Method and device for controlling automatic driving of a vehicle

Abstract

The disclosed embodiment discloses a method and device for controlling the automatic driving of a vehicle, wherein the method includes: determining the target area for the automatic driving of the vehicle based on the automatic driving starting position and the target position; obtaining the obstacle information and the body size parameters of the vehicle in the target area; determining the straight driving starting position at a preset distance from the target position based on the obstacle information and the body size parameters in the target area; performing trajectory planning based on the automatic driving starting position, the straight driving starting position, the obstacle information and the body size parameters in the target area, and obtaining a first planned trajectory from the automatic driving starting position to the straight driving starting position; determining the second planned trajectory based on the straight driving starting position and the target position; and driving the vehicle based on the first planned trajectory and the second planned trajectory. The disclosed embodiment can improve the accuracy of the automatic driving vehicle passing through a narrow space and automatic parking.

Description

Technical Field

[0001] The present disclosure relates to the field of assisted driving technology, and in particular to a method and device for controlling automatic driving of a vehicle. Background Art

[0002] Autonomous driving is achieved through the collaboration of artificial intelligence, visual computing, radar, monitoring devices and global positioning systems, allowing vehicles to operate automatically and safely without any active human operation.

[0003] In some special scenarios, such as scenarios where a vehicle is autonomously driving in a small area or automatically parking, how to accurately control the vehicle through autonomous driving technology is a problem that needs to be solved urgently. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure is proposed. Embodiments of the present disclosure provide a method and device for controlling automatic driving of a vehicle.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a method for controlling automatic driving of a vehicle, comprising:

[0006] Based on the starting position and target position of the autonomous driving, determine the target area for the vehicle to perform autonomous driving;

[0007] Obtaining obstacle information within the target area and body size parameters of the vehicle;

[0008] Determining a straight-line driving starting position at a preset distance from the target position based on obstacle information in the target area and the vehicle body size parameters;

[0009] Performing trajectory planning based on the automatic driving starting position, the straight driving starting position, obstacle information in the target area, and the vehicle body size parameters to obtain a first planned trajectory from the automatic driving starting position to the straight driving starting position;

[0010] Determining a second planned trajectory based on the straight-line driving starting position and the target position;

[0011] The vehicle is driven based on the first planned trajectory and the second planned trajectory.

[0012] According to a second aspect of an embodiment of the present disclosure, there is provided a device for controlling automatic driving of a vehicle, comprising:

[0013] A first determination module is used to determine a target area for the vehicle to perform autonomous driving based on the autonomous driving starting position and the target position;

[0014] An acquisition module, used to acquire obstacle information in the target area and body size parameters of the vehicle;

[0015] A second determination module is used to determine a straight-line driving starting position at a preset distance from the target position based on obstacle information in the target area and the vehicle body size parameters;

[0016] a trajectory planning module, configured to perform trajectory planning based on the autonomous driving starting position, the straight driving starting position, obstacle information in the target area, and the vehicle body size parameters, to obtain a first planned trajectory from the autonomous driving starting position to the straight driving starting position; the trajectory planning module is further configured to determine a second planned trajectory based on the straight driving starting position and the target position;

[0017] A vehicle control module is used to drive the vehicle based on the first planned trajectory and the second planned trajectory.

[0018] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising the device for controlling automatic driving of the vehicle according to the second aspect described above.

[0019] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the method for controlling automatic driving of a vehicle as described in the first aspect above.

[0020] According to a fifth aspect of an embodiment of the present disclosure, an electronic device is provided, the electronic device comprising:

[0021] processor;

[0022] a memory for storing instructions executable by the processor;

[0023] The processor is used to read the executable instructions from the memory and execute the instructions to implement the method for controlling automatic driving of a vehicle as described in the first aspect above.

[0024] Based on the method and device for controlling the automatic driving of a vehicle according to the above-mentioned embodiment of the present disclosure, in this embodiment, the target area of ​​the vehicle during automatic driving is determined based on the automatic driving starting position and the target position, and then the straight driving starting position located near the target position and can reach the target position by driving straight is determined based on the obstacle information in the target area and the size parameters of the vehicle; trajectory planning is performed based on the automatic driving starting position, the straight driving starting position, the obstacle information in the target area and the vehicle body size parameters, and a first planned trajectory from the automatic driving starting position to the straight driving starting position and a second planned trajectory from the straight driving starting position to the target position are generated. After the trajectory planning is completed, the vehicle is controlled to perform automatic driving according to the first planned trajectory and the second planned trajectory. The embodiment of the present disclosure is applicable to automatic driving vehicles passing through narrow spaces and automatic parking, and is particularly applicable to automatic parking at corner positions in garages, or automatic parking when there are many obstacles near the target parking space. In addition, the planned trajectory in the embodiment of the present disclosure is generated based on the automatic driving starting position and the straight-line driving starting position which is located near the target position and can reach the target position only by driving straight. The angle reference value in the straight-line driving stage is constant, and the vehicle control has more room for adjustment and correction, thereby improving the accuracy of the automatic driving vehicle passing through narrow spaces and automatic parking.

