Control Method and System for Driverless Vehicles in Convergence Areas

Abstract

Disclosed are a control method and system for a driverless vehicle in a convergence area. The control method for the driverless vehicle in the convergence area includes: obtaining a map of the area where the vehicle travels; obtaining the position information of the vehicle; determining the lane line where the vehicle is currently located based on the map and the position information of the vehicle; when the vehicle plans to pass through the convergence area, judging whether the convergence area where the vehicle plans to pass through is a fixed-section convergence area or a non-fixed-section convergence area based on the map; determining the safety interval of the vehicle based on the judgment result of whether there is a fixed section in the convergence area and the lane line where the vehicle is currently located; and determining a coordinate set of path points of the lane line on which the vehicle can travel based on the safety interval of the vehicle, and sending the coordinate set of path points of the lane line on which the vehicle can travel to the vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent driving control, and more particularly, to a control method for driverless vehicles in a merging area, and a control system for driverless vehicles in a merging area. Background Art

[0002] In recent years, with the rapid development of artificial intelligence technology, it has become the focus of the vehicle industry to realize intelligent and automated driving of driverless vehicles in working places such as mining areas. However, the existing control methods for driverless vehicles in the merging area usually adopt interactive data access, that is, when a driverless vehicle is about to enter the merging area, it needs to apply to the cloud platform for the right of way. At this time, the cloud platform judges whether there is a vehicle in the merging area based on the algorithm. If there is no vehicle in the merging area, the right of way is issued; if there is a vehicle in the merging area, the right of way is not issued. When the driverless vehicle leaves the merging area, it applies to the cloud platform for the release of the right of way. This method requires multiple data interactions, so the delay time is relatively long, and when there is a vehicle in the merging area, the right of way is not issued to other vehicles, thus reducing the transportation efficiency. Summary of the Invention

[0003] The purpose of the present disclosure is to solve at least one of the above problems and defects existing in the prior art.

[0004] According to an embodiment of the present disclosure, there is provided a control method for a driverless vehicle in a merging area, including: obtaining a map of the area where the vehicle travels; obtaining the position information of the vehicle; determining the lane line where the vehicle is currently located based on the map and the position information of the vehicle; when the vehicle plans to pass through the merging area, judging whether the merging area that the vehicle plans to pass through is a fixed-section merging area or a non-fixed-section merging area based on the map; determining the safety interval of the vehicle based on the judgment result and the lane line where the vehicle is currently located; and determining a coordinate set of path points of the lane line that the vehicle can travel based on the safety interval of the vehicle, and sending the coordinate set of path points of the lane line that the vehicle can travel to the vehicle.

[0005] According to an exemplary embodiment of the present disclosure, when it is judged that the merging area is a fixed-section merging area, a set of unlocked sections in the section set of the path where the vehicle currently plans to pass through the merging area is determined based on the lane line where the vehicle is currently located, and the safety interval of the vehicle is determined based on the set of unlocked sections.

[0006] According to an exemplary embodiment of the present disclosure, a coordinate set of path points of the lane lines required to be traveled in the path of the vehicle passing through the intersection area is determined based on the lane lines where the vehicle is currently located; a coordinate set of path points of the sections in the section set of the path planned by the vehicle to pass through the intersection area that are not locked is determined based on the coordinate set of path points of the lane lines required to be traveled in the path of the vehicle passing through the intersection area; vertices of the safety interval of the vehicle are determined based on the coordinate set of path points of the unlocked sections; and the safety interval of the vehicle is determined based on the lane lines where the vehicle is located and the vertices of the safety interval.

[0007] According to an exemplary embodiment of the present disclosure, vehicle speed related information of the vehicle is obtained, and a minimum safety interval of the vehicle is determined based on the vehicle speed related information. When the determined safety interval is less than the minimum safety interval, the vehicle is controlled to decelerate or stop.

[0008] According to an exemplary embodiment of the present disclosure, the fixed-section intersection area is an intersection or a T-junction.

[0009] According to an exemplary embodiment of the present disclosure, when it is determined that the intersection area is a non-fixed-section intersection area, a sub-area planned by the vehicle to pass through the intersection area is determined, and the safety interval of the vehicle is determined based on the sub-area planned by the vehicle to pass through the intersection area and the unlocked sub-areas in the intersection area.

