CN108521800A - Control method, control terminal and the machine readable storage medium of automatic driving vehicle - Google Patents

Abstract

A control method, control terminal, and machine-readable storage medium for an autonomous vehicle are provided. The method includes: acquiring location information of a specified location (201); determining its own real-time location based on the location information of the specified location (202); and broadcasting the real-time location via a radio transmitter mounted on the vehicle (203). By applying this method, an autonomous vehicle traveling on a curve can accurately acquire its own driving status information and broadcast it, while simultaneously detecting driving status information broadcast by other vehicles. Based on the driving status information of these other vehicles, the vehicle can take evasive action in advance to avoid collisions at curves.

Description

Control method, control terminal, and machine-readable storage medium for autonomous driving vehicle

technical field

The present application relates to the technical field of automatic driving, and in particular to a control method, a control terminal and a machine-readable storage medium for an automatic driving vehicle.

Background technique

Autonomous vehicles (Autonomous vehicles) are also known as unmanned vehicles, computer-driven vehicles, or wheeled mobile robots. Compared with artificially driven vehicles, autonomous vehicles rely on artificial intelligence, visual computing, and monitoring by adding a variety of sensors. Devices, etc., can realize automatic safe and reliable operation of motor vehicles.

At present, the sensors of self-driving cars, such as millimeter-wave radars and ultrasonic radars, all detect the position and speed of vehicles on the opposite side by emitting rays. However, this method is only suitable for approximately straight roads. As far as the road is concerned, the position and speed of the vehicle on the other side of the curve cannot be detected in this way, so that corresponding measures cannot be taken in advance to avoid the risk of collision.

Contents of the invention

In view of this, the present application discloses a control method, a control terminal and a machine-readable storage medium for an automatic driving vehicle.

In a first aspect, a method for controlling an autonomous vehicle is provided, the method comprising:

Obtain the location information of the specified location;

determining the real-time position of the self according to the position information of the specified position;

The real-time position is broadcasted through the radio transmitting device carried by itself.

In a second aspect, a method for controlling an automatic driving vehicle is provided, the method comprising:

Obtain the driving status information of other vehicles detected by the radio receiving device mounted on the vehicle;

Acquiring the driving state information of the vehicle;

The driving state of the vehicle is controlled according to the driving state information of the other vehicle and the driving state information of the vehicle.

In a third aspect, a method for controlling an autonomous vehicle is provided, which is applied to a control terminal arranged at a corner of a curve for detecting the driving state of the vehicle, and the method includes:

detecting a first vehicle driving on one side of a curve;

determining the driving state of the first vehicle according to its own position;

sending the driving state of the first vehicle to a second vehicle driving on the other side of the curve;

In a fourth aspect, a control terminal is provided, the control terminal includes a processor, and the processor is used for:

Obtain the location information of the specified location;

determining the real-time position of the self according to the position information of the specified position;

The real-time position is broadcasted through the radio transmitting device carried by itself.

In a fifth aspect, a control terminal is provided, the control terminal includes a processor, and the processor is used for:

Obtain the driving status information of other vehicles detected by the radio receiving device mounted on the vehicle;

Acquiring the driving state information of the vehicle;

The driving state of the vehicle is controlled according to the driving state information of the other vehicle and the driving state information of the vehicle.

According to the sixth aspect, a control terminal is provided. The control terminal is located at the corner of a curve and is used to detect the driving state of the vehicle. The control terminal includes a memory and a processor, and the memory stores several computer instructions. The processing device for:

Obtain the location information of the specified location;

determining the real-time position of the first vehicle driving on one side of the curve according to the position information of the specified position;

The real-time position of the first vehicle is sent to a second vehicle driving on the other side of the curve.

In the seventh aspect, a machine-readable storage medium is provided, and several computer instructions are stored on the machine-readable storage medium, and the following processing is performed when the computer instructions are executed:

Obtain the location information of the specified location;

determining the real-time position of the self according to the position information of the specified position;

The real-time position is broadcasted through the radio transmitting device carried by itself.

In an eighth aspect, a machine-readable storage medium is provided, and several computer instructions are stored on the machine-readable storage medium, and the following processing is performed when the computer instructions are executed:

Obtain the driving status information of other vehicles detected by the radio receiving device mounted on the vehicle;

Acquiring the driving state information of the vehicle;

The driving state of the vehicle is controlled according to the driving state information of the other vehicle and the driving state information of the vehicle.

In the ninth aspect, a machine-readable storage medium is provided. Several computer instructions are stored on the machine-readable storage medium. When the computer instructions are executed, the following processing is performed:

Obtain the location information of the specified location;

determining the real-time position of the first vehicle driving on one side of the curve according to the position information of the specified position;

The real-time position of the first vehicle is sent to a second vehicle driving on the other side of the curve.

It can be seen from the above-mentioned embodiments that by acquiring the position information of the designated position, and obtaining the real-time position of the self according to the position information of the designated position, the accuracy of the obtained real-time position of the self can be improved, and since the real-time position is obtained by radio By means of broadcast transmission, the vehicle on the other side of the curve can detect the real-time position, so that the vehicle on the other side can take evasive measures in advance to avoid collision of the vehicle at the corner of the curve.

Description of drawings

FIG. 1 is a schematic diagram of an application scenario for realizing an automatic driving control method according to an embodiment of the present invention;

Fig. 2 is a flowchart of an embodiment of the control method of the self-driving vehicle of the present invention;

3 is a flow chart of another embodiment of the control method of the self-driving vehicle of the present invention;

Fig. 4 is a flow chart of another embodiment of the control method of the self-driving vehicle of the present invention;

Fig. 5 is a block diagram of an embodiment of a control terminal;

FIG. 6 is a block diagram of another embodiment of the control terminal;

Fig. 7 is a block diagram of another embodiment of the control terminal.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Please refer to FIG. 1 , which is a schematic diagram of an application scenario for implementing an automatic driving control method according to an embodiment of the present invention. FIG. 1 includes a curve 100 , and it is consistent with the actual situation. Since road safety blind spots generally exist at the corners of curves, Therefore, some traffic signs are usually arranged on the roadside, such as the traffic sign 130 and the traffic sign 140 shown in Fig. Take evasive measures such as slowing down and honking the horn, so as to avoid collisions of vehicles at the corners.

