TW202028035A - Local vehicle and vehicle control method - Google Patents

Abstract

A vehicle control method. The method includes, in response to determining that receiving a remote moving information broadcasted by a remote vehicle, determine whether the remote vehicle in an alert area of a local vehicle will hit the local vehicle according to a local moving information of the local vehicle and the remote moving information; and, in response to determining that the remote vehicle will hit the local vehicle, identifying a local hit quadrant of the local vehicle and a remote hit quadrant of the remote vehicle according to the local moving information and the remote moving information, and controlling a local acceleration of the local vehicle according to the local hit quadrant and the remote hit quadrant.

Description

Local transportation and transportation control method

The present invention relates to a control method, and particularly relates to a local vehicle and the vehicle control method used by it.

In the past half a century, with the evolution of technology, vehicles (such as automobiles) have begun to enter the field of autonomous driving. However, the currently known automatic driving methods for vehicles still cannot rely on each vehicle to independently determine the driving behavior that each vehicle should take under the above circumstances when faced with the possibility of multiple vehicles meeting. . Generally, traditional methods still need to set up detectors and corresponding centralized traffic control systems at intersections to manage the above-mentioned multiple vehicle intersection situations.

As a result, the traditional approach will consume a lot of hardware costs and management costs in handling vehicle rendezvous events.

Therefore, how to enable the vehicle (vehicle) itself to independently perform corresponding driving behaviors in the event of a vehicle intersection that may occur is the goal of the people in the field.

The present invention provides a local vehicle and a vehicle control method, which can detect a remote vehicle close to the local vehicle, so as to correspondingly control the acceleration of the local vehicle, thereby avoiding collision events.

An embodiment of the invention provides a local vehicle. The vehicle includes a positioning device, a communication unit, a driving unit and a control unit. The positioning device is used for receiving global positioning system signals to identify the coordinate position of the local vehicle. The communication unit is used for receiving mobile information from other vehicles. The driving unit is used to control the movement of the local vehicle, and to identify the current moving direction, acceleration, and speed of the local vehicle. The control unit is coupled to the positioning device, the local communication unit and the driving unit. The control unit is used to determine whether the communication unit receives a remote mobile information broadcast by a remote vehicle. In response to determining that the communication unit receives the remote mobility information broadcast by the remote vehicle, the control unit is further used to determine whether the remote vehicle is in a corresponding location based on the remote mobility information. In a local alert area of the local vehicle, wherein the response is determined that the remote vehicle is in the local alert area corresponding to the local vehicle. In addition, the control unit is further used to determine whether the remote vehicle will collide with the local vehicle based on the local movement information of the local vehicle and the remote movement information, wherein the response is determined by the remote vehicle The vehicle collides with the local vehicle, and the control unit is further used for identifying based on the local movement information and the remote movement information Corresponding to the local impact quadrant of the local vehicle and the remote impact quadrant corresponding to the remote vehicle, and controlling the local acceleration of the local vehicle according to the local impact quadrant and the remote impact quadrant.

An embodiment of the present invention provides a vehicle control method suitable for a local vehicle. The vehicle control method includes determining whether a remote mobile information broadcasted by a remote vehicle is received; in response to determining that the remote mobile information broadcasted by the remote vehicle is received, according to the remote The terminal mobile information determines whether the remote vehicle is in a local alert area corresponding to the local vehicle; in response to determining that the remote vehicle is within the local alert area corresponding to the local vehicle, according to Determining whether the remote vehicle will hit the local vehicle by the local movement information of the local vehicle and the remote movement information; and in response to the determination that the remote vehicle will hit the local vehicle, The local impact quadrant corresponding to the local vehicle and the remote impact quadrant corresponding to the remote vehicle are identified based on the local movement information and the remote movement information, and the local impact quadrant and the remote impact quadrant are identified based on the local impact quadrant and the remote The impact quadrant controls the local acceleration of the local vehicle.

Based on the foregoing, the implementation of the present invention proposes a local vehicle and a vehicle control method, which can determine the remote vehicle in the local warning area based on the received remote mobile information of the remote vehicle and the local mobile information of the local vehicle. Whether the end vehicle will collide with the local vehicle, correspondingly predict the local impact quadrant and the remote impact quadrant corresponding to the impact, and use the local impact quadrant and the remote impact quadrant to control the acceleration of the local vehicle, so that The local vehicle may Effectively avoid being hit by the remote vehicle towards the local vehicle.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

A, B, 10, 20‧‧‧Transportation

110、210‧‧‧Control unit

120, 220‧‧‧Communication unit

130、230‧‧‧Drive unit

140、240‧‧‧Positioning device

150, 250‧‧‧Storage unit

160、260‧‧‧Input/Output Device

LD, RD‧‧‧Mobile Information

CA _A , CA _B ‧‧‧Communication area

CR _A , CR _B ‧‧‧Radius of communication area

MA _A 、MA _B ‧‧‧Warning area

R _A , R _B ‧‧‧ Radius of the warning zone

HA‧‧‧Impact area

r‧‧‧The radius of the impact area

C _A 、C _B ‧‧‧Center of circle, center of mass

r _A 、r _B ‧‧‧body radius

D _A 、D _B ‧‧‧Movement direction

Y _A , Y _B , X _A , X _B ‧‧‧Coordinate axis

S31, S32, S33, S34, S35, S36‧‧‧Flow steps of the vehicle control method

、

、

‧‧‧向量

,

,

‧‧‧vector

D, E‧‧‧point

θ'、θ、π ‧‧‧angle

T60‧‧‧Mapping table

A61‧‧‧Arrow

FIG. 1 is a block diagram of a local vehicle and a remote vehicle according to an embodiment of the present invention.

