the bus is carried out to the obstacle vehicle.
Optionally, whether the traffic lights of the detection first node are green light, comprising:
Obtain the image information in front of the target vehicle；
It whether is green light according to corresponding traffic lights at first node described in described image infomation detection.
According to the second aspect of the invention, a kind of controller of vehicle is provided, described device includes:
Route acquiring module is configured as obtaining travel routes information, and the travel routes information includes at least two
The information and the curvature at at least two continuous section intermediate node in continuous section；
Stop line detection module is configured as starting described in detection when target vehicle is apart from first node pre-determined distance
Whether target vehicle passes through corresponding stop line at first node, and the first node is is located at institute in the travel routes information
State any node in front of target vehicle；
Node is configured as by module when the target vehicle is by the stop line, according to the first node
Target vehicle described in the curvature control at place passes through the first node；
Signal lamp detection module is configured as when the target vehicle does not pass through the stop line, detection described first
Whether corresponding traffic lights are green light at node；
Green light is configured as green light when the traffic lights are green light, according to the first node by module
Target vehicle described in curvature control passes through the first node；
First brake module is configured as when the traffic signals are not green light, controls the target vehicle brake.
Optionally, the stop line detection module, comprising:
Obstacle detection submodule is configured as detecting in front of the target vehicle with the presence or absence of obstacle vehicle, the obstacle
Vehicle is the vehicle on the target vehicle current driving lane；
Stop line detection sub-module is configured as in front of the target vehicle starting there is no when the obstacle vehicle
Detect whether the target vehicle passes through the stop line.
Optionally, described device further include:
Speed difference obtains module, is configured as in front of the target vehicle there are when the obstacle vehicle, described in acquisition
The speed difference of the current driving speed of target vehicle and the target vehicle and the obstacle vehicle；
Second brake module is configured as the control when the speed difference is equal to the current driving speed of the target vehicle
Make the target vehicle brake；
Automatic follow the bus module is configured as when the speed difference is not equal to the current driving speed of the target vehicle,
It controls the target vehicle and automatic follow the bus is carried out to the obstacle vehicle.
Optionally, the automatic follow the bus module, is configured as: keeping pre-determined distance with the obstacle vehicle and to the barrier
Vehicle is hindered to carry out automatic follow the bus.
Optionally, the signal lamp detection module, is configured as:
Obtain the image information in front of the target vehicle；
It whether is green light according to corresponding traffic lights at first node described in described image infomation detection.
Technical solution provided in an embodiment of the present invention has the benefit that
By when target vehicle is apart from first node pre-determined distance, whether passed through at first node pair according to target vehicle
At the stop line and first node answered whether corresponding traffic lights are green light, and according to circumstances control target vehicle root
According to the curvature of first node by first node, solves in the related technology when vehicle passes through node, need driver manual
The problem of being controlled.Achieve the effect that target vehicle can be controlled manually according to control by node without driver
System.
Detailed description of the invention
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, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the implementation environment schematic diagram of control method for vehicle involved in each embodiment of the present invention；
Fig. 2 is a kind of flow chart of control method for vehicle shown in the embodiment of the present invention；
Fig. 3-1 is the flow chart of another control method for vehicle shown in the embodiment of the present invention；
Fig. 3-2 be in Fig. 3-1 illustrated embodiment detect first node at corresponding traffic lights whether be green light stream
Cheng Tu；
Fig. 3-3 is in Fig. 3-1 illustrated embodiment according to the flow chart of predetermined control strategy control target vehicle traveling；
Fig. 4-1 is a kind of block diagram of controller of vehicle shown in the embodiment of the present invention；
Fig. 4-2 is the block diagram of stop line detection module in controller of vehicle shown in Fig. 4-1；
Fig. 4-3 is the block diagram of another controller of vehicle shown in the embodiment of the present invention.
Through the above attached drawings, it has been shown that the specific embodiment of the present invention will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of the inventive concept in any manner with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate idea of the invention.
Specific embodiment
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 the implementation environment schematic diagram of control method for vehicle involved in each embodiment of the present invention, the implementation environment
It may include: navigation system 11, radar 12, industrial personal computer 13, video camera 14 and execution unit 15.
Navigation system 11 is navigated for the speed-limiting messages in the section of target vehicle current driving to be input to industrial personal computer in real time
System 11 can also be the devices such as cyberdog.