However, the above-mentioned traffic signs for prompting the turning of the curve ahead can only serve as a reminder to the driver of the human-driven vehicle, while for the self-driving vehicle, for example, the vehicle 110 and the vehicle 120 illustrated in FIG. 1 , It cannot take evasive measures in advance according to the above-mentioned traffic signs, but relies on its own sensors, such as millimeter-wave radar, ultrasonic radar, etc., to detect the position and speed of passing vehicles on the opposite side. However, since the millimeter wave radar and super god wave radar both detect the position and speed of the passing vehicle on the opposite side by emitting rays, it can be seen that the above method is not suitable for the curve driving application scenario shown in Figure 1 middle.

Based on this, the present invention provides a control method for an automatic driving vehicle, which can be applied to the curve driving application scenario illustrated in FIG. The driving status information of the opposite vehicle is detected respectively, so that before entering the corner of the curve, avoidance measures are taken in advance according to the driving status information of the opposite vehicle, so as to avoid the collision of the vehicle at the corner.

It will be appreciated by those skilled in the art that only two traffic sign boards are used as an example in Fig. 1, and the present invention does not limit the specific quantity of traffic sign boards arranged on the roadside; correspondingly, only two vehicles are used in Fig. 1 For example, the present invention does not limit the specific number of vehicles.

As follows, the following embodiments are listed to describe the control method of the self-driving vehicle proposed by the present invention.

First, the following embodiment 1 is shown to explain how the self-driving vehicle broadcasts its own driving state information.

Embodiment one:

Please refer to Fig. 2, which is a flowchart of an embodiment of the control method of the self-driving vehicle of the present invention, the method may include the following steps:

Step 201: Obtain location information of a specified location.

Referring to the application scenario illustrated in Figure 1, once the traffic sign is laid out, its location will be fixed. Based on this, in the embodiment of the invention, the location of the traffic sign can be set as the specified location, then the specified location can be obtained The location information is equivalent to obtaining the location information of the traffic signs placed on the roadside of the current driving section.

In an embodiment, the location information of the traffic sign can be pre-stored on the traffic sign. For example, in an optional implementation, a graphic symbol for recording data can be drawn on the traffic sign, through which The graphic symbol records the position information of the traffic sign.

In an embodiment, the graphic symbols may include at least one of the following: two-dimensional code, barcode, digital sign, and AprilTag mark tracking.

Correspondingly, in an embodiment, the vehicle, such as the vehicle 110, can collect roadside images through its own camera device, and the roadside images can include traffic signs arranged on the roadside of the current driving section, such as FIG. 1 The traffic sign 130 shown in the example. Subsequently, the camera device can further recognize the graphic symbols on the traffic sign included in the roadside image, so as to obtain the position information of the traffic sign.

In an embodiment, the location information of the traffic sign may include at least one of the following: GPS coordinates of the traffic sign, and a position number of the traffic sign.

In one embodiment, since the camera mounted on the vehicle can have a certain range of viewing angles, the roadside image collected by it may include multiple traffic signs, for example, one roadside image collected Including both the traffic sign board 130 and the traffic sign board 140 .

Correspondingly, after collecting the roadside image, the camera device can recognize the two-dimensional code on each traffic sign included in the roadside image, so as to obtain the location information of each traffic sign.

Step 202: Determine the real-time location of the user according to the location information of the specified location.

In one embodiment, if the position information of the above-mentioned designated position includes the position number of the designated position, then the set map can be searched first according to the position number of the designated position, and the position point of the position number is found on the map, and then Obtain the GPS coordinates of the location point, that is, find the GPS coordinates corresponding to the location number. Subsequently, the real-time position of the self is determined according to the found GPS coordinates of the specified position.

It can be known from the above description that in step 201 it is possible to obtain the position information of multiple traffic signs, if only one of the traffic sign information is used to determine the real-time position of the self, it may be due to the obtained one of the traffic signs. The location information of traffic sign boards is noisy and inaccurate, resulting in inaccurate real-time location of itself finally determined. Based on this, the embodiment of the present invention proposes that if the location information of multiple traffic sign boards is obtained in step 201, Then the vehicle, such as the vehicle 110, can respectively determine the relative positional relationship between itself and each traffic sign, and then determine its own position according to the relative positional relationship between itself and each traffic sign, and the position information of each traffic sign. real-time location.

In one embodiment, the process of determining the relative positional relationship between itself and each traffic sign specifically includes: taking determining the relative positional relationship between itself and one of the traffic signs as an example, it can be determined that the traffic sign is in The size and position in the roadside image, in order to describe the method, in the embodiment of the present invention, the size and position of the traffic sign in the roadside image are called the shooting size and shooting position. The photographed size in the side image and the known actual size of the traffic signboard are used to calculate the relative distance between itself and the traffic signboard by using a mathematical algorithm, such as the principle of depth of field. Correspondingly, according to the shooting position of the traffic sign in the roadside image, mathematical algorithms, such as extended Kalman filter, or particle filter, or SLAM modeling method, etc., can be used to calculate the distance between itself and the traffic sign. relative position.

In one embodiment, according to the relative position relationship between itself and each traffic sign, the process of determining its own real-time position with the position information of each traffic sign specifically includes: first, for each traffic sign, according to its own The relative position relationship between the traffic sign and the position information of the traffic sign, calculate the possible position of the traffic sign for the traffic sign, and for the convenience of description, this position is called a candidate position; after that , determine a candidate range according to the candidate position, for example, a circular candidate range can be determined with the candidate position as the center and the preset distance as the radius; according to the above process, for each traffic sign, a Candidate ranges; finally, for example, a mathematical algorithm may be used to calculate the intersection point among all the candidate ranges, and determine the position of the intersection point as its own real-time position.

