Autonomous driving control methods, devices and computer-readable storage media

Abstract

The present invention discloses an automatic driving control method, device and computer-readable storage medium. The automatic driving control method includes the following steps: during the automatic driving process, detecting whether a target vehicle on a ramp is at a jump moment, wherein the jump moment includes an uphill parking moment; when it is determined that the target vehicle is not at the jump moment, determining a control value for the next moment by using a longitudinal control algorithm according to the current driving speed, current control value and planned speed for the next moment of the target vehicle at the current moment, and adjusting the current control value to the control value for the next moment, wherein the control value includes a braking value and a throttle value; when it is determined that the target vehicle is at the jump moment, obtaining a preset uphill braking value and adjusting the current throttle value of the target vehicle to the uphill braking value. The present invention realizes that the vehicle under automatic driving does not roll backward during the uphill parking process.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to an autonomous driving control method, device, and computer-readable storage medium. Background Technology

[0002] With the development of technology and modern life, autonomous driving is gradually entering people's daily lives. During autonomous driving, longitudinal control of the vehicle can be achieved by calculating the control values ​​of the throttle or braking system through longitudinal control algorithms, thereby controlling the vehicle's speed. When an autonomous vehicle plans to stop on an uphill slope, the longitudinal control algorithm can calculate the control values ​​of the braking system to bring the vehicle to a stop. However, the longitudinal control of autonomous driving is a continuous dynamic process, and on an uphill slope, the vehicle is affected by the downward component of gravity. Therefore, when using longitudinal control algorithms to stop the vehicle on an uphill slope, it is prone to rolling backward, thus affecting driving safety.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide an autonomous driving control method, device, and computer-readable storage medium, which aims to solve the technical problem of vehicle rollaway during parking on uphill sections.

[0005] To achieve the above objectives, the present invention provides an autonomous driving control method, the autonomous driving control comprising the following steps:

[0006] During autonomous driving, it is detected whether the target vehicle on the slope is at a transition moment, wherein the transition moment includes the uphill parking moment;

[0007] When it is determined that the target vehicle is not at the transition moment, the longitudinal control algorithm is used to determine the control value for the next moment based on the current driving speed, current control value and planned speed for the next moment of the target vehicle at the current moment, and the current control value is adjusted to the control value for the next moment, wherein the control value includes braking value and throttle value;

[0008] When it is determined that the target vehicle is at a transition moment, a preset uphill braking value is obtained, and the current throttle value of the target vehicle is adjusted to the uphill braking value.

[0009] Optionally, the step of detecting whether the target vehicle on the slope is at a transition moment during autonomous driving includes:

[0010] During autonomous driving, it is detected whether the target vehicle is driving uphill;

[0011] When it is determined that the target vehicle is in the uphill driving state, it is detected whether the autonomous driving planning speed of the target vehicle becomes 0;

[0012] When it is determined that the planned speed of the autonomous driving system becomes 0, it is determined that the target vehicle is at the uphill parking moment.

[0013] Optionally, the transition moment also includes the uphill start moment. After the step of detecting whether the target vehicle on the slope is at the transition moment during autonomous driving, the method further includes:

[0014] When it is determined that the target vehicle is at the uphill start time, the preset uphill throttle value is obtained;

[0015] Adjust the current braking value of the target vehicle to the uphill throttle value.

[0016] Optionally, the step of detecting whether the target vehicle on the slope is at a transition moment during autonomous driving includes:

[0017] During autonomous driving, it is detected whether the target vehicle is in an uphill stopped state;

[0018] When it is determined that the target vehicle is in the uphill stopped state, it is detected whether the planned speed of the autonomous driving is not 0;

[0019] When it is determined that the planned speed for autonomous driving is not 0, it is determined that the target vehicle is at the uphill start moment.

[0020] Optionally, the transition time also includes the start time of the downhill slope. After the step of detecting whether the target vehicle on the slope is at the transition time during autonomous driving, the method further includes:

[0021] When it is determined that the target vehicle is at the start of the downhill, the preset downhill braking value is obtained;

[0022] Adjust the current throttle value of the target vehicle to the downhill braking value.

[0023] Optionally, the step of obtaining the preset downhill braking value includes:

[0024] Obtain the slope of the ramp where the target vehicle is located;

[0025] Obtain the preset downhill braking value corresponding to the slope of the ramp.

[0026] Optionally, the step of obtaining the preset downhill throttle value includes:

[0027] Obtain the geographical location information of the slope where the target vehicle is located;

[0028] Obtain the preset downhill braking value corresponding to the geographical location information.

[0029] Optionally, the transition time also includes the downhill completion time. After the step of detecting whether the target vehicle on the slope is at the transition time during autonomous driving, the method further includes:

[0030] When it is determined that the target vehicle is at the moment of completion of the downhill descent, the preset downhill throttle value is obtained;

[0031] Adjust the current braking value of the target vehicle to the downhill throttle value.

