Vehicle automatic control method, device and machine readable storage medium

Abstract

The application relates to a vehicle automatic control method, device and machine readable storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring real-time vehicle running state information and road obstacle information during the driving of a vehicle through a curve; determining the motion state of a road obstacle based on the vehicle running state information and the road obstacle information; determining a vehicle control strategy based on the motion state of the road obstacle; and controlling the vehicle based on the vehicle control strategy. The application can accurately determine the state of a road obstacle, adopt different control strategies according to different states, realize accurate control of a vehicle in a complex environment, ensure driving safety and road smoothness, and improve the driving experience of a user.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, specifically to a vehicle automatic control method, a vehicle automatic control device, and a machine-readable storage medium. Background Technology

[0002] With market demand and the continuous development of autonomous driving technology, automated parking in garages has become a key area for breakthroughs in the field of autonomous driving. Many autonomous driving manufacturers have proposed the concepts of HZP (Home Memory Parking) and AVP (Valet Parking), hoping to achieve fully automated driving from garage entrance to parking space placement.

[0003] Currently, most industry strategies for autonomous vehicles to avoid dynamic obstacles are based on the ability to identify dynamic vehicles in advance. However, in garage environments, the presence of numerous pillars and parked vehicles increases the complexity of autonomous driving scenarios and creates many blind spots for sensor detection, resulting in insufficient timeliness in identifying dynamic targets. Furthermore, the narrowness of garage aisles further complicates avoidance. Therefore, when autonomous driving is applied in garage scenarios, there are many instances where failure to avoid obstacles in time leads to road blockages, significantly reducing the user experience. Moreover, if driver intervention is not timely, it can cause traffic congestion and accidents. Summary of the Invention

[0004] One objective of this invention is to provide a vehicle automatic control method to address the problem that in the application of autonomous driving technology in garage scenarios, there are many scenarios where failure to avoid obstacles in time leads to road blockages, which greatly reduces the user's experience with autonomous driving. Moreover, if the driver does not take over in time, it may cause traffic congestion and traffic accidents. The second objective is to provide a vehicle automatic control device. The third objective is to provide a machine-readable storage medium.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A vehicle automatic control method, comprising:

[0007] During the process of the vehicle driving through the curve, real-time information on the vehicle's operating status and road obstacles is obtained;

[0008] Based on the vehicle's operating status information and the road obstacle information, the motion state of the road obstacle is determined;

[0009] Based on the motion state of the road obstacles, determine the vehicle control strategy;

[0010] Based on the aforementioned vehicle control strategy, the vehicle is controlled.

[0011] Based on the aforementioned technical means, since vehicles can automatically park in environments such as garages, when driving through turns, the obstruction of pillars and parked vehicles in the garage makes it impossible to obtain information about road obstacles in advance. Therefore, it is necessary to judge the movement state of road obstacles, and then determine the vehicle control strategy based on the movement state of road obstacles, so as to achieve accurate control of vehicle operation and parking, further ensuring driving safety and road smoothness, and improving the user's driving experience.

[0012] Furthermore, the vehicle operating status information includes: vehicle positioning information and vehicle speed information; the road obstacle information includes: obstacle positioning information;

[0013] Based on the vehicle's operating status information and the road obstacle information, the motion state of the road obstacle is determined, including:

[0014] Based on the vehicle's speed information, vehicle's positioning information, and obstacle's positioning information, determine the motion state of the road obstacle;

[0015] The motion states of the road obstacles include: continuously static, moving relative to the vehicle and changing from dynamic to static, and moving in the same direction as the vehicle and changing from dynamic to static.

[0016] Based on the above technical means, when the vehicle speed is maintained at a certain value, the vehicle's arrival position can be estimated according to different sampling times. When the vehicle arrives at the estimated position, the relative distance between the vehicle and the road obstacle is compared according to the position of the obstacle, so as to determine whether there is relative movement between the vehicle and the obstacle, thereby accurately judging the movement state of the road obstacle.

[0017] Furthermore, based on the motion state of the road obstacles, a vehicle control strategy is determined, including:

[0018] If the movement state of the road obstacle is determined to be continuously static, then determine whether there is a passage path for the vehicle on either side of the road obstacle;

[0019] If it is determined that at least one side of the road obstacle provides a passage path for the vehicle, then the vehicle is controlled to travel along the stated passage path; if it is determined that neither side of the road obstacle provides a passage path for the vehicle, then manual intervention is requested.

