Control method, control device, control system, and vehicle
By utilizing a combination of lighting and radio wave information to obtain the target vehicle's motion state and expected path, the problem of sensor information bias in harsh environments is solved, enabling fast and accurate path planning and improving the safety and stability of autonomous driving.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIQI FOTON MOTOR CO LTD
- Filing Date
- 2022-06-13
- Publication Date
- 2026-07-14
Smart Images
Figure CN117261931B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of autonomous driving technology, and in particular to a control method, control device, control system and vehicle. Background Technology
[0002] In existing autonomous driving technologies, vehicles are typically equipped with various sensors to acquire information about the driving environment and the movement of objects. This information is then processed by the autonomous driving controller chip to plan routes and issue commands for the vehicle's intended driving behavior. However, data such as object movement information acquired by sensors in adverse environments may be inaccurate. Furthermore, the computing power of the autonomous driving controller chip is limited. When there are many objects, a large amount of data acquired by sensors, and a significant volume of information transmitted, the autonomous driving system may ultimately fail to predict the trajectory of objects in a timely manner or with significant errors. This can affect the decision-making process for autonomous driving paths and consequently impact vehicle driving safety. Summary of the Invention
[0003] This application provides a control method, control device, control system, and vehicle.
[0004] The control method implemented in this application includes:
[0005] Obtain the combined lighting information sent by the target vehicle;
[0006] Acquire the radio wave information transmitted by the target vehicle;
[0007] Based on the combined lighting information and the radio wave information, the current motion state and expected path of the target vehicle are analyzed and obtained;
[0008] Based on the current motion state and expected path of the target vehicle, the driving path of the current vehicle is planned.
[0009] In this way, the current motion status and expected path of the target vehicle can be obtained simply and directly by combining light information and radio wave information, saving the computing power required to calculate and predict the expected path of the target vehicle, and avoiding problems such as untimely prediction of the expected path of the target vehicle and large deviation. Ultimately, it is possible to plan the driving path of the current vehicle in response to the expected path of the target vehicle more quickly.
[0010] In some embodiments, the combined lighting information includes light strip display data and mapping light display data. The step of analyzing and obtaining the current motion state and expected path of the target vehicle based on the combined lighting information includes:
[0011] The vehicle speed data and steering data are obtained by classifying the light strip display data according to the color system, and the color systems of the light strips corresponding to the vehicle speed data and the steering data are different.
[0012] Based on the vehicle speed data and the steering data, the current motion state of the target vehicle is confirmed;
[0013] The longitudinal area and lateral area of the target vehicle's driving route are obtained by analyzing the data displayed by the mapping lights.
[0014] Based on the longitudinal area and the lateral area of the driving route region, the expected path of the target vehicle is determined.
[0015] In some embodiments, the vehicle speed data includes the light intensity of the vehicle speed light strip, which is proportional to the vehicle speed of the target vehicle; the steering data includes the light intensity of the turn signal light strip and the flashing frequency of the turn signal light strip, which is proportional to the angular velocity of the target vehicle and the flashing frequency of the turn signal light strip is proportional to the angular acceleration of the target vehicle.
[0016] In some embodiments, the longitudinal area of the travel route region is proportional to the speed and acceleration of the target vehicle, and the lateral area of the travel route region is proportional to the angular velocity and angular acceleration of the target vehicle.
[0017] In some implementations, the step of analyzing and obtaining the current motion state and expected path of the target vehicle based on the radio wave information includes:
[0018] The control system converts the radio wave information into electrical signals;
[0019] Based on the electrical signal, the current motion state and expected path of the target vehicle are obtained through analysis.
[0020] In some embodiments, the control method includes:
[0021] The current vehicle is controlled to send its current motion status and expected path to surrounding vehicles via combination lights.
[0022] In some embodiments, the control method further includes:
[0023] The current vehicle is controlled to broadcast its current motion status and expected path to surrounding vehicles via a wireless transceiver.
[0024] This application provides a control device, the control device comprising:
[0025] The first acquisition module is used to acquire the combined lighting information sent by the target vehicle;
[0026] The second acquisition module is used to acquire radio wave information sent by the target vehicle;
[0027] An analysis module is used to analyze and obtain the current motion state and expected path of the target vehicle based on the combined lighting information and the radio wave information.
[0028] The planning module is used to plan the current vehicle's driving path based on the target vehicle's current motion state and expected path.
