Ultra-low-speed crawling method for pilotless automobile in mixed road congestion state

A technology for unmanned vehicles and congestion status, which is applied to vehicle components, external condition input parameters, control devices, etc., and can solve problems such as vehicle congestion

Active Publication Date: 2021-08-27
成都格林希尔德交通科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the above cases, when there is less traffic, the driverless car can better avoid pedestrians and drive into the parking lot, or wait for pedestrians to pass the sidewalk before continuing to drive, but when the traffic is large, the driverless car Cars often stop according to the principle of pedestrian safety and cannot continue driving, which will cause serious vehicle congestion

Method used

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  • Ultra-low-speed crawling method for pilotless automobile in mixed road congestion state
  • Ultra-low-speed crawling method for pilotless automobile in mixed road congestion state
  • Ultra-low-speed crawling method for pilotless automobile in mixed road congestion state

Examples

Experimental program
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Effect test

Embodiment 1

[0057] Such as Figure 5 As shown, the vehicle enters the mixed road with the first vehicle speed V1 of 8 km / h, the second vehicle speed V2 of 6 km / h, the third vehicle speed V3 of 4 km / h, and the fourth vehicle speed V4 of 2 km / h h, the first safety distance b1 is 1 m, the second safety distance b2 is 0.5 m, and the third safety distance b3 is 0.3 m.

[0058] A1. The length S of the vehicle's pre-travel trajectory is 2m. Calculate the vehicle's pre-travel time T=S / V1=8 / 2=4s, and draw the vehicle's pre-envelope area. The range M is based on the vehicle's pre-envelope area. , The rectangular area formed after expanding to both sides with a distance of 2m, the system on the vehicle analyzes the pre-action trajectory of pedestrians and non-motor vehicles according to the vehicle's pre-travel time of 4s;

[0059] A2. Real-time judgment is made on the sum N of the number of pedestrians and non-motorized vehicles within the range M. There are 3 pedestrians within the range M, and t...

Embodiment 2

[0064] Such as Figure 7 As shown, the vehicle enters the mixed road with the first vehicle speed V1 of 8 km / h, the second vehicle speed V2 of 6 km / h, the third vehicle speed V3 of 4 km / h, and the fourth vehicle speed V4 of 2 km / h h, the first safety distance b1 is 1 m, the second safety distance b2 is 0.5 m, and the third safety distance b3 is 0.3 m.

[0065] After the vehicle is in ultra-low-speed creeping mode and continues to drive forward for a certain distance, the pedestrians below the range M are walking towards the vehicle, and they are the closest to the vehicle, and the minimum distance L is less than 0.5m at this time. The judgment process is in step A6: vehicle The environment recognition module of the environment recognition module captures the eyes of pedestrians, and the vehicle slows down to 4km / h and continues to drive forward. At this time, the vehicle can further reduce the speed to V4 and continue to drive. Vehicles can drive in a slower manner in areas w...

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Abstract

The invention belongs to the technical field of pilotless automobiles, and particularly relates to an ultra-low-speed crawling method for a pilotless automobile in a mixed road congestion state. The method comprises the following specific steps: analyzing the moving tracks of pedestrians and non-motor vehicles in a range M around a vehicle pre-enveloping area; and according to the distance between the front end of the vehicle and the pedestrians and the non-motor vehicles, whether the pre-moving tracks of the pedestrians and the non-motor vehicles deviate from a vehicle pre-driving track or not and whether the pedestrians see the vehicle or not, instructing a vehicle to stop for waiting, decelerate or drive at an original speed. According to the method, multiple factors are comprehensively considered, so that pedestrians and non-motor vehicles can safely pass through, the vehicles can be ensured to keep moving forwards, the situation that the vehicles cannot continue to run due to the pedestrian safety principle is avoided, and the traffic jam situation caused when the pedestrian flow is large in the mixed road is greatly relieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned vehicles, and in particular relates to an ultra-low-speed crawling method of unmanned vehicles under mixed road congestion conditions. Background technique [0002] Mixed urban traffic roads refer to mixed driving of motor vehicles, non-motor vehicles, and pedestrians on the same road. Due to the low standard of the road and the narrow road surface, there is neither a divider nor a distinction between the roadway and the sidewalk, express trains and slow trains. Traffic accidents between people and vehicles are very prone to occur in this mixed traffic mode, and also directly affect the speed and efficiency of all aspects. For example, when a car enters the underground parking lot of a shopping mall, it must first turn from the motorway to the entrance of the underground parking lot, but the entrance of the parking lot is located on the sidewalk, so the car must pass through a mixed road when en...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/09B60W30/14B60W30/18B60W60/00
CPCB60W30/09B60W30/14B60W30/143B60W30/18054B60W30/18063B60W30/18109B60W60/0017B60W60/0018B60W60/0025B60W2552/50B60W2554/4029B60W2554/80
Inventor 杨福刚陈子龙曾令洲胡声洋廖文俊李平飞牟森肖丰
Owner 成都格林希尔德交通科技有限公司
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