2A is a schematic diagram of the movement of a local vehicle and a remote vehicle according to an embodiment of the invention.

FIG. 2B is a schematic diagram of entering a warning area according to an embodiment of the present invention.

Fig. 3 is a flowchart of a method for controlling a vehicle according to an embodiment of the present invention.

4A is a schematic diagram of determining that a remote vehicle will not hit a local vehicle according to an embodiment of the invention.

4B is a schematic diagram of determining that a remote vehicle will collide with a local vehicle according to an embodiment of the invention.

FIG. 5 is a schematic diagram of a local impact quadrant and a remote impact quadrant drawn according to an embodiment of the present invention.

Fig. 6 is an acceleration adjustment parameter map drawn according to an embodiment of the present invention Schematic diagram of the table.

The vehicle control method provided by the embodiment of the present invention allows a vehicle (also known as a local vehicle) that uses the vehicle control method to independently follow another vehicle approaching (also known as a remote vehicle). The movement information (also known as remote movement information) received by the tool) determines how to control the driving behavior of the local vehicle (eg, adjust the acceleration of the current movement) to avoid collision with the remote vehicle.

FIG. 1 is a block diagram of a local vehicle and a remote vehicle according to an embodiment of the present invention. 1, in this embodiment, the local vehicle 10 includes a control unit 110, a communication unit 120, a driving unit 130, a positioning device 140, a storage unit 150 and an input/output unit 160.

The control unit 110 is a hardware (such as a chipset, a processor, etc.) with computing capabilities. The control unit 110 is coupled to the communication unit 120, the driving unit 130, the positioning device 140, the storage unit 150 and the input/output unit 160, And it is used to manage the overall operation of the local vehicle 10 (eg, control the operation of other hardware components in the local vehicle 10). In this embodiment, the control unit 110 is, for example, a core or multi-core central processing unit (CPU), a microprocessor (micro-processor), or other programmable processing unit (Microprocessor), Digital Signal Processor (DSP), programmable controller, special application integrated circuit (Application Specific Integrated Circuits (ASIC), Programmable Logic Device (PLD) or other similar devices.

The communication unit 120 is used for receiving communication signals via a wireless method. In this embodiment, the communication unit 120 supports, for example, WiFi communication protocol, bluetooth (bluetooth), near field communication (NFC), 3rd Generation Partnership Project (3rd Generation Partnership Project; 3GPP) standards, Wireless communication circuit units such as the 4th Generation Partnership Project (4GPP) standard and the 5th Generation Partnership Project (5GPP) standard. In this embodiment, the communication unit 120 is further used to continuously listen to the mobile information broadcast from other vehicles (for example, the remote mobile information RD from the remote vehicle 20). In addition, the communication unit 120 is further used to continuously broadcast the mobile information (also known as the local mobile information LD) of the local vehicle through the corresponding communication area (for example, the communication area CA _A shown in FIG. 2 ). In one embodiment, the communication unit 120 is further used to connect to a network (for example, a telecommunication network, the Internet, the Internet of Things, etc.), so that local vehicles can receive data downloaded or uploaded from the connected network.

The remote movement information includes the moving direction of the remote vehicle 20 (also known as the remote moving direction), the speed of the remote vehicle 20 (also known as the remote speed), and the remote traffic The coordinate position of the tool 20 (also known as the remote coordinate position). The local movement information includes the moving direction of the local vehicle 10, the speed of the local vehicle 10, and the coordinate position of the local vehicle 10. In one embodiment, the aforementioned mobile information further includes the unique identification of the vehicle code.

The driving unit 130 is used to control the movement of the local vehicle 10 according to the instruction of the control unit 110. In more detail, the driving unit 130 can control the moving direction, speed and acceleration of the local vehicle 10 by controlling the mechanical system and power system of the local vehicle 10. In addition, the driving unit 130 can return the current moving direction (also known as the local moving direction), speed (also known as local speed) and acceleration (also known as local acceleration) of the local vehicle 10 to the control unit 110. The present invention is not limited to the implementation of the driving unit 130, and the details of the driving unit 130 are not the technical solutions focused on by the present invention, and will not be repeated here.

The positioning device 140 is used to recognize the coordinate position of the local vehicle 10 and return the recognized coordinate position to the control unit 110. The positioning device 140 is, for example, a circuit unit supporting the global positioning system standard, and can obtain the coordinate position (also known as the local coordinate position) of the local vehicle 10 by receiving the global positioning system signal.