[0029] This application provides a control system, the control system comprising:
[0030] A camera sensor is used to receive combined lighting information sent by the target vehicle;
[0031] Combination lights are used to send the current vehicle's current motion status and expected path to surrounding vehicles;
[0032] A wireless transceiver for broadcasting the current vehicle's current motion status and expected path to surrounding vehicles; and
[0033] The controller is connected to the camera sensor, the combination light, and the wireless transceiver, and the controller is used to implement the control method described in any of the above embodiments.
[0034] This application provides a vehicle that includes the control system provided in this application.
[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0036] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:
[0037] Figure 1 This is a flowchart illustrating the control method in the embodiments of this application;
[0038] Figure 2 This is a schematic diagram of the control device in the embodiments of this application;
[0039] Figure 3 This is a schematic diagram of the structure of a vehicle equipped with a control system according to an embodiment of this application;
[0040] Figure 4 This is a flowchart illustrating the control method in the embodiments of this application;
[0041] Figure 5 This is a flowchart illustrating the control method in the embodiments of this application;
[0042] Figure 6This is a flowchart illustrating the control method in the embodiments of this application;
[0043] Figure 7 This is a flowchart illustrating the control method in the embodiments of this application;
[0044] Figure 8 This is a schematic diagram of a scenario in which the target vehicle performs a path change in an embodiment of this application.
[0045] Explanation of key component symbols:
[0046] Vehicle 1000, control system 100, combination lights 11, wireless signal transceiver 12, controller 13, control device 200, first acquisition module 21, second acquisition module 22, analysis module 23, planning module 24. Detailed Implementation
[0047] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0048] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0049] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0050] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0051] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.
[0052] Please see Figure 1 This application provides a control method, which includes:
[0053] Step S10: Obtain the combined lighting information sent by the target vehicle;
[0054] Step S20: Obtain radio wave information transmitted by the target vehicle;
[0055] Step S30: Based on the combined light information and radio wave information, analyze and obtain the current motion state and expected path of the target vehicle;
[0056] Step S40: Based on the current motion state and expected path of the target vehicle, plan the driving path of the current vehicle.
[0057] Please seeFigure 2 This application provides a control device 200, which includes a first acquisition module 21, a second acquisition module 22, an analysis module 23, and a planning module 24. The first acquisition module 21 is used to acquire combined lighting information sent by a target vehicle, the second acquisition module 22 is used to acquire radio wave information sent by the target vehicle, the analysis module 23 is used to analyze and obtain the current motion state and expected path of the target vehicle based on the combined lighting information and the radio wave information, and the planning module 24 is used to plan the current driving path of the vehicle based on the current motion state and expected path of the target vehicle.
[0058] Please see Figure 3 This application provides a control system 100, which includes a camera sensor (not shown), a combination light 11, a wireless transceiver 12, and a controller 13. The camera sensor is used to receive combination light information sent by a target vehicle. The combination light 11 is used to send the current motion state and expected path of the current vehicle to surrounding vehicles. The wireless transceiver 12 is used to broadcast the current motion state and expected path of the current vehicle to surrounding vehicles. The controller 13 is connected to the camera sensor, the combination light 11, and the wireless transceiver 12. The controller 13 is used to receive the combination light information sent by the target vehicle, and to receive radio wave information sent by the target vehicle. Based on the combination light information and the radio wave information, the controller 13 analyzes and obtains the current motion state and expected path of the target vehicle, and plans the driving path of the current vehicle based on the current motion state and expected path of the target vehicle.
[0059] Please refer to it again. Figure 3 This application provides a vehicle 1000, which includes the control system 100 provided in this application.
[0060] The control method in this application embodiment can easily and directly obtain the current motion state and expected path of the target vehicle by combining light information and radio wave information, saving the computing power required to calculate and predict the expected path of the target vehicle, and avoiding problems such as untimely prediction of the expected path of the target vehicle and large deviation. Ultimately, it can more quickly plan the driving path of the current vehicle in response to the expected path of the target vehicle.
[0061] It should be noted that with the development of technology, autonomous driving technology has become an important research direction and has received extensive attention. In existing autonomous driving technologies, vehicles are often equipped with various sensors to acquire information about the driving environment and the movement of target objects (such as other vehicles). Control chips are also installed to process this information. The autonomous driving controller processes the input data in real time and makes correct decisions, such as planning the vehicle's route and transmitting commands to change driving behavior. Finally, these decisions are transmitted via drive-by-wire (electrical signals) to actuators (mechanical, hydraulic, pneumatic, etc.), enabling the autonomous driving system to drive the vehicle without human intervention.