It should be noted that if there are more than two intersection points among all the candidate ranges, then in an optional implementation, one of the intersection points can be selected among the two or more intersection points, and the location of the intersection point can be determined as its own real-time location.

Through the above processing, the accuracy of the finally determined real-time position of the self can be improved.

Step 203: Broadcast the real-time location through the radio transmitting device carried by itself.

In the embodiment of the present invention, a radio transmitting device may be mounted on the vehicle, such as the vehicle 110 , and the real-time position determined in step 202 is broadcasted through the radio transmitting device. Since radio is different from rays, it can propagate within a certain range, so that in the curve scene illustrated in FIG. own real-time location.

In an embodiment, the vehicle 110 may transmit its real-time position by broadcasting its own radio transmission device according to a preset fixed frequency.

In addition, in the embodiment of the present invention, the vehicle can also obtain the driving speed detected by the speed measuring device carried by itself, and can broadcast the driving speed through the radio transmitting device carried by itself.

Those skilled in the art can understand that, while the vehicle broadcasts its own real-time position through its own radio transmitting device, it can also broadcast its own driving speed; The real-time position and driving speed of the self are broadcast by the frequency broadcast, and the present invention does not limit the specific broadcast time of the real-time position and driving speed.

In addition, considering the positioning equipment carried on the vehicle, such as global navigation satellite system receivers, GPS receivers, Beidou satellite navigation system receivers, Galileo positioning system receivers, and GLONASS satellite navigation system receivers, it is possible to locate Inaccurate, drift phenomenon occurs, based on this, it is proposed in the embodiment of the present invention that after determining the real-time position of the vehicle itself in step 202, the positioning device carried by itself can be corrected according to the real-time position, so as to improve the accuracy of the positioning device for the vehicle. The accuracy of location detection results.

It can be seen from the above-mentioned embodiments that by acquiring the position information of the designated position, and obtaining the real-time position of the self according to the position information of the designated position, the accuracy of the obtained real-time position of the self can be improved, and since the real-time position is obtained by radio By means of broadcast transmission, the vehicle on the other side of the curve can detect the real-time position, so that the vehicle on the other side can take evasive measures in advance to avoid collision of the vehicle at the corner of the curve.

So far, the relevant description of the first embodiment is completed.

Secondly, the following embodiment 2 is shown to illustrate how the self-driving vehicle detects the driving state information of other vehicles, and controls its own driving state according to the driving state information.

Embodiment two:

Please refer to Fig. 3, which is a flow chart of another embodiment of the control method of the self-driving vehicle of the present invention, the method may include the following steps:

Step 301: Obtain the driving state information of other vehicles detected by the radio receiving device mounted on the vehicle.

In the embodiment of the present invention, it can be known from the description of the embodiment shown in FIG. 2 that the vehicle broadcasts and sends its own real-time position and/or driving speed through its own radio transmitting device. Then, correspondingly, the vehicle can carry Radio receiving device to detect driving status information broadcast by other vehicles.

In an embodiment, the driving state information may include at least one of the following: real-time location and driving speed.

Step 302: Obtain the driving status information of the vehicle.

In the embodiment of the present invention, the vehicle can obtain the location information of the specified location, and determine the real-time location of the vehicle itself according to the location information of the specified location; and/or, obtain the driving speed detected by the speed measuring device mounted on the vehicle.

As for how the vehicle determines its own real-time position in this step, reference may be made to the description in the above-mentioned embodiment shown in FIG. 2 , which will not be described in detail here.

Step 303: Control the driving state of the vehicle according to the driving state information of other vehicles and the driving state information of the vehicle.

In one embodiment, the distance between the vehicle itself and other vehicles can be calculated according to the real-time position of other vehicles obtained in step 301 and the real-time position of the vehicle itself obtained in step 302. Further, if the If the distance is lower than the set distance threshold, the vehicle can be controlled to slow down to avoid collision with other vehicles at the corner.

Similarly, in an embodiment, the traveling speed of other vehicles obtained in step 301 can be compared with the traveling speed of the vehicle itself obtained in step 302, if the comparison shows that the traveling speed of other vehicles is higher than that of the vehicle itself If the driving speed is high, the vehicle can be controlled to slow down, so as to avoid collisions with other vehicles at the corners.

In an embodiment, controlling the vehicle itself to decelerate may include: controlling the vehicle to decelerate at a set acceleration.

In an embodiment, the control of the vehicle itself to decelerate may include: firstly calculating an acceleration based on the distance between other vehicles and the vehicle itself, for the convenience of description, the calculated acceleration is called the target acceleration, and controlling the vehicle to The target acceleration is decelerated. Through this processing, it is possible to flexibly control the driving state of the vehicle itself.

It can be seen from the above-mentioned embodiments that by acquiring the driving state information of other vehicles detected by the radio receiving device carried by itself, the driving state information of the self is obtained, and the self-driving state information is controlled according to the driving state information of the self and the driving state information of the other vehicles. It can realize the timely and active control of its own driving state and avoid collisions with other vehicles at the corners.

So far, the related description of the second embodiment is completed.

Based on the inventive concept similar to the control method of the self-driving vehicle illustrated in Figure 2 above, the embodiment of the present invention also provides another control method of the self-driving vehicle, which can be applied to the control terminal arranged at the corner of the curve , the control terminal may have at least one of a camera device, a laser radar device, a millimeter-wave radar device, etc., and the control terminal may be used to detect the driving state of the vehicle. The driving state mentioned here may include the real-time position of the vehicle and the driving speed. As shown in Figure 4, it is a flow chart of another embodiment of the control method of the self-driving vehicle of the present invention, including the following steps:

Step 401: Detect a first vehicle driving on one side of a curve.