[0020] Based on the aforementioned technical means, the movement state of road obstacles is continuously static. By adopting the aforementioned vehicle control logic, accurate control of the vehicle can be achieved, ensuring driving safety and road smoothness, and improving the user's driving experience.

[0021] Furthermore, based on the motion state of the road obstacles, a vehicle control strategy is determined, including:

[0022] If the motion state of the road obstacle is determined to be relative to the vehicle and changes from dynamic to static, then determine whether the vehicle has a passage path on either side of the road obstacle.

[0023] If it is determined that at least one side of the road obstacle provides a passage path for the vehicle, then the vehicle is controlled to travel along the stated passage path; if it is determined that neither side of the road obstacle provides a passage path for the vehicle, then it is determined whether either side of the vehicle provides a passage path for the road obstacle.

[0024] If it is determined that at least one side of the vehicle has a path to the road obstacle, the vehicle is brought to a stop; if it is determined that neither side of the vehicle has a path to the road obstacle, the vehicle is then assessed to determine whether it has the conditions to reverse and avoid the obstacle.

[0025] If it is determined that the vehicle has the conditions to reverse and avoid an obstacle, then control the vehicle to reverse and avoid the obstacle; otherwise, request manual intervention.

[0026] Based on the aforementioned technical means, the movement state of road obstacles is relative to the vehicle and changes from dynamic to static. By adopting the aforementioned vehicle control logic, accurate control of the vehicle can be achieved, ensuring driving safety and road smoothness, and improving the user's driving experience.

[0027] Furthermore, the reversing avoidance conditions include: there are no obstacles within a preset distance of the road behind the vehicle and the slope of the road is less than a preset slope threshold.

[0028] By using the aforementioned technical means, setting reversing avoidance conditions can further ensure the safety of the vehicle during the reversing avoidance process and reduce safety accidents.

[0029] Furthermore, after a preset time has elapsed since the vehicle was brought to a stop, it is determined whether there are any road obstacles in front of the vehicle.

[0030] If it is determined that there is a road obstacle ahead of the vehicle, manual intervention will be requested; otherwise, the vehicle will be controlled to travel along its designated path.

[0031] Based on the aforementioned technical means, after a preset time elapsed from the moment the vehicle is stopped, it is determined whether there are any road obstacles ahead of the vehicle. This enables accurate control of the vehicle, avoids long waiting times, ensures driving safety and smooth road conditions, and improves the user's driving experience.

[0032] Furthermore, based on the motion state of the road obstacles, a vehicle control strategy is determined, including:

[0033] If the road obstacle is moving in the same direction as the vehicle and changes from dynamic to static, then determine whether either side of the road obstacle has a passage path for the vehicle.

[0034] If it is determined that at least one side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to travel along that passage; if it is determined that neither side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to stop.

[0035] Based on the aforementioned technical means, the movement state of road obstacles is that they move in the same direction as the vehicle and change from dynamic to static. By adopting the aforementioned vehicle control logic, accurate control of the vehicle can be achieved, ensuring driving safety and road smoothness, and improving the user's driving experience.

[0036] Furthermore, after a preset time has elapsed since the moment the vehicle stops, it is determined whether either side of the road obstacle has a passageway for the vehicle.

[0037] If it is determined that at least one side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to travel along the stated passage; otherwise, manual intervention is requested.

[0038] Based on the aforementioned technical means, after a preset time elapsed since the vehicle was stopped, it is determined whether there is a passageway for the vehicle on either side of the road obstacle. This enables accurate control of the vehicle, avoids long waiting times, ensures driving safety and road traffic flow, and improves the user's driving experience.

[0039] An automatic vehicle control device includes:

[0040] The parameter acquisition module is used to acquire real-time information on the vehicle's operating status and road obstacles while the vehicle is driving through a curve.

[0041] The status determination module is used to determine the motion state of the road obstacle based on the vehicle's operating status information and the road obstacle information;

[0042] The strategy determination module is used to determine the vehicle control strategy based on the motion state of the road obstacles.

[0043] The vehicle control module is used to control the vehicle based on the vehicle control strategy.