[0062] However, in the process of sensors acquiring information and the autonomous driving controller making correct decisions based on that information, the information acquired by sensors in adverse environments (rain, snow, fog, haze, etc.) may be inaccurate. Furthermore, the computing power of the autonomous driving controller chip is limited; the more targets there are, the more information the sensors acquire, and the larger the amount of information transmitted. Processing this massive amount of data places higher demands on algorithms and computing power. Additionally, the required response time is also shorter when facing unexpected events. Ultimately, this can lead to the autonomous driving system's untimely or significantly inaccurate prediction of the trajectory of targets, such as other vehicles, affecting its own path planning and impacting driving safety.
[0063] Therefore, this application provides a control method, a control device 200, a control system 100, and a storage medium, so that the current vehicle using the control system 100 can directly obtain the current motion state and expected path of the target vehicle, eliminating the computational power requirement for prediction, accelerating the planning of the current vehicle's own driving path, and avoiding driving dangers caused by inaccurate prediction or excessive prediction time.
[0064] Specifically, in one embodiment, vehicle 1000, i.e., the current vehicle, can be any powered vehicle with autonomous driving capabilities. Vehicle 1000 is equipped with the control system 100 provided in this application embodiment, such as a camera sensor, combination lights 11, a wireless transceiver 12, and a controller 13. In particular, controller 13 may include a vehicle controller, a body controller, an autonomous driving domain controller, etc. For ease of explanation, the term "current vehicle" mentioned below refers to vehicle 1000 in this application.
[0065] The target vehicle can be any powered vehicle with autonomous driving capabilities, or it can be without autonomous driving capabilities, as long as the target vehicle is equipped with combination lights 11 and a wireless signal transceiver 12 for transmitting combination light 11 information and radio wave information.
[0066] In steps S10-S40, the combined lighting information can be transmitted as a light signal between the target vehicle and the current vehicle, and the radio wave information can be transmitted as a radio wave signal between the target vehicle and the current vehicle. After receiving the combined lighting information sent by the target vehicle, the camera sensor can send it to the controller 13. Since both the current vehicle and the target vehicle are equipped with wireless transceivers 12, which can include a wireless receiver, a wireless transmitter, and a signal processor, the wireless receiver of the current vehicle can receive the radio wave information sent by the wireless transmitter of the target vehicle and then send it to the controller 13.
[0067] After acquiring the combined lighting information and radio wave information, the controller 13 can analyze and obtain the current motion state and expected path of the target vehicle. The current motion state of the target vehicle can include information such as its speed, torque, and steering angle, while the expected path indicates the target vehicle's driving behavior at the next moment. For example, in a scenario where the target vehicle is initially traveling directly in front of the current vehicle, if the analyzed expected path shows it to be to the left or right of the current vehicle, it can be confirmed that the target vehicle is about to make a left / right turn.
[0068] In the process of obtaining the current motion state and expected path of the target vehicle based on the information from the combination lights 11, on the target vehicle side, the controller 13 of the target vehicle, after acquiring the current motion state, controls the combination lights 11 to emit light at a corresponding intensity and frequency to directly and intuitively transmit its current motion state to the current vehicle. It is easy to understand that as the target vehicle begins to move towards the expected path, the lights will also change accordingly, thus simultaneously transmitting the expected path to the current vehicle. In this way, the current vehicle controller 13 can acquire the information from the combination lights 11 received by the camera sensor to analyze and obtain the current motion state and expected path of the target vehicle. This information is then transmitted to the autonomous driving domain controller as input information for the autonomous driving algorithm to plan the current vehicle's driving path.
[0069] Furthermore, when obtaining the current motion state and expected path of the target vehicle based on radio wave information analysis, on the target vehicle side, if the target vehicle is also an autonomous vehicle, the target vehicle's body controller can receive information on the current motion state of the vehicle (including speed, torque, steering angle, etc.) transmitted from the engine management system, automatic transmission controller, and steering angle sensor to the vehicle controller. Additionally, the body controller can receive signals from the autonomous driving domain controller to the vehicle controller, or directly to the body controller, indicating the next driving behavior (i.e., indicating the expected path, including accelerator, brake, steering, gear, etc.). The signal processor in the target vehicle's wireless transceiver 12 then converts this information into radio wave information, which is then transmitted by the wireless transmitter. After the current vehicle controller receives the radio wave information, the control signal processor parses it into electrical signals and transmits them to the autonomous driving domain controller as input information for the autonomous driving algorithm, in order to plan the current vehicle's driving path.