In one embodiment, if the control terminal used to detect the driving state of the vehicle has a camera, then the control terminal can obtain road images through the camera, and then can use mathematical algorithms, such as algorithms such as foreground detection and background filtering, The vehicle driving on one side of the curve is determined on the road image, and for the convenience of description, this vehicle is referred to as the first vehicle here.

Those skilled in the art can understand that the road image may include one or more first vehicles, which is not limited in the present invention.

Step 402: Determine the driving state of the first vehicle according to its own position.

In an embodiment, the size and position of the first vehicle in the road image can be determined on the road image described in step 401 above. For the convenience of description, the size is referred to as the captured size and the position as for the shooting location.

Further, the relative distance between the self and the first vehicle can be determined according to the photographed size, and the relative position between the self and the first vehicle can be determined according to the photographed position. The specific method of determining the relative distance and relative position can refer to the prior art For the related description, for example, a triangular ranging algorithm may be used, which will not be described in detail in the present invention.

Subsequently, the real-time position of the vehicle can be determined according to the above-mentioned relative position, relative distance, and self-position. For the specific method of determining the real-time position of the first vehicle, refer to the relevant description in the embodiment shown in FIG. 2 above, here No more details.

Correspondingly, the traveling speed of the first vehicle may also be estimated according to the change of the shooting position of the first vehicle in the multiple road images.

In addition, if the control terminal used to detect the driving state of the vehicle has a laser radar device, or a millimeter-wave radar device, those skilled in the art can understand that the existing laser radar device and the millimeter-wave radar device have speed measurement, If the distance function is used, then, after measuring the relative distance between itself and the first vehicle, the real-time position of the first vehicle can be calculated according to its own position.

Step 403: Send the driving state of the first vehicle to the second vehicle driving on the other side of the curve.

It can be seen from the above embodiments that by detecting the first vehicle driving on one side of the curve, since its own position is known and fixed, the driving state of the first vehicle can be determined according to its own position, thereby improving the obtained first vehicle The accuracy of the driving state of the first vehicle, and since the first vehicle driving state is sent to the second vehicle driving on the other side of the curve, the second vehicle can detect the driving state of the first vehicle to The driving state of a vehicle takes avoidance measures in advance, so as to avoid the collision of the vehicle at the corner of the curve.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. 2 above, an embodiment of the present invention also provides a control terminal. As shown in FIG. 5 , the control terminal 500 includes a memory 510 and a processor 520. A number of computer instructions are stored in the memory 510, and the processor 520 is used to: obtain the position information of the specified position; determine the real-time position of itself according to the position information of the specified position; to broadcast.

In an embodiment, the processor 520 may be configured to: acquire the position information of the traffic sign boards arranged on the roadside of the current driving section.

In an embodiment, the processor 520 can be used to: collect roadside images through its own camera device, the roadside images include traffic signs arranged on the roadside of the current driving section; identify the roadside The two-dimensional code on the traffic sign included in the image is used to obtain the location information of the traffic sign.

In an embodiment, the location information includes at least one of the following: GPS coordinates and location number.

In an embodiment, the processor 520 may be configured to: search for a set map according to the position number of the specified position, so as to find the GPS coordinates corresponding to the position number; determine its own real-time location according to the found GPS coordinates Location.

In an embodiment, the roadside image includes a plurality of the traffic sign boards;

The processor 520 may be used to: respectively determine the relative positional relationship between itself and each of the traffic sign boards; according to the relative positional relationship between itself and each of the traffic sign boards, The location information of the above-mentioned traffic signs determines its own real-time location.

In an embodiment, the processor 520 may be configured to: respectively determine the shooting size and shooting position of each of the traffic signs in the roadside image; for each of the traffic signs, according to the The photographed size of the traffic sign in the roadside image and the actual size of the traffic sign, calculate the relative distance between itself and the traffic sign, and The shooting position of the vehicle is calculated to calculate the relative position of itself and the traffic sign.

In an embodiment, the processor 520 may be configured to: for each of the traffic signs, according to the relative positional relationship between itself and the traffic signs, and the position information of the traffic signs, determine a candidate position; determine a candidate range according to the candidate position; calculate the intersection point between each of the candidate ranges; determine the intersection point as its own real-time position.

In an embodiment, the processor 520 may be configured to: obtain the driving speed detected by the speed measuring device carried by itself; and broadcast the driving speed through the radio transmitting device carried by itself.

In an embodiment, the processor 520 may also be configured to: correct the positioning device carried by itself according to the real-time position.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. 3 above, an embodiment of the present invention also provides a control terminal. As shown in FIG. 6 , the control terminal 600 includes a memory 610 and a processor 620. Several computer instructions are stored in the memory 510, and the processor 620 is used to: obtain the driving state information of other vehicles detected by the radio receiving device mounted on the vehicle; obtain the driving state information of the vehicle; The driving state information and the driving state information of the vehicle control the driving state of the vehicle.

In one embodiment, the driving state information includes at least one of the following: real-time location and driving speed.

In an embodiment, the processor 620 may be configured to: obtain the location information of the specified location; determine the real-time location of the vehicle according to the location information of the specified location; to the driving speed.

In an embodiment, the processor 620 may be configured to: determine the distance between the other vehicle and the vehicle according to the real-time position of the other vehicle and the real-time position of the vehicle; if the distance is low At the set distance threshold, the vehicle is controlled to slow down.

In an embodiment, the processor 620 may be used to: compare the driving speed of the other vehicle with the driving speed of the vehicle; if the comparison shows that the driving speed of the other vehicle is higher than the driving speed of the vehicle , then control the vehicle to slow down.

In an embodiment, the processor 620 may be configured to: control the vehicle to decelerate at a set acceleration.

In an embodiment, the processor 620 may be configured to: calculate a target acceleration according to the distance between the other vehicle and the vehicle; and control the vehicle to decelerate at the target acceleration.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. 4 above, an embodiment of the present invention also provides a control terminal, which is located at the corner of the curve and used to detect the driving state of the vehicle, as shown in FIG. 7 As shown, the control terminal 700 includes a memory 710 and a processor 720. The memory 710 stores several computer instructions. The processor 720 is used to: detect the first vehicle driving on one side of the curve; The driving state of the first vehicle; sending the driving state of the first vehicle to the second vehicle driving on the other side of the curve.