Radar 12 can be millimetre-wave radar, for detecting the obstacle information of vehicles in front of target vehicle, and in real time will barrier
Information of vehicles is hindered to be input in industrial personal computer.Millimetre-wave radar can be connect by PCAN (CAN turns USB interface) with industrial personal computer 13.
Industrial personal computer (Industrial Personal Computer, IPC) 13 is a kind of using bus structures, to producing
Journey and electromechanical equipment, technological equipment carry out the tool general name of Detection & Controling, industrial personal computer 13 be embedded with corresponding control strategy and
Logical program, industrial personal computer 13 are used for control execution unit 15.
Video camera 14 detects lane line by image processing techniques for detecting front road conditions, and in industrial personal computer 13, will
Lane line information input is to industrial personal computer 13.
Execution unit 15 includes that there are many practical control units, be can wrap containing Throttle Opening Control unit, brake control unit
At least one of with steering wheel control unit, and then realizes and throttle, brake and steering wheel are directly controlled.
Navigation system 11, radar 12, video camera 14 and execution unit 15 can have connection with the foundation of industrial personal computer 13.
Fig. 2 is a kind of flow chart of control method for vehicle shown in the embodiment of the present invention, and the present embodiment is with the vehicle control
It is illustrated applied to control target vehicle.The control method for vehicle may include the following steps:
In step 201, travel routes information is obtained, travel routes information includes the letter at least two continuous sections
Curvature at breath and at least two continuous section intermediate nodes.
In step 202, when target vehicle is apart from first node pre-determined distance, start to detect whether target vehicle passes through
Corresponding stop line at first node, first node are any node being located in front of target vehicle in travel routes information.
In step 203, logical according to the curvature control target vehicle at first node when target vehicle passes through stop line
Cross first node.
In step 204, when target vehicle does not pass through stop line, detecting corresponding traffic lights at first node is
No is green light.
In step 205, when traffic lights are green light, pass through the according to the curvature control target vehicle of first node
One node.
In step 206, when traffic signals are not green light, control target vehicle brake.
In conclusion control method for vehicle provided in an embodiment of the present invention, by pre- apart from first node in target vehicle
If apart from when, believe according to whether target vehicle passes through at first node corresponding traffic at corresponding stop line and first node
Whether signal lamp is green light, and according to circumstances passes through first node to control target vehicle according to the curvature of first node, is solved
In the related technology when vehicle passes through node, the problem of needing driver to control manually.Having reached target vehicle being capable of root
According to control by the effect of node, controlled manually without driver.
Fig. 3-1 is the flow chart of another control method for vehicle shown in the embodiment of the present invention, and the present embodiment is with the vehicle
Control is applied to control target vehicle to illustrate.The control method for vehicle may include the following steps:
In step 301, travel routes information is obtained.Execute step 302.
When the control method for vehicle provided through the embodiment of the present invention is to control target vehicle, navigation can be passed through first
System obtains travel routes information, which includes the information and at least two at least two continuous sections
Curvature at the intermediate node of continuous section.Node can be the crossing for including traffic lights and stop line.
Illustratively, driver will drive target vehicle with from A going to B, lead the input of the two places in driver
After boat system, (one of them may be may be selected there are many travel routes information) in the available travel routes information of navigation system,
It can wrap the information in the multiple continuous sections between the ground B containing A in the travel routes information.
In step 302, judge whether target vehicle reaches the position apart from first node pre-determined distance.In target vehicle
When reaching the position apart from first node pre-determined distance, step 303 is executed, is not reached in target vehicle default apart from first node
Step 312 is executed when the position of distance.
After obtaining travel routes information, the position of target vehicle can be obtained in real time by navigation system, and sentence
Whether disconnected target vehicle reaches the position apart from first node pre-determined distance.
In step 303, it whether there is obstacle vehicle in front of detection target vehicle.Obstacle is not present in front of target vehicle
When vehicle, step 304 is executed, there are when obstacle vehicle in front of target vehicle, executes step 305.
When target vehicle is apart from first node pre-determined distance, can detecte in front of target vehicle with the presence or absence of obstacle vehicle
, first node is any node being located in front of target vehicle in travel routes information, and obstacle vehicle is that target vehicle is current
Vehicle on traveling lane.
