Vehicle control method and vehicle implementing the method

Abstract

The present invention relates to a vehicle control method, which includes the following steps: when the vehicle is driving with an autonomous driving or driver assistance system turned on, it perceives (101) and identifies in real time whether there is a roadblock facility ahead (102). Among them, when a roadblock facility is identified in the forward driving road, during the driving process of the vehicle, the relative distance and relative speed between the vehicle and the roadblock facility are calculated through the data input by the sensor (112), so as to perform route planning and driving control on the vehicle by controlling the power of the vehicle according to the relative distance and the relative speed; when no roadblock facility is identified in the forward driving road, the vehicle is kept driving normally (118). The present invention also relates to a vehicle implementing this vehicle control method.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, the field of autonomous driving and driving assistance control, and particularly to a vehicle control method and a vehicle implementing the method. Background Art

[0002] In order to improve their own safety, some owners of small trucks and tricycles will hang roadblock facilities such as cone barrels, warning posts, crash barrels, and road construction signs on the rear side of the vehicle to warn the vehicles behind. For human driving, the situation ahead and the surrounding environment can be quickly judged. However, for vehicles equipped with autonomous driving or driving assistance, these vehicles can distinguish the types of obstacles ahead in real time through the information input by sensors, namely on-vehicle cameras, lidar, millimeter-wave radars, etc. When it is sensed and recognized in real time that there are roadblock facilities ahead, a lane-changing or parking strategy will be adopted to ensure safety.

[0003] At this time, if the vehicle equipped with autonomous driving or driving assistance cannot change lanes, for example, it is driving on a single-lane access road, or the road conditions at this time are not suitable for lane-changing. Then it will cause the vehicle equipped with autonomous driving or driving assistance to always maintain a safe distance from the roadblock facilities ahead and stop and go. Summary of the Invention

[0004] Since the main purpose of most dangerous vehicles with roadblock facilities such as cone barrels, warning posts, crash barrels, and road construction signs hanging on the rear side is to protect their own safety, it does not mean that this road is being repaired or cannot be used. In this case, it is beneficial to provide such a vehicle control method. By adopting this method, when the vehicle recognizes that there are roadblock facilities hanging on the rear side of the vehicle in front, a planning strategy of temporarily following the vehicle and changing lanes as soon as possible can be adopted to avoid the vehicle from stopping and going on this section of the road.

[0005] To this end, the present invention provides a vehicle control method, which includes the following steps: When the vehicle is driving with the autonomous driving or driving assistance system turned on, it senses and recognizes in real time whether there are roadblock facilities ahead. Among them, when it is recognized that there are roadblock facilities ahead, the vehicle is planned and controlled to slow down slowly and the relative distance and relative speed between the vehicle and the roadblock facilities are obtained, so as to control the driving state of the vehicle according to the relative distance and the relative speed; when it is not recognized that there are roadblock facilities ahead, the vehicle is kept driving normally.

[0006] Preferably, the method further includes the following steps: determining whether the speed of the roadblock facility is zero; when the speed of the roadblock facility is not zero, comparing the speed of the roadblock facility with the planned speed during normal vehicle driving; when the speed of the roadblock facility is higher than or equal to the planned speed, keeping the vehicle driving at the planned speed; when the speed of the roadblock facility is lower than the planned speed, determining whether the moving trajectory of the roadblock facility remains within the same lane for a period of time. Among them, when the moving trajectory of the roadblock facility remains within the same lane for a period of time, obtaining more lane-level environmental information through a high-precision map, and then determining whether the vehicle can change lanes (i.e., change lanes) without affecting the planned route at the road level. Among them, when the judgment result is that changing lanes will not affect the current planned route, continue to determine whether the current road environment meets the conditions for safe lane change, and drive in a lane change when the conditions for safe lane change are met, and return to the step of obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving when the conditions for safe lane change are not met. When the moving trajectory of the roadblock facility does not remain within the same lane for a period of time, plan a new route, and then determine whether the current environment meets the conditions for safely driving into the new route, so as to change the planned route when the judgment result is that the conditions for safely driving into the new route are met and return to the step of obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving when the conditions for safely driving into the new route are not met.

[0007] Preferably, when the speed of the roadblock facility is zero, determine whether the vehicle can continue to drive on the current planned route. Among them, when the judgment result is that the vehicle cannot continue to drive on the current planned route, perform the following steps: plan a new route; determine whether the current environment meets the conditions for safely driving into the new route; change the planned route when the judgment result is that the conditions for safely driving into the new route are met and return to the step of obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving when the conditions for safely driving into the new route are not met, and when the judgment result is that the vehicle can continue to drive on the current planned route, keep the vehicle driving past the roadblock facility at a lateral safe distance from the roadblock facility.