[0025] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings, the same reference numerals generally represent the same components or steps.

[0027] Figure 1 is a flow chart of a method for controlling automatic driving of a vehicle in one embodiment of the present disclosure;

[0028] Figure 2 is a schematic diagram of a starting position and a target position for autonomous driving in an example of the present disclosure;

[0029] Figure 3 This is an example of the present disclosure. Figure 2 Schematic diagram of the corresponding target area;

[0030] Figure 4 is a schematic diagram of a planned trajectory in an example of the present disclosure;

[0031] Figure 5 In another example of the present disclosure, Figure 2 Schematic diagram of the corresponding target area;

[0032] Figure 6 is a flow chart of step S3 in one embodiment of the present disclosure;

[0033] Figure 7 is a schematic diagram of an allowable passing angle when a vehicle passes through a narrow space in an example of the present disclosure;

[0034] Figure 8 is a flow chart of step S5 in one embodiment of the present disclosure;

[0035] Fig. 9 is a schematic diagram of generating preview points for sub-trajectories in an example of the present disclosure;

[0036] Fig.10 is a structural block diagram of a device for controlling automatic driving of a vehicle in one embodiment of the present disclosure;

[0037] Fig.11 is a structural block diagram of a second determination module 300 in one embodiment of the present disclosure;

[0038] Fig.12 is a structural block diagram of a vehicle control module 500 in one embodiment of the present disclosure;

[0039] Fig.13 is a structural block diagram of a device for controlling automatic driving of a vehicle in another embodiment of the present disclosure;

[0040] Fig.14 is a structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] Below, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described here.

[0042] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0043] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0044] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0045] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0046] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0047] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0048] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0049] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0050] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0051] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0052] The embodiments of the present disclosure can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0053] Electronic devices such as terminal devices, computer systems, servers, etc. can be described in the general context of computer system executable instructions (such as program modules) executed by computer systems. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0054] Exemplary Methods

[0055] Figure 1 FIG. 1 is a flow chart of a method for controlling automatic driving of a vehicle in an embodiment of the present disclosure. This embodiment can be applied to electronic devices, such as Figure 1 As shown, the following steps are included:

[0056] S1: Based on the starting position and target position of the autonomous driving, determine the target area for the vehicle to perform autonomous driving.

[0057] In this embodiment, the automatic driving starting position may be the current position of the vehicle at a certain moment. The automatic driving starting position may also be a specified position in the automatic driving assistance system, and the driver or the automatic driving assistance system drives the vehicle to the automatic driving starting position. The target position may be a position point in the target parking space. When the vehicle stops at this position point after straightening the vehicle body, it can be considered that the vehicle is accurately parked in the target parking space. This situation is applicable to the automatic parking scene. The target position may also be a specified position in the automatic driving assistance system, such as a position point in the target parking space. When the vehicle stops at this position point after straightening the vehicle body, it can be considered that the vehicle is accurately parked in the target parking space. This situation is applicable to the automatic parking scene. For another example, the target position may also be a position point at the rear of a narrow passage. When the vehicle stops at this position point after straightening the vehicle body, it can be considered that the vehicle has passed the narrow passage.

[0058] Figure 2 Schematic diagram of the starting position and target position of autonomous driving in an example of the present disclosure. Figure 2 As shown, in this example, the starting position of the autonomous driving is BP, the target position is FP, the diagonal squares are columns, and V1, V2, and V3 are three vehicles. Since there are obstacles near the starting position BP and the target position FP, it is difficult for the driver to control the vehicle from the starting position BP to the target position FP. At this time, the autonomous driving assistance system can be used to control the vehicle from the starting position BP to the target position FP.

[0059] Figure 3 This is an example of the present disclosure. Figure 2 Schematic diagram of the corresponding target area. Figure 3 As shown, the target area can be determined according to the autonomous driving starting position BP and the target position FP. In this example, the target area includes a rectangular area with the autonomous driving starting position BP and the target position FP as diagonal vertices. Whether there are obstacles in the target area affects the trajectory planning of the vehicle's autonomous driving.

[0060] It should be noted that the target area can also be an area of ​​other ranges, but the target area needs to include the automatic driving starting position BP and the target position FP.