[0032] To achieve the above objectives, the present invention also provides an automatic driving control device, the automatic driving control device comprising:

[0033] The detection module is used to detect whether a target vehicle on a slope is at a transition moment during autonomous driving, wherein the transition moment includes the uphill stopping moment;

[0034] The adjustment module is used to determine the control value for the next moment based on the current driving speed, current control value and planned speed of the target vehicle at the current moment, when it is determined that the target vehicle is not at the transition moment, and adjust the current control value to the control value for the next moment, wherein the control value includes braking value and throttle value;

[0035] The adjustment module is also used to obtain a preset uphill braking value when it is determined that the target vehicle is at a transition moment, and adjust the current throttle value of the target vehicle to the uphill braking value.

[0036] To achieve the above objectives, the present invention also provides an autonomous driving control device, the autonomous driving control device comprising: a memory, a processor, and an autonomous driving control program stored in the memory and executable on the processor, wherein the autonomous driving control program, when executed by the processor, implements the steps of the autonomous driving control method as described above.

[0037] Furthermore, to achieve the above objectives, the present invention also proposes a computer-readable storage medium storing an automatic driving control program, which, when executed by a processor, implements the steps of the automatic driving control method as described above.

[0038] In this invention, during autonomous driving, the system detects whether the target vehicle on a slope is at a transition moment, including the uphill stopping moment. When it is determined that the target vehicle is not at a transition moment, a longitudinal control algorithm is used to determine the control value for the next moment based on the target vehicle's current speed, current control value, and planned speed for the next moment. The current control value is then adjusted to the control value for the next moment, where the control value includes braking and throttle values. When it is determined that the target vehicle is at a transition moment, a preset uphill braking value is obtained, and the target vehicle's current throttle value is adjusted to the uphill braking value. This invention prevents the autonomous vehicle from rolling back during uphill stopping. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating the first embodiment of the autonomous driving control method of the present invention;

[0040] Figure 2 This diagram illustrates the changes in control values ​​and vehicle speed during the longitudinal control process of autonomous driving.

[0041] Figure 3 This is a schematic diagram illustrating the change of control values ​​in one embodiment of the autonomous driving control method of the present invention;

[0042] Figure 4 This is a schematic diagram of the functional modules of an embodiment of the automatic driving control device of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of an autonomous driving control device in the hardware operating environment involved in the embodiments of the present invention.

[0044] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0046] This invention provides an autonomous driving control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating a first embodiment of an autonomous driving control method according to the present invention. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order. The device executing the autonomous driving control method can be a user terminal, an in-vehicle terminal, a server, etc., and is not limited in this embodiment. For ease of description, the executing entity is omitted below. In this embodiment, the autonomous driving control method includes:

[0047] Step S10: During the autonomous driving process, detect whether the target vehicle on the slope is at a transition moment, wherein the transition moment includes the uphill parking moment;

[0048] In autonomous driving, vehicle control generally includes lateral control and longitudinal control. Longitudinal control in autonomous driving typically involves calculating control values ​​for the vehicle's throttle and braking system using a longitudinal control algorithm. These control values ​​are then used to adjust the motor torque to achieve acceleration and the braking system to achieve braking, thereby controlling the vehicle's speed.

[0049] When a vehicle is operating autonomously, it may encounter inclines. When the vehicle needs to stop on an uphill section, longitudinal control, by controlling the accelerator and brake systems, reduces the vehicle's speed to zero. Because longitudinal control is a continuously adjusting dynamic process, the vehicle's speed gradually decreases to zero during the stopping process; in other words, the control value of longitudinal control changes slowly. However, for a vehicle stopping on an uphill section, during the uphill stopping process, if... Figure 2 The section on "Uphill Parking and Rollback Process" shows the changes in control value u and vehicle speed v. Because the vehicle experiences a downward component of its own weight on a slope, the braking control value calculated by longitudinal control is smaller than that calculated on a flat road. This results in insufficient braking during uphill parking, causing the vehicle to roll back. At this point, the target vehicle's speed changes as follows: Figure 2 The fluctuations shown in the "rollover 1" segment indicate that as the control value u is continuously adjusted, the vehicle's speed gradually increases after the rollover. The longitudinal control algorithm continues to increase the control value of the braking system, and the vehicle comes to a stop.

[0050] In this embodiment, during the longitudinal control of autonomous driving, the control value of the vehicle is adjusted in a jump manner when it is driving on an uphill section and is planned to stop on the uphill section (hereinafter referred to as the uphill stopping time for distinction). That is, the control value is directly adjusted to the control value corresponding to the uphill stopping time, rather than continuously adjusted, so as to avoid the phenomenon of vehicle slippage during the parking process on the uphill section.

[0051] Specifically, in this embodiment, the vehicle performing autonomous driving is referred to as the target vehicle for distinction, and the moment when the control value for longitudinal control needs to be adjusted in a jump manner is referred to as the jump moment. In a specific implementation, the jump moment includes the uphill stopping moment.