By then passing through the position of the target vehicle of navigation system acquisition, the physical location possibility of the position and target vehicle
Whether there is a certain error, thus can begin to deposit in front of detection target vehicle when apart from first node pre-determined distance
In obstacle vehicle, to be prepared by first node.
In step 304, start to detect whether target vehicle passes through stop line.When target vehicle passes through stop line, hold
Row step 309 executes step 310 when target vehicle does not pass through stop line.
When obstacle vehicle being not present in front of target vehicle, it can start to detect whether target vehicle passes through stop line.When
When target vehicle soon reaches first node, if obstacle vehicle is not present in front of target vehicle, it can start to detect target carriage
Whether by stop line, and according to whether corresponding step is executed by stop line.The stop line is a kind of road traffic
Graticule, when traffic lights are red light, vehicle cannot cross stop line.
In step 305, the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle are obtained.
Execute step 306.
There are when obstacle vehicle in front of target vehicle, the current driving speed and target carriage of available target vehicle
Speed difference with obstacle vehicle.Target vehicle can obtain the speed difference with obstacle vehicle by millimetre-wave radar, pass through
The vehicle wheel rotational speed of target vehicle obtains the current driving speed of target vehicle.
Within step 306, whether the speed difference of detection target vehicle and obstacle vehicle is equal to the current driving of target vehicle
Speed.When speed difference is equal to the current driving speed of target vehicle, step 307 is executed, is not equal to target vehicle in speed difference
Current driving speed when, execute step 308.
After the speed difference of the current driving speed and target vehicle and obstacle vehicle that obtain target vehicle, mesh is detected
Whether the speed difference of mark vehicle and obstacle vehicle is equal to the current driving speed of target vehicle, and according to circumstances corresponding to execute
Step.
In step 307, control target vehicle brake.
When speed difference is equal to the current driving speed of target vehicle, illustrate the movement of the obstacle vehicle in front of target vehicle
Speed is zero, i.e., obstacle vehicle may be remained static because of situations such as red light, at this time in order to avoid target vehicle and obstacle
Vehicle collides, and can control target vehicle slowing-down brake.The specific method of control target vehicle slowing-down brake can refer to
The relevant technologies, the embodiment of the present invention repeat no more.
After obstacle vehicle re-moves, target vehicle restarting can control.It, can be again i.e. after this step
Step 305 is executed, obtains the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle, and according to feelings
Condition executes corresponding step.
In step 308, control target vehicle carries out automatic follow the bus to obstacle vehicle.
When speed difference is not equal to the current driving speed of target vehicle, illustrate that the obstacle vehicle in front is travelling, this
When can control target vehicle automatic follow the bus carried out to obstacle vehicle.
Optionally, control target vehicle and obstacle vehicle keep pre-determined distance and carry out automatic follow the bus to obstacle vehicle.It should
Pre-determined distance can be 5 meters.
After target vehicle carries out automatic follow the bus until crossing stop line to obstacle vehicle, step 309 can be executed.
In a step 309, first node is passed through according to the curvature control target vehicle at first node.
When target vehicle passes through stop line, target vehicle can control according to the curvature control target carriage at first node
Pass through first node.
After target vehicle is by first node, target vehicle, which can enter next section, to be continued to travel.Step can be executed
Rapid 312.
In the step 310, detect whether corresponding traffic lights at first node are green light.It is green in traffic lights
When lamp, step 309 is executed, when traffic signals are not green light, executes step 311.
When target vehicle does not pass through stop line, it can detecte whether corresponding traffic lights at first node are green
Lamp.
When target vehicle does not pass through stop line, need to consider whether traffic lights are green light, and according to traffic lights
Whether it is green light to control target vehicle, target vehicle is avoided to violate the traffic regulations.
As shown in figure 3-2, this step may include following two sub-step:
In sub-step 3101, the image information in front of target vehicle is obtained.
When target vehicle does not pass through stop line, the image information in front of target vehicle can be obtained by video camera.
The video camera can be installed on the front of target vehicle, in order to obtain the image information at target vehicle junction ahead.
In sub-step 3102, detect whether corresponding traffic lights at first node are green light according to image information.
After obtaining image information, corresponding traffic lights at first node can be detected according to image information is
No is green light.The image information is the image information at target vehicle junction ahead, can be handled simultaneously the image information
Detect whether corresponding traffic lights at first node are green light, specific detection process can refer to the relevant technologies, herein not
It repeats again.