The storage unit 150 temporarily stores data through the instructions of the control unit 110. The data includes data used to manage the local vehicle 10, data received from the remote vehicle 20, and data used for broadcasting. The present invention is not limited to this. .

In addition, the storage unit 150 can also record some data that needs to be stored for a long time through instructions from the control unit 110. For example, mapping tables, firmware or software used to manage local vehicles. The storage unit 150 can be any type of hard disk drive (HDD) or non-volatile memory storage device (eg, solid state drive). In one embodiment, the storage unit 150 may also be a hardware including a flash memory module, for example.

The input/output unit 160 is, for example, a touch panel, which is used to allow the user to input data or to control the operation to be performed by the user through the input/output unit 160. In addition, the input/output unit 160 can also display/play information.

Similarly, the remote vehicle 20 includes a control unit 210, a communication unit 220, a driving unit 230, a positioning device 240, a storage unit 250, and an input/output unit 260. Since the control unit 210, the communication unit 220, the driving unit 230, the positioning device 240, the storage unit 250, and the input/output unit 260 have basically the same functions as the aforementioned control unit 110, communication unit 120, driving unit 130, and positioning device. The functions of the device 140, the storage unit 150 and the input/output unit 160, so the corresponding details will not be repeated.

2A is a schematic diagram of the movement of a local vehicle and a remote vehicle according to an embodiment of the invention. Referring to Figure 2A, for example, if the local communication unit communication area A of the vehicle 120 has a communication radius of the CA _A CR _A, B and the distal end of the vehicle communication unit 220 of the CA communications area _B has a communication radius CR _B. Further, the communication unit 120 continuously communicable area of a local mobile broadcasting the CA information LD _A, so that information into the local mobile communications area LD other communication means may receive the CA _A vehicle A is local. In contrast, the communication of the communication unit 220 is continuously broadcasting the distal end region of the CA moves _B information RD, so that other communication unit _B enters the communication area of the CA may receive the distal end to the distal end B of the moving vehicle information RD. In other words, when any two vehicles are within the communication distance, they only need to exchange three pieces of information, that is, the moving direction of the vehicle, the speed of the vehicle, and the coordinate position of the vehicle. In addition, there is no need to exchange acceleration or any steering information, which can greatly simplify the data processing of the vehicle in the communication process.

In this way, when the local vehicle A enters the communication area CA _{B of the} remote vehicle, the local vehicle A can receive the remote mobile information RD broadcast by the remote vehicle B; when the remote vehicle B enters When arriving at the communication area CA _{A of the} local vehicle, the remote vehicle B can receive the remote mobile information LD broadcast by the local vehicle A. It should be noted that the following embodiments mainly illustrate the local vehicle A (also known as vehicle A or its own vehicle) independently determining how to control the movement of the local vehicle A. The method can also be applied to remote vehicle B (also known as vehicle B or other vehicles), so that the control unit 210 of remote vehicle B implements the vehicle control method, and the remote vehicle B independently judges how to control the movement of remote vehicle B.

Please refer to Figure 2A. For the convenience of explanation, the following assumes that car A and car B are each circular objects (as shown by the gray circle), each having car body radii r _A , r _B , and center points C _A , C _B . Although the car body is mostly rectangular in reality, it is assumed here that the car body is circular, which has two advantages: (1) It can simplify the inference process in plane motion; (2) Because the side of the car body itself is relatively fragile, so Assuming that the car body is circular, more space can be reserved on both sides of the car body in reality. In an embodiment, the centers C _A and C _B may also be the centroids of the A car and the B car.

In addition, in the following embodiments, the plane coordinate system (XY coordinate system) used by car A will correspond to the movement direction D _{A of} car _A , and the movement direction D _{A is taken} as the positive direction of the Y axis (Y _A axis) coordinate system; B plane coordinate system (XY coordinate system) corresponding to cars B will be used in the vehicle moving direction D _B, D _B moving direction is a positive direction of the Y-axis coordinate system (YB-axis). Before the operation of the algorithm, each vehicle needs to perform coordinate system conversion, and rotate the positive direction of the Y-axis of the entire plane coordinate system to the same direction of movement, and then calculate the relative motion vector corresponding to the other vehicle.

Fig. 3 is a flowchart of a method for controlling a vehicle according to an embodiment of the present invention. 3, in step S31, the control unit 110 determines whether the communication unit 120 has received the remote mobile information RD broadcast by the remote vehicle 20.

In response to determining that the communication unit 120 has received the remote mobile information RD broadcast by the remote vehicle 20 (step S31→Yes), execute step S32; in response to determining that the communication unit 120 has not received all information For the remote mobility information RD broadcast by the remote vehicle 20 (step S31→No), step S34 is executed.