[0052] Step S20: When it is determined that the target vehicle is not at the transition moment, the longitudinal control algorithm is used to determine the control value for the next moment based on the current driving speed, current control value and planned speed for the next moment of the target vehicle at the current moment, and the current control value is adjusted to the control value for the next moment, wherein the control value includes braking value and throttle value;

[0053] When it is determined that the target vehicle is not at a transition moment, the longitudinal control algorithm can then be used to control the target vehicle. Specifically, the current driving speed of the target vehicle (hereinafter referred to as the current driving speed for distinction) is obtained, the control value of the target vehicle at the current moment (hereinafter referred to as the current control value for distinction) is obtained, and the driving speed of the target vehicle planned by the autonomous driving algorithm for the next moment (hereinafter referred to as the planned speed for the next moment for distinction) is obtained. Through the longitudinal control algorithm, based on the current driving speed, the current control value, and the planned speed for the next moment, the control value (hereinafter referred to as the next moment control value for distinction) that enables the target vehicle to reach the planned speed for the next moment is calculated.

[0054] The control values ​​include the throttle value controlling the vehicle's accelerator and the braking value controlling the vehicle's braking system. In specific implementations, longitudinal control can represent the braking value and throttle value respectively through different forms of a single value, depending on the longitudinal control algorithm used. For example, in a PID longitudinal control algorithm, a positive control value represents the throttle value, and a negative control value represents the braking value.

[0055] After calculating the control value for the next moment, the control value for the current moment is adjusted to the control value for the next moment. The throttle and braking system of the vehicle are controlled according to the control value for the next moment so that the vehicle's speed in the next moment is consistent with the planned speed for the next moment.

[0056] Step S30: When it is determined that the target vehicle is at a transition moment, a preset uphill braking value is obtained, and the current throttle value of the target vehicle is adjusted to the uphill braking value.

[0057] When it is determined that the target vehicle is at the moment of stopping on an uphill slope, it is determined that the target vehicle is at the moment of transition. At this time, the longitudinal control value of the target vehicle can be controlled in a transitional manner.

[0058] Specifically, the control value corresponding to the uphill parking is obtained (generally the braking value, hereinafter referred to as the uphill braking value for distinction), and the current control value of the target vehicle (generally the throttle value, hereinafter referred to as the current throttle value for distinction) is adjusted to the uphill braking value.

[0059] Furthermore, in one embodiment, after adjusting the current throttle value to the uphill braking value, the braking value of the target vehicle at the next moment can be determined based on the target vehicle's current driving speed, uphill braking value, and planned speed at the next moment. The braking system of the target vehicle can then be adjusted according to the braking value at the next moment so that the target vehicle's driving speed at the next moment is the same as the planned speed at the next moment.

[0060] It should be noted that, during the autonomous driving process, the system detects whether the target vehicle on the slope is at a transition moment. When it is determined that the target vehicle is not at a transition moment, the longitudinal control algorithm is used to determine the control value for the next moment based on the target vehicle's current driving speed, current control value, and planned speed for the next moment. The current control value is then adjusted to the control value for the next moment. When it is determined that the target vehicle is at an uphill stopping moment, the preset uphill braking value is obtained, and the target vehicle's current throttle value is adjusted to the uphill braking value. This ensures that the autonomous driving target vehicle does not roll back when stopping on an uphill section.

[0061] Further, in one embodiment, step S10 includes:

[0062] Step S101: During the autonomous driving process, detect whether the target vehicle is driving uphill;

[0063] In this embodiment, by detecting the change in the planned speed (hereinafter referred to as the autonomous driving planned speed for distinction) of the target vehicle during the uphill section, the moment when the target vehicle is stopped on the uphill section is determined, thereby determining the braking value of the target vehicle to perform jump control in order to prevent the target vehicle from rolling back during the uphill section stop.

[0064] Specifically, during autonomous driving, it is necessary to detect whether the target vehicle is driving uphill.

[0065] In a specific implementation, the determination of whether a vehicle is traveling uphill can be made using a slope sensor on the vehicle, or by determining the target vehicle's geographical location. The specific settings can be configured according to actual needs and are not limited here.

[0066] Step S102: When it is determined that the target vehicle is in the uphill driving state, detect whether the autonomous driving planning speed of the target vehicle becomes 0;

[0067] When it is determined that the vehicle is driving uphill, the system checks whether the autonomous driving planned speed of the target vehicle becomes 0.

[0068] In a specific implementation, the planned speed for autonomous driving can be the planned speed of the target vehicle at the next moment; or it can be the planned speed of the target vehicle at a future moment when it is driving on an uphill section, and there is no limitation on this.

[0069] Step S103: When it is determined that the planned speed of the autonomous driving system becomes 0, it is determined that the target vehicle is at the uphill parking moment.