[0008] Preferably, when the judgment result is that the vehicle can continue to drive on the current planned route, the step of keeping the vehicle driving past the roadblock facility at a lateral safe distance from the roadblock facility further includes: continuing to drive according to the current planned route, and then determining whether the vehicle can safely drive past the roadblock facility in the current lane. Among them, when the judgment result is that the vehicle can safely drive past the roadblock facility in the current lane, make the vehicle drive past the roadblock facility in the current lane while maintaining its lateral safe distance from the roadblock facility, and when the judgment result is that the vehicle cannot safely drive past the roadblock facility in the current lane, determine whether the current road environment meets the conditions for safe lane change to drive in a lane change when the vehicle can safely change lanes.

[0009] Preferably, the roadblock facilities are cone barrels, warning posts, anti-collision barrels, and road construction signs.

[0010] The present invention also provides a vehicle for implementing the vehicle control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In the following detailed description of the embodiments of the present invention given by way of non-limiting examples and illustrated by the accompanying drawings, the objects, advantages, and features of the present invention will become more clearly apparent, wherein:

[0012] Figure 1 shows a schematic diagram of a vehicle control method according to an embodiment of the present invention;

[0013] Figure 2 shows a vehicle in front carrying a cone barrel; and

[0014] Figure 3 shows a vehicle in front not carrying roadblock facilities. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] Figure 1 shows a schematic diagram of a vehicle control method according to an embodiment of the present invention.

[0016] Figure 2 shows a vehicle 2 in front carrying a cone barrel 1.

[0017] Figure 3 shows a vehicle 2 in front not carrying roadblock facilities.

[0018] Although Figure 2 the roadblock facilities are shown in the form of a cone barrel 1, it should be understood that the roadblock facilities are not limited to being cone barrels. More precisely, in the context of this document, "roadblock facilities" should be understood to refer to road traffic isolation and warning facilities, which, in addition to cone barrels, may also be in the form of warning posts, anti-collision barrels, road construction signs, etc.

[0019] Specifically, the method in the embodiment shown in the figure includes the following steps: a vehicle equipped with an autonomous driving or driver assistance system drives on the road and perceives in real time 101, and the vehicle recognizes that there are roadblock facilities ahead 102. Among them, when no roadblock facilities ahead are recognized, the vehicle maintains normal driving 118. And when roadblock facilities ahead are recognized, the vehicle plans and controls the vehicle to slow down slowly 103 and obtains the relative distance and relative speed between the vehicle and the roadblock facilities during driving 112, so as to control the driving state of the vehicle according to the relative distance and relative speed;

[0020] More specifically, the method further includes the following steps:

[0021] When the speed of the roadblock facility is not zero at 104, compare the speed of the roadblock facility with the planned speed during normal vehicle driving. When the speed of the roadblock facility is higher than or equal to the planned speed at 105, keep the vehicle driving at the planned speed and continue at 119. When the speed of the roadblock facility is less than the planned speed, determine whether the moving trajectory of the roadblock facility remains within the same lane for a period of time at 106.

[0022] Among them, when the moving trajectory of the roadblock facility remains within the same lane for a period of time, obtain lane-level road information at 107, and then determine whether the vehicle can change lanes without affecting the planned route at the road level at 108. Among them, when the judgment result is that changing lanes will not affect the current planned route, continue to judge whether the current road environment meets the conditions for safe lane change at 109. When the conditions for safe lane change are met, change lanes and drive at 110. When the conditions for safe lane change are not met, return to obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving at 112, and repeat the subsequent steps.

[0023] When the moving trajectory of the roadblock facility does not remain within the same lane for a period of time, plan a new route at 121, and then judge whether the current environment meets the conditions for safely entering the new route at 122, so that when the judgment result is that the conditions for safely entering the new route are met, change the planned route at 123 and when the conditions for safely entering the new route are not met, return to obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving at 112, and repeat the subsequent steps.

[0024] When the speed of the roadblock facility is zero, judge whether the vehicle can continue to drive on the current planned route at 113. Among them, when the judgment result is that the vehicle cannot continue to drive on the current planned route, perform the following steps:

[0025] - Plan a new route at 121;

[0026] - Judge whether the current environment meets the conditions for safely entering the new route at 122;

[0027] - When the judgment result is that the conditions for safely entering the new route are met, change the planned route at 123 and when the conditions for safely entering the new route are not met, return to obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving at 112, and repeat the subsequent steps.

[0028] When the speed of the roadblock facility is zero and the judgment result is that the vehicle can continue to drive on the current planned route, the vehicle is made to drive past the roadblock facility 116 while maintaining a lateral safety distance from the roadblock facility. More specifically, when the judgment result is that the vehicle can continue to drive on the current planned route, the step of making the vehicle drive past the roadblock facility 116 while maintaining a lateral safety distance from the roadblock facility further includes continuing to drive 114 along the current planned route, and then judging whether it is possible to safely drive past the roadblock facility 115 within the current lane. Among them, when the judgment result is that the vehicle can safely drive past the roadblock facility within the current lane, the vehicle is made to drive past the roadblock facility within the current lane while maintaining its lateral safety distance from the roadblock facility. When the judgment result is that the vehicle cannot safely drive past the roadblock facility within the current lane, it is judged whether the current road environment meets the safe lane-changing condition 109 to change lanes and drive 110 when the vehicle can safely change lanes.