[0010] According to an exemplary embodiment of the present disclosure, the path of the vehicle in the intersection area is planned based on the position information of the vehicle, and a coordinate set Ng of path points that the vehicle needs to travel is obtained; the obtained coordinate set Ng of path points that the vehicle needs to travel is data-matched with a coordinate set Nu of path points traveled by other vehicles in the intersection area to determine whether there is a duplication between the sub-area associated with the coordinate set Ng of path points that the vehicle needs to travel and the sub-area associated with the coordinate set Nu of path points traveled by other vehicles in the intersection area; if there is no duplication, the sub-area associated with the coordinate set Ng of path points that the vehicle needs to travel is used as the safety interval of the vehicle, the coordinate set Ng of path points that the vehicle needs to travel is sent to the vehicle, and the sub-area associated with the coordinate set Ng of path points is locked. If there is a duplication, the vehicle is controlled to stop.

[0011] According to an exemplary embodiment of the present disclosure, the non-fixed-section intersection area is a loading and unloading area or a parking lot.

[0012] According to an exemplary embodiment of the present disclosure, the control method further includes obtaining the map, including collecting map information of the area and generating the map based on the map information.

[0013] According to another aspect of the present disclosure, there is also provided a control system for an autonomous vehicle in a merging area, including: a positioning unit configured to locate the position of the vehicle; and a safety interval calculation and control module that receives, via a communication module, the position information of the vehicle from the positioning unit and determines the lane line where the vehicle is currently located based on the map of the area where the vehicle travels and the position information of the vehicle; the safety interval calculation and control module is configured to: when the vehicle plans to pass through the merging area, determine whether the merging area that the vehicle plans to pass through is a fixed-section merging area or a non-fixed-section merging area based on the map; determine the safety interval of the vehicle based on the judgment result and the lane line where the vehicle is currently located; and determine a coordinate set of path points of the lane line that the vehicle can travel based on the safety interval of the vehicle and send the coordinate set of path points of the lane line that the vehicle can travel to the vehicle.

[0014] According to an exemplary embodiment of the present disclosure, the safety interval calculation and control module is configured to: when it is determined that the merging area is a fixed-section merging area, determine an unlocked section set in the section set of the path where the vehicle currently plans to pass through the merging area based on the lane line where the vehicle is currently located, and determine the safety interval of the vehicle based on the unlocked section set.

[0015] According to an exemplary embodiment of the present disclosure, the safety interval calculation and control module is configured to: determine a coordinate set of path points of the lane line that the vehicle needs to travel in the path where the vehicle currently passes through the merging area based on the lane line where the vehicle is currently located; determine a coordinate set of path points of the unlocked sections in the section set of the path where the vehicle currently plans to pass through the merging area based on the coordinate set of path points of the lane line that the vehicle needs to travel in the path where the vehicle currently passes through the merging area; determine the vertices of the safety interval of the vehicle based on the coordinate set of path points of the unlocked sections; and determine the safety interval of the vehicle based on the lane line where the vehicle is located and the vertices of the safety interval.

[0016] According to an exemplary embodiment of the present disclosure, the control system further includes a sensor disposed on the vehicle for sensing vehicle speed-related information. The safety interval calculation and control module receives the vehicle speed-related information sensed by the sensor through the communication module, and determines the current minimum safety distance of the vehicle based on the vehicle speed-related information. When the determined safety distance is less than the current minimum safety distance, a deceleration or stop command is sent to the vehicle.

[0017] According to an exemplary embodiment of the present disclosure, the safety interval calculation and control module is configured to: when it is determined that the intersection area is an intersection area without a fixed section, determine the sub-area through which the vehicle is currently planned to pass through the intersection area, and determine the safety interval of the vehicle based on the sub-area through which the vehicle is currently planned to pass through the intersection area and the set of unlocked sub-areas in the intersection area.

[0018] According to an exemplary embodiment of the present disclosure, the safety interval calculation and control module is configured to: plan the path of the vehicle in the intersection area based on the position information of the vehicle, and obtain the coordinate set Ng of the path points that the vehicle needs to travel; perform data matching on the obtained coordinate set Ng of the path points that the vehicle needs to travel and the coordinate set Nu of the path points traveled by other vehicles in the intersection area, to determine whether there is a duplication between the sub-area associated with the coordinate set Ng of the path points that the vehicle needs to travel and the sub-area associated with the coordinate set Nu of the path points traveled by other vehicles in the intersection area; if there is no duplication, use the sub-area associated with the coordinate set Ng of the path points that the vehicle needs to travel as the safety interval of the vehicle, send the coordinate set Ng of the path points that the vehicle needs to travel to the vehicle, and at the same time lock the sub-area associated with the coordinate set Ng of the path points; if there is a duplication, control the vehicle to stop.