[0070] When the planned speed of the target vehicle's autonomous driving system is determined to be 0, the target vehicle is determined to be at the moment of stopping on the uphill slope.

[0071] Since the planned speed of autonomous driving becoming 0 could be the planned speed of the target vehicle becoming 0 at the next moment, or it could be the planned speed of the target vehicle becoming 0 at some future moment while traveling uphill, in one embodiment, when the planned speed of autonomous driving is the planned speed of the target vehicle at some future moment while traveling uphill, the first time the planned speed of autonomous driving becoming 0 is detected, it is determined that the target vehicle is at the moment of stopping uphill.

[0072] In other words, when the planned speed of the target vehicle at some future moment is detected to be 0 while driving on an uphill section, it is determined that the target vehicle is at the point of stopping on the uphill. At this time, the uphill braking value of the target vehicle is obtained, and the current braking value of the target vehicle is adjusted to the uphill braking value. Subsequently, when the target vehicle continues to drive on the current uphill section, if the planned speed of the autonomous driving system is detected to be 0, the target vehicle's driving time is not considered an uphill stopping moment.

[0073] Furthermore, in one embodiment, the system can determine the moment when the target vehicle is in the uphill parking position upon receiving an instruction to park on an uphill slope. The specific settings can be configured according to actual needs and are not limited here.

[0074] It should be noted that by detecting whether the autonomous driving planned speed of the target vehicle becomes 0, it is possible to determine in time whether the target vehicle is in the process of stopping on an uphill slope. This allows for the determination of the braking value of the target vehicle to be adjusted in a jump-like manner, so as to prevent the target vehicle from rolling back while stopping on an uphill section.

[0075] In this embodiment, during autonomous driving, the system detects whether the target vehicle on the slope is at a transition point. If it is determined that the target vehicle is not at a transition point, a longitudinal control algorithm is used to determine the control value for the next moment based on the target vehicle's current speed, current control value, and planned speed for the next moment. The current control value is then adjusted to the control value for the next moment. When it is determined that the target vehicle is at an uphill stopping point, a preset uphill braking value is obtained, and the target vehicle's current throttle value is adjusted to the uphill braking value. This embodiment ensures that the autonomous driving target vehicle does not roll back during the stopping process on an uphill section.

[0076] Furthermore, based on the first embodiment described above, a second embodiment of the autonomous driving control method of the present invention is proposed. In this embodiment, the transition time further includes the uphill start time, and after step S10, it further includes:

[0077] Step S40: When it is determined that the target vehicle is at the uphill start time, obtain the preset uphill throttle value;

[0078] During autonomous driving, when the target vehicle needs to start on an uphill section, the longitudinal control algorithm calculates that the throttle value of the target vehicle gradually increases. However, due to the downward component of its own weight acting on the slope, the target vehicle may experience insufficient throttle during the uphill start, resulting in a rollback phenomenon. At this point, the target vehicle's speed will drop as follows: Figure 2 The fluctuation shown in the "slippage 2" segment shows that as the control value u is continuously adjusted, the speed of the target vehicle gradually increases after slippage. The longitudinal control algorithm continues to increase the control value of the target vehicle's throttle, the slippage phenomenon disappears, the target vehicle gains forward speed, and the target vehicle starts moving.

[0079] In this embodiment, during the longitudinal control of autonomous driving, the throttle value of the target vehicle that needs to start on an uphill section is adjusted in a jump manner to avoid the vehicle rolling backward during the parking process on the uphill section.

[0080] Specifically, in this embodiment, the transition time includes the time when the target vehicle is planned to start on an uphill section (hereinafter, for ease of description, this time is referred to as the uphill start time). When it is determined that the target vehicle is at the uphill start time, the target vehicle is determined to be at the transition time, and at this time, the control value corresponding to the uphill start time is obtained (generally the throttle value, hereinafter referred to as the uphill throttle value for distinction).

[0081] Detecting whether the target vehicle is at a transition point can be done by detecting whether the target vehicle has received a start command on an uphill section, or by detecting whether the autonomous driving planned speed of the target vehicle on an uphill section is not 0 when it is in a parked state. The specific settings can be configured according to actual needs and are not limited here.

[0082] Step S50: Adjust the current braking value of the target vehicle to the uphill throttle value.

[0083] Adjust the target vehicle's current control value (usually the braking value, hereinafter referred to as the current braking value for distinction) to the uphill throttle value.

[0084] Furthermore, in one embodiment, after adjusting the current braking value to the uphill throttle value, the throttle value of the target vehicle at the next moment is determined based on the target vehicle's current driving speed, uphill throttle value, and planned speed at the next moment, so as to adjust the throttle of the target vehicle according to the throttle value at the next moment, so that the target vehicle's driving speed at the next moment is the same as the planned speed at the next moment.

[0085] For details, please refer to step S30 in the first embodiment, which will not be repeated here.