[0070] In one scenario, based on the target vehicle's current motion state and expected path, the current vehicle's driving path is planned. This can be achieved when the current vehicle's controller 13 detects that the target vehicle is about to change lanes to the left, and controls the current vehicle to decelerate or change lanes to the right to avoid it, depending on the specific circumstances.
[0071] It is understood that in the control method of this application, the current vehicle can directly obtain the current motion state and expected path of the target vehicle through both the light signal sent by the combination lamp 11 and the radio wave signal sent by the wireless transceiver 12. This eliminates the need to calculate and predict the expected path of the target vehicle based on various sensor data, saving computing power and avoiding deviations in predicted paths. It also shortens the driving path planning time for the current vehicle in response to changes in the target vehicle's route. Furthermore, the communication method of the wireless transceiver 12 sending radio wave information provides double protection and improved fault tolerance. Even under adverse lighting conditions and weather conditions, if the light signal propagation is unstable, the stable communication method of radio waves provides fault tolerance.
[0072] Furthermore, even when the current vehicle is not an autonomous vehicle, while the current vehicle obtains the current motion state and expected path of the target vehicle by combining light information and radio wave information, the driver can make route planning and driving actions in advance based on the driving environment. This allows the driver to adjust their own driving route in a timely manner based on the target vehicle's path for the next moment, which helps ensure the driving safety of both the current vehicle and the target vehicle.
[0073] Please see Figure 4 In some implementations, the combined lighting information includes light strip display data and mapping light display data. Based on the combined lighting information, the current motion state and expected path of the target vehicle are analyzed and obtained (step S30), including:
[0074] Step S31: Classify the light strip display data according to the color scheme to obtain vehicle speed data and steering data. The light strips corresponding to vehicle speed data and steering data have different color schemes.
[0075] Step S32: Based on vehicle speed data and steering data, confirm the current motion state of the target vehicle;
[0076] Step S33: Analyze the data displayed by the mapping lights to obtain the longitudinal area and lateral area of the target vehicle's driving route;
[0077] Step S34: Based on the longitudinal area and the transverse area of the driving route region, confirm the expected path of the target vehicle.
[0078] In some embodiments, the analysis module 23 is used to classify the light strip display data according to the color scheme to obtain vehicle speed data and steering data, wherein the light strips corresponding to the vehicle speed data and steering data have different color schemes; and to confirm the current motion state of the target vehicle based on the vehicle speed data and steering data; and to analyze the mapping light display data to obtain the longitudinal area and lateral area of the target vehicle's driving route area; and to confirm the expected path of the target vehicle based on the longitudinal area and lateral area of the driving route area.
[0079] In some embodiments, the controller 13 is used to classify the light strip display data according to the color scheme to obtain vehicle speed data and steering data, wherein the light strips corresponding to the vehicle speed data and steering data have different color schemes; and to confirm the current motion state of the target vehicle based on the vehicle speed data and steering data; and to analyze the mapping light display data to obtain the longitudinal area and lateral area of the target vehicle's driving route area; and to confirm the expected path of the target vehicle based on the longitudinal area and lateral area of the driving route area.
[0080] In this way, the target vehicle's speed data, steering data, longitudinal area of the driving route area, and lateral area of the driving route area can be intuitively obtained through the data displayed by the light strip and the mapping light. This allows for targeted confirmation of the target vehicle's current motion state and expected path, facilitating adjustments to the vehicle's driving path planning.
[0081] Specifically, the combination lights 11 installed on the target vehicle may include multiple light strips and multiple mapping lights, which can be installed around the vehicle body and at the four corners. To facilitate the transmission of various status information (vehicle speed, steering angle, etc.) and the expected path during the current motion state through combined lighting information, the light strips can emit light of different colors or at different frequencies. The light strips emitting light of different colors and frequencies can generate light strip display data that can be acquired by the vehicle's camera sensors, and the mapping lights can generate mapping light display data that can be acquired by the vehicle's camera sensors.