[0019] According to an exemplary embodiment of the present disclosure, the control system further includes: a map data collection vehicle configured to collect map data of the area; and a map generator that receives the map data collected by the map data collection vehicle, generates the map based on the map data, and sends the map to the safety interval calculation and control module.

[0020] According to the control method and system for driverless vehicles in the intersection area according to the above various embodiments of the present disclosure, by adopting the logic of not locking non-crossing areas, multiple vehicles can pass through intersection areas such as intersections simultaneously, greatly improving the actual transportation efficiency. In addition, by adopting the mode of real-time data interaction, driverless vehicles can enter and leave the intersection area in an orderly manner, avoiding parking and deceleration caused by reasons such as signal interaction and failure to release road rights in a timely manner.

[0021] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings are used to better understand the solution and do not constitute a limitation to the present disclosure. Among them:

[0023] Figure 1 is a flowchart of a method for controlling an autonomous vehicle in a merging area according to an exemplary embodiment of the present disclosure.

[0024] Figure 2 is a flowchart of a method for determining a safety interval of a vehicle in a merging area of a fixed section according to an exemplary embodiment of the present disclosure.

[0025] Figure 3 is a merging area of a fixed section according to an exemplary embodiment of the present disclosure.

[0026] Figure 4 is a flowchart of a method for determining a safety interval of a vehicle in a merging area without a fixed section according to an exemplary embodiment of the present disclosure.

[0027] Figure 5 is a merging area without a fixed section according to an exemplary embodiment of the present disclosure.

[0028] Figure 6 is a system block diagram of a control system for an autonomous vehicle in a merging area according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] To more clearly elaborate the objectives, technical solutions and advantages of the present disclosure, the embodiments of the present disclosure will be described in detail below with reference to the drawings. It should be understood that the following description of the embodiments is intended to explain and illustrate the general concept of the present disclosure, and should not be construed as a limitation to the present disclosure. In the description and drawings, the same or similar reference numerals refer to the same or similar components or elements. For clarity, the drawings are not necessarily drawn to scale, and some well-known components and structures may be omitted in the drawings.

[0030] Unless otherwise defined, the technical terms or scientific terms used in this disclosure shall have the ordinary meanings as understood by those of ordinary skill in the art to which this disclosure pertains. The terms "first", "second" and similar words used in this disclosure do not denote any order, quantity or importance, but are only used to distinguish different components. The word "a" or "an" does not exclude a plurality. Words such as "including" or "comprising" mean that the elements or items appearing before this word cover the elements or items listed after this word and their equivalents, without excluding other elements or items. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", "top" or "bottom" etc. are only used to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly. When an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element may be "directly" on or under the other element, or there may be intermediate elements.

[0031] In an embodiment of the present disclosure, as Figure 1 shown, a method for controlling an autonomous vehicle in an intersection area includes:

[0032] S1: Obtain a map of the area where the vehicle is traveling;

[0033] S2: Obtain the position information of the vehicle;

[0034] S3: Determine the lane line where the vehicle is currently located based on the map and the position information of the vehicle;

[0035] S4: When the vehicle plans to pass through an intersection area, determine whether the intersection area that the vehicle plans to pass through is a fixed-section intersection area or a non-fixed-section intersection area based on the map;

[0036] S5: Determine the safety interval of the vehicle based on the judgment result and the lane line where the vehicle is currently located; and

[0037] S9: Determine a coordinate set of path points of the lane line that the vehicle can travel based on the safety interval of the vehicle, and send the coordinate set of path points of the lane line that the vehicle can travel to the vehicle.

[0038] The safe area refers to a safe range within which an unmanned mining vehicle can travel. It is a virtual area, and the safe travel of the unmanned vehicle within the safe area can be ensured. The global path that the unmanned vehicle can travel can be calculated based on the high-precision map data of the area where the vehicle travels, thereby obtaining a set of path points for the unmanned vehicle to travel. By obtaining the position coordinate information of the unmanned vehicle itself in real time, and then judging the nearest path point of the current unmanned vehicle on the high-precision map according to the coordinate information, and planning the regional scope of the safe area according to different scenarios.

[0039] In this embodiment, the coordinates of the path points of the lane line closest to the unmanned vehicle on the map can be calculated according to the position information of the unmanned vehicle, and then the lane line where the vehicle is located can be determined. The position information of the unmanned vehicle may include information such as longitude, latitude, and heading angle.