[0086] It should be noted that when the target vehicle is determined to be starting uphill, the preset uphill throttle value is obtained, and the current braking value of the target vehicle is adjusted to the uphill throttle value, thus preventing the target vehicle from rolling back when starting uphill.

[0087] Further, in one embodiment, step S10 includes:

[0088] Step S104: During the autonomous driving process, detect whether the target vehicle is in an uphill stopped state;

[0089] In this embodiment, by detecting the change in the planned speed of the autonomous driving system during the uphill driving process, the timing of the target vehicle's start-up on the uphill section is determined, thereby determining the throttle value of the target vehicle to be controlled in a jump manner to prevent the target vehicle from rolling back during the start-up process on the uphill section.

[0090] Specifically, during autonomous driving, it is necessary to detect whether the target vehicle is in a stopped state while going uphill.

[0091] The specific testing process can be referred to in step S101, and will not be elaborated here.

[0092] Step S105: When it is determined that the target vehicle is in the uphill stopped state, detect whether the planned speed of the autonomous driving is not 0;

[0093] When it is determined that the vehicle is stopped on an uphill slope, check whether the planned speed of the target vehicle's autonomous driving is not 0.

[0094] In a specific implementation, the planned speed for autonomous driving can be the planned speed of the target vehicle at the next moment; or it can be the planned speed of the target vehicle at a future moment when it is driving on an uphill section, and there is no limitation on this.

[0095] Step S106: When it is determined that the planned speed of the autonomous driving is not 0, the target vehicle is determined to be at the uphill start time.

[0096] When the planned speed of the autonomous driving system of the target vehicle is not 0, it is determined that the target vehicle is at the moment of starting uphill.

[0097] Furthermore, in one embodiment, upon receiving an instruction to start on an uphill slope, the system can determine that the target vehicle is at the moment of starting on an uphill slope. The specific settings can be configured according to actual needs and are not limited here.

[0098] In this embodiment, when it is determined that the target vehicle is at the moment of starting uphill, the preset uphill throttle value is obtained, and the current throttle value of the target vehicle is adjusted to the uphill throttle value, so as to prevent the target vehicle from rolling back when starting uphill.

[0099] Furthermore, based on the first / second embodiments described above, a third embodiment of the autonomous driving control method of the present invention is proposed. In this embodiment, the transition time further includes the downhill start time, and after step S10, the method further includes:

[0100] Step S60: When it is determined that the target vehicle is at the start time of the downhill slope, obtain the preset downhill braking value;

[0101] During autonomous driving, when the target vehicle needs to go downhill, its speed will suddenly increase significantly due to the downward component of its own weight on the slope. Although the longitudinal control algorithm can adjust the speed of the target vehicle to stabilize it, the overshoot is large during the adjustment process, resulting in a poor user experience.

[0102] In this embodiment, by making abrupt adjustments to the throttle value of the target vehicle that needs to go downhill during the longitudinal control process of autonomous driving, the driving speed of the target vehicle will not suddenly increase significantly during the descent.

[0103] Specifically, in this embodiment, the transition time includes the moment when the target vehicle begins to descend the slope (hereinafter, for ease of description, this moment is referred to as the downhill start time). When it is determined that the target vehicle is at the downhill start time, it is determined that the target vehicle is at the transition time. At this time, the control value corresponding to the downhill start time is obtained (generally a braking value, hereinafter referred to as the downhill braking value for distinction).

[0104] Detecting whether a target vehicle is at a transition point can be done by detecting whether the target vehicle has received a downhill command, or by detecting the target vehicle's downhill planned route. The specific settings can be configured according to actual needs and are not limited here.

[0105] Furthermore, in one embodiment, it can be detected whether the target vehicle is at the top of the slope. When it is determined that the target vehicle is at the top of the slope, it is detected whether the planned speed of the target vehicle is not 0. When it is determined that the planned speed of the target vehicle is not 0, it is determined that the target vehicle is about to go downhill. The moment when the planned speed of the target vehicle is determined to be not 0 is the moment when the downhill begins.

[0106] Step S70: Adjust the current throttle value of the target vehicle to the downhill braking value.

[0107] Adjust the target vehicle's current control value (i.e., the current throttle value) to the downhill braking value.

[0108] Furthermore, in one embodiment, after adjusting the current throttle value to the downhill braking value, the control value of the target vehicle at the next moment is determined based on the target vehicle's current driving speed, downhill braking value, and planned speed at the next moment, so as to adjust the throttle of the target vehicle according to the control value at the next moment, so that the target vehicle's driving speed at the next moment is the same as the planned speed at the next moment.

[0109] For details, please refer to step S30 in the first embodiment, which will not be repeated here.

[0110] It should be noted that when the target vehicle is determined to be at the start of the downhill, the preset downhill braking value is obtained, and the current throttle value of the target vehicle is adjusted to the downhill braking value, so that the driving speed of the target vehicle will not suddenly increase significantly during the downhill process.

