An automatic driving site broadcasting prompt system and method

Abstract

An automatic driving station broadcast prompt system, comprising: an automatic driving station broadcast interactive device, a storage module, a power module and an automatic driving station path planning module, the automatic driving station broadcast interactive device and the automatic driving station path planning module, the storage module are connected through the mode of TCP / IP, using the automatic driving station broadcast prompt system, the defects such as the vehicle being unable to enter the station and broadcast prompt due to the station being blocked by obstacles in the actual automatic driving process are solved, the condition is judged through the linkage of the station map, perception and planning system, and the scheme of vehicle entering the station and passenger interaction is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automatic driving, and particularly relates to an automatic driving station broadcasting prompt system and method. BACKGROUND

[0002] With the rapid development of automobile intelligence, automatic driving is more and more widely applied in actual public roads, but in the process of actual car riding, entering and exiting the station, due to the influence of station and surrounding environmental obstacles, the unmanned driving system is difficult to normally and accurately enter and exit the station and broadcast prompts to passengers.

[0003] Therefore, in the actual road application process of the automatic driving unmanned vehicle system and productization, the automatic driving vehicle needs to accurately broadcast prompts to passengers when entering and exiting the station. Since the existing automatic driving station broadcasting prompt system cannot determine whether the vehicle has arrived at the station when the station is occupied by obstacles and the vehicle cannot reach the station position set in the map in advance, the automatic driving broadcasting prompt system will be abnormal, cannot prompt passengers to arrive at the station, and can only rely on safety personnel to manually open the door and manually prompt passengers to arrive at the station, causing the risk of failure of the automatic driving broadcasting prompt system. SUMMARY

[0004] The present application provides an automatic driving station broadcasting prompt system, which aims to solve the problem that when the station is occupied by obstacles and the vehicle cannot reach the designated parking position, the passenger cannot be prompted to arrive at the station. At the same time, it also aims to solve the problem that relying solely on a fixed station on the map for broadcasting prompts cannot ensure that the automatic driving broadcasting system can work effectively under any environmental conditions.

[0005] The technical solution adopted by the present application is as follows:

[0006] An automatic driving station broadcasting prompt system, comprising an automatic driving station broadcasting interaction device, characterized in that the system further comprises a planning control module connected to the automatic driving station broadcasting interaction device through TCP / IP, the planning control module comprising a high-precision map module, a planning control module, and a perception module, wherein the planning control module calls high-precision map information in the perception module.

[0007] As a preferred embodiment, the automatic driving station broadcasting interaction device comprises a storage module, a voice module, an LED lamp, and an HMI display screen, wherein the voice module, the LED lamp, and the HMI display screen are connected to the BCM control module through a CAN bus, and the storage module further stores station information and station voice information, and the storage module is connected to the HMI display screen and the voice module circuit.

[0008] Preferably, the sensing module includes one or more combinations of acoustic radar, lidar, and camera.

[0009] Preferably, the storage module also stores station information and station voice information.

[0010] The present invention also provides a method for broadcasting prompts at autonomous driving stations, comprising:

[0011] Step 1: The planning and control module obtains the location of the station from the high-precision map and controls the vehicle to drive towards the station;

[0012] Step 2: When the vehicle is 5 meters away from the next station, the sensing module performs obstacle judgment to detect whether there are obstacles within 5 meters of the station;

[0013] Step 3: If the sensing module detects an obstacle within 5 meters of the station, the sensing module continues to detect whether there is an obstacle within 15 meters behind the station.

[0014] Step 4: If no obstacle is detected within 15 meters behind the station, the vehicle will proceed with the station entry operation in advance.

[0015] Step 5: If the area within 15 meters behind the station is also occupied by obstacles, the planning and control module adopts an obstacle avoidance and detour strategy, replans the driving route, and the perception module continues to detect. When the obstacle clustering box is 5 meters behind the station, the obstacle avoidance and riding-on-the-line driving is performed to the station position and a stable parking time of 30 centimeters parallel safety distance from the obstacle is maintained for 15 seconds before entering the station.