[0029] As shown in Figure 1 After the steps of realizing lane-changing driving 110, changing the planned route 123, and the vehicle driving past the roadblock facility 116 while maintaining a lateral safety distance from the roadblock facility are implemented according to the above steps, it is followed by the steps of continuously and real-time sensing and identifying whether there are roadblock facilities 111, 117 ahead and making the vehicle drive normally 118, and repeating the above steps.

[0030] Although the above embodiments only describe the method according to the present invention by taking a moving roadblock facility as an example, it should be understood that the method according to the present invention is not limited to dealing with moving roadblock facilities, and it can also be applied to other scenarios that require judging speed and the feasibility of the road ahead. For example: special vehicles such as emergency rescue vehicles, construction vehicles, road sweeping vehicles, watering vehicles, etc.

[0031] It will be clear that the above embodiments are only exemplary and are not intended to limit the scope of protection of the present invention. And, various different variations and / or improvements and / or combinations that are obvious to those skilled in the art can be made to the above embodiments of the present invention without departing from the scope of the present invention defined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes the following steps: During the vehicle's operation with the autonomous driving or driver assistance system enabled, it continuously senses (101) and identifies whether there are roadblock facilities ahead. Among them, When a roadblock facility is identified ahead on the driving road, during the vehicle's driving process, the relative distance and relative speed between the vehicle and the roadblock facility are calculated (112) based on the data input by the sensors, so as to perform route planning and driving control on the vehicle by controlling the vehicle's power according to the relative distance and the relative speed; When no roadblock facility is identified ahead on the driving road, the vehicle continues to drive normally (118), The method further includes the following steps: Judge whether the speed of the roadblock facility is zero (104). When the speed of the roadblock facility is not zero, compare the current speed of the roadblock facility with the planned speed of the vehicle. When the speed of the roadblock facility is higher than or equal to the planned speed (105), the vehicle continues to drive at the planned speed (119). When the speed of the roadblock facility is less than the planned speed, judge whether the moving trajectory of the roadblock facility remains within the same lane (106), When the moving trajectory of the roadblock facility remains within the same lane for a period of time, obtain lane-level road information, and then judge whether the vehicle can change lanes without affecting the planned route at the road level. Among them, when the judgment result is that changing lanes will not affect the planned route at the current road level, continue to judge whether the current road environment meets the conditions for safe lane change. When the conditions for safe lane change are met, change lanes and drive. When the moving trajectory of the roadblock facility does not remain within the same lane for a period of time, plan a new route (121), and judge whether the current environment meets the conditions for safely entering the new route (122); when the judgment result is that the conditions for safely entering the new route are met, change the planned route (123).

2. The vehicle control method according to claim 1, characterized in that, When the moving trajectory of the roadblock facility remains within the same lane for a period of time, obtain more lane-level environmental information through the high-precision map (107). When the conditions for safe lane change are not met, return to the step of obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving (112); When the moving trajectory of the roadblock facility does not remain within the same lane for a period of time, when the conditions for safely entering the new route are not met, return to the step of obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving (112).

3. The vehicle control method according to claim 1 or 2, characterized in that, When the speed of the roadblock facility is zero, judge whether the vehicle can continue to drive on the current planned route (113). Among them, When the judgment result is that the vehicle cannot continue to drive on the current planned route, perform the following steps: - Plan a new route (121); - Judge whether the current environment meets the conditions for safely entering the new route (122); - When the judgment result is that the conditions for safely entering the new route are met, change the planned route (123). When the conditions for safely entering the new route are not met, return to the step of obtaining the relative distance and relative speed between the vehicle and the roadblock facility during driving (112), and When the judgment result is that the vehicle can continue to drive on the current planned route, make the vehicle drive past the roadblock facility while maintaining a lateral safety distance from the roadblock facility.

4. The vehicle control method according to claim 3, characterized in that, When the judgment result is that the vehicle can continue to drive on the current planned route, the steps of making the vehicle drive past the roadblock facility while maintaining a lateral safety distance from the roadblock facility further include: Continue driving according to the current planned route (114), Judge whether it is possible to safely drive past the roadblock facility in the current lane, where When the judgment result is that the vehicle can safely drive past the roadblock facility in the current lane, make the vehicle drive past the roadblock facility in the current lane while maintaining a lateral safety distance from the roadblock facility; When the judgment result is that the vehicle cannot safely drive past the roadblock facility in the current lane, judge whether the current road environment meets the conditions for safe lane change (109), and change lanes and drive (110) if the vehicle can safely change lanes.

5. The vehicle control method according to claim 1, characterized in that, The roadblock facility is a cone, a warning post, an anti-collision barrel or a road construction sign.

6. A vehicle implementing the vehicle control method according to any one of claims 1 - 5.

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