[0061] S2: Obtain obstacle information and vehicle body size parameters in the target area. The obstacle information includes movable obstacle information and immovable obstacle information. Movable obstacle information may include, for example, vehicle information or pedestrian information in a moving state. Immovable obstacle information may include wall information, pillar information, vehicle information in a stopped state, and so on. The vehicle body size parameters include the length and width of the vehicle, and may also include the height of the vehicle.

[0062] S3: Based on the obstacle information and vehicle body size parameters in the target area, determine a straight-line driving starting position at a preset distance from the target position.

[0063] Specifically, in order to ensure that the vehicle can accurately drive from the automatic driving starting position BP to the target position FP, a position near the target position FP that is a preset distance from the target position FP and can control the vehicle to drive straight to the target position FP is selected as the straight driving starting position. The preset distance can be determined according to the length of the vehicle.

[0064] The larger the preset distance is set, the more beneficial it is for the vehicle's straight-line driving stage from the starting position to the target position (because the vehicle has more room for adjustment and correction in the straight-line driving stage), but the more restrictions there are on the trajectory planning from the automatic driving starting position BP to the straight-line driving starting position (because as the preset distance gradually increases, the range from the automatic driving starting position BP to the straight-line driving starting position gradually becomes smaller, and the space for trajectory planning becomes smaller and smaller).

[0065] The smaller the preset distance is set, the more unfavorable it is for the vehicle's straight-line driving stage from the starting position to the target position (because the vehicle has less room for adjustment and correction during the straight-line driving stage), but the more favorable it is for trajectory planning from the automatic driving starting position BP to the straight-line driving starting position (because as the preset distance gradually decreases, the range from the automatic driving starting position BP to the straight-line driving starting position gradually increases, and the space for trajectory planning becomes larger and larger).

[0066] In an example of the present disclosure, when the vehicle length is less than 5 meters, the preset distance can be a value between 0.5m and 2m; when the vehicle length is greater than or equal to 5 meters, the preset distance can be a value between 1m and 3m. The starting position of straight-line driving is determined according to the obstacle information and vehicle body size parameters in the target area. For example, a position near the target position FP where there are few obstacles and the vehicle body can pass straight can be selected as the starting position of straight-line driving.

[0067] S4: Perform trajectory planning based on the autonomous driving starting position, the straight driving starting position, obstacle information in the target area, and vehicle body size parameters to obtain a first planned trajectory from the autonomous driving starting position to the straight driving starting position.

[0068] Figure 4 is a schematic diagram of a planned trajectory in an example of the present disclosure. Figure 4As shown, trajectory planning is performed based on the automatic driving starting position BP, the straight driving starting position TR4, the obstacle information in the target area and the vehicle body size parameters, and a first planned trajectory from the automatic driving starting position to the straight driving starting position is obtained. In this example, the first planned trajectory includes: a first sub-trajectory of driving straight from the automatic driving starting position BP to the first target point TR1, a second sub-trajectory of turning left from the first target point TR1 to the second target point TR2, a third sub-trajectory of driving backward from the second target point TR2 to the left rear direction to the third target point TR3, and a fourth sub-trajectory of driving from the third target point TR3 to the right front to the straight driving starting position TR4. Among them, when planning the trajectory, the first planned trajectory can be generated according to the standard of the minimum number of sub-trajectories, on the premise of ensuring that the vehicle does not collide with obstacles according to the obstacle information and the vehicle body size parameters. Among them, the vehicle always uses the forward gear from the automatic driving starting position BP to the second target point TR2. Those skilled in the art can merge the first sub-trajectory of driving straight from the automatic driving starting position BP to the first target point TR1 and the second sub-trajectory of turning left from the first target point TR1 to the second target point TR2 into one sub-trajectory. This example divides the area between the automatic driving starting position BP and the second target point TR2 into a first sub-trajectory and a second sub-trajectory. By separating the straight-line driving stage (i.e., the first sub-trajectory) and the turning driving stage (i.e., the second sub-trajectory), the accuracy of segmented control can be improved. However, those skilled in the art can also merge them into one sub-trajectory.

[0069] It should be noted that Figure 4 The example shown is for automatic parking of a vehicle. For controlling a vehicle to pass through a narrow space, those skilled in the art may use a similar method. Figure 4 The trajectory planning is performed in this way.

[0070] S5: Determine a second planned trajectory based on the straight-line driving starting position and the target position.

[0071] Please continue to refer to Figure 4 In this example, the starting point of the second planned trajectory is the straight-line driving starting position TR4, and the end point is the target position FP.

[0072] S6: driving the vehicle based on the first planned trajectory and the second planned trajectory.