[0044] Based on the aforementioned technical means, since vehicles can automatically park in environments such as garages, when turning, the obstruction of pillars and parked vehicles in the garage makes it impossible to obtain information about road obstacles in advance. Therefore, it is necessary to judge the movement state of road obstacles, and then determine the vehicle control strategy based on the movement state of road obstacles, so as to achieve accurate control of vehicle operation and parking, further ensuring driving safety and road smoothness, and improving the user's driving experience.

[0045] A machine-readable storage medium storing instructions for causing a machine to perform the above-described vehicle automatic control method.

[0046] The beneficial effects of this invention are:

[0047] (1) The present invention can accurately determine the state of road obstacles when the vehicle is driving through a curve, and adopt different control strategies according to different states to achieve precise control of the vehicle in complex environments.

[0048] (2) This invention enables precise control of the vehicle during the course of a curve, based on the state of different road obstacles, thereby further ensuring driving safety and road smoothness and improving the user's driving experience. Attached Figure Description

[0049] Figure 1 This is a flowchart of the vehicle automatic control method of the present invention;

[0050] Figure 2 This is a flowchart illustrating the first method for determining the vehicle control strategy according to the present invention;

[0051] Figure 3 This is a flowchart of the planning path of the present invention;

[0052] Figure 4 This is a flowchart illustrating the second method for determining the vehicle control strategy according to the present invention;

[0053] Figure 5 A flowchart of a reversing avoidance method according to the present invention;

[0054] Figure 6 This is a flowchart illustrating the third method for determining the vehicle control strategy according to the present invention;

[0055] Figure 7 This is a flowchart illustrating the process of determining road obstacles according to the present invention;

[0056] Figure 8 This is a schematic diagram of the vehicle automatic control device of the present invention.

[0057] Among them, 10 is the parameter acquisition module; 20 is the state determination module; 30 is the strategy determination module; and 40 is the vehicle control module.

[0058] Specific implementation methods

[0059] The present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0060] It should be noted that the illustrations provided in the following examples are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual embodiment. In the actual embodiment, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0061] Figure 1 The flowchart of the vehicle automatic control method of the present invention is as follows: Figure 1 As shown in the illustration, this embodiment proposes a vehicle automatic control method, the method comprising:

[0062] Step 101: During the process of the vehicle passing through the curve, obtain real-time information on the vehicle's operating status and road obstacles;

[0063] Step 102: Based on the vehicle's operating status information and the road obstacle information, determine the motion state of the road obstacle;

[0064] Step 103: Determine the vehicle control strategy based on the motion state of the road obstacles;

[0065] Step 104: Control the vehicle based on the aforementioned vehicle control strategy.

[0066] Specifically, since the vehicle achieves automatic parking in environments such as garages, when the vehicle is driving and turning, it is impossible to obtain information about road obstacles in advance due to the obstruction of pillars and parked vehicles in the garage. Moreover, different road obstacles require different control measures for the vehicle. Therefore, it is necessary to judge the movement state of the road obstacles and then determine the vehicle's control strategy based on the movement state of the road obstacles to achieve accurate control of vehicle driving and parking, further ensuring driving safety and road smoothness, and improving the user's driving experience.

[0067] In this embodiment, the vehicle operating status information includes: vehicle positioning information and vehicle speed information; the road obstacle information includes: obstacle positioning information;

[0068] Based on the vehicle's operating status information and the road obstacle information, the motion state of the road obstacle is determined, including:

[0069] Based on the vehicle's speed information, vehicle's positioning information, and obstacle's positioning information, determine the motion state of the road obstacle;

[0070] The motion states of the road obstacles include: continuously static, moving relative to the vehicle and changing from dynamic to static, and moving in the same direction as the vehicle and changing from dynamic to static.

[0071] Specifically, when the vehicle speed is constant, since the road obstacle remains constant, the change in the relative distance between the vehicle and the road obstacle remains constant, indicating that the road obstacle is continuously static. When the vehicle speed is constant, since the road obstacle moves closer to the vehicle, the change in the relative distance between the vehicle and the road obstacle decreases and then remains constant, indicating that the road obstacle is moving towards the vehicle and has changed from dynamic to static. When the vehicle speed is constant, since the road obstacle moves away from the vehicle, the change in the relative distance between the vehicle and the road obstacle increases and then remains constant, indicating that the road obstacle is moving in the same direction as the vehicle and has changed from dynamic to static. In summary, when the vehicle speed is at a set value, the motion state of the road obstacle can be determined based on the change in the relative distance between the vehicle and the road obstacle.