[0082] In one embodiment, according to steps S31-S34, the controller 13 classifies the light strip display data according to color scheme to obtain vehicle speed data and turning data. The vehicle speed data can be generated by the vehicle speed light strip controlling itself to emit green, red, yellow, or other colors. The turning data can be generated by the turn signal light strip controlling itself to emit light of a different color scheme than the vehicle speed light strip. This application does not impose inherent limitations on the specific color scheme of the light strip, as long as the color scheme of the light emitted by the light strip corresponding to the vehicle speed data and the turning data is different. Then, the controller 13 can determine the current motion state of the target vehicle through the vehicle speed data and turning data, i.e., whether it is traveling in a straight line, whether it is turning, and the current vehicle speed.
[0083] The mapping lights illuminate the area along the target vehicle's travel path, generating the longitudinal and lateral areas of that area. These measurements are received by the vehicle's camera sensors and acquired by the controller 13. In this way, the controller 13 can comprehensively determine the target vehicle's intended path using both the longitudinal and lateral areas of its travel path.
[0084] In some implementations, the vehicle speed data includes the light intensity of the vehicle speed light strip, which is proportional to the speed of the target vehicle; the steering data includes the light intensity of the turn signal light strip and the flashing frequency of the turn signal light strip, which is proportional to the angular velocity of the target vehicle and the flashing frequency of the turn signal light strip is proportional to the angular acceleration of the target vehicle.
[0085] In this way, the speed change, angular velocity change trend, and angular acceleration change trend of the target vehicle can be confirmed by the light intensity of the speed light strip, the light intensity of the turn light strip, and the flashing frequency of the turn light strip. This allows us to determine whether the target vehicle is decelerating, accelerating, accelerating while turning, or decelerating while turning.
[0086] Specifically, when the target vehicle controls the combination lights 11 to generate combination light 11 information based on its current motion state, the controller 13 of the current vehicle can intuitively confirm the current motion state of the target vehicle through pre-set logic processing, based on the vehicle speed data and steering data obtained in steps S31-S32. The greater the intensity of the target vehicle's speed light strip light source, the greater the target vehicle's speed; when the intensity of the target vehicle's turn signal light strip light source is greater, it indicates that the target vehicle has a greater steering angular velocity, that is, the target vehicle has changed its driving route, such as changing lanes; when the flashing frequency of the target vehicle's turn signal light strip is higher, it indicates that the target vehicle has a greater angular acceleration.
[0087] In some implementations, the longitudinal area of the travel route region is proportional to the speed and acceleration of the target vehicle, and the lateral area of the travel route region is proportional to the angular velocity and angular acceleration of the target vehicle.
[0088] In this way, the longitudinal area and the lateral area of the driving route region can be used to determine whether the target vehicle is accelerating in a straight line, decelerating in a straight line, accelerating to change lanes, or decelerating to change lanes.
[0089] Specifically, when the target vehicle controls the reflector lights to illuminate its driving route area on the road according to functional logic, the higher the target vehicle's speed and acceleration, the larger the longitudinal area of the driving route area illuminated by the reflector lights; the higher the target vehicle's angular velocity and angular acceleration, the larger the lateral area of the driving route area illuminated by the reflector lights. Based on the above judgment logic, the controller 13 can determine the target vehicle's driving actions and expected path through the longitudinal and lateral areas of the driving route area, facilitating the adjustment and planning of its own driving path.
[0090] In one scenario, when the target vehicle accelerates to change lanes to the left, the mapping light installed on the front left side of the target vehicle illuminates the driving route area on the road to the left front. At the same time, it generates the longitudinal area and the lateral area of the driving route area, which are received by the camera sensor of the current vehicle and then acquired by the controller 13 to determine the expected path of the target vehicle, and finally used as the input information of the autonomous driving algorithm.
[0091] In another scenario, when the target vehicle decelerates and changes lanes to the right, the mapping light installed on the rear right side of the target vehicle illuminates the driving route area on the road behind it. At the same time, it generates the longitudinal area and the lateral area of the driving route area, which are received by the camera sensor of the current vehicle and then acquired by the controller 13 to determine the expected path of the target vehicle, and finally used as the input information for the autonomous driving algorithm.
[0092] Please seeFigure 5 In some implementations, based on radio wave information, the current motion state and expected path of the target vehicle are analyzed and obtained (step S30), including:
[0093] Step S35: Control the conversion of radio wave information into electrical signals;
[0094] Step S36: Based on the electrical signals, analyze and obtain the current motion state and expected path of the target vehicle.