In one embodiment, the processor 720 is configured to: collect a road image; and detect a first vehicle driving on one side of a curve on the road image.

In one embodiment, the processor 720 is configured to: determine the shooting size and shooting position of the first vehicle in the road image; determine the relative distance between itself and the first vehicle according to the shooting size. distance, and determine the relative position between itself and the first vehicle according to the shooting position; determine the real-time position of the first vehicle according to the relative distance, relative position, and its own position, and determine A travel speed of the first vehicle is determined.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. When the instructions are executed, the following processes are performed: obtaining the location information of the specified location; determining the real-time location of itself according to the location information of the specified location; and broadcasting the real-time location through the radio transmitting device carried by itself.

In an embodiment, in the process of acquiring the location information of the specified location, the computer instructions are executed to perform the following processing: to acquire the location information of the traffic signs arranged on the roadside of the current driving section.

In one embodiment, in the process of acquiring the position information of the traffic sign boards arranged on the roadside of the current driving section, the following processing is performed when the computer instructions are executed: the roadside image is collected by the camera device carried by itself, and the The roadside image includes traffic sign boards arranged on the roadside of the current driving section; the two-dimensional code on the traffic sign board included in the roadside image is recognized to obtain the location information of the traffic sign board.

In an embodiment, the location information includes at least one of the following: GPS coordinates and location number.

In one embodiment, if the location information includes the location number, in the process of determining the real-time location of the self according to the location information of the specified location, the computer instructions are executed as follows: according to the The location number of the specified location searches the set map to find the GPS coordinates corresponding to the location number; determine its own real-time location according to the found GPS coordinates.

In an embodiment, the roadside image includes a plurality of the traffic sign boards;

In the process of determining the real-time position of the self according to the position information of the specified position, when the computer instructions are executed, the following processing is performed: respectively determining the relative positional relationship between the self and each of the traffic signs; Describe the relative positional relationship between itself and each of the traffic sign boards, and determine its real-time position with the position information of each of the traffic sign boards.

In one embodiment, in the process of determining the relative positional relationship between itself and each of the traffic sign boards, the computer instructions are executed as follows: respectively determine the position of each of the traffic sign boards The shooting size and shooting position in the roadside image; for each of the traffic signs, according to the shooting size of the traffic sign in the roadside image and the actual size of the traffic sign, calculate The relative distance between itself and the traffic sign, and according to the shooting position of the traffic sign in the roadside image, calculate the relative position between itself and the traffic sign.

In one embodiment, in the process of determining the real-time position of itself according to the relative positional relationship between itself and each of the traffic sign boards, and the position information of each of the traffic sign boards, the computer When the instruction is executed, the following processing is performed: for each of the traffic signs, according to the relative positional relationship between itself and the traffic signs, and the position information of the traffic signs, determine a candidate position; The candidate position determines a candidate range; calculates the intersection point between each of the candidate ranges; and determines the intersection point as its own real-time position.

In an embodiment, when the computer instructions are executed, the following processing is also performed: obtaining the driving speed detected by the speed measuring device carried by itself; and broadcasting the driving speed through the radio transmitting device carried by itself.

In an embodiment, when the computer instructions are executed, the following processing is also performed: correcting the positioning device carried by itself according to the real-time position.

Based on the same inventive concept as that of the control method for the self-driving vehicle illustrated in FIG. When the instruction is executed, the following processing is carried out: obtaining the driving state information of other vehicles detected by the radio receiving device mounted on the vehicle; obtaining the driving state information of the vehicle; according to the driving state information of the other vehicles and the driving state of the vehicle The state information controls the driving state of the vehicle.

In one embodiment, the driving state information includes at least one of the following: real-time location and driving speed.

In one embodiment, during the process of acquiring the driving state information of the vehicle, the computer instructions are executed to perform the following processing: acquire the position information of the specified position; determine the real-time position of the vehicle according to the position information of the specified position position; and/or, acquiring the traveling speed detected by the speed measuring device mounted on the vehicle.

In an embodiment, during the process of controlling the driving state of the vehicle according to the driving state information of the other vehicle and the driving state information of the vehicle, the computer instructions are executed as follows: according to the The real-time position of other vehicles and the real-time position of the vehicle determine the distance between the other vehicles and the vehicle; if the distance is lower than the set distance threshold, the vehicle is controlled to slow down.

In one embodiment, during the process of controlling the driving state of the vehicle according to the driving state information of the other vehicle and the driving state information of the vehicle, the computer instructions are executed as follows: comparing the The traveling speed of other vehicles is compared with the traveling speed of the vehicle; if the comparison shows that the traveling speed of the other vehicles is higher than the traveling speed of the vehicle, then the vehicle is controlled to slow down.

In an embodiment, during the process of controlling the vehicle to decelerate, when the computer instructions are executed, the following processing is performed: controlling the vehicle to decelerate at a set acceleration.

In one embodiment, during the process of controlling the vehicle to decelerate, the computer instruction is executed to perform the following processing: calculate the target acceleration according to the distance between the other vehicle and the vehicle; control the The vehicle decelerates at the target acceleration.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. When the instruction is executed, the following processing is carried out: detecting the first vehicle driving on one side of the curve; determining the driving state of the first vehicle according to its own position; Second vehicle on one side.

In one embodiment, during the process of detecting the first vehicle driving on one side of the curve, the computer instructions are executed to perform the following processing: collecting road images; first vehicle on the side of the road

In an embodiment, in the process of determining the driving state of the first vehicle according to its own position, the computer instructions are executed to perform the following processing: determine the shooting size of the first vehicle in the road image and the shooting position; determine the relative distance between itself and the first vehicle according to the shooting size, and determine the relative position between itself and the first vehicle according to the shooting position; according to the relative distance, relative position, and its own position to determine the real-time position of the first vehicle, and determine the driving speed of the first vehicle according to the shooting position.