[0072] Figure 2 The flowchart for the first method of determining the vehicle control strategy of the present invention is as follows: Figure 2 As shown, based on the motion state of the road obstacles, the vehicle control strategy is determined, including:

[0073] If the road obstacle is determined to be a traffic cone, a vehicle improperly parked on the road, or other obstacle that has not shifted during the vehicle's turn, then the road obstacle's motion state is considered to be continuously static.

[0074] Therefore, the first step is to determine whether the vehicle has a passable path on either side of the road obstacle;

[0075] If it is determined that at least one side of the road obstacle provides a passage path for the vehicle, then the vehicle is controlled to travel along the stated passage path; if it is determined that neither side of the road obstacle provides a passage path for the vehicle, then manual intervention is requested.

[0076] In another implementation method, if it is determined that there is no passage for the vehicle on either side of the road obstacle, the solution of requesting manual intervention can be replaced by: planning a detour route based on map information, determining the detour route for the vehicle, and avoiding the road obstacle through the detour route to achieve parking.

[0077] Specifically, based on vehicle-mounted cameras, vehicle-mounted radar, etc., the vehicle's location information and obstacle location information can be determined, and based on the obtained vehicle location information, obstacle location information, and map information; Figure 3 The flowchart of the planning path of the present invention is as follows: Figure 3 As shown, before determining whether a vehicle has a valid travel route, the following steps are also taken:

[0078] S11. Generate a grid based on the positioning information and global path information of the autonomous driving master vehicle;

[0079] S12. Based on the obstacle information and map information of the main vehicle, the grid of the area occupied by the obstacle or the inaccessible area calculated according to the vehicle dynamics is marked as impassable, and the remaining areas are marked as passable.

[0080] S13. Search for a path within the grid. If no path is found, the road ahead is not passable. If a path is found, the searched path is determined as the vehicle's path.

[0081] In addition, the steps for determining whether there is a road obstacle passage on either side of the vehicle are the same as those for determining whether there is a passage for the vehicle itself, and will not be repeated here.

[0082] Figure 4 This is a flowchart illustrating the second method for determining the vehicle control strategy according to the present invention, as follows: Figure 4 As shown, based on the motion state of the road obstacles, the vehicle control strategy is determined, including:

[0083] If the obstacle is caused by the vehicle detecting oncoming vehicles or pedestrians while driving through a curve, resulting in the vehicle braking to a stop, the path is often pulled outwards during the curve, and the stopping position often prevents other vehicles from passing. In this situation, due to the obstruction of the vehicle, the oncoming vehicle's motion state changes from dynamic to static. Therefore, the road obstacle's motion state is relative to the vehicle and changes from dynamic to static.

[0084] If the motion state of the road obstacle is determined to be relative to the vehicle and changes from dynamic to static, then determine whether the vehicle has a passage path on either side of the road obstacle.

[0085] If it is determined that at least one side of the road obstacle provides a passage path for the vehicle, then the vehicle is controlled to travel along the stated passage path; if it is determined that neither side of the road obstacle provides a passage path for the vehicle, then it is determined whether either side of the vehicle provides a passage path for the road obstacle.

[0086] If it is determined that at least one side of the vehicle has a path to the road obstacle, the vehicle is brought to a stop; if it is determined that neither side of the vehicle has a path to the road obstacle, the vehicle is then assessed to determine whether it has the conditions to reverse and avoid the obstacle.

[0087] If it is determined that the vehicle has the conditions to reverse and avoid an obstacle, then control the vehicle to reverse and avoid the obstacle; otherwise, request manual intervention.

[0088] In this example, the method for determining whether the vehicle's travel path is subject to the same static motion state as the aforementioned road obstacle is the same, and will not be repeated here.

[0089] Methods for determining whether a road obstacle clearance path exists include:

[0090] Based on obstacle information, calculate the vehicle width of the road obstacle; based on map information, determine whether there is a road width on either side of the main vehicle that is wide enough for the road obstacle to pass; based on obstacle information, determine whether there are other obstacles obstructing passage on the side of the road that is wide enough for the road obstacle to pass. If not, control the vehicle to stop and prioritize the passage of the road obstacle.