[0073] In this embodiment, the target area of ​​the vehicle during automatic driving is determined based on the automatic driving starting position and the target position, and then the straight driving starting position located near the target position and can reach the target position by driving straight is determined based on the obstacles in the target area and the size parameters of the vehicle; trajectory planning is performed based on the automatic driving starting position, the straight driving starting position, the obstacle information in the target area and the vehicle body size parameters, and a first planning trajectory from the automatic driving starting position to the straight driving starting position and a second planning trajectory from the straight driving starting position to the target position are generated. After the trajectory planning is completed, the vehicle is controlled to perform automatic driving according to the first planning trajectory and the second planning trajectory. The disclosed embodiment is suitable for automatic driving vehicles passing through narrow spaces and automatic parking, and is particularly suitable for automatic parking at corner positions in garages, or automatic parking when there are many obstacles near the target parking space. In addition, the planning trajectory in the disclosed embodiment is generated based on the automatic driving starting position and the straight driving starting position located near the target position and can reach the target position only by driving straight. The angle reference amount in the straight driving stage is constant, and the vehicle control has more adjustment and correction space, thereby improving the accuracy of automatic driving vehicles passing through narrow spaces and automatic parking.

[0074] In one embodiment of the present disclosure, step S1 specifically includes: determining a target area based on an autonomous driving starting position, a target position, and a minimum turning radius of the vehicle.

[0075] Figure 5 In another example of the present disclosure, Figure 2 Schematic diagram of the corresponding target area. Figure 5 As shown, since obstacles need to be avoided during path planning, it may be difficult to perform reasonable path planning in a rectangular area with the autonomous driving starting position BP and the target position FP as diagonal vertices. Therefore, in this example, the midpoint O of the line between the autonomous driving starting position BP and the target position FP is used as the rectangular center point of the target area, and the sum of the distance between the projection points of the autonomous driving starting position BP and the target position FP in the first direction and 2*K*R is used as one side length of the target area, and the sum of the distance between the projection points of the autonomous driving starting position BP and the target position FP in the second direction and 2*K*R is used as the other side length of the target area, and finally a rectangular area with BP' and FP' as diagonal vertices is obtained as the target area. Among them, the first direction and the second direction are perpendicular to each other. R is the minimum turning radius of the vehicle, such as the minimum turning radius of the vehicle at 3km / h. K is a coefficient and K is a constant, such as K∈(0,2]. When K is 2, it is allowed to perform trajectory planning from the projection point of the target position FP on the vertical side where FP' is located in the manner of turning the vehicle around, thereby adding more selectivity to trajectory planning.

[0076] In this embodiment, based on the starting position of the automatic driving, the target position and the minimum turning radius of the vehicle, a reasonable target area can be determined to facilitate more reasonable path planning in subsequent steps.

[0077] Figure 6 FIG. 1 is a flow chart of step S3 in one embodiment of the present disclosure. Figure 3 As shown, step S3 includes:

[0078] S3-1: Obtaining nearby obstacle information of the target location from the obstacle information in the target area, wherein the nearby obstacle information may include obstacle information within a preset range near the target location, such as obstacle information within 5 meters near the target location.

[0079] S3-2: Determine the starting position of straight-line driving based on the obstacle information near the target position and the vehicle body size parameters.

[0080] Specifically, the selection of the starting position for straight-line driving may be determined according to a specific scenario.

[0081] exist Figure 3 In the example shown, when the target position is the position in the target parking space, the straight driving starting position can be determined based on the relative position relationship between the automatic driving starting position and the target position and the parking direction of the vehicle in the target parking space, combined with the information of obstacles near the target position. In the rectangular area between the automatic driving starting position BP and the target position FP, the target point can be selected on the two sides connecting the target position FP in the rectangular area, and then combined with the parking direction of the vehicle in the target parking space, it is necessary to Figure 3 In addition, the starting position of the straight-line driving needs to be determined based on the information of nearby obstacles. Figure 4 In the example shown, a straight-line driving starting position TR4 is determined to be located just in front of the target position FP in the target parking space.

[0082] Figure 7 FIG. 1 is a schematic diagram of the allowed passing angle when a vehicle passes through a narrow space in an example of the present disclosure. Figure 7 As shown, for the scenario where the vehicle passes through a narrow space, the starting position of straight-line driving can be determined based on the allowed passage angle θ when the vehicle passes through the narrow space H, combined with the obstacle information of the target area and the vehicle body size parameter information.

[0083] In this embodiment, according to the obstacle information near the target position and the vehicle body size parameters, the starting position of the straight-line driving can be reasonably determined, so as to facilitate reasonable trajectory planning in subsequent steps.