[0095] In some implementations, the analysis module 23 is also used to control the conversion of radio wave information into electrical signals, and to analyze and obtain the current motion state and expected path of the target vehicle based on the electrical signals.
[0096] In some implementations, controller 13 is used to control the conversion of radio wave information into electrical signals, and to analyze and obtain the current motion state and expected path of the target vehicle based on the electrical signals.
[0097] In this way, by using radio wave transmission for communication, problems such as deviations and delays in judging the expected path of the target vehicle caused by the camera sensor's inability to accurately receive combined light information in adverse weather conditions are avoided, providing double protection and improving the stability and effectiveness of information transmission.
[0098] Specifically, the radio wave information is transmitted and parsed by the wireless transceivers 12 installed at the four corners of the target vehicle and the current vehicle. In one embodiment, according to steps S35 and S36, on the target vehicle side, when the target vehicle is also an autonomous vehicle, the target vehicle's body controller can receive the current motion state information of the whole vehicle (including vehicle speed, torque, steering angle, etc.) transmitted to the whole vehicle controller by the engine management system, automatic transmission controller, and steering angle sensor, and the next driving behavior signal (i.e. indicating the expected path, including accelerator, brake, steering, gear, etc.) transmitted to the whole vehicle controller or directly transmitted to the body controller by the autonomous driving domain controller, the signal processor in the wireless transceiver 12 of the target vehicle converts the above information into radio wave information, which is then sent out by the wireless signal transmitter.
[0099] After the controller 13 of the current vehicle acquires the radio wave information, the control signal processor parses it into electrical signals and analyzes them to obtain the current motion state and expected path of the target vehicle, which is then used as input information for the autonomous driving algorithm to plan the driving path of the current vehicle.
[0100] Please see Figure 6 In some implementations, the control method includes:
[0101] Step S50: Control the current vehicle to send its current motion status and expected path to surrounding vehicles via the combination light 11.
[0102] In some embodiments, the control device 200 further includes a control module for controlling the current vehicle to send its current motion status and expected path to surrounding vehicles via the combination lights 11.
[0103] In some implementations, controller 13 is used to control the current vehicle to send its current motion status and expected path to surrounding vehicles via combination lights 11.
[0104] In this way, the current vehicle can intuitively display and transmit its current movement status and expected path to surrounding vehicles through the combination lights 11, which makes it easier for surrounding vehicles to respond and adjust to the current vehicle's path change, ultimately ensuring the driving safety of surrounding vehicles and the current vehicle.
[0105] Specifically, in step S50, the controller 13 receives the current motion state information of the vehicle (including vehicle speed, torque, steering angle, etc.) transmitted from the engine management system, automatic transmission controller, and steering angle sensor, as well as the planned next driving behavior signal (i.e., indicating the expected path, including accelerator, brake, steering, gear, etc.) transmitted from the autonomous driving domain controller. Based on the pre-set functional logic, the controller 13 controls the combination lights 11 to emit different colors of light with corresponding light intensity and frequency to intuitively and directly send its current motion state to surrounding vehicles. It is easy to understand that as the current vehicle begins to move towards the expected path, the area illuminated by the combination lights 11 also changes accordingly, thus simultaneously sending the expected path to the current vehicle.
[0106] In this way, surrounding vehicles can adjust their driving routes based on the current movement status and expected path transmitted by the current vehicle, thus ensuring their own driving safety.
[0107] Please see Figure 7 In some implementations, the control method further includes:
[0108] Step S60: Control the current vehicle to broadcast its current motion status and expected path to surrounding vehicles via wireless transceiver 12.
[0109] In some embodiments, the control device 200 further includes a control module for controlling the current vehicle to broadcast its current motion status and expected path to surrounding vehicles via the wireless transceiver 12.
[0110] In some implementations, controller 13 is used to control the current vehicle to broadcast its current motion status and expected path to surrounding vehicles via wireless transceiver 12.
[0111] In this way, the current vehicle can directly transmit its current movement status and expected path to surrounding vehicles via the wireless transceiver 12, allowing surrounding vehicles to respond and adjust to changes in the current vehicle's path, ultimately ensuring the driving safety of both the current and surrounding vehicles. Furthermore, the wireless transceiver 12 provides stable communication, unaffected by inclement weather, ensuring a high fault tolerance rate for signal transmission.