[0016] Preferably, in step 2, if the sensing module detects that there are no obstacles within 5 meters of the station, then the station entry operation is performed.

[0017] Preferably, in step 4, the vehicle travels at a speed of 5 km / h and stops when it is 2 meters away from the obstacle to perform the station entry operation.

[0018] Preferably, in steps 4-5, the entry operation is as follows:

[0019] Step 41: When determining the arrival time at the station, the planning control module first sends a door opening signal to the BCM control module to open the door;

[0020] Step 42: As the door opens, the BCM control module reads the station information and station voice information from the storage module and sends the above information to the autonomous driving station broadcasting and interaction device.

[0021] Step 43, the voice module makes voice broadcast of the arrival station and the next station according to the current station information, and the automatic driving station broadcast interaction device prompts the current arrival station in the vehicle according to the set station ID and route ID, and interacts with the passenger through voice broadcast and screen display.

[0022] The present application has the following beneficial effects:

[0023] 1. The automatic driving station broadcast prompt system is used to solve the defects that the station cannot be entered and broadcasted in the actual automatic driving process due to the obstruction of obstacles, and the station map, perception and planning system are linked to make condition judgment, so that the vehicle entering the station and the passenger interaction scheme are ensured.

[0024] 2. The automatic driving station broadcast prompt system reduces the takeover rate of manual takeover, and ensures that the vehicle can enter and exit the station in complex scene conditions, and ensures the intelligent travel of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 The structure diagram of the system of the present application.

[0026] Figures 2-4 The flowchart of the method of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0028] As shown in Figure 1 The present embodiment provides an automatic driving station broadcast prompt system, which comprises an automatic driving station broadcast interaction device, characterized in that the system further comprises a planning control module connected with the automatic driving station broadcast interaction device through TCP / IP mode, and the planning control module comprises a high-precision map module, a planning control module and a perception module, and the planning control module calls the high-precision map information in the perception module.

[0029] The automatic driving station broadcast interaction device comprises a storage module, a voice module, an LED lamp, an HMI display screen, the voice module, the LED lamp and the HMI display screen are connected with the BCM control module through CAN bus, and the storage module further stores station information and station voice information, and the storage module is connected with the HMI display screen and the voice module circuit.

[0030] Furthermore, the power module includes a series of DC-DC modules that convert the on-board 12VDC or 24VDC voltage into 12VDC, 5VDC, 3.3VDC, and 2.5VDC voltages required by each chip in the system.

[0031] Furthermore, the storage module stores station information and station voice information. The station information includes: station ID, station location, and station map coordinates. The station voice information includes: station name, previous station name, and next station name.

[0032] Furthermore, the perception module includes one or more of the following: acoustic radar, lidar, and camera. There are six ultrasonic radars evenly distributed around the vehicle body. The camera is an infrared camera with night vision capability, enabling it to work efficiently at night.

[0033] like Figures 2-3 As shown, this embodiment also provides a method for broadcasting prompts at autonomous driving stations, including:

[0034] Step S1: The planning and control module obtains the location of the station from the high-precision map and controls the vehicle to drive towards the station;

[0035] Step S2: When the vehicle is 5 meters away from the next station, the perception module performs obstacle judgment, and the ultrasonic radar, lidar and camera detect whether there are obstacles within 5 meters of the station;

[0036] Step S3: If the sensing module detects an obstacle within 5 meters of the station, the sensing module continues to detect whether there is an obstacle within 15 meters behind the station.

[0037] Step S4: If no obstacle is detected within 15 meters behind the station, the vehicle will proceed with the station entry operation in advance.

[0038] Step S5: If the area within 15 meters behind the station is also occupied by obstacles, the planning and control module adopts an obstacle avoidance and detour strategy, replans the driving route, and the sensing module continues to detect. When the obstacle clustering box is 5 meters behind the station, the obstacle avoidance and riding-on-the-line driving is performed to the station position and a stable parking distance of 30 centimeters parallel to the obstacle is maintained for 15 seconds before entering the station.