[0084] Figure 8 FIG. 5 is a flow chart of step S5 in one embodiment of the present disclosure. Figure 8 As shown, in one embodiment of the present disclosure, the first planned trajectory includes multiple sub-trajectories, and adjacent sub-trajectories in the multiple sub-trajectories are connected end to end. Then step S5 includes:

[0085] S5-1: Based on the planned driving direction of each sub-trajectory in the multiple sub-trajectories and the curvature of each sub-trajectory, the end point of each sub-trajectory is virtually extended by a preset distance to generate a preview point of the end parking position of each sub-trajectory.

[0086] Fig. 9 FIG. 1 is a schematic diagram of generating preview points for sub-trajectories in an example of the present disclosure. Fig. 9 As shown, in this example, the first planned trajectory includes: a first sub-trajectory that travels straight from the autonomous driving starting position BP to the first target point TR1, and a second sub-trajectory that turns left from the first target point TR1 to the second target point TR2. For the end point TR1 of the first sub-trajectory, the first end point parking position preview point VP1 is generated by extending the preset distance according to the curvature of the first sub-trajectory. For the end point TR2 of the second sub-trajectory, the second end point parking position preview point VP2 is generated by extending the preset distance according to the curvature of the second sub-trajectory. For other sub-trajectories in the first planned trajectory, the corresponding end point parking position preview points are generated in the same manner as the first sub-trajectory and the second sub-trajectory.

[0087] S5-2: Based on the multiple sub-trajectories and the preview point of the end parking position of each sub-trajectory, the vehicle is driven in sections so that the vehicle travels to the starting position of the straight-line driving.

[0088] Specifically, obtain the sub-trajectory in the first planned trajectory that matches the current position and the driving direction. Please refer to Figure 4 and Fig. 9 For example, when the vehicle is at the automatic driving starting position BP, the first sub-trajectory is selected, and the preview point method is adopted to drive the vehicle from the automatic driving starting position BP to the first target point TR1 based on the first sub-trajectory, and then the same control method based on the preview point is adopted to drive the vehicle to the second target point TR2, the third target point TR3 and the straight driving starting position TR4 in sequence.

[0089] S5-3: Drive the vehicle based on the second planned trajectory to drive the vehicle to the target position.

[0090] Please refer to Figure 4 , the terminal parking position preview point of the target position FP can be generated by means of a preview point, and the second planned trajectory drives the vehicle to travel from the straight driving starting position TR4 to the target position FP.

[0091] In this embodiment, a preview point of the terminal parking position is generated for each sub-trajectory. The preview point-based method can improve the accuracy of the vehicle parking at the terminal position of each sub-trajectory, thereby improving the accuracy of autonomous driving, avoiding vehicle position adjustment or re-planning of the trajectory due to a large deviation of the vehicle from the planned trajectory, and providing a good user experience.

[0092] In one embodiment of the present disclosure, the process of executing step S5 further includes: during the acceleration of the vehicle, if the current speed of the vehicle is greater than or equal to the preset speed, reverse integration processing is performed according to the difference between the current speed and the target speed to make the speed of the vehicle less than or equal to the target speed. Wherein, the preset speed is less than the target speed, and the reverse integration processing is to reverse the sign of the integral term in the proportional integral differential control.

[0093] Specifically, in the process of accurately driving the vehicle based on the first planned trajectory and the second planned trajectory, the vehicle will be accelerated and decelerated. In order to ensure that the vehicle speed does not exceed the target speed during the driving process, during the vehicle acceleration process, when the current speed of the vehicle is greater than or equal to the preset speed, for example, when the target speed is 3km / h and the preset speed is 2km / h, that is, when the vehicle accelerates to 2km / h, the difference between the current speed and the target speed is reversely integrated, so that the vehicle speed can be less than or equal to the target speed.

[0094] Usually, when the vehicle is driving automatically, the following proportional integral derivative control is used:

[0095]

[0096] Among them, K p *e(k) is the proportional term, is the integral term, K d *(e(k)-e(k-1)) is the differential term, corresponding to the proportional coefficient K p , integral coefficient K i and the differential coefficient K d , e(k) represents the error at the kth moment, and e(k-1) represents the error at the k-1th moment.

[0097] In this embodiment, an improved vehicle speed control method is adopted, and the specific formula is as follows:

[0098]

[0099] In this embodiment, when the vehicle is driven according to the first planned trajectory and the second planned trajectory, the sign of the integral term is reversed through reverse integration processing during the period of acceleration from the predetermined vehicle speed to the target vehicle speed, so that a control amount opposite to the trend of the error value change can be obtained, allowing the vehicle to overcome the idle characteristics and maintain a speed lower than the idle speed, thereby greatly improving the vehicle control accuracy and stability.