[0111] Furthermore, in one embodiment, when longitudinally controlling the target vehicle to descend a slope, the jump time may include the downhill stopping time and the downhill starting time. In this embodiment, the control value of the target vehicle may be jumped during the downhill process.

[0112] Specifically, in this embodiment, when the target vehicle is detected to be at a downhill parking moment, a preset control value (generally a braking value, hereinafter referred to as the downhill parking braking value for distinction) is obtained, and the current throttle value of the target vehicle is adjusted to the downhill parking braking value.

[0113] The specific process for detecting whether a target vehicle is at a downhill stop can be as follows: detect whether the target vehicle is in a downhill driving state; when it is determined that the target vehicle is in a downhill driving state, detect whether the planned speed of the target vehicle is 0; when it is determined that the planned speed of the target vehicle is 0, determine that the target vehicle is at a downhill stop.

[0114] In this embodiment, when the target vehicle is detected to be starting downhill, a preset control value (generally the throttle value, hereinafter referred to as the downhill start throttle value for distinction) is obtained, and the current braking value of the target vehicle is adjusted to the downhill start throttle value.

[0115] The specific process for detecting whether the target vehicle is in a downhill start-up state can be as follows: detect whether the target vehicle is in a downhill stop state; when it is determined that the target vehicle is in a downhill stop state, detect whether the planned speed of the target vehicle is not 0; when it is determined that the planned speed of the target vehicle is not 0, determine that the target vehicle is in a downhill start-up state.

[0116] It should be noted that the control values ​​of the target vehicle are changed during the vehicle's movement, which prevents the target vehicle's speed from suddenly increasing significantly during downhill driving.

[0117] Furthermore, in one embodiment, the transition time further includes the downhill completion time, and after step S10, the following steps are also included:

[0118] Step S80: When it is determined that the target vehicle is at the time of completion of the downhill slope, obtain the preset downhill throttle value;

[0119] When an autonomous vehicle completes a downhill descent, because the longitudinal control algorithm's control value during the descent is the braking value, the vehicle's speed will decrease immediately after it finishes going downhill.

[0120] In this embodiment, the throttle value of the target vehicle that has completed the downhill section is adjusted in a jump manner during the longitudinal control process of autonomous driving, so as to avoid the situation where the driving speed of the target vehicle decreases immediately after completing the downhill section.

[0121] Specifically, in this embodiment, the transition time includes the time when the target vehicle completes the downhill descent (hereinafter referred to as the downhill completion time for ease of description). When it is determined that the target vehicle is at the downhill completion time, it is determined that the target vehicle is at the transition time, and at this time, the control value corresponding to the downhill completion time is obtained (generally the throttle value, hereinafter referred to as the downhill throttle value for distinction).

[0122] Detecting whether a target vehicle is at a transition point can be done by detecting whether the target vehicle has received a command to complete the downhill section, or by detecting the target vehicle's planned route. The specific settings can be configured according to actual needs and are not limited here.

[0123] Step S90: Adjust the current braking value of the target vehicle to the downhill throttle value.

[0124] Adjust the target vehicle's current control value (i.e., current braking value) to the downhill throttle value.

[0125] It should be noted that when the target vehicle is determined to be at the moment of completion of the downhill descent, the preset downhill throttle value is obtained, and the current braking value of the target vehicle is adjusted to the downhill throttle value, so that the driving speed of the target vehicle will not decrease when the downhill is completed.

[0126] Furthermore, in one embodiment, the step of obtaining the preset downhill braking value in step S60 includes:

[0127] Step S601: Obtain the slope of the ramp where the target vehicle is located;

[0128] Step S602: Obtain the preset downhill braking value corresponding to the slope of the ramp.

[0129] In this embodiment, by obtaining the slope of the slope where the target vehicle is located, and then obtaining the downhill braking value corresponding to the slope, the obtained downhill braking value can be more accurate, thereby making the longitudinal control of the target vehicle more compatible with the slope. This makes the target vehicle's speed more stable during the downhill process after the current throttle value of the target vehicle is adjusted to the downhill braking value.

[0130] Furthermore, in one embodiment, the step of obtaining the preset downhill braking value in step S60 includes:

[0131] Step S603: Obtain the geographical location information of the slope where the target vehicle is located;

[0132] Step S604: Obtain the preset downhill braking value corresponding to the geographical location information.

[0133] In this embodiment, by obtaining the slope gradient and geographical location information of the slope where the target vehicle is located, the downhill braking value corresponding to the slope can be obtained. This makes the obtained downhill braking value more accurate, thereby making the longitudinal control of the target vehicle more adapted to the slope. After adjusting the current throttle value of the target vehicle to the downhill braking value, the driving speed of the target vehicle is more stable during the downhill process.

[0134] Furthermore, in one embodiment, the downhill braking value corresponding to the slope section can be adjusted by obtaining user feedback on the experience information, so as to ensure that the target vehicle can drive normally on the slope section while meeting the user's requirements and giving the user a better experience.