It should be noted that the corresponding traffic lights of first node are to indicate target on the travel route of target vehicle
Can vehicle pass through the traffic lights of first node.
In step 311, control target vehicle brake.
When traffic signals are not green light, target vehicle brake can control.After control target vehicle brake, it can hold
Row step 303.
In step 312, according to predetermined control strategy control target vehicle traveling.
It, can be according to predetermined control strategy control target vehicle traveling when target vehicle travels a road section in office.It is exemplary
, as shown in Fig. 3-3, this step may include following 12 sub-steps:
In sub-step S301, the speed limit of target vehicle current driving road segment is obtained.Execute sub-step S302.
In sub-step S302, target vehicle is controlled to be less than or equal to the speed of speed limit and travel.Execute sub-step S303.
In sub-step S303, it whether there is obstacle vehicle in front of detection target vehicle.It is not present in front of target vehicle
When obstacle vehicle, sub-step S304 is executed, there are when obstacle vehicle in front of target vehicle, executes sub-step S305.
In sub-step S304, control target vehicle, which is maintained on the lane of current driving, to be travelled.
After being travelled on the lane that control target vehicle is maintained at current driving, sub-step S301 can be executed and obtained in real time
The speed limit of target vehicle current driving road segment, and the speed of target vehicle is adjusted in real time.
In sub-step S305, the current driving speed of target vehicle and the speed of target vehicle and obstacle vehicle are obtained
Difference.
In sub-step S306, whether detection speed difference is equal to the current driving speed of target vehicle.It is equal in speed difference
When the current driving speed of target vehicle, sub-step S307 is executed；It is not equal to the current driving speed of target vehicle in speed difference
When, execute sub-step S308.
In sub-step S307, control target vehicle brake.
After obstacle vehicle re-moves, target vehicle restarting can control.It, can be again i.e. after this step
Sub-step S305 is executed, the current driving speed of target vehicle and the speed difference of target vehicle and obstacle vehicle, and root are obtained
Corresponding step is executed according to situation.
In sub-step S308, whether detection speed difference is greater than zero.When speed difference is greater than zero, sub-step S309 is executed,
When speed difference is not more than zero, sub-step S312 is executed.
In sub-step S309, whether detection 1- Δ v/v is greater than predetermined coefficient.When 1- Δ v/v is greater than predetermined coefficient, hold
Row sub-step S310 executes sub-step S311 when 1- Δ v/v is not more than predetermined coefficient.
In sub-step S310, control target vehicle carries out automatic follow the bus to obstacle vehicle.
When controlling target vehicle to the obstacle vehicle automatic follow the bus of progress, sub-step S305 can be executed.
In sub-step S311, control target vehicle carries out avoidance to obstacle vehicle and overtakes other vehicles.
After carrying out avoidance and overtaking other vehicles, sub-step S301 can be executed, i.e., target carriage is controlled according to the speed limit of current road segment
Travel speed.
In sub-step S312, control target vehicle, which is maintained on the lane of current driving, to be travelled.
This step enters lane in control target vehicle and keeps mode can be with reference to step S304, and details are not described herein.
It should be added that control method for vehicle provided in an embodiment of the present invention, by according at first node pairs
The traffic lights answered control target vehicle, have achieved the effect that target vehicle is avoided to violate the traffic regulations.
It should be added that control method for vehicle provided in an embodiment of the present invention, by judging target vehicle with before
Whether the speed difference of the obstacle vehicle of side is equal to the current driving speed of target vehicle to control target vehicle, has reached and has avoided mesh
Mark the effect of vehicle and obstacle automobile crash.
In conclusion control method for vehicle provided in an embodiment of the present invention, by pre- apart from first node in target vehicle
If apart from when, believe according to whether target vehicle passes through at first node corresponding traffic at corresponding stop line and first node
Whether signal lamp is green light, and according to circumstances passes through first node to control target vehicle according to the curvature of first node, is solved
In the related technology when vehicle passes through node, the problem of needing driver to control manually.Having reached target vehicle being capable of root
According to control by the effect of node, controlled manually without driver.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.It is real for disclosure device
Undisclosed details in example is applied, embodiments of the present disclosure is please referred to.