[0112] Specifically, in step S60, the controller 13 receives the current motion state information of the vehicle (including vehicle speed, torque, steering angle, etc.) transmitted by the engine management system, automatic transmission controller and steering angle sensor, as well as the planned next driving behavior signal (i.e. indicating the expected path, including throttle, braking, steering, gear, etc.) transmitted by the autonomous driving domain controller. According to the preset functional logic, the controller 13 controls the wireless transceiver 12 to directly broadcast its current motion state to the surrounding vehicles.
[0113] In this way, surrounding vehicles can obtain the current movement status and expected path of the current vehicle by analyzing the radio wave signals transmitted by the current vehicle, and then make corresponding adjustments to their driving routes to ensure their own driving safety.
[0114] like Figure 8 As shown, Figure 8 The scenario illustrates a situation where a target vehicle (Vehicle Target) is positioned to the right of the current vehicle (i.e., the test vehicle) and about to cut into the left lane. In this scenario, the current vehicle is traveling straight in the left lane, while the target vehicle is traveling in the right lane. The target vehicle is currently positioned to the right of the current vehicle and is about to cut into the left lane.
[0115] When both vehicles are equipped with this method, the light strip in the target vehicle's combination light 11 displays the target vehicle's current straight-line motion status information. The target vehicle's autonomous driving domain controller translates the driving behavior of cutting into the left lane into coordinated actions of the steering wheel, accelerator, brake pedal, gear shift, and other driving control mechanisms in the next moment. The target vehicle's control system 100 transmits the steering angle, acceleration / deceleration, and gear shift information in the next moment to the controller 13, thereby controlling the mapping lights in the combination light 11 to illuminate the area to the left front of the current vehicle (i.e., the expected path). The longitudinal area of this area is controlled by the target vehicle's speed and acceleration, and the lateral area is controlled by the target vehicle's steering angle and angular velocity. The greater the target vehicle's speed and acceleration, the larger the longitudinal area of this area; the greater the target vehicle's steering angle and angular velocity, the larger the lateral area of this area.
[0116] Simultaneously, the target vehicle's signal transmitter broadcasts its own motion status information and next driving action (cutting into the left lane) to the current vehicle via radio waves. The current vehicle's camera sensor identifies and perceives the combined light information emitted by the target vehicle's combination lights 11, while the current vehicle's signal receiver receives and analyzes the radio wave information emitted by the target vehicle. Based on the information processed and transmitted by the camera sensor and signal receiver (i.e., the target vehicle's current motion status and expected path), the current vehicle's controller 13, in response to the target vehicle's upcoming action of cutting into the left lane, plans a reasonable driving path and driving behavior for the current vehicle, and controls the driving control mechanism to execute the corresponding actions.
[0117] Possible actions at this point include: not changing lanes, but applying the brake pedal to slow down and maintain a safe distance; or changing lanes, combining the current motion status information sent by surrounding vehicles (not shown in the figure) on both sides of the road with the expected path, and controlling the steering wheel angle to change lanes to the left or right.
[0118] As can be seen, compared with existing autonomous driving technologies, this application reduces the computing power required for the controller 13 to process data acquired by numerous sensors, enabling it to anticipate changes in the target object's path, plan vehicle routes, and avoid driving hazards caused by errors in predicting the target vehicle's trajectory.
[0119] In addition, Figure 8 In the scenario shown, if the current vehicle does not have autonomous driving capabilities and the target vehicle does, the driver of the current vehicle can observe the combined light information of the target vehicle's next driving behavior (such as merging into the current vehicle's lane) and proactively take corresponding driving actions (applying the brakes or switching to the right lane).
[0120] If the current vehicle has autonomous driving capabilities while the target vehicle does not, the driver of the target vehicle can observe the combined light information of the current vehicle's next driving behavior (such as acceleration, lane changing, and overtaking) in the rearview mirror and make a corresponding driving plan (maintaining the current lane and speed or appropriately decelerating). Therefore, the control method provided in this application not only contributes to safe driving between autonomous vehicles but also, to some extent, helps drivers of non-autonomous vehicles plan their driving routes in advance.
[0121] This application also provides a non-volatile computer-readable storage medium storing a computer program, which, when executed by one or more processors, causes the processors to perform the control method of any of the above embodiments.
[0122] Specifically, in one embodiment, the processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above types of chips.