[0135] It is understood that in the first and second embodiments, the corresponding uphill braking value and uphill throttle value can also be obtained by referring to the above implementation method, which will not be elaborated here.

[0136] Furthermore, in one embodiment, a PID longitudinal control algorithm is used to perform longitudinal control on the target vehicle, such as... Figure 3 The control value change shown at point A corresponds to the moment when the target vehicle is detected to be stopping on an uphill slope. The current throttle value of the target vehicle is switched to the uphill braking value. The braking system of the target vehicle is controlled according to the uphill braking value. The braking amount generated at this time is sufficient to offset the component of the target vehicle's own weight downward along the slope. Based on the uphill braking value, the PID longitudinal control algorithm is used for feedback adjustment, so that the target vehicle will not roll away during the uphill stopping process.

[0137] like Figure 3The control value change shown at point B corresponds to the moment when the target vehicle is detected to be starting uphill. The current braking value of the target vehicle is increased to the uphill throttle value. The throttle of the target vehicle is controlled according to the uphill throttle value. The throttle amount generated at this time is sufficient to offset the component of the target vehicle's own weight downhill along the slope. Based on the uphill throttle value, the PID longitudinal control algorithm is used for feedback adjustment, so that the target vehicle will not roll back during the uphill start process.

[0138] like Figure 3 The control value change shown at point C corresponds to the moment when the target vehicle is detected to be at the start of the downhill. The current throttle value of the target vehicle is reduced to the downhill braking value. The target vehicle is controlled according to the downhill braking value. The braking amount generated at this time is sufficient to offset the component of the target vehicle's own weight down the slope. Based on the downhill braking value, the PID longitudinal control algorithm is used for feedback adjustment, so that the target vehicle's speed will not suddenly increase significantly during the downhill process.

[0139] like Figure 3 The control value change shown at point D corresponds to the moment when the target vehicle is detected to be at the moment of completion of the downhill slope. The current braking value of the target vehicle is increased to the downhill throttle value. The target vehicle is controlled according to the downhill throttle value. The throttle amount generated at this time is sufficient to offset the braking amount of the target vehicle during the downhill process. Based on the downhill throttle value, the PID longitudinal control algorithm is used for feedback adjustment, so that the driving speed of the target vehicle will not decrease after the downhill slope is completed.

[0140] In this embodiment, when it is determined that the target vehicle is at the start of the downhill, a preset downhill braking value is obtained, and the current throttle value of the target vehicle is adjusted to the downhill braking value, so that the driving speed of the target vehicle will not suddenly increase significantly during the downhill process.

[0141] This invention also provides an automatic driving control device, see reference. Figure 4 The automatic driving control device includes:

[0142] The detection module 10 is used to detect whether the target vehicle on the slope is at a transition moment during the autonomous driving process, wherein the transition moment includes the uphill parking moment;

[0143] The adjustment module 20 is used to determine the control value for the next moment based on the current driving speed, current control value and planned speed of the target vehicle at the current moment, when it is determined that the target vehicle is not at the transition moment, and adjust the current control value to the control value for the next moment, wherein the control value includes braking value and throttle value;

[0144] The adjustment module 20 is also used to obtain a preset uphill braking value when it is determined that the target vehicle is at a transition moment, and adjust the current throttle value of the target vehicle to the uphill braking value.

[0145] Furthermore, the detection module 10 is also used for:

[0146] During autonomous driving, it is detected whether the target vehicle is driving uphill;

[0147] When it is determined that the target vehicle is in the uphill driving state, it is detected whether the autonomous driving planning speed of the target vehicle becomes 0;

[0148] The automatic driving control device further includes a determining module, the determining module being used for:

[0149] When it is determined that the planned speed of the autonomous driving system becomes 0, it is determined that the target vehicle is at the uphill parking moment.

[0150] Furthermore, the transition time also includes the uphill start time, and the autonomous driving control device further includes an acquisition module, which is used for:

[0151] When it is determined that the target vehicle is at the uphill start time, the preset uphill throttle value is obtained;

[0152] The adjustment module 20 is also used for:

[0153] Adjust the current braking value of the target vehicle to the uphill throttle value.

[0154] Furthermore, the detection module 10 is also used for:

[0155] During autonomous driving, it is detected whether the target vehicle is in an uphill stopped state;

[0156] When it is determined that the target vehicle is in the uphill stopped state, it is detected whether the planned speed of the autonomous driving is not 0;

[0157] The determining module is also used for:

[0158] When it is determined that the planned speed for autonomous driving is not 0, it is determined that the target vehicle is at the uphill start moment.

[0159] Furthermore, the transition time also includes the downhill start time, and the acquisition module is further used for:

[0160] When it is determined that the target vehicle is at the start of the downhill, the preset downhill braking value is obtained;

[0161] The adjustment module 20 is also used for:

[0162] Adjust the current throttle value of the target vehicle to the downhill braking value.