[0100] In one embodiment of the present disclosure, the process of executing step S5 further includes: monitoring obstacle information in the target area; and in response to changes in the obstacle information in the target area, driving the vehicle according to the re-planned trajectory or controlling the vehicle to stop.

[0101] Specifically, in the process of driving the vehicle along the first planned trajectory and the second planned trajectory, if it is monitored that the obstacle information in the target area has changed, such as the position of the original obstacle in the target area has changed (for example, the original vehicle in the target area has changed its position), the size of the original obstacle in the target area has changed (for example, the original vehicle in the target area has opened its door), or a new obstacle has appeared in the target area (for example, a pedestrian or animal has newly entered the target area), the trajectory can be replanned according to the current position of the vehicle and the target position, and then the vehicle can be driven according to the replanned trajectory, or the vehicle can be controlled to stop.

[0102] In an optional manner, while driving the vehicle along the first planned trajectory and the second planned trajectory, if it is determined that a new movable obstacle (such as a pedestrian or an animal) has appeared in the target area based on the obstacle information monitored in the target area, the vehicle can be controlled to stop temporarily; after it is monitored that the newly appeared movable obstacle leaves the target area, or the newly appeared movable obstacle leaves the area where the planned trajectory that has not been traveled is located, the vehicle continues to be driven along the planned trajectory that has not been traveled.

[0103] In one embodiment of the present disclosure, the target area is Figure 3 As shown, the first planning trajectory and the second planning trajectory are as follows Figure 4As shown. When the vehicle travels to a certain position between the third target point TR3 and the straight driving starting position TR4, if it is monitored that a movable obstacle has newly appeared in the target area, for example, it is monitored that at a certain moment, a pedestrian or animal has newly appeared in the rectangular area with the third target point TR3 and the target position FR as the diagonal vertex, then the vehicle can be controlled to stop temporarily. After monitoring that the newly appeared movable obstacle leaves the target area, or monitoring that the newly appeared movable obstacle leaves the area where the fourth sub-track (the track from the third target point TR3 to the straight driving starting position TR4) that has not been driven and the area where the second planned track (the track from the straight driving starting position TR4 to the target position FP) is located, the vehicle is continued to be driven according to the planned track that has not been driven. In an embodiment, in the process of driving the vehicle based on the first planned track and the second planned track, if it is monitored that the obstacle information in the target area changes, the track can be re-planned according to the changed obstacle information, and the vehicle is driven according to the re-planned track, so that the vehicle finally stops at the target position, and dynamic adjustment during the automatic driving of the vehicle is realized. In addition, in the process of driving the vehicle based on the first planned trajectory and the second planned trajectory, if the obstacle information in the target area is monitored to change, the vehicle can also be controlled to stop. For example, when a new movable obstacle appears in the target area, the vehicle is controlled to stop temporarily to improve the safety during automatic driving. After monitoring the newly appeared movable obstacle leaving the target area, or monitoring the newly appeared movable obstacle leaving the area where the planned trajectory that has not been passed is located, the vehicle continues to be driven according to the original planned trajectory.

[0104] In one implementation of the present disclosure, during the process of executing step S5, it also includes: controlling the vehicle lights based on the steering wheel angle, the vehicle's driving direction and the opening of the brake pedal.

[0105] For example, if the steering wheel angle indicates that the vehicle is turning left, the left turn signal is controlled. If the vehicle's driving direction indicates that the vehicle is reversing, the reverse light is controlled. If the opening of the brake pedal indicates that the vehicle is braking, the brake light is controlled.

[0106] In this embodiment, during the driving process of the vehicle, the lights can be automatically controlled according to the steering wheel angle of the vehicle, the driving direction of the vehicle and the opening of the brake pedal, so as to provide prompts to other vehicles or pedestrians, thereby improving safety.

[0107] Any method for controlling the automatic driving of a vehicle provided in the embodiments of the present disclosure may be executed by any appropriate device with data processing capabilities, including but not limited to: a terminal device and a server, etc. Alternatively, any method for controlling the automatic driving of a vehicle provided in the embodiments of the present disclosure may be executed by a processor, such as the processor executing any method for controlling the automatic driving of a vehicle mentioned in the embodiments of the present disclosure by calling corresponding instructions stored in a memory. This will not be described in detail below.

[0108] Exemplary Devices

[0109] Fig.10 FIG. 1 is a block diagram of a device for controlling automatic driving of a vehicle in one embodiment of the present disclosure. Fig.10 As shown, the device for controlling the automatic driving of a vehicle includes: a first determination module 100, an acquisition module 200, a second determination module 300, a trajectory planning module 400 and a vehicle control module 500.