As for the device embodiment, since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment. The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without creative effort.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. The term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed elements, or also elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The methods and devices provided by the embodiments of the present invention have been described in detail above. The principles and implementation methods of the present invention have been explained by using specific examples in this paper. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as limiting the present invention .

Claims (63)

1. a kind of control method of automatic driving vehicle, which is characterized in that the method includes：

Obtain the location information of designated position；

The real time position of itself is determined according to the location information of the designated position；

The real time position is broadcasted by the radio transmitting apparatus that itself is carried.

2. according to the method described in claim 1, it is characterized in that, it is described obtain designated position location information, including：

Obtain the location information for the traffic mark board for being laid in current driving road segment trackside.

3. according to the method described in claim 2, it is characterized in that, described obtain the traffic for being laid in current driving road segment trackside The location information of sign board, including：

Trackside image is acquired by the photographic device itself carried, the trackside image includes being laid in current driving road segment road The traffic mark board of side；

It identifies the graphical symbol for recording data on traffic mark board that the trackside image includes, obtains the traffic mark The location information of will board.

4. according to the method described in claim 3, it is characterized in that, the graphical symbol includes at least one of following：

Quick Response Code, bar code, numeral flag, AprilTag label tracking.

5. according to any method of claims 1 to 3, which is characterized in that the location information includes at least one of following：

GPS coordinate, Position Number.

6. if described according to the method described in claim 5, it is characterized in that, the location information includes the Position Number The real time position of itself is determined according to the location information of the designated position, including：

Setting map is searched according to the Position Number of the designated position, to find the corresponding GPS coordinate of the Position Number；

The real time position of itself is determined according to the GPS coordinate found.

7. according to the method described in claim 3, it is characterized in that, the trackside image includes multiple traffic signs Board；

The location information according to the designated position determines the real time position of itself, including：

Itself relative position relation between each described traffic mark board is determined respectively；

According to itself relative position relation between each described traffic mark board, with traffic sign described in each The location information of board determines the real time position of itself.

8. the method according to the description of claim 7 is characterized in that described determine itself and traffic sign described in each respectively Relative position relation between board, including：

Shooting size and camera site of each described traffic mark board in the trackside image are determined respectively；

For traffic mark board described in each, according to shooting size of the traffic mark board in the trackside image and institute The actual size for stating traffic mark board calculates the relative distance of itself and the traffic mark board, and according to the traffic mark Camera site of the will board in the trackside image, calculates the relative position of itself and the traffic mark board.

9. the method according to the description of claim 7 is characterized in that itself and traffic sign described in each described in the basis Relative position relation between board determines the real time position of itself with the location information of traffic mark board described in each, including：

For traffic mark board described in each, according to itself relative position relation between the traffic mark board, with institute The location information for stating traffic mark board determines a position candidate；

A candidate range is determined according to the position candidate；

Calculate the intersection point between each described candidate range；

The intersection point is determined as to the real time position of itself.

10. according to the method described in claim 1, it is characterized in that, the method further includes：

Obtain the travel speed that the speed measuring device of itself carrying detects；

The travel speed is broadcasted by the radio transmitting apparatus that itself is carried.

11. according to the method described in claim 1, it is characterized in that, in the position according at least one fixed position After confidence breath determines the real time position of itself, the method further includes：

The positioning device carried to itself according to the real time position is corrected.

12. a kind of control method of automatic driving vehicle, which is characterized in that the method includes：

Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；

Obtain the running condition information of the vehicle；

The traveling of the vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle State.

13. according to the method for claim 12, which is characterized in that the running condition information includes at least one of following： Real time position, travel speed.

14. according to the method for claim 13, which is characterized in that the running condition information for obtaining the vehicle, packet It includes：

Obtain the location information of designated position；

The real time position of vehicle is determined according to the location information of the designated position；And/or

Obtain the travel speed that the speed measuring device carried on the vehicle detects.

15. according to the method for claim 13, which is characterized in that the running condition information of other vehicles described in the basis The transport condition of the vehicle is controlled with the running condition information of the vehicle, including：

According to the real time position of the real time position of other vehicles and the vehicle, other described vehicles and the vehicle are determined The distance between；

If the distance controls the vehicle deceleration traveling less than the distance threshold of setting.

16. according to the method for claim 13, which is characterized in that the running condition information of other vehicles described in the basis The transport condition of the vehicle is controlled with the running condition information of the vehicle, including：

Compare the travel speed of the travel speed and the vehicle of other vehicles；

If comparing the travel speed for showing that the travel speed of other vehicles is higher than the vehicle, the vehicle deceleration is controlled Traveling.

17. method according to claim 15 or 16, which is characterized in that the control vehicle deceleration traveling, including：

It controls the vehicle and Reduced Speed Now is carried out with the acceleration set.

18. method according to claim 15 or 16, which is characterized in that the control vehicle deceleration traveling, including：

Aimed acceleration is calculated according to the distance between other described vehicles and the vehicle；

It controls the vehicle and Reduced Speed Now is carried out with the aimed acceleration.

19. a kind of control method of automatic driving vehicle, which is characterized in that applied to be laid in bend corner for detecting In the control terminal of vehicle running state, the method includes：

Detection travels on the first vehicle on bend side；

The transport condition of first vehicle is determined according to self-position；

The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side.

20. according to the method for claim 19, which is characterized in that the detection travels on the first vehicle on bend side , including：

Acquire road image；

Detect to travel on the first vehicle on bend side on the road image.

21. according to the method for claim 20, which is characterized in that described to determine first vehicle according to self-position Transport condition, including：

Shooting size and the camera site of first vehicle are determined in the road image；

Itself relative distance between first vehicle is determined according to the shooting size, and true according to the camera site Determine itself relative position between first vehicle；

The real time position of first vehicle is determined according to the relative distance, relative position and self-position, and according to institute State the travel speed that camera site determines first vehicle.