For example, as shown in FIG. 2A, when car A enters the communication area CA _B , the communication unit 120 will start to receive the remote mobile information RD of car B. Then, after receiving the remote mobility information RD of the vehicle B, proceed to step S32, and the control unit 110 is further used to determine whether the remote vehicle 20 is in the corresponding location according to the remote mobility information RD. Said local vehicle 10 is in a local guard area MA _A.

In response to determining that the remote vehicle 20 is in the local alert area MA _A corresponding to the local vehicle 10 (step S32→Yes), step S33 is executed; in response to determining that the remote vehicle 20 is not in Corresponding to the local warning area MA _A of the local vehicle 10 (step S32→No), step S34 is executed.

Specifically, the control unit 110 according to the coordinate position information RD in the distal movement of the vehicle B, A coordinate position of the vehicle and the radius R _A MA _A local alert area B determines whether the vehicle has entered the local warning area Inside MA _A.

FIG. 2B is a schematic diagram of entering a warning area according to an embodiment of the present invention. 2A and 2B at the same time, in this embodiment, the control unit 110 will pre-set a local guard area MA _A , the local guard area MA _A centered on the center CA of car _A and has a radius R _A circular area. In contrast, the remote warning area MA _B of the B car is also a circular area with the center C _B of the B car as the center and a radius R _B. FIG. 2A shows an example in which car B has not entered the local guard area MA _A. At this time, the control unit 110 will execute step S34. In step S34, the control unit 110 instructs the driving unit 130 to maintain the current local acceleration of the local vehicle 10, and the flow continues to step S31. Specifically, because vehicle B has not yet entered the local guard area MA _A , the control unit 110 considers that there is still no need to further process whether a collision will occur. Therefore, the control unit 110 instructs the driving unit 130 to maintain the currently set speed, acceleration, and movement direction. Then, the control unit 110 continuously receives the remote movement information RD of the B car, and continuously determines whether the B car enters the local guard area MA _A.

In contrast, referring to Figure 2B, suppose that car B has entered the local guard area MA _A. Continuing to step S33, the control unit 110 determines whether the remote vehicle 20 will hit the local vehicle according to the local movement information LD of the local vehicle 10 and the remote movement information RD.

In other words, if the remote vehicle 20 is in the local guard area MA _A corresponding to the local vehicle 10, the control unit 110 will consider the remote vehicle 20 to be a threat, and will further determine whether There will be a collision. In this way, the resources and time consumed in calculating whether a collision will occur can be reduced.

In response to determining that the remote vehicle 20 will hit the local vehicle, step S35 is executed; in response to determining that the remote vehicle 20 will not hit the local vehicle, step S34 is executed.

，B車的運動向量為

。B車(遠端交通工具20)相對於A車(本地交通工具10)的相對運動向量

可藉由下列公式(1)計算：

4A is a schematic diagram of determining that a remote vehicle will not hit a local vehicle according to an embodiment of the invention. 4B is a schematic diagram of determining that a remote vehicle will collide with a local vehicle according to an embodiment of the invention. Please refer to Figure 4A or 4B, assuming that the motion vector of car A is

, The motion vector of car B is

. The relative motion vector of car B (remote vehicle 20) relative to car A (local vehicle 10)

It can be calculated by the following formula (1):

，並且判斷所述相對運動向量

是否會經過相對於所述本地交通工具10的撞擊區域HA(判斷相對運動向量

的延伸是否會經過撞擊區域HA)。所述撞擊區域HA是經由撞擊半徑r以所述本地交通工具10的所述座標位置為圓心C_A所構成的圓形區域。所述撞擊半徑r為所述本地交通工具10的車體半徑r_A與所述遠端交通工具20的車體半徑r_B的總和。應注意的是，在一實施例中，本地交通工具10的車體半徑r_A可等於所述遠端交通工具20的車體半徑r_B。 For example, in step S33, the control unit 110 calculates the relative motion vector of the remote vehicle 20 corresponding to the local vehicle 10 according to the local movement information LD and the remote movement information RD

, And determine the relative motion vector

Whether it will pass through the collision area HA relative to the local vehicle 10 (determine the relative motion vector

Will the extension pass through the impact area HA). HA via the impingement region to the radius r of the impact of the local coordinate position of the vehicle 10 is a circular region the center C _A constituted. R is the radius of the local impact vehicle body 10 of a radius r _A of the vehicle body distal end 20 of the radius r of the sum of _B. It should be noted that, in an embodiment, the vehicle body radius r _{A of the} local vehicle 10 may be equal to the vehicle body radius r _{B of} the remote vehicle 20.

不經過對應於所述本地交通工具10的所述撞擊區域HA，所述控制單元110判定所述遠端交通工具20不會撞擊所述本地交通工具10(如，圖4A所示)。 Wherein the response is to determine the relative motion vector of the remote vehicle 20

Without passing through the impact area HA corresponding to the local vehicle 10, the control unit 110 determines that the remote vehicle 20 will not impact the local vehicle 10 (as shown in FIG. 4A).