[0040] Here, the so-called fixed-section intersection area refers to an area where there are pre-specified sections for the vehicle, such as intersections, T-junctions, etc. The non-fixed-section intersection area refers to an area where there are no pre-specified sections for the vehicle when it travels, but the driving route is specified according to the actual situation on site, such as loading and unloading areas, parking lots, etc.

[0041] In one exemplary embodiment, as Figure 1 shown, when it is determined that the intersection area is a fixed-section intersection area, step S5A is executed: based on the lane line where the vehicle is currently located, determine the set of unlocked sections in the set of sections in the path planned by the current vehicle to pass through the intersection area, and determine the safe area of the vehicle based on the set of unlocked sections. In the fixed-section intersection area, the sections in the intersection area are segmented. If the path points included in the current section have been sent to the unmanned vehicle, the current section is locked, and no other vehicles will be sent if there are other vehicles.

[0042] In one exemplary embodiment, as Figure 2 shown, step S5A includes:

[0043] S5A-1: Based on the lane line where the vehicle is currently located, determine the set of coordinates of the path points of the lane line that the current vehicle needs to travel through the intersection area;

[0044] S5A-2: Based on the set of coordinates of the path points of the lane line that the current vehicle needs to travel through the intersection area, determine the set of coordinates of the path points of the unlocked sections in the set of sections in the path planned by the current vehicle to pass through the intersection area;

[0045] S5A-3: Determine the vertices of the safe area of the vehicle based on the set of coordinates of the path points of the unlocked sections; and

[0046] S5A-4: Determine the safe zone of the vehicle based on the lane line where the vehicle is located and the vertices of the safe zone.

[0047] In an exemplary embodiment, as Figure 2 shown, the method may further include step S6: Obtain vehicle speed-related information of the vehicle (such as vehicle speed, throttle opening, brake pedal angle, etc.), calculate the minimum safe zone of the current vehicle based on the vehicle speed-related information, and then execute step S7: Determine whether the determined safe zone is less than the minimum safe zone, and when the determined safe zone is less than the minimum safe zone, execute step S8: Control the vehicle to decelerate or stop, otherwise execute step S9: Determine the coordinate set of the path points of the lane line on which the vehicle can travel based on the safe zone of the vehicle, and send the coordinate set of the path points of the lane line on which the vehicle can travel to the vehicle.

[0048] Figure 3 shows a fixed-section intersection area according to an exemplary embodiment of the present disclosure. Among them Figure 3 the shown fixed-section intersection area is an intersection. Of course, those skilled in the art should understand that in some other embodiments of the present disclosure, the fixed-section intersection area may also be other scenarios, such as a T-junction, etc. In Figure 3 it, three driverless vehicles A, B, and C are shown, where their current safe zones are respectively represented by the frames (shown by dotted lines) where ②, ①, and ③ are located. The section where ① is located has been locked. At this time, the safe zone of A can only extend to the vertex of the current intersection, while the section that C is to travel on is not locked, so C can travel normally.

[0049] In an exemplary embodiment, the method may further include monitoring and identifying whether there is an abnormality in the communication network. When it is identified that there is an abnormality in the communication network, the vehicle is controlled to stop at the vertex of the safe zone. In this way, it can ensure timely acquisition of the vehicle's position information, the updated map, and sending the coordinate set of the path points of the lane line on which the vehicle can travel to the vehicle, etc.

[0050] In an exemplary embodiment, when it is determined that the intersection area is a non-fixed-section intersection area, as Figure 4 shown, determine the sub-area through which the current vehicle plans to pass through the intersection area, and determine the safe zone of the vehicle based on the sub-area through which the current vehicle plans to pass through the intersection area and the set of non-locked sub-areas in the intersection area. In a non-fixed-section intersection area, when a driverless vehicle enters or exits, it is necessary to calculate the driving trajectory of the driverless vehicle in real time, lock the driving trajectory of the driverless vehicle into a region, and if the driving trajectories of other vehicles overlap with the current driverless vehicle, no path is issued.

[0051] In an exemplary embodiment, asFigure 4 As shown, step S5B includes:

[0052] S5B-1: Plan the path of the vehicle in the intersection area based on the position information of the vehicle, and obtain the coordinate set Ng of the path points that the vehicle needs to travel;

[0053] S5B-2: Perform data matching between the obtained coordinate set Ng of the path points that the vehicle needs to travel and the coordinate set Nu of the path points traveled by other vehicles in the intersection area, to determine whether there is a duplication between the sub-area associated with the coordinate set Ng of the path points that the vehicle needs to travel and the sub-area associated with the coordinate set Nu of the path points traveled by other vehicles in the intersection area; if there is no duplication, then execute step S5B-3: Use the sub-area associated with the coordinate set Ng of the path points that the vehicle needs to travel as the safety interval of the vehicle, send the coordinate set Ng of the path points that the vehicle needs to travel to the vehicle, and at the same time lock the sub-area associated with the coordinate set Ng of the path points. If there is a duplication, then execute step S5A-4: Control the vehicle to stop.