22. a kind of control terminal, which is characterized in that the control terminal includes memory, processor, is stored in the memory Several computer instructions, the processor are used for：

Obtain the location information of designated position；

The real time position of itself is determined according to the location information of the designated position；

The real time position is broadcasted by the radio transmitting apparatus that itself is carried.

23. control terminal according to claim 22, which is characterized in that the processor is used for：

Obtain the location information for the traffic mark board for being laid in current driving road segment trackside.

24. control terminal according to claim 23, which is characterized in that the processor is used for：

Trackside image is acquired by the photographic device itself carried, the trackside image includes being laid in current driving road segment road The traffic mark board of side；

It identifies the graphical symbol for recording data on traffic mark board that the trackside image includes, obtains the traffic mark The location information of will board.

25. according to the method for claim 24, which is characterized in that the graphical symbol includes at least one of following：

Quick Response Code, bar code, numeral flag, AprilTag label tracking.

26. according to any control terminal of claim 22~24, which is characterized in that the location information include it is following extremely One item missing：

GPS coordinate, Position Number.

27. control terminal according to claim 26, which is characterized in that the processor is used for：

Setting map is searched according to the Position Number of the designated position, to find the corresponding GPS coordinate of the Position Number；

The real time position of itself is determined according to the GPS coordinate found.

28. control terminal according to claim 24, which is characterized in that the trackside image includes multiple traffic Sign board；

The processor is used for：

Itself relative position relation between each described traffic mark board is determined respectively；

According to itself relative position relation between each described traffic mark board, with traffic sign described in each The location information of board determines the real time position of itself.

29. control terminal according to claim 28, which is characterized in that the processor is used for：

Shooting size and camera site of each described traffic mark board in the trackside image are determined respectively；

For traffic mark board described in each, according to shooting size of the traffic mark board in the trackside image and institute The actual size for stating traffic mark board calculates the relative distance of itself and the traffic mark board, and according to the traffic mark Camera site of the will board in the trackside image, calculates the relative position of itself and the traffic mark board.

30. control terminal according to claim 28, which is characterized in that the processor is used for：

For traffic mark board described in each, according to itself relative position relation between the traffic mark board, with institute The location information for stating traffic mark board determines a position candidate；

A candidate range is determined according to the position candidate；

Calculate the intersection point between each described candidate range；

The intersection point is determined as to the real time position of itself.

31. control terminal according to claim 22, which is characterized in that the processor is additionally operable to：

Obtain the travel speed that the speed measuring device of itself carrying detects；

The travel speed is broadcasted by the radio transmitting apparatus that itself is carried.

32. control terminal according to claim 22, which is characterized in that the processor is additionally operable to：

The positioning device carried to itself according to the real time position is corrected.

33. a kind of control terminal, which is characterized in that the control terminal includes memory, processor, is stored in the memory Several computer instructions, the processor are used for：

Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；

Obtain the running condition information of the vehicle；

The traveling of the vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle State.

34. control terminal according to claim 33, which is characterized in that the running condition information includes following at least one ：Real time position, travel speed.

35. control terminal according to claim 34, which is characterized in that the processor is used for：

Obtain the location information of designated position；

The real time position of vehicle is determined according to the location information of the designated position；And/or

Obtain the travel speed that the speed measuring device carried on the vehicle detects.

36. control terminal according to claim 34, which is characterized in that the processor is used for：

According to the real time position of the real time position of other vehicles and the vehicle, other described vehicles and the vehicle are determined The distance between；

If the distance controls the vehicle deceleration traveling less than the distance threshold of setting.

37. control terminal according to claim 34, which is characterized in that the processor is used for：

Compare the travel speed of the travel speed and the vehicle of other vehicles；

If comparing the travel speed for showing that the travel speed of other vehicles is higher than the vehicle, the vehicle deceleration is controlled Traveling.

38. the control terminal according to claim 36 or 37, which is characterized in that the processor is used for：

It controls the vehicle and Reduced Speed Now is carried out with the acceleration set.

39. the control terminal according to claim 36 or 37, which is characterized in that the processor is used for：

Aimed acceleration is calculated according to the distance between other described vehicles and the vehicle；

It controls the vehicle and Reduced Speed Now is carried out with the aimed acceleration.

40. a kind of control terminal, which is characterized in that the control terminal is located at bend corner, and shape is travelled for detecting vehicle State, the control terminal include memory, processor, and several computer instructions, the processor are stored in the memory For：

Detection travels on the first vehicle on bend side；

The transport condition of first vehicle is determined according to self-position；

The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side.

41. control terminal according to claim 40, which is characterized in that the processor is used for：

Acquire road image；

Detect to travel on the first vehicle on bend side on the road image.

42. control terminal according to claim 41, which is characterized in that the processor is used for：

Shooting size and the camera site of first vehicle are determined in the road image；

Itself relative distance between first vehicle is determined according to the shooting size, and true according to the camera site Determine itself relative position between first vehicle；

The real time position of first vehicle is determined according to the relative distance, relative position and self-position, and according to institute State the travel speed that camera site determines first vehicle.

43. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium Instruction, the computer instruction, which is performed, to be handled as follows：

Obtain the location information of designated position；

The real time position of itself is determined according to the location information of the designated position；

The real time position is broadcasted by the radio transmitting apparatus that itself is carried.

44. machine readable storage medium according to claim 43, which is characterized in that the position for obtaining designated position During information, the computer instruction, which is performed, to be handled as follows：

Obtain the location information for the traffic mark board for being laid in current driving road segment trackside.

45. machine readable storage medium according to claim 44, which is characterized in that the acquisition is laid in current driving During the location information of the traffic mark board of section trackside, the computer instruction, which is performed, to be handled as follows：

Trackside image is acquired by the photographic device itself carried, the trackside image includes being laid in current driving road segment road The traffic mark board of side；

It identifies the graphical symbol for recording data on traffic mark board that the trackside image includes, obtains the traffic mark The location information of will board.