會經過對應於所述本地交通工具10的所述撞擊區域HA(如，圖4B所示)，所述控制單元110判定所述遠端交通工具20會撞擊所述本地交通工具10。 In contrast, the relative motion vector of the remote vehicle is reflected

After passing the impact area HA corresponding to the local vehicle 10 (as shown in FIG. 4B ), the control unit 110 determines that the remote vehicle 20 will impact the local vehicle 10.

(即，A車圓心C_A與B車圓心C_B之間的向量)於相對運動向量

上的正射影

。所述正射影

可藉由下列公式(2)來計算：

In one embodiment, the control unit 110 first determines the vector

(That is, the vector between the center of car _A and the center of car _B C _B ) is relative to the relative motion vector

Orthographic

. The orthoproject

It can be calculated by the following formula (2):

來計算D點的座標位置。 Then, the control unit 110 reuses the coordinate position of car B (ie, the coordinate position of the center C _B ) and the orthographic projection

To calculate the coordinate position of point D.

。 Next, the control unit 110 re-use the coordinate position A of the vehicle (i.e., the coordinate position of the center C _A) and the coordinate position of the point D to calculate the distance between the center points C _A and D

.

後，所述控制單元110可判斷所述距離

是否大於所述撞擊區域HA的所述撞擊半徑r。若判定所述距離

不大於所述撞擊區域HA的所述撞擊半徑r，則所述控制單元110便可判定相對運動向量

會經過所述撞擊 區域HA，即，判定所述遠端交通工具20會撞擊所述本地交通工具10(如，圖4B所示)。 Find the distance between the center C _A and D

Later, the control unit 110 may determine the distance

Whether it is greater than the impact radius r of the impact area HA. If the distance is determined

Is not greater than the impact radius r of the impact area HA, the control unit 110 can determine the relative motion vector

It will pass through the impact area HA, that is, it is determined that the remote vehicle 20 will impact the local vehicle 10 (as shown in FIG. 4B).

大於所述撞擊區域HA的所述撞擊半徑r，則所述控制單元110便可判定相對運動向量

不會經過所述撞擊區域HA，即，判定所述遠端交通工具20不會撞擊所述本地交通工具10(如，圖4A所示)。 On the contrary, if the distance is determined

Greater than the impact radius r of the impact area HA, the control unit 110 can determine the relative motion vector

The impact area HA will not be passed, that is, it is determined that the remote vehicle 20 will not impact the local vehicle 10 (as shown in FIG. 4A).

Please return to FIG. 3 again. In step S35, the control unit 110 identifies the local collision quadrant corresponding to the local vehicle 10 and the corresponding remote position based on the local movement information LD and the remote movement information RD. The far end of the vehicle 20 hits the quadrant.

FIG. 5 is a schematic diagram of a local impact quadrant and a remote impact quadrant drawn according to an embodiment of the present invention. It is noted that, in the present embodiment, the local vehicle 10 (i.e., A car) corresponding to the four quadrants of the coordinate axes is a positive direction according to Y _A and C _A is the center to center point to distinguish between quadrant I (also known as , The first quadrant), quadrant II (also known as the second quadrant), quadrant III (also known as the third quadrant), quadrant IV (also known as the fourth quadrant). Similarly, the four quadrants corresponding to the remote vehicle 20 (ie, car B) are divided into quadrant I, quadrant II, quadrant III, and quadrant IV based on the positive direction of the coordinate axis Y _B with the center C _B as the center point. .

交會於所述撞擊區域HA的邊界的一虛擬撞擊點E。接著，所述控制單元110根據所述虛擬撞擊點 E辨識對應於本地交通工具10的本地撞擊角度θ，並且辨識所述本地撞擊角度θ所屬的象限為所述本地撞擊象限。 Please refer to FIG. 4B and FIG. 5. More specifically, in this embodiment, it is assumed that the A car and the B car are the examples of FIG. 4B. The control unit 110 can identify the relative motion vector of the remote vehicle 20

A virtual impact point E intersecting at the boundary of the impact area HA. Then, the control unit 110 recognizes the local impact angle θ corresponding to the local vehicle 10 according to the virtual impact point E, and recognizes that the quadrant to which the local impact angle θ belongs is the local impact quadrant.

來獲得本地撞擊角度θ。舉例來說，所述控制單元110可根據D點與圓心C_A的座標位置獲得向量

與距離

，並且利用距離

與距離

來計算出距離

(ADE為直角三角形，即，

)。在此，所述控制單元110更將向量

設定為常數c乘以向量(-

)(即，

)。也就是說，所述控制單元110可利用下方的公式(3)所推導出公式(4)來獲得計算常數c的公式(5)。 In one embodiment, the control unit 110 uses vector

To obtain the local impact angle θ . For example, the control unit 110 may obtain a vector from point D and the center coordinate position of the C _A

And distance

And use the distance

And distance

To calculate the distance

(ADE is a right triangle, that is,

). Here, the control unit 110 further changes the vector

Set to the constant c multiplied by the vector (-

)(which is,

). In other words, the control unit 110 can use the formula (4) derived from the formula (3) below to obtain the formula (5) for calculating the constant c.