Fig. 4-1 is a kind of block diagram of controller of vehicle shown according to an exemplary embodiment, the controller of vehicle
It being implemented in combination with as some or all of of camera terminal by software, hardware or both.The controller of vehicle
May include:
Route acquiring module 410 is configured as obtaining travel routes information, and travel routes information includes at least two companies
Curvature at the information in continuous section and at least two continuous section intermediate nodes.
Stop line detection module 420 is configured as when target vehicle is apart from first node pre-determined distance, starts to detect mesh
Whether mark vehicle passes through corresponding stop line at first node, and first node is to be located in front of target vehicle in travel routes information
Any node.
Node is configured as when target vehicle passes through stop line, by module 430 according to the curvature control at first node
Target vehicle processed passes through first node.
Signal lamp detection module 440 is configured as when target vehicle does not pass through stop line, is detected corresponding at first node
Traffic lights whether be green light.
Green light is configured as green light when traffic lights are green light, according to the curvature control of first node by module 450
Target vehicle processed passes through first node.
First brake module 460 is configured as when traffic signals are not green light, control target vehicle brake.
In conclusion controller of vehicle provided in an embodiment of the present invention, by pre- apart from first node in target vehicle
If apart from when, believe according to whether target vehicle passes through at first node corresponding traffic at corresponding stop line and first node
Whether signal lamp is green light, and according to circumstances passes through first node to control target vehicle according to the curvature of first node, is solved
In the related technology when vehicle passes through node, the problem of needing driver to control manually.Having reached target vehicle being capable of root
According to control by the effect of node, controlled manually without driver.
Optionally, as shown in the Fig. 4-2, stop line detection module 420, comprising:
Obstacle detection submodule 421 is configured as in front of detection target vehicle with the presence or absence of obstacle vehicle, and obstacle vehicle is
Vehicle on target vehicle current driving lane.
Stop line detection sub-module 422 when being configured as that obstacle vehicle is not present in front of target vehicle, starts to detect mesh
Whether mark vehicle passes through stop line.
Optionally, as shown in Fig. 4-3, the device further include:
Speed difference obtains module 470, is configured as in front of target vehicle obtaining target vehicle there are when obstacle vehicle
The speed difference of current driving speed and target vehicle and obstacle vehicle.
Second brake module 480 is configured as controlling target when speed difference is equal to the current driving speed of target vehicle
Vehicle brake.
Automatic follow the bus module 490 is configured as controlling mesh when speed difference is not equal to the current driving speed of target vehicle
It marks vehicle and automatic follow the bus is carried out to obstacle vehicle.
Optionally, automatic follow the bus module 490, is configured as: with obstacle vehicle keep pre-determined distance and to obstacle vehicle into
The automatic follow the bus of row.
Optionally, signal lamp detection module 440, is configured as:
Obtain the image information in front of target vehicle；Corresponding traffic lights at first node are detected according to image information
It whether is green light.
It should be added that controller of vehicle provided in an embodiment of the present invention, by according at first node pairs
The traffic lights answered control target vehicle, have achieved the effect that target vehicle is avoided to violate the traffic regulations.
It should be added that controller of vehicle provided in an embodiment of the present invention, by judging target vehicle with before
Whether the speed difference of the obstacle vehicle of side is equal to the current driving speed of target vehicle to control target vehicle, has reached and has avoided mesh
Mark the effect of vehicle and obstacle automobile crash.
In conclusion controller of vehicle provided in an embodiment of the present invention, by pre- apart from first node in target vehicle
If apart from when, believe according to whether target vehicle passes through at first node corresponding traffic at corresponding stop line and first node
Whether signal lamp is green light, and according to circumstances passes through first node to control target vehicle according to the curvature of first node, is solved
In the related technology when vehicle passes through node, the problem of needing driver to control manually.Having reached target vehicle being capable of root
According to control by the effect of node, controlled manually without driver.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store 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 presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of control method for vehicle, which is characterized in that the described method includes:
Obtain travel routes information, the travel routes information include at least two continuous sections information and it is described at least
Curvature at two continuous section intermediate nodes, the node is the crossing for including traffic lights and stop line；
When target vehicle is apart from first node pre-determined distance, starts to detect the target vehicle and whether pass through at first node pair
The stop line answered, the first node are any node being located in front of the target vehicle in the travel routes information；
It is logical according to target vehicle described in the curvature control at the first node when the target vehicle passes through the stop line
Cross the first node；
When the target vehicle does not pass through the stop line, detect at the first node corresponding traffic lights whether be
Green light；
When the traffic lights are green light, pass through described the according to target vehicle described in the curvature control of the first node
One node；
When the traffic signals are not green light, the target vehicle brake is controlled,
It is described to start to detect whether the target vehicle passes through corresponding stop line at first node, comprising:
It detects with the presence or absence of obstacle vehicle in front of the target vehicle, the obstacle vehicle is the target vehicle current driving vehicle
Vehicle on road；
When the obstacle vehicle being not present in front of the target vehicle, start to detect whether the target vehicle passes through described stop
Only line.