46. machine readable storage medium according to claim 45, which is characterized in that the graphical symbol include it is following extremely One item missing：

Quick Response Code, bar code, numeral flag, AprilTag label tracking.

47. according to any machine readable storage medium of claim 43~45, which is characterized in that the location information packet It includes at least one of following：

GPS coordinate, Position Number.

48. machine readable storage medium according to claim 47, which is characterized in that if the location information includes described Position Number, during the location information according to the designated position determines the real time position of itself, the computer Instruction, which is performed, to be handled as follows：

Setting map is searched according to the Position Number of the designated position, to find the corresponding GPS coordinate of the Position Number；

The real time position of itself is determined according to the GPS coordinate found.

49. machine readable storage medium according to claim 45, which is characterized in that the trackside image includes multiple The traffic mark board；

During the location information according to the designated position determines the real time position of itself, the computer instruction quilt It is handled as follows when execution：

Itself relative position relation between each described traffic mark board is determined respectively；

According to itself relative position relation between each described traffic mark board, with traffic sign described in each The location information of board determines the real time position of itself.

50. machine readable storage medium according to claim 49, which is characterized in that it is described respectively determine itself with it is each During relative position relation between a traffic mark board, the computer instruction is performed to be located as follows Reason：

Shooting size and camera site of each described traffic mark board in the trackside image are determined respectively；

For traffic mark board described in each, according to shooting size of the traffic mark board in the trackside image and institute The actual size for stating traffic mark board calculates the relative distance of itself and the traffic mark board, and according to the traffic mark Camera site of the will board in the trackside image, calculates the relative position of itself and the traffic mark board.

51. machine readable storage medium according to claim 49, which is characterized in that described in the basis itself with it is each Relative position relation between a traffic mark board determines itself with the location information of traffic mark board described in each During real time position, the computer instruction, which is performed, to be handled as follows：

For traffic mark board described in each, according to itself relative position relation between the traffic mark board, with institute The location information for stating traffic mark board determines a position candidate；

A candidate range is determined according to the position candidate；

Calculate the intersection point between each described candidate range；

The intersection point is determined as to the real time position of itself.

52. machine readable storage medium according to claim 43, which is characterized in that the computer instruction is performed Also it is handled as follows：

Obtain the travel speed that the speed measuring device of itself carrying detects；

The travel speed is broadcasted by the radio transmitting apparatus that itself is carried.

53. machine readable storage medium according to claim 43, which is characterized in that the computer instruction is performed Also it is handled as follows：

The positioning device carried to itself according to the real time position is corrected.

54. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium Instruction, the computer instruction, which is performed, to be handled as follows：

Obtain the running condition information for other vehicles that the radio system carried on vehicle detects；

Obtain the running condition information of the vehicle；

The traveling of the vehicle is controlled according to the running condition information of the running condition information of other vehicles and the vehicle State.

55. machine readable storage medium according to claim 54, which is characterized in that under the running condition information includes State at least one：Real time position, travel speed.

56. machine readable storage medium according to claim 55, which is characterized in that the traveling for obtaining the vehicle During status information, the computer instruction, which is performed, to be handled as follows：

Obtain the location information of designated position；

The real time position of vehicle is determined according to the location information of the designated position；And/or

Obtain the travel speed that the speed measuring device carried on the vehicle detects.

57. machine readable storage medium according to claim 55, which is characterized in that other vehicles described in the basis During the running condition information of running condition information and the vehicle controls the transport condition of the vehicle, the computer Instruction, which is performed, to be handled as follows：

According to the real time position of the real time position of other vehicles and the vehicle, other described vehicles and the vehicle are determined The distance between；

If the distance controls the vehicle deceleration traveling less than the distance threshold of setting.

58. machine readable storage medium according to claim 55, which is characterized in that other vehicles described in the basis During the running condition information of running condition information and the vehicle controls the transport condition of the vehicle, the computer Instruction, which is performed, to be handled as follows：

Compare the travel speed of the travel speed and the vehicle of other vehicles；

If comparing the travel speed for showing that the travel speed of other vehicles is higher than the vehicle, the vehicle deceleration is controlled Traveling.

59. the machine readable storage medium according to claim 57 or 58, which is characterized in that the control vehicle subtracts During speed traveling, the computer instruction, which is performed, to be handled as follows：

It controls the vehicle and Reduced Speed Now is carried out with the acceleration set.

60. the machine readable storage medium according to claim 57 or 58, which is characterized in that the control vehicle subtracts During speed traveling, the computer instruction, which is performed, to be handled as follows：

Aimed acceleration is calculated according to the distance between other described vehicles and the vehicle；

It controls the vehicle and Reduced Speed Now is carried out with the aimed acceleration.

61. a kind of machine readable storage medium, which is characterized in that be stored with several computers on the machine readable storage medium Instruction, the computer instruction, which is performed, to be handled as follows：

Detection travels on the first vehicle on bend side；

The transport condition of first vehicle is determined according to self-position；

The transport condition of first vehicle is sent to the second vehicle travelled on the bend other side.

62. machine readable storage medium according to claim 61, which is characterized in that the detection travels on bend side On the first vehicle during, the computer instruction, which is performed, to be handled as follows：

Acquire road image；

Detect to travel on the first vehicle on bend side on the road image.

63. machine readable storage medium according to claim 62, which is characterized in that described to determine institute according to self-position During the transport condition for stating the first vehicle, the computer instruction, which is performed, to be handled as follows：

Shooting size and the camera site of first vehicle are determined in the road image；

Itself relative distance between first vehicle is determined according to the shooting size, and true according to the camera site Determine itself relative position between first vehicle；

The real time position of first vehicle is determined according to the relative distance, relative position and self-position, and according to institute State the travel speed that camera site determines first vehicle.