[0054] Figure 5 shows an intersection area without fixed sections according to an exemplary embodiment of the present disclosure. Among them Figure 5 the shown intersection area without fixed sections is a loading and unloading area. Of course, those skilled in the art should understand that in some other embodiments of the present disclosure, the intersection area without fixed sections may also be a parking lot, etc. In Figure 5 it, three driverless vehicles A, B, and C are shown. Among them, ① represents the entry lane line and ② represents the exit lane line. A first obtains the right of way and drives out from the parking point. The sub-areas associated with the coordinate set of the path points that A needs to travel are shown by the dashed boxes surrounded by points e, f, l, and m. This sub-area is the safety interval of A and is locked. When B obtains the right of way, the sub-area associated with the coordinate set of the path points that B needs to travel is shown by the dashed box surrounded by points h, i, n, and o. However, there is partial overlap between the sub-area of B and the sub-area of A, so B cannot drive out of the parking point.

[0055] In an exemplary embodiment, in step S1, obtaining a map of the area where the vehicle travels includes collecting map information of the area where the vehicle travels and generating a map based on the map information. The map can be pre-generated using the map information collected by a vehicle equipped with devices such as lidar and laser point clouds. The map can include information such as lane lines, vehicle driving trajectories, road conditions of lane lines, traffic control areas, etc. In addition, the map of this area can be updated in real time through the environmental information sensed by sensing units such as on-vehicle cameras, lidar, and millimeter-wave radars on vehicles traveling in this area; and / or, the map of this area can be updated in real time through the environmental information collected by monitoring cameras, radars, etc. set in this area, so that the map can include static obstacle information such as other vehicles that have stopped temporarily due to faults, other operating equipment, and other temporarily appearing obstacles (such as falling rocks). In addition, the map of this area can also be updated based on the current traffic information. For example, when the traffic information changes, updated traffic information of this area can be obtained based on the operator's input, for example, and the map can be updated based on the traffic information. Of course, the traffic information of this area can also be obtained in real time and the map can be updated in real time based on the traffic information.

[0056] In addition, the control method can also lock the road sections in the intersection area based on the updated map information in the map. For example, when there are other vehicles that have stopped temporarily due to faults, other operating equipment, and other temporarily appearing obstacles (such as falling rocks) in the intersection area, resulting in some road sections or sub-areas being impassable, the corresponding road sections or sub-areas can be locked, and the lock can be released based on whether the road sections or sub-areas resume passing.

[0057] According to the control method of the driverless vehicle in the intersection area described in the above various embodiments of the present disclosure, by adopting the logic of not locking non-crossing areas, multiple vehicles can pass through the intersection area simultaneously, greatly improving the actual transportation efficiency. In addition, by adopting a real-time data interaction mode, the driverless vehicle can enter and leave the intersection area in an orderly manner, avoiding parking and deceleration caused by reasons such as signal interaction and failure to release road rights in a timely manner.

[0058] The embodiments of the present disclosure also provide a control system for a driverless vehicle in an intersection area, as Figure 6As shown, the control system may include a positioning unit 22 and a safety interval calculation and control module 30. The positioning unit 22 is configured to locate the position of the vehicle 20. The safety interval calculation and control module 30 receives the position information of the vehicle 20 from the positioning unit 22 via the communication module 10, and determines the lane line where the vehicle 20 is currently located based on the map of the area where the vehicle 20 travels and the position information of the vehicle 20. The safety interval calculation and control module 30 is configured to: when the vehicle 20 plans to pass through an intersection area, determine whether the intersection area that the vehicle 20 plans to pass through is a fixed-section intersection area or a non-fixed-section intersection area based on the map; determine the safety interval of the vehicle 20 based on the above judgment result and the lane line where the vehicle 20 is currently located; and determine the coordinate set of the path points of the lane line that the vehicle 20 can travel based on the safety interval of the vehicle 20, and send the coordinate set of the path points of the lane line that the vehicle 20 can travel to the vehicle 20. The safety interval calculation and control module 30 can be a field device or a remote device. For example, it can be set in the cloud and communicate with the vehicle 20 through the communication module 10.