。獲得向量

後，所述控制單元110可根據向量

與向量

獲得向量

(即，

)。最後，所述控制單元110便可利用向量

獲得對應於本地交通工具10的本地撞擊角度θ _。 Then, the control unit 110 can use formula (5) to calculate the constant c, and then obtain the vector

. Get vector

Later, the control unit 110 can

With vector

Get vector

(which is,

). Finally, the control unit 110 can use the vector

The local impact angle θ corresponding to the local vehicle 10 is obtained _.

For example, in the example of FIG. 5, the control unit 110 determines that the quadrant to which the local impact angle θ belongs is quadrant I according to the local impact angle θ corresponding to point E, that is, the control unit 110 recognizes that the local impact quadrant is quadrant I.

Then, the control unit 110 calculates a remote impact angle θ′ corresponding to the remote vehicle 20 according to the local impact angle θ , and recognizes the quadrant to which the remote impact angle θ′ belongs as the remote impact quadrant .

Specifically, the control unit 110 adds 180 degrees (π) to the local impact angle θ , and then rotates (90 degrees rotation) through the coordinate system to obtain the impact angle of car B (ie, the remote impact angle θ' ) .

In the example of Figure 5, the distal end of the control unit 110 impinging angle θ 'is determined that the distal end of the impact angle θ' quadrant belongs Ⅱ quadrant, i.e., the recognition unit 110 controls the impinging distal quadrant quadrant according Ⅱ .

After recognizing (predicting) the local impact quadrant and the remote impact quadrant, proceed to step S36. The control unit 110 controls the local vehicle 10 according to the local impact quadrant and the remote impact quadrant. The local acceleration. In other words, after obtaining the respective quadrants of the collision between the own car and the other car, it is necessary to determine the rules for yielding to each other, and then adjust the acceleration of itself according to the rules. The regular design is to accelerate to the speed limit with appropriate acceleration under the condition of no collision. The appropriate acceleration is defined as +1, which is the background acceleration. When the speed reaches the speed limit, it will not increase.

Specifically, in an embodiment, the control unit 110 may search for the acceleration adjustment parameters mapped by the local impact quadrant and the remote impact quadrant through a mapping table (also referred to as an acceleration adjustment parameter mapping table).

Then, the control unit 110 may instruct the driving unit 130 to adjust the acceleration of the local vehicle 10 via the found acceleration adjustment parameter.

FIG. 6 is an acceleration adjustment parameter drawn according to an embodiment of the present invention Schematic diagram of the mapping table. Please refer to FIG. 6, assuming that the storage unit 150 has pre-stored the acceleration adjustment parameter mapping table T60. The control unit 110 can obtain the acceleration adjustment parameter by looking up the acceleration adjustment parameter mapping table T60.

The mapping relationship between the acceleration adjustment parameters of the acceleration adjustment parameter mapping table T60 and the local impact quadrant of the A car and the remote impact quadrant of the B car is established using the following four rules.

The first rule is: (car A: quadrants Ⅲ, Ⅳ; car B: quadrants I, Ⅱ) → A:0. Specifically, when the rear (quadrant Ⅲ, Ⅳ) of car A (own car/local vehicle) is hit by the front (quadrant I, Ⅱ) of car B (other car/remote vehicle), car A chooses No reaction (the acceleration adjustment parameter of the mapped car A is set to 0). The reason is that because the rear of the car A was hit, it means that the collision position of car A is directly behind, so car B should react and decelerate (the mapped acceleration adjustment parameter of car B is set to -2). In other words, when the quadrants III and IV of car A intersect with the quadrants I and II of car B, the acceleration adjustment parameter will be mapped to zero.

The second rule is: (Car B: Quadrant Ⅲ, Ⅳ; Car A: Quadrant I, Ⅱ) → A: -2. Specifically, when the quadrants I and II of car A collide with the quadrants III and IV of another car, car A should react and slow down (the mapped acceleration adjustment parameter of car A is set to -2).

The third rule is: (Car A = Car B = Quadrant I or Ⅱ) → System defect → A=B: -2. Specifically, in a situation where car A and car B are in quadrant I or quadrant II at the same time, this situation represents a flaw in the path planning of the intersection, so the two cars stop at the same time (the mapped car A and car B The acceleration adjustment parameter of is set to -2).

The fourth rule is: [(car A = quadrant I, car B = quadrant Ⅱ) or (car A = quadrant Ⅱ, car B = quadrant I)] → (A: -2, B: 0) or (A: 0,B: -2). Specifically, car A and other cars belong to (a) quadrant I and quadrant II or (b) quadrant II and quadrant I. The principle of handling this situation is that the acceleration and deceleration of car A and car B in (a) and (b) are relative (as shown by arrow A61). For example, if the local impact quadrant is quadrant II and the remote impact quadrant is quadrant I, the mapped acceleration adjustment parameter of car A is -2; if the local impact quadrant is quadrant I and the remote impact quadrant is quadrant II, The acceleration adjustment parameter of the mapped A car is 0.