[0039] Furthermore, in step S2, if the sensing module detects that there are no obstacles within 5 meters of the station, it will proceed with the station entry operation.

[0040] Furthermore, in step S4, the vehicle travels at a speed of 5 km / h and stops when it is 2 meters away from the obstacle to perform the station entry operation.

[0041] Further, as shown in the step S4-5, the entering operation is: Figure 4

[0042] Step S41, when reaching the station, the planning control module first sends a door opening signal to the BCM control module to open the door;

[0043] Step S42, the door is opened at the same time, the BCM control module reads the station information and station voice information in the storage module, and sends the above information to the automatic driving station broadcast interaction device;

[0044] Step S43, the voice module makes voice broadcast of the arrival station and the next station according to the current station information, the LED lamp and the HMI display screen make prompt of the current arrival station inside and outside the vehicle according to the set station ID and route ID, and interact with the passengers through voice broadcast and screen display.

[0045] The above embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments. The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative, not restrictive. Those skilled in the art can make many forms without departing from the purpose of the present application and the scope protected by the claims under the inspiration of the present application, which are all within the protection of the present application.​

Claims

1. An automatic driving station broadcasting prompt method, comprising: An automatic driving station broadcasting prompt system, which comprises an automatic driving station broadcasting interactive device, and further comprises a planning control module connected with the automatic driving station broadcasting interactive device through TCP / IP, wherein the planning control module comprises a high-precision map module, a planning control module and a perception module, and the planning control module calls high-precision map information in the perception module; Step 1: The planning control module obtains the position of the station from the high-precision map, and controls the vehicle to drive to the station; Step 2: When the vehicle is 5 meters away from the next station, the perception module judges the obstacles, and detects whether there are obstacles within 5 meters of the station; Step 3: If the perception module detects that there are obstacles within 5 meters of the station, the perception module continues to detect whether there are obstacles within 15 meters behind the station; Step 4: If no obstacles are detected within 15 meters behind the station, the vehicle performs the station entering operation in advance; Step 5: If the range of 15 meters behind the station is also occupied by obstacles, the planning control module adopts an obstacle avoidance detour strategy, replans the driving route, and the perception module continues to detect, when entering 5 meters behind the obstacle clustering frame, performs obstacle avoidance riding to the station position and has a 30 cm parallel safety distance with the obstacle to stably park for 15 seconds, and performs the station entering operation; In steps 4 to 5, the station entering operation is: Step 41: When reaching the station, the planning control module first sends a door opening signal to the BCM control module to open the door; Step 42: The door opening and the BCM control module read the station information and station voice information in the storage module, and send the information to the automatic driving station broadcasting interactive device; Step 43: The voice module performs voice broadcasting of the arrival station and the next station according to the current station information, the automatic driving station broadcasting interactive device performs the prompt of the current arrival station in the vehicle according to the set station ID and route ID, and interacts with the passengers through voice broadcasting and screen display.

2. The automatic driving site broadcast prompting method of claim 1, wherein, In step 2, if the perception module detects that there are no obstacles within 5 meters of the station, the station entering operation is performed. 3.The automatic driving sitecasting prompt method of claim 1, wherein, In step 4, the vehicle drives at a speed of 5Km / h, and stops when the distance to the obstacle is 2 meters, and performs the station entering operation. 4.The automatic driving sitecasting prompt method of claim 1, wherein: The automatic driving station broadcasting interactive device comprises a storage module, a voice module, an LED lamp, an HMI display screen, the voice module, the LED lamp and the HMI display screen are connected with the BCM control module through a CAN bus, the storage module further stores station information and station voice information, and the storage module is connected with the HMI display screen and the voice module circuit.

5. The automatic driving sitecasting prompt method of claim 1, wherein: The perception module comprises one of a sound wave radar, a laser radar and a camera, and a combination of multiple thereof.

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