[0091] When the current position of the autonomous driving master vehicle is not suitable for the passage of the preset vehicle, it needs to determine whether the road behind meets the conditions for reversing to avoid the obstacle. If there is no slope or other vehicles behind, and the conditions for reversing to avoid the obstacle are met, the system can switch to reversing to avoid the obstacle, plan a path, and make way to complete the reversing maneuver.

[0092] When an autonomous driving master vehicle obstructs traffic, it is necessary to further determine whether there is sufficient space on both sides of the master vehicle for other vehicles to pass. Based on map information, obstacle information, and the master vehicle's location information, the road width, the master vehicle's width and position, and the width of the preset vehicle (road obstacle) can be obtained. Calculations can then be made to determine whether there is sufficient road width on both sides. Combined with obstacle information, it is determined whether there are other obstacles on the road on both sides, ultimately determining whether the preset vehicle can pass on both sides of the master vehicle.

[0093] In conclusion, Figure 5 A flowchart of a reversing avoidance method according to the present invention is shown below. Figure 5 As shown, the specific steps include: S1. Based on the positioning information, map information, and obstacle information of the autonomous driving master vehicle, determine whether there is sufficient space to pass in the road ahead of the master vehicle; S2. If there is insufficient space to pass in the road ahead, determine whether there is a vehicle obstacle in a preset motion state in the road ahead; the preset motion state refers to the vehicle obstacle changing from dynamic to static; S3. If there is a vehicle obstacle in a preset motion state in the road ahead, determine whether there are sufficient conditions for passing the vehicle obstacle on both sides of the master vehicle; S4. If there are no sufficient conditions for passing the vehicle obstacle on either side of the master vehicle, determine whether the road behind the master vehicle meets the conditions for reversing; S5. If the road behind the master vehicle meets the conditions for reversing, switch to reversing avoidance mode and complete the reversing avoidance.

[0094] Furthermore, the reversing avoidance conditions include: there are no obstacles within a preset distance of the road behind the vehicle and the slope of the road is less than a preset slope threshold.

[0095] Specifically, in order to ensure the driving safety of this vehicle, during the reversing avoidance process, the slope information of the global path is used to make a judgment. It is necessary to ensure that there are no obstacles within a preset distance of the road behind the vehicle and that the slope of the road is less than a preset slope threshold before reversing to avoid obstacles.

[0096] Furthermore, after a preset time has elapsed since the vehicle was brought to a stop, it is determined whether there are any road obstacles in front of the vehicle.

[0097] If it is determined that there is a road obstacle ahead of the vehicle, manual intervention will be requested; otherwise, the vehicle will be controlled to travel along its designated path.

[0098] Specifically, there is a road obstacle passage path on at least one side of the vehicle. After the vehicle is stopped, oncoming vehicles (road obstacles) can pass through the road obstacle passage path. Therefore, after a preset time, it is determined whether there is a road obstacle in front of the vehicle. If it is determined that there is a road obstacle in front of the vehicle, it means that the oncoming vehicle (road obstacle) has not left. In order to ensure communication efficiency and avoid congestion, manual takeover is requested. If it is determined that there is no road obstacle in front of the vehicle, it means that the oncoming vehicle (road obstacle) has left. Then, the vehicle is controlled to travel according to the pre-planned vehicle passage path.

[0099] Figure 6 This is a flowchart illustrating the third method for determining the vehicle control strategy according to the present invention, as follows: Figure 6 As shown, based on the motion state of the road obstacles, the vehicle control strategy is determined, including:

[0100] If the road obstacle in front of the vehicle is moving in the same direction as the vehicle and changes from dynamic to static, since both the vehicle and the obstacle are traveling in the same direction, it means that the obstacle did not stop because the vehicle was turning. However, the stopping of the obstacle will affect the normal movement of the vehicle.

[0101] Therefore, the first step is to determine whether the vehicle has a passable path on either side of the road obstacle;

[0102] If at least one side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to travel along that passage; if it is determined that neither side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to stop.

[0103] Furthermore, after a preset time has elapsed since the moment the vehicle stops, it is determined whether either side of the road obstacle has a passageway for the vehicle.

[0104] If it is determined that at least one side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to travel along the stated passage; otherwise, manual intervention is requested.