For another example (in brackets), if the local impact quadrant is quadrant II and the remote impact quadrant is quadrant I, the acceleration adjustment parameter of the mapped car A is set to 0; if the local impact quadrant is quadrant I, and the remote impact quadrant The quadrant is quadrant II, and the mapped acceleration adjustment parameter of car A is -2. For example, suppose "+1" is used to represent 1 unit acceleration, and the specific value is 5KM/s ² . If the acceleration of car A (corresponding to the unit acceleration of +1) is currently 5KM/s ² , after adjusting -2 unit acceleration (-10KM/s ² ), the adjusted acceleration of car A is -5KM/s ² (+ 5-10=-5KM/s ² ).

It should be noted that this is for the lower right part of the mapping table T60 (the gray bottom part). The situation of quadrants Ⅲ and Ⅳ of car A intersects quadrants Ⅲ and Ⅳ of car B (the rear-end collision) is impossible, because our coordinate system is based on the direction of motion. Under the assumption of the body, the two cars cannot collide with the rear of the car.

It is worth mentioning that when the number of B cars is more than one, the control unit 110 takes the minimum value from the multiple acceleration adjustment parameters in the mapping table of all A cars for multiple B cars respectively as the final acceleration and deceleration. And use the conclusion to add back The acceleration of the scene +1 is the reference weight of the acceleration and deceleration of the own vehicle.

的係數即可以判斷，該係數為：

In addition, in order to additionally enhance the meeting efficiency, the control unit 110 only searches the mapping table when the vehicle B is gradually approaching the relative movement of the vehicle A (closer means that the distance is gradually shortened). In addition, the control unit 110 recognizes that the acceleration adjustment parameter is 0 as a conclusion of acceleration and deceleration. This is because when car B gradually moves away from itself, it is no longer possible for car B to collide with itself. In more detail, in order to determine whether car B is moving away from car A, the control unit 110 uses the formula (2) in

The coefficient of can be judged, and the coefficient is:

When the coefficient is positive, it means that the other car is approaching car A. When the coefficient is negative, it means that it is far away. When car B is far away, car A does not need to make any reaction, which can greatly improve the meeting time effectiveness.

It is worth mentioning that the control unit 110 can implement the aforementioned vehicle control method by loading and executing corresponding program codes.

In summary, the implementation of the present invention proposes a local vehicle and a vehicle control method, which can determine all the vehicles in the local warning area based on the received remote mobile information of the remote vehicle and the local mobile information of the local vehicle. Whether the remote vehicle will impact the local vehicle, correspondingly predict the local impact quadrant and the remote impact quadrant corresponding to the impact, and use the local impact quadrant and the remote impact quadrant to control the acceleration of the local vehicle, Thus, the local vehicle can effectively avoid being hit by the remote vehicle facing the local vehicle. hit.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone with ordinary knowledge in the technical field can make some changes and modifications without departing from the spirit and scope of the present invention. The scope of protection of the present invention shall be determined by the scope of the attached patent application.

S31, S32, S33, S34, S35, S36‧‧‧Flow steps of the vehicle control method

Claims (12)