[0110] Among them, the first determination module 100 is used to determine the target area for the vehicle to perform automatic driving based on the automatic driving starting position and the target position; the acquisition module 200 is used to obtain the obstacle information in the target area and the body size parameters of the vehicle; the second determination module 300 is used to determine the straight driving starting position at a preset distance from the target position based on the obstacle information in the target area and the body size parameters; the trajectory planning module 400 is used to perform trajectory planning based on the automatic driving starting position, the straight driving starting position, the obstacle information in the target area and the body size parameters, and obtain a first planned trajectory from the automatic driving starting position to the straight driving starting position; the trajectory planning module 400 is also used to determine a second planned trajectory based on the straight driving starting position and the target position; the vehicle control module 500 is used to drive the vehicle based on the first planned trajectory and the second planned trajectory.

[0111] In one embodiment of the present disclosure, the first determination module 100 is used to determine the target area based on the automatic driving starting position, the target position and the minimum turning radius of the vehicle.

[0112] Fig.11 FIG. 3 is a structural block diagram of the second determination module 300 in one embodiment of the present disclosure. Fig.11 As shown, the second determination module 300 includes:

[0113] The acquisition unit 310 is used to acquire the obstacle information near the target location from the obstacle information in the target area;

[0114] The determination unit 320 is used to determine the straight-line driving starting position based on the obstacle information near the target position and the vehicle body size parameters.

[0115] Fig.12 FIG. 5 is a structural block diagram of a vehicle control module 500 in one embodiment of the present disclosure. Fig.12 As shown, in one embodiment of the present disclosure, the first planned trajectory includes a plurality of sub-trajectories, and adjacent sub-trajectories in the plurality of sub-trajectories are connected end to end; then the vehicle control module 500 includes:

[0116] A preview point generating unit 510 is used to virtually extend the end point of each sub-track by a preset distance to generate a preview point of the end parking position of each sub-track based on the planned driving direction of each sub-track in the multiple sub-tracks and the curvature of each sub-track;

[0117] The driving unit 520 is used to drive the vehicle in sections based on the multiple sub-trajectories and the terminal parking position preview point of each sub-trajectory so that the vehicle travels to the straight-line driving starting position; the driving unit is also used to drive the vehicle based on the second planned trajectory so that the vehicle travels to the target position.

[0118] In one embodiment of the present disclosure, the drive unit 520 is also used to, during the acceleration process of the vehicle, if the current speed of the vehicle is greater than or equal to a preset speed, perform reverse integration processing based on the difference between the current speed and the target speed to make the speed of the vehicle less than or equal to the target speed; wherein, the preset speed is less than the target speed, and the reverse integration processing is to invert the sign of the integral term in the proportional-integral-differential control.

[0119] In one embodiment of the present disclosure, the acquisition unit 200 is also used to monitor obstacle information within the target area; the vehicle control module 500 is also used to drive the vehicle or control the vehicle to stop according to a re-planned trajectory in response to changes in obstacle information within the target area.

[0120] Fig.13 FIG. 1 is a structural block diagram of a device for controlling automatic driving of a vehicle in another embodiment of the present disclosure. Fig.13 As shown, the control of the vehicle's automatic driving also includes:

[0121] The lighting control module 600 is used to control the lighting of the vehicle based on the steering wheel angle, the driving direction of the vehicle and the opening of the brake pedal.

[0122] It should be noted that the specific implementation of the device for controlling the automatic driving of a vehicle in the embodiment of the present disclosure is similar to the specific implementation of the method for controlling the automatic driving of a vehicle in the embodiment of the present disclosure. Please refer to the description of the method for controlling the automatic driving of a vehicle for details. In order to reduce redundancy, it will not be repeated here.

[0123] Exemplary Electronic Devices

[0124] Below, reference Fig.14 To describe the electronic device according to the embodiment of the present disclosure. Fig.14 As shown, the electronic device includes one or more processors 10 and a memory 20 .

[0125] The processor 10 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions.

[0126] The memory 20 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 10 may run the program instructions to implement the method for controlling the automatic driving of the vehicle and / or other desired functions of the various embodiments of the present disclosure described above. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0127] In one example, the electronic device may further include: an input device 30 and an output device 40. The input device 13 may include, for example, a keyboard, a mouse, etc. The output device 40 may output various information to the outside, including determined distance information, direction information, etc. The output device 40 may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0128] Of course, to simplify, Fig.14 Only some of the components related to the present disclosure in the electronic device are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device may further include any other appropriate components.