[0123] Computer programs can be stored in memory. Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods in the above method embodiments. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and modules stored in memory, thereby implementing the methods in the above method embodiments.
[0124] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The implemented program can be stored in a computer-readable storage medium. When executed, the program can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.; the storage medium can also include combinations of the above types of memory.
[0125] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0126] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.
Claims
1. A control method, characterized in that, The control method includes: Obtain the combined lighting information sent by the target vehicle; Acquire radio wave information transmitted by the target vehicle, the radio wave information including: the current motion status information of the vehicle, or the next driving behavior signal; Based on the combined lighting information and the radio wave information, the current motion state and expected path of the target vehicle are analyzed and obtained; Based on the current motion state and expected path of the target vehicle, plan the current driving path of the vehicle; The combined lighting information includes light strip display data and mapping light display data. The step of analyzing and obtaining the current motion state and expected path of the target vehicle based on the combined lighting information includes: The vehicle speed data and steering data are obtained by classifying the light strip display data according to the color system, and the color systems of the light strips corresponding to the vehicle speed data and the steering data are different. Based on the vehicle speed data and the steering data, the current motion state of the target vehicle is confirmed; The longitudinal area and lateral area of the target vehicle's driving route are obtained by analyzing the data displayed by the mapping lights. Based on the longitudinal area and the transverse area of the driving route region, the expected path of the target vehicle is determined; The longitudinal area of the driving route region is proportional to the speed and acceleration of the target vehicle, and the lateral area of the driving route region is proportional to the angular velocity and angular acceleration of the target vehicle.
2. The control method according to claim 1, characterized in that, The vehicle speed data includes the light intensity of the vehicle speed light strip, which is proportional to the vehicle speed of the target vehicle. The steering data includes the light intensity of the turn signal light strip and the flashing frequency of the turn signal light strip, which is proportional to the angular velocity of the target vehicle and the flashing frequency of the turn signal light strip is proportional to the angular acceleration of the target vehicle.
3. The control method according to claim 1, characterized in that, The step of analyzing and obtaining the current motion state and expected path of the target vehicle based on the radio wave information includes: The control system converts the radio wave information into electrical signals; Based on the electrical signal, the current motion state and expected path of the target vehicle are obtained through analysis.
4. The control method according to claim 1, characterized in that, The control method includes: The current vehicle is controlled to send its current motion status and expected path to surrounding vehicles via combination lights.
5. The control method according to claim 1, characterized in that, The control method further includes: The current vehicle is controlled to broadcast its current motion status and expected path to surrounding vehicles via a wireless transceiver.
6. A control device, characterized in that, The control device includes: The first acquisition module is used to acquire the combined lighting information sent by the target vehicle; The second acquisition module is used to acquire radio wave information sent by the target vehicle, the radio wave information including: the current motion status information of the vehicle, or the next driving behavior signal; An analysis module is used to analyze and obtain the current motion state and expected path of the target vehicle based on the combined lighting information and the radio wave information. The planning module is used to plan the driving path of the current vehicle based on the current motion state and expected path of the target vehicle. The combined lighting information includes light strip display data and mapping light display data. The step of analyzing and obtaining the current motion state and expected path of the target vehicle based on the combined lighting information includes: The vehicle speed data and steering data are obtained by classifying the light strip display data according to the color system, and the color systems of the light strips corresponding to the vehicle speed data and the steering data are different. Based on the vehicle speed data and the steering data, the current motion state of the target vehicle is confirmed; The longitudinal area and lateral area of the target vehicle's driving route are obtained by analyzing the data displayed by the mapping lights. Based on the longitudinal area and the transverse area of the driving route region, the expected path of the target vehicle is determined; The longitudinal area of the driving route region is proportional to the speed and acceleration of the target vehicle, and the lateral area of the driving route region is proportional to the angular velocity and angular acceleration of the target vehicle.
7. A control system, characterized in that, The control system includes: A camera sensor is used to receive combined lighting information sent by the target vehicle; Combination lights are used to send the current vehicle's current motion status and expected path to surrounding vehicles; A wireless transceiver for broadcasting the current vehicle's current motion status and expected path to the surrounding vehicles; and A controller is provided, wherein the camera sensor, the combination light, and the wireless transceiver are connected to the controller, and the controller is used to implement the control method as described in any one of claims 1-5.
8. A vehicle, characterized in that, The vehicle includes the control system as described in claim 7.