A local vehicle includes: a positioning device for receiving global positioning system signals to identify the coordinate position of the local vehicle; a communication unit for receiving mobile information from other vehicles; a driving unit for To control the movement of the local vehicle and identify the current direction, acceleration and speed of the local vehicle; and a control unit coupled to the positioning device, the local communication unit and the driving unit, Wherein the control unit is used to determine whether the communication unit receives a remote mobile information broadcast by a remote vehicle, wherein the response is to determine that the communication unit receives the remote vehicle broadcast Remote mobile information, the control unit is further used to determine whether the remote vehicle is in a local warning area corresponding to the local vehicle according to the remote mobile information, wherein the response is to determine the remote traffic The tool is located in the local warning area corresponding to the local vehicle, and the control unit is further used to determine whether the remote vehicle will collide according to the local movement information of the local vehicle and the remote movement information The local vehicle, wherein in response to determining that the remote vehicle will hit the local vehicle, the control unit is further configured to identify the corresponding local traffic based on the local movement information and the remote movement information The local impact quadrant of the tool corresponds to the remote The remote impact quadrant of the vehicle, and the local acceleration of the local vehicle is controlled according to the local impact quadrant and the remote impact quadrant. The local vehicle as described in claim 1, wherein in response to determining that the remote vehicle will not hit the local vehicle, the control unit instructs the driving unit to maintain the current local vehicle The local acceleration. The local vehicle described in the scope of patent application 1, wherein the remote movement information includes the moving direction of the remote vehicle, the speed of the remote vehicle, and the coordinate position of the remote vehicle , Wherein the local movement information includes the moving direction of the local vehicle, the speed of the local vehicle, and the coordinate position of the local vehicle. According to the local vehicle described in item 3 of the scope of patent application, wherein the control unit is further used to determine whether the remote vehicle is based on the local mobile information of the local vehicle and the remote mobile information In the operation of the local vehicle, the control unit calculates a relative motion vector of the remote vehicle corresponding to the local vehicle based on the local movement information and the remote movement information, and determines Whether the relative motion vector will pass through an impact area with respect to the local vehicle, wherein the impact area is a circular area formed by an impact radius with the coordinate position of the local vehicle as the center, Wherein the collision radius is the vehicle body radius of the local vehicle and the remote vehicle The sum of the vehicle body radius of the vehicle body, wherein the relative motion vector reflecting the remote vehicle will pass through the collision area corresponding to the local vehicle, and the control unit determines that the remote vehicle will collide The local vehicle, wherein the relative motion vector reflecting the remote vehicle does not pass through the collision area corresponding to the local vehicle, and the control unit determines that the remote vehicle will not collide The local transportation. The local vehicle as described in item 4 of the scope of patent application, wherein the control unit is further used to identify the local collision quadrant and the corresponding local vehicle based on the local movement information and the remote movement information. In the operation corresponding to the remote impact quadrant of the remote vehicle, the control unit recognizes a virtual impact point where the relative motion vector of the remote vehicle intersects at the boundary of the impact area, wherein The control unit recognizes a local impact angle corresponding to the local vehicle according to the virtual impact point, and recognizes that the quadrant to which the local impact angle belongs is the local impact quadrant, wherein the control unit calculates the corresponding A far-end impact angle of the remote vehicle, and the quadrant to which the far-end impact angle belongs is identified as the far-end impact quadrant. The local vehicle described in item 5 of the scope of patent application, wherein the control unit is further used to control the local acceleration of the local vehicle according to the local impact quadrant and the remote impact quadrant , The control unit searches for the acceleration adjustment parameters mapped by the local impact quadrant and the remote impact quadrant via a mapping table, and the control unit instructs the driving unit to adjust the acceleration adjustment parameters via the found acceleration adjustment parameters. The acceleration of the local vehicle. A vehicle control method, applicable to a local vehicle, includes: judging whether a remote mobile information broadcast by a remote vehicle is received; responding to the judging that the remote vehicle broadcast by the remote vehicle is received Terminal mobile information, judging whether the remote vehicle is in a local warning area corresponding to the local vehicle based on the remote mobile information; responding to the determination that the remote vehicle is in the corresponding local vehicle In the local alert area, determine whether the remote vehicle will hit the local vehicle based on the local movement information of the local vehicle and the remote movement information; and respond to the determination of the remote vehicle Will impact the local vehicle, identify the local impact quadrant corresponding to the local vehicle and the remote impact quadrant corresponding to the remote vehicle based on the local movement information and the remote movement information, and according to the The local impact quadrant and the remote impact quadrant control the local acceleration of the local vehicle. For the local vehicle described in item 7 of the scope of the patent application, the method further includes: responding to determining that the remote vehicle will not hit the local vehicle, Maintain the current local acceleration of the local vehicle. According to the vehicle control method described in claim 7, wherein the remote movement information includes the moving direction of the remote vehicle, the speed of the remote vehicle, and the coordinates of the remote vehicle Location, wherein the local movement information includes the moving direction of the local vehicle, the speed of the local vehicle, and the coordinate position of the local vehicle. The vehicle control method according to the scope of patent application, wherein said determining whether the remote vehicle will hit the local vehicle based on the local movement information of the local vehicle and the remote movement information The steps of the vehicle include: calculating a relative motion vector of the remote vehicle corresponding to the local vehicle based on the local movement information and the remote movement information, and determining whether the relative motion vector will pass through In an impact area of the local vehicle, wherein the impact area is a circular area formed by an impact radius with the coordinate position of the local vehicle as a center, wherein the impact radius is the local The sum of the vehicle body radius of the vehicle and the vehicle body radius of the remote vehicle; it is determined that the relative motion vector of the remote vehicle will pass through the collision area corresponding to the local vehicle The remote vehicle will hit the local vehicle; and in response to the relative motion vector of the remote vehicle not passing through the collision area corresponding to the local vehicle, it is determined that the remote vehicle Tool won't Hit the local vehicle. The vehicle control method according to item 10 of the scope of patent application, wherein the identification of the local collision quadrant corresponding to the local vehicle and the corresponding remote control based on the local movement information and the remote movement information The step of the remote impact quadrant of the vehicle includes: identifying a virtual impact point where the relative motion vector of the remote vehicle intersects at the boundary of the impact area; A local impact angle of a vehicle, and the quadrant to which the local impact angle belongs is identified as the local impact quadrant; a remote impact angle corresponding to the remote vehicle is calculated according to the local impact angle, and the remote end is identified The quadrant to which the impact angle belongs is the distal impact quadrant. The vehicle control method according to claim 11, wherein the step of controlling the local acceleration of the local vehicle according to the local impact quadrant and the remote impact quadrant includes searching through a mapping table The acceleration adjustment parameter mapped by the local impact quadrant and the remote impact quadrant; and the acceleration of the local vehicle is adjusted via the found acceleration adjustment parameter.

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