[0105] Specifically, stopping at road obstacles ahead can include temporary stopping and long-term stopping. To prevent the vehicle from being unable to pass when the road obstacle ahead is in a long-term stopping state, after a preset time, it is determined whether there is a passage path for the vehicle on either side of the road obstacle. If there is a passage path, the vehicle is controlled to move along the passage path and pass the road obstacle ahead. If there is still no passage path, manual intervention is requested.

[0106] In this example, the method for determining whether the vehicle's travel path is subject to the same static motion state as the aforementioned road obstacle is the same, and will not be repeated here.

[0107] In another implementation method, requesting manual takeover can be replaced by: after a preset time has elapsed since the moment the vehicle stops, if it is determined that there is still no passage for the vehicle on either side of the road obstacle, a detour route can be planned based on map information, and a detour route can be determined to avoid the road obstacle.

[0108] More specifically, Figure 7 This is a flowchart of the process for determining road obstacles according to the present invention, such as... Figure 7 As shown, in determining the movement state of a road obstacle, since there may be more than one road obstacle, the following steps are used to determine whether the vehicle is obstructing the passage of the road obstacle:

[0109] S21. While the main vehicle is moving forward, record the ID and location information of the dynamic obstacles ahead;

[0110] S22. Based on obstacle information, determine whether there are dynamic obstacles parked on the road ahead;

[0111] S23. Based on the recorded direction of movement, predict its trajectory and determine whether the autonomous driving master vehicle is obstructing its passage.

[0112] The location information of the autonomous driving master vehicle includes the position and speed of the master vehicle; the map information includes the global path, road width and other related information; and the obstacles include the ID, position, speed and other related information of static obstacles and dynamic obstacles.

[0113] Figure 8 This is a schematic diagram of the structure of the vehicle automatic control device of the present invention, as shown below. Figure 8 As shown, this embodiment also proposes a vehicle automatic control device, the device comprising:

[0114] The parameter acquisition module 10 is used to acquire real-time information on the vehicle's operating status, road map information, and road obstacle information while the vehicle is driving through a curve.

[0115] The status determination module 20 is used to determine the motion state of the road obstacle based on the vehicle's operating status information and the road obstacle information;

[0116] The strategy determination module 30 is used to determine the vehicle control strategy based on the vehicle operating status information, the road map information, the road obstacle information, and the motion state of the road obstacles;

[0117] The vehicle control module 40 is used to control the vehicle based on the vehicle control strategy.

[0118] Specifically, since the vehicle achieves automatic parking in environments such as garages, when the vehicle is driving and turning, it is impossible to obtain information about road obstacles in advance due to the obstruction of pillars and parked vehicles in the garage. Different road obstacles require corresponding changes in the control of the vehicle. Therefore, it is necessary to judge the movement state of the road obstacles, and then determine the vehicle control strategy based on the movement state of the road obstacles to achieve accurate control of vehicle operation and parking, further ensuring driving safety and road smoothness, and improving the user's driving experience.

[0119] This embodiment also proposes a machine-readable storage medium storing instructions for causing a machine to perform the above-described vehicle automatic control method.

[0120] The above examples are merely preferred embodiments for the purpose of fully illustrating the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

[0121] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy distinction and are not intended to limit the scope of protection of this application.

Claims

1. A vehicle automatic control method, characterized in that, include: During the process of the vehicle driving through a curve, the vehicle's operating status information and road obstacle information are acquired in real time. The vehicle's operating status information includes: vehicle positioning information and vehicle speed information; the road obstacle information includes: obstacle positioning information. Based on the vehicle's operating status information and the road obstacle information, the motion state of the road obstacle is determined, including: based on the vehicle's speed information, vehicle's positioning information, and obstacle positioning information, the motion state of the road obstacle is determined; the motion state of the road obstacle includes: continuously static, moving relative to the vehicle and changing from dynamic to static, and moving in the same direction as the vehicle and changing from dynamic to static; Based on the motion state of the road obstacles, a vehicle control strategy is determined, including: If the movement state of the road obstacle is determined to be continuously static, then determine whether there is a passage path for the vehicle on either side of the road obstacle; If it is determined that at least one side of the road obstacle provides a passage path for the vehicle, then the vehicle is controlled to travel along the stated passage path; if it is determined that neither side of the road obstacle provides a passage path for the vehicle, then manual intervention is requested. If the motion state of the road obstacle is determined to be relative to the vehicle and changes from dynamic to static, then determine whether the vehicle has a passage path on either side of the road obstacle. If it is determined that at least one side of the road obstacle provides a passage path for the vehicle, then the vehicle is controlled to travel along the stated passage path; if it is determined that neither side of the road obstacle provides a passage path for the vehicle, then it is determined whether either side of the vehicle provides a passage path for the road obstacle. If it is determined that at least one side of the vehicle has a path to the road obstacle, the vehicle is brought to a stop; if it is determined that neither side of the vehicle has a path to the road obstacle, the vehicle is then assessed to determine whether it has the conditions to reverse and avoid the obstacle. If it is determined that the vehicle has the conditions to reverse and avoid an obstacle, then control the vehicle to reverse and avoid the obstacle; otherwise, request manual intervention. If the road obstacle is moving in the same direction as the vehicle and changes from dynamic to static, then determine whether either side of the road obstacle has a passage path for the vehicle. If it is determined that at least one side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to travel along that passage; if it is determined that neither side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to stop. Based on the aforementioned vehicle control strategy, the vehicle is controlled.