[0059] In an exemplary embodiment, the safety interval calculation and control module 30 is configured to: when it is determined that the intersection area is a fixed-section intersection area, determine the set of unlocked sections in the set of sections in the path where the current vehicle 20 plans to pass through the intersection area based on the lane line where the vehicle 20 is currently located, and determine the safety interval of the vehicle 20 based on the set of unlocked sections.

[0060] In an exemplary embodiment, the safety interval calculation and control module 30 is configured to:

[0061] Determine the coordinate set of the path points of the lane line that the current vehicle 20 needs to travel in the path passing through the intersection area based on the lane line where the vehicle 20 is currently located;

[0062] Determine the coordinate set of the path points of the unlocked sections in the set of sections in the path where the current vehicle 20 plans to pass through the intersection area based on the coordinate set of the path points of the lane line that the current vehicle 20 needs to travel in the path passing through the intersection area;

[0063] Determine the vertices of the safety interval of the vehicle 20 based on the coordinate set of the path points of the unlocked sections; and

[0064] Determine the safety interval of the vehicle based on the lane line where the vehicle 20 is located and the vertices of the safety interval.

[0065] In an exemplary embodiment, the perception unit 21 further includes a sensor disposed on the vehicle for sensing vehicle speed-related information. The safety interval calculation and control module 30 receives the vehicle speed-related information sensed by the sensor through the communication module 10, and determines the minimum safety distance of the current vehicle based on the vehicle speed-related information. When the safety distance is less than or equal to the minimum safety distance, a safety instruction to decelerate or stop is sent to the vehicle, and the driverless vehicle starts to decelerate until it stops.

[0066] In an exemplary embodiment, the safety interval calculation and control module 30 is configured to: when it is determined that the intersection area is a fixed-section intersection area, determine the sub-area through which the current vehicle 20 is planned to pass through the intersection area, and determine the safety interval of the vehicle 20 based on the sub-area through which the current vehicle 20 is planned to pass through the intersection area and the set of unlocked sub-areas in the intersection area.

[0067] In an exemplary embodiment, the safety interval calculation and control module 30 is configured to:

[0068] Plan the path of the vehicle 20 in the intersection area based on the position information of the vehicle 20, and obtain the coordinate set Ng of the path points that the vehicle 20 needs to travel;

[0069] Perform data matching between the obtained coordinate set Ng of the path points that the vehicle 20 needs to travel and the coordinate set Nu of the path points traveled by other vehicles in the intersection area, to determine whether there is a repetition between the sub-area associated with the coordinate set Ng of the path points that the vehicle 20 needs to travel and the sub-area associated with the coordinate set Nu of the path points traveled by other vehicles in the intersection area;

[0070] If there is no repetition, the sub-area associated with the coordinate set Ng of the path points that the vehicle 20 needs to travel is used as the safety interval of the vehicle 20, and the coordinate set Ng of the path points that the vehicle 20 needs to travel is sent to the vehicle 20. At the same time, the sub-area associated with the coordinate set Ng of the path points is locked. If there is a repetition, the vehicle 20 is controlled to stop.

[0071] In an exemplary embodiment, the control system of the driverless vehicle in the intersection area further includes a map data collection vehicle and a map generator 40. The map data collection vehicle is configured to collect map data of the area where the vehicle 20 travels. The map generator 40 receives the map data collected by the map data collection vehicle via the communication module 10 and generates a map based on the map data. The map generator 40 can be an on-site device or a remote device. For example, it can be set in the cloud and communicate with the map data collection vehicle through the communication module 10. It should be noted that in some other exemplary embodiments of the present disclosure, the map of the area where the vehicle travels can be pre-stored in the storage unit of the safety interval calculation and control module 30.

[0072] In an exemplary embodiment, the control system of the driverless vehicle in the intersection area further includes a sensing unit 21. The sensing unit 21 is disposed on the vehicle in the operation area and is used to sense the information of static obstacles in the area. The map generator receives the information of static obstacles sensed by the sensing unit 21 via the communication module 10 and updates the map based on the information of static obstacles. In addition, the safety assurance system of the driverless vehicle may further include environmental information sensing devices such as monitoring cameras and radars disposed in the area, and the map of the area is updated in real time based on the information collected by these devices.

[0073] In an exemplary embodiment, the communication module 10 is further used to obtain the traffic information of the area from other terminals. The map generator receives the traffic information of the area via the communication module 10 and updates the map based on the traffic information of the area.

