Road-crossing driving control method for intelligent vehicles

Abstract

A road-crossing driving control method for intelligent vehicles belongs to the technical field of unmanned driving. Firstly, a monocular camera is mounted on a rear-view mirror in an intelligent vehicle and used for collecting video images so as to perform the lane line detection, the stop line detection, the stop line distance measurement, the pedestrian detection and the traffic light identification. Afterwards, the lane virtual center line is calculated according to the lane line detection result, and the intelligent vehicle is controlled to run along the center line by means of a PD control algorithm. The distance from the stop line, the pedestrian detection result and the traffic light identification result are synthesized to make the driving decision so as to control the vehicle to move forwards or stop. By means of only one camera, the intelligent vehicle can stably and safely pass many road crossings; when a pedestrian is detected or a red traffic light is identified, the system controls the intelligent vehicle to stop within 20 cm away from the stop line; and when a green traffic light is identified and no pedestrian is detected, the system controls the intelligent vehicle to normally move or make a turn. The execution cycle is controlled within 50 ms, and thus the requirement that the driving control period is 100 ms is met.

Description

Technical field: [0001] The invention relates to an intersection driving control method for intelligent vehicles, which belongs to the technical field of intelligent vehicle unmanned driving and the field of safe intelligent transportation. Background technique: [0002] Since the 1970s, developed countries such as the United States, the United Kingdom, and Germany have begun research on unmanned smart vehicles, and have made breakthroughs in feasibility and practicality. my country began research on unmanned smart cars in the 1980s, and the National University of Defense Technology successfully developed my country's first truly unmanned smart car in 1992. The research on unmanned intelligent vehicles on structured roads and high-speed roads is becoming more and more mature. Domestic test pages on high-speed roads have achieved good results. For example, in 2013, the unmanned intelligent vehicles studied by Chinese researchers completed the Beijing Tianjin expressway test ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the driving problem of intelligent vehicles at urban road intersections, which involves various technical problems when intelligent vehicles pass through intersections, such as lane lines, stop lines, pedestrian detection and traffic light recognition technologies. Intelligent vehicle intersection driving control method

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