2. the method according to claim 1, wherein whether there is obstacle in front of the detection target vehicle
After vehicle, the method also includes:
There are the current driving speed and the institutes that when the obstacle vehicle, obtain the target vehicle in front of the target vehicle
State the speed difference of target vehicle Yu the obstacle vehicle；
When the speed difference is equal to the current driving speed of the target vehicle, the target vehicle brake is controlled；
When the speed difference is not equal to the current driving speed of the target vehicle, the target vehicle is controlled to the obstacle
Vehicle carries out automatic follow the bus.
3. according to the method described in claim 2, it is characterized in that, the control target vehicle to the obstacle vehicle into
The automatic follow the bus of row, comprising:
Pre-determined distance is kept with the obstacle vehicle and automatic follow the bus is carried out to the obstacle vehicle.
4. according to claim 1 to 3 any the methods, which is characterized in that the traffic signals of the detection first node
Whether lamp is green light, comprising:
Obtain the image information in front of the target vehicle；
It whether is green light according to corresponding traffic lights at first node described in described image infomation detection.
5. a kind of controller of vehicle, which is characterized in that described device includes:
Route acquiring module is configured as obtaining travel routes information, and the travel routes information includes at least two continuous
Section information and the curvature at at least two continuous section intermediate node, the node be to include traffic lights and stop
The only crossing of line；
Stop line detection module is configured as starting to detect the target when target vehicle is apart from first node pre-determined distance
Whether vehicle passes through corresponding stop line at first node, and the first node is to be located at the mesh in the travel routes information
Mark any node of vehicle front；
Node is configured as when the target vehicle is by the stop line, at the first node by module
Target vehicle described in curvature control passes through the first node；
Signal lamp detection module is configured as detecting the first node when the target vehicle does not pass through the stop line
Locate whether corresponding traffic lights are green light；
Green light is configured as green light when the traffic lights are green light, according to the curvature of the first node by module
It controls the target vehicle and passes through the first node；
First brake module is configured as when the traffic signals are not green light, controls the target vehicle brake,
The stop line detection module, comprising:
Obstacle detection submodule is configured as detecting in front of the target vehicle with the presence or absence of obstacle vehicle, the obstacle vehicle
For the vehicle on the target vehicle current driving lane；
Stop line detection sub-module is configured as in front of the target vehicle starting to detect there is no when the obstacle vehicle
Whether the target vehicle passes through the stop line.
6. device according to claim 5, which is characterized in that described device further include:
Speed difference obtains module, is configured as in front of the target vehicle obtaining the target there are when the obstacle vehicle
The speed difference of the current driving speed of vehicle and the target vehicle and the obstacle vehicle；
Second brake module is configured as controlling institute when the speed difference is equal to the current driving speed of the target vehicle
State target vehicle brake；
Automatic follow the bus module is configured as the control when the speed difference is not equal to the current driving speed of the target vehicle
The target vehicle carries out automatic follow the bus to the obstacle vehicle.
7. device according to claim 6, which is characterized in that the automatic follow the bus module is configured as: with the obstacle
Vehicle keeps pre-determined distance and carries out automatic follow the bus to the obstacle vehicle.
8. according to any described device of claim 5 to 7, which is characterized in that the signal lamp detection module is configured as:
Obtain the image information in front of the target vehicle；
It whether is green light according to corresponding traffic lights at first node described in described image infomation detection.
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| JP6805105B2 (en) * | 2017-09-28 | 2020-12-23 | 株式会社デンソー | Control target vehicle setting device, control target vehicle setting system, and control target vehicle setting method |
| CN108482374A (en) * | 2018-04-24 | 2018-09-04 | 蔡璟 | A kind of self-actuating brake method and its system based on signal lamp identification |
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