[0074] The map generator 40 may be a field device or a remote device. For example, it may be disposed in the cloud and communicate with the map data collection vehicle via the communication module 10. It should be noted that in some other exemplary embodiments of the present disclosure, the map of the vehicle operation area may be pre-stored in the storage unit of the safety interval calculation and control module 30 and may be updated in real time based on the information of static obstacles sensed by the sensing unit 21 and / or the traffic information of the area.

[0075] In an exemplary embodiment, the control system of the driverless vehicle in the intersection area may further include a network monitoring and anomaly recognition module (not shown). The network monitoring and anomaly recognition module is configured to monitor the communication network of the entire system. When an anomaly in the communication network of the control system is detected, the vehicle is controlled to stop at the vertex of the safety interval to ensure the safety of the vehicle. In this way, once a communication anomaly occurs, the vehicle can drive to the front of the safety interval. This not only ensures the safety of the vehicle but also maximally guarantees the driving continuity of the driverless vehicle.

[0076] According to the control system of the driverless vehicle in the intersection area described in the above various embodiments of the present disclosure, by adopting the logic of not locking non-crossing areas, multiple vehicles can pass through the intersection area simultaneously, greatly improving the actual transportation efficiency. In addition, by adopting the mode of real-time data interaction, the driverless vehicle can enter and leave the intersection area in an orderly manner, avoiding parking and deceleration caused by reasons such as signal interaction and failure to release road rights in a timely manner.

[0077] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved. No limitation is imposed herein.

[0078] The above specific embodiments do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A control method for a driverless vehicle in an intersection area, comprising: obtaining a map of the area where the vehicle is traveling; obtaining the position information of the vehicle; determining the lane line where the vehicle is currently located based on the map and the position information of the vehicle; when the vehicle plans to pass through the intersection area, determining whether the intersection area that the vehicle plans to pass through is a fixed-section intersection area or a non-fixed-section intersection area based on the map. In the fixed-section intersection area, segmenting the road sections within the intersection area; determining the safe interval of the vehicle based on the judgment result and the lane line where the vehicle is currently located; and determining a coordinate set of path points of the lane line that the vehicle can travel based on the safe interval of the vehicle, and sending the coordinate set of path points of the lane line that the vehicle can travel to the vehicle. If the path points included in the current road section within the fixed-section intersection area have been sent to the vehicle, then locking the current road section, wherein, when it is determined that the intersection area is a fixed-section intersection area, determining an unlocked road section set in the road section set of the path where the vehicle currently plans to pass through the intersection area based on the lane line where the vehicle is currently located, and determining the safe interval of the vehicle based on the unlocked road section set.

2. The control method according to claim 1, wherein, determining a coordinate set of path points of the lane line that the vehicle needs to travel in the path where the vehicle passes through the intersection area based on the lane line where the vehicle is currently located; determining a coordinate set of path points of the unlocked road sections in the road section set of the path where the vehicle currently plans to pass through the intersection area based on the coordinate set of path points of the lane line that the vehicle needs to travel in the path where the vehicle passes through the intersection area; determining the vertices of the safe interval of the vehicle based on the coordinate set of path points of the unlocked road sections; and determining the safe interval of the vehicle based on the lane line where the vehicle is currently located and the vertices of the safe interval.

3. The control method according to claim 2, wherein, obtaining vehicle speed-related information of the vehicle, and determining the minimum safe interval of the vehicle currently based on the vehicle speed-related information of the vehicle. When the determined safe interval is less than the minimum safe interval, controlling the vehicle to decelerate or stop.

4. The control method according to claim 1, wherein, the fixed-section intersection area is an intersection or a T-junction.

5. The control method according to claim 1, wherein, when it is determined that the intersection area is a non-fixed-section intersection area, determining the sub-area where the vehicle currently plans to pass through the intersection area, and determining the safe interval of the vehicle based on the sub-area where the vehicle currently plans to pass through the intersection area and the unlocked sub-areas in the intersection area.

6. The control method according to claim 5, wherein, planning the path of the vehicle in the intersection area based on the position information of the vehicle, and obtaining a coordinate set Ng of the path points that the vehicle needs to travel; Match the coordinate set Ng of the path points that the vehicle needs to travel with the coordinate set Nu of the path points of other vehicles traveling in the intersection area to determine whether there is a duplication between the sub-region associated with the coordinate set Ng of the path points that the vehicle needs to travel and the sub-region associated with the coordinate set Nu of the path points of other vehicles in the intersection area; If there is no duplication, use the sub-region associated with the coordinate set Ng of the path points that the vehicle needs to travel as the safety interval of the vehicle, send the coordinate set Ng of the path points that the vehicle needs to travel to the vehicle, and lock the sub-region associated with the coordinate set Ng of the path points at the same time. If there is a duplication, control the vehicle to stop.