[0163] Furthermore, the acquisition module is also used for:

[0164] Obtain the slope of the ramp where the target vehicle is located;

[0165] Obtain the preset downhill braking value corresponding to the slope of the ramp.

[0166] Furthermore, the acquisition module is also used for:

[0167] Obtain the geographical location information of the slope where the target vehicle is located;

[0168] Obtain the preset downhill braking value corresponding to the geographical location information.

[0169] Furthermore, the determining module is also used for:

[0170] When it is determined that the target vehicle is at the moment of completion of the downhill descent, the preset downhill throttle value is obtained;

[0171] The adjustment module 20 is also used for:

[0172] Adjust the current braking value of the target vehicle to the downhill throttle value.

[0173] All embodiments of the autonomous driving control device of the present invention can be referred to the various embodiments of the autonomous driving control method of the present invention, and will not be repeated here.

[0174] This invention also proposes an automatic driving control device, referring to... Figure 5 , Figure 5 This is a schematic diagram of the structure of an autonomous driving control device in the hardware operating environment involved in the embodiments of the present invention.

[0175] like Figure 5As shown, the autonomous driving control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0176] Those skilled in the art will understand that Figure 5 The structure shown does not constitute a limitation on the autonomous driving control device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0177] like Figure 5 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and an automatic driving control program.

[0178] exist Figure 5 In the autonomous driving control device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the autonomous driving control device of the present invention can be set in the autonomous driving control device, and the autonomous driving control device calls the autonomous driving control program stored in the memory 1005 through the processor 1001 and executes the steps of the autonomous driving control method provided in the embodiment of the present invention.

[0179] All embodiments of the autonomous driving control device of the present invention can be referred to the various embodiments of the autonomous driving control method of the present invention, and will not be repeated here.

[0180] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing an autonomous driving control program, which, when executed by a processor, implements the steps of the autonomous driving control method described above.

[0181] The various embodiments of the computer-readable storage medium of the present invention can be referred to the various embodiments of the autonomous driving control method of the present invention, and will not be repeated here.

[0182] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0183] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0184] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0185] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. An automatic driving control method, characterized in that, The autonomous driving control method includes the following steps: During autonomous driving, it is detected whether the target vehicle on the slope is at a transition moment, wherein the transition moment includes the uphill stop moment, the uphill start moment, the downhill start moment, and the downhill completion moment; When it is determined that the target vehicle is not at the transition moment, the longitudinal control algorithm is used to determine the control value for the next moment based on the current driving speed, current control value and planned speed for the next moment of the target vehicle at the current moment, and the current control value is adjusted to the control value for the next moment, wherein the control value includes braking value and throttle value; When it is determined that the target vehicle is in the uphill parking position, a preset uphill braking value is obtained, and the current throttle value of the target vehicle is directly adjusted to the uphill braking value. When it is determined that the target vehicle is at the moment of starting uphill, a preset uphill throttle value is obtained, and the current braking value of the target vehicle is directly adjusted to the uphill throttle value. When it is determined that the target vehicle is at the start of the downhill, a preset downhill braking value is obtained, and the current throttle value of the target vehicle is directly adjusted to the downhill braking value. The downhill braking value is a preset braking value corresponding to the slope of the slope where the target vehicle is located, or the downhill braking value is a preset braking value corresponding to the geographical location information of the slope where the target vehicle is located. When it is determined that the target vehicle is at the moment of completion of the downhill slope, the preset downhill throttle value is obtained, and the current braking value of the target vehicle is directly adjusted to the downhill throttle value. The step of detecting whether a target vehicle on a slope is at a transition moment during autonomous driving includes: During autonomous driving, when it is determined that the target vehicle is driving uphill, when the planned speed of the autonomous driving of the target vehicle is detected to become 0, it is determined that the target vehicle is at the uphill stopping moment. During autonomous driving, when it is determined that the target vehicle is in an uphill stopped state, if the autonomous driving planned speed of the target vehicle is not 0, it is determined that the target vehicle is at the uphill start moment.

2. The autonomous driving control method as described in claim 1, characterized in that, The step of obtaining the preset downhill braking value includes: Obtain the slope of the ramp where the target vehicle is located; Obtain the preset downhill braking value corresponding to the slope of the ramp.

3. The automatic driving control method as described in claim 2, characterized in that, The step of obtaining the preset downhill braking value includes: Obtain the geographical location information of the slope where the target vehicle is located; Obtain the preset downhill braking value corresponding to the geographical location information.

4. An automatic driving control device, characterized in that, The autonomous driving control device includes: a memory, a processor, and an autonomous driving control program stored in the memory and executable on the processor, the autonomous driving control program being configured to implement the steps of the autonomous driving control method as described in any one of claims 1 to 3.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an autonomous driving control program, which, when executed by a processor, implements the steps of the autonomous driving control method as described in any one of claims 1 to 3.

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