[0129] Exemplary computer-readable storage media

[0130] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the method of controlling vehicle automatic driving according to various embodiments of the present disclosure described in the above "Exemplary Method" section of this specification.

[0131] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0132] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the method for controlling vehicle automatic driving according to various embodiments of the present disclosure described in the above “Exemplary Method” section of this specification.

[0133] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0134] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0135] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0136] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0137] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0138] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0139] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0140] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling automatic driving of a vehicle, comprising: Based on the starting position and target position of the autonomous driving, determine the target area for the vehicle to perform autonomous driving; Obtaining obstacle information within the target area and body size parameters of the vehicle; Obtaining obstacle information within a preset range near the target location from the obstacle information within the target area; Determine the straight-line driving starting position based on obstacle information within a preset range near the target position, the vehicle body size parameters, and the allowed passage angle of the vehicle through the space where the target position is located, wherein the distance between the straight-line driving starting position and the target position is a preset distance; Performing trajectory planning based on the automatic driving starting position, the straight driving starting position, obstacle information in the target area, and the vehicle body size parameters to obtain a first planned trajectory from the automatic driving starting position to the straight driving starting position; Determining a second planned trajectory based on the straight-line driving starting position and the target position; The vehicle is driven based on the first planned trajectory and the second planned trajectory.

2. The method for controlling automatic driving of a vehicle according to claim 1, wherein: The step of determining a target area for the vehicle to perform autonomous driving based on the autonomous driving starting position and the target position includes: The target area is determined based on the automatic driving starting position, the target position and the minimum turning radius of the vehicle.

3. The method for controlling automatic driving of a vehicle according to claim 1, wherein: The first planned trajectory includes a plurality of sub-trajectories, and adjacent sub-trajectories in the plurality of sub-trajectories are connected end to end; The driving of the vehicle based on the first planned trajectory and the second planned trajectory includes: Based on the planned driving direction of each sub-trajectory in the multiple sub-trajectories and the curvature of each sub-trajectory, virtually extending the end point of each sub-trajectory by a preset distance to generate a preview point of the end parking position of each sub-trajectory; Based on the multiple sub-trajectories and the preview point of the terminal parking position of each sub-trajectory, driving the vehicle in sections so that the vehicle travels to the straight-line driving starting position; The vehicle is driven based on the second planned trajectory so that the vehicle travels to the target position.

4. The method for controlling automatic driving of a vehicle according to claim 1 or 3, in the process of driving the vehicle based on the first planned trajectory and the second planned trajectory, further comprising: During the acceleration process of the vehicle, if the current speed of the vehicle is greater than or equal to a preset speed, reverse integration processing is performed based on the difference between the current speed and the target speed to make the speed of the vehicle less than or equal to the target speed; wherein, the preset speed is less than the target speed, and the reverse integration processing is to invert the sign of the integral term in the proportional-integral-differential control.

5. The method for controlling automatic driving of a vehicle according to claim 1 or 3, wherein: The process of driving the vehicle based on the first planned trajectory and the second planned trajectory further includes: Monitoring obstacle information within the target area; In response to a change in obstacle information within the target area, the vehicle is driven or controlled to stop according to a replanned trajectory.

6. The method for controlling automatic driving of a vehicle according to claim 1 or 3, wherein: The process of driving the vehicle based on the first planned trajectory and the second planned trajectory further includes: The vehicle lights are controlled based on the steering wheel angle, the driving direction of the vehicle and the opening of the brake pedal.

7. A device for controlling automatic driving of a vehicle, comprising: A first determination module is used to determine a target area for the vehicle to perform autonomous driving based on the autonomous driving starting position and the target position; An acquisition module, used to acquire obstacle information in the target area and body size parameters of the vehicle; A second determining module, configured to obtain obstacle information within a preset range near the target location from the obstacle information within the target area; Determine the straight-line driving starting position based on obstacle information within a preset range near the target position, the vehicle body size parameters, and the allowed passage angle of the vehicle through the space where the target position is located, wherein the distance between the straight-line driving starting position and the target position is a preset distance; a trajectory planning module, configured to perform trajectory planning based on the autonomous driving starting position, the straight driving starting position, obstacle information in the target area, and the vehicle body size parameters, to obtain a first planned trajectory from the autonomous driving starting position to the straight driving starting position; the trajectory planning module is further configured to determine a second planned trajectory based on the straight driving starting position and the target position; A vehicle control module is used to drive the vehicle based on the first planned trajectory and the second planned trajectory.

8. A computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program is used to execute the method for controlling automatic driving of a vehicle as described in any one of claims 1 to 6.

9. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method for controlling automatic driving of a vehicle as described in any one of claims 1-6 above.

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