2. The vehicle automatic control method according to claim 1, characterized in that, The conditions for reversing to avoid obstacles include: there are no obstacles within a preset distance behind the vehicle and the slope of the road is less than a preset slope threshold.

3. The vehicle automatic control method according to claim 1, characterized in that, After a preset time elapsed from the moment the vehicle stops, determine whether there are any road obstacles in front of the vehicle. If it is determined that there is a road obstacle ahead of the vehicle, manual intervention will be requested; otherwise, the vehicle will be controlled to travel along its designated path.

4. The vehicle automatic control method according to claim 1, characterized in that, After a preset time has elapsed since the moment the vehicle stops, determine whether there is a passageway for the vehicle on either side of the road obstacle. If it is determined that at least one side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to travel along the stated passage; otherwise, manual intervention is requested.

5. A vehicle automatic control device, characterized in that, include: The parameter acquisition module is used to acquire real-time vehicle operating status information and road obstacle information during the process of the vehicle driving through a curve. The vehicle operating status information includes: vehicle positioning information and vehicle speed information; the road obstacle information includes: obstacle positioning information. The state determination module is used to determine the motion state of the road obstacle based on the vehicle's operating state information and the road obstacle information, including: determining the motion state of the road obstacle based on the vehicle's speed information, vehicle's positioning information, and obstacle's positioning information; the motion state of the road obstacle includes: continuously static, moving relative to the vehicle and changing from dynamic to static, and moving in the same direction as the vehicle and changing from dynamic to static; The strategy determination module is used to determine the vehicle control strategy based on the motion state of the road obstacles, including: If the movement state of the road obstacle is determined to be continuously static, then determine whether there is a passage path for the vehicle on either side of the road obstacle; If it is determined that at least one side of the road obstacle provides a passage path for the vehicle, then the vehicle is controlled to travel along the stated passage path; if it is determined that neither side of the road obstacle provides a passage path for the vehicle, then manual intervention is requested. If the motion state of the road obstacle is determined to be relative to the vehicle and changes from dynamic to static, then determine whether the vehicle has a passage path on either side of the road obstacle. If it is determined that at least one side of the road obstacle provides a passage path for the vehicle, then the vehicle is controlled to travel along the stated passage path; if it is determined that neither side of the road obstacle provides a passage path for the vehicle, then it is determined whether either side of the vehicle provides a passage path for the road obstacle. If it is determined that at least one side of the vehicle has a path to the road obstacle, the vehicle is brought to a stop; if it is determined that neither side of the vehicle has a path to the road obstacle, the vehicle is then assessed to determine whether it has the conditions to reverse and avoid the obstacle. If it is determined that the vehicle has the conditions to reverse and avoid an obstacle, then control the vehicle to reverse and avoid the obstacle; otherwise, request manual intervention. If the road obstacle is moving in the same direction as the vehicle and changes from dynamic to static, then determine whether either side of the road obstacle has a passage path for the vehicle. If it is determined that at least one side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to travel along that passage; if it is determined that neither side of the road obstacle provides a passage for the vehicle, then the vehicle is controlled to stop. The vehicle control module is used to control the vehicle based on the vehicle control strategy.

6. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the vehicle automatic control method according to any one of claims 1-4.

Images