7. The control method according to claim 6, wherein, The intersection area without a fixed section is a loading and unloading area or a parking lot.

8. The control method according to any one of claims 1-7, wherein, Obtaining the map includes collecting map information of the area and generating the map based on the map information.

9. A control system for an autonomous vehicle in an intersection area, comprising: A positioning unit configured to position the location of the vehicle; and A safety interval calculation and control module that receives the location information of the vehicle from the positioning unit via a communication module, and determines the lane line where the vehicle is currently located based on the map of the area where the vehicle travels and the location information of the vehicle; The safety interval calculation and control module is configured to: when the vehicle plans to pass through the intersection area, determine whether the intersection area that the vehicle plans to pass through is a fixed-section intersection area or an intersection area without a fixed section based on the map. In the fixed-section intersection area, segment the sections in the intersection area; Determine the safety interval of the vehicle based on the judgment result and the lane line where the vehicle is currently located; and determine the coordinate set of the path points of the lane line that the vehicle can travel based on the safety interval of the vehicle, and send the coordinate set of the path points of the lane line that the vehicle can travel to the vehicle. If the path points included in the current section in the fixed-section intersection area have been sent to the vehicle, lock the current section. Among them, the safety interval calculation and control module is configured to: when it is determined that the intersection area is a fixed-section intersection area, determine the set of unlocked sections in the set of sections in the path where the vehicle currently plans to pass through the intersection area based on the lane line where the vehicle is currently located, and determine the safety interval of the vehicle based on the set of unlocked sections.

10. The control system according to claim 9, wherein, The safety interval calculation and control module is configured to: Determine the coordinate set of the path points of the lane line that the vehicle needs to travel in the path where the vehicle passes through the intersection area based on the lane line where the vehicle is currently located; Determine the coordinate set of the path points of the sections in the path set planned by the current vehicle to pass through the intersection area that are not locked, based on the coordinate set of the path points of the lane lines that the current vehicle needs to drive on in the path passing through the intersection area; Determine the vertices of the safety interval of the vehicle based on the coordinate set of the path points of the sections that are not locked; And Determine the safety interval of the vehicle based on the lane line where the vehicle is located and the vertices of the safety interval.

11. The control system according to claim 10 further includes a sensor provided on the vehicle for sensing information related to the vehicle speed. The safety interval calculation and control module receives the information related to the vehicle speed sensed by the sensor through the communication module, and determines the minimum safety distance of the current vehicle based on the information related to the vehicle speed. When the determined safety distance is less than the minimum safety distance, a deceleration or stop instruction is sent to the vehicle.

12. The control system according to claim 9, Wherein, The safety interval calculation and control module is configured to: when it is determined that the intersection area is an intersection area without fixed sections, determine the sub-area that the current vehicle plans to pass through the intersection area, and determine the safety interval of the vehicle based on the sub-area that the current vehicle plans to pass through the intersection area and the set of sub-areas in the intersection area that are not locked.

13. The control system according to claim 12, Wherein, The safety interval calculation and control module is configured to: Plan the path of the vehicle in the intersection area based on the position information of the vehicle, and obtain the coordinate set Ng of the path points that the vehicle needs to drive; Perform data matching on the obtained coordinate set Ng of the path points that the vehicle needs to drive and the coordinate set Nu of the path points that other vehicles in the intersection area drive, to determine whether there is a repetition between the sub-area associated with the coordinate set Ng of the path points that the vehicle needs to drive and the sub-area associated with the coordinate set Nu of the path points that other vehicles in the intersection area drive; If there is no repetition, use the sub-area associated with the coordinate set Ng of the path points that the vehicle needs to drive as the safety interval of the vehicle, send the coordinate set Ng of the path points that the vehicle needs to drive to the vehicle, and lock the sub-area associated with the coordinate set Ng of the path points at the same time. If there is a repetition, control the vehicle to stop.

14. The control system according to any one of claims 9-13 further Includes: A map data collection vehicle configured to collect map data of the area; And A map generator that receives the map data collected by the map data collection vehicle, generates the map based on the map data, and sends the map to the safety interval calculation and control module.

Images