A control method and device for automatically driving a vehicle to a safe area

Abstract

The application provides a control method and device for automatic driving of a vehicle to a safe area. The method comprises the following steps: using a perception sensor to identify sudden stopping caused by non-external factors, and immediately reminding to drive away or stop in a safe area. If the vehicle has a driving assistance function and the driver does not respond to the prompt, the system plans a safe path and automatically navigates to the safe area after a second time threshold. This method combines a positioning sensor, effectively identifies and responds to sudden stopping, reduces the risk of rear-end collisions through automatic risk avoidance, and ensures the safety of personnel and goods.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of vehicle driving safety, and particularly relates to a control method and device for automatic driving of a vehicle to a safe area. BACKGROUND

[0002] With the continuous improvement of China's science and technology and economic level, urban traffic has developed rapidly. Under this background, the types and quantities of vehicles on the road are increasing, making the traffic flow more complex and busy. Especially on the highway, due to the high speed and dense traffic, the small car suddenly stops in the driving lane from time to time. This unexpected stopping behavior is extremely easy to cause the rear vehicle to fail to react in time, thereby causing a rear-end accident.

[0003] The occurrence of a rear-end accident not only poses a serious threat to the life safety of the driver and passengers, but also can cause serious consequences such as damage to goods, road congestion, and huge economic losses to the society. Due to the characteristics of the highway and urban expressway, once a rear-end accident occurs, it often involves multiple vehicles, causing a chain collision, further aggravating the severity of the accident. SUMMARY

[0004] The purpose of the present application is to overcome the above-mentioned prior art, and provide a control method and device for automatic driving of a vehicle to a safe area.

[0005] The present application provides a control method for automatic driving of a vehicle to a safe area, comprising:

[0006] identifying, by a perception sensor of the vehicle, a sudden stopping state of the vehicle under non-external factors;

[0007] According to the sudden stopping state, a prompt information of driving away or parking to a safe area is sent;

[0008] If the vehicle has a driving assistance function or a parking function, when the vehicle sends the prompt information to a first time threshold, the driver has not driven away, a path to the safe area is planned through the driving assistance function, and the vehicle is reminded to automatically drive to the safe area after a second time threshold;

[0009] When the time meets the second time threshold, the driver still has not driven away, and the longitudinal and lateral movements of the vehicle are controlled to automatically drive the vehicle to the safe area.

[0010] Optionally, the perception sensor comprises:

[0011] a positioning sensor, an IMU sensor, a camera sensor of an intelligent driving system, a 4D millimeter wave radar, a laser radar, an ultrasonic radar, an inertial sensor, and a global positioning system.

[0012] Optionally, the sudden stop state comprises:

[0013] A stop state on a driving lane of a highway, an expressway or an urban road.

[0014] Optionally, according to the sudden stop state, the prompt information of driving off or parking to a safe area is sent, comprising: sending an alarm, including double flashing and / or sounding.

[0015] Optionally, the safe area comprises:

[0016] An emergency lane of a highway, a roadside of an urban expressway and an urban road.

[0017] The application also provides a control device for automatic driving of a vehicle to a safe area, comprising:

[0018] A recognition module for recognizing, by a perception sensor of the vehicle, a sudden stop state of the vehicle under non-external factors;

[0019] An alarm module for sending, according to the sudden stop state, a prompt information of driving off or parking to a safe area;

[0020] A first judgment module for, if the vehicle has a driving assistance driving function or a parking function, when the vehicle sends the prompt information to a first time threshold, the driver still does not drive off, planning a path of driving to a safe area by a driving assistance function, and reminding the vehicle to automatically drive to the safe area after a second time threshold;

[0021] A second judgment module for, when the time meets the second time threshold, the driver still does not drive off, controlling the longitudinal and lateral movements of the vehicle, and automatically driving the vehicle to the safe area.

[0022] Optionally, the perception sensor comprises:

[0023] A positioning sensor, an IMU sensor, a camera sensor of an intelligent driving system, a 4D millimeter wave radar, a laser radar, an ultrasonic radar, an inertial sensor and a global positioning system.

[0024] Optionally, the sudden stop state comprises:

[0025] A stop state on a driving lane of a highway, an expressway or an urban road.

[0026] Optionally, the alarm module sends, according to the sudden stop state, a prompt information of driving off or parking to a safe area, comprising: sending an alarm, including double flashing and / or sounding.

[0027] Optionally, the safe area comprises:

[0028] Emergency lanes on highways, and the sidewalks of urban expressways and city roads.

[0029] The beneficial effects of this application are:

[0030] This application provides a control method for automatically driving a vehicle to a safe area, comprising: identifying a sudden stop of the vehicle due to non-external factors using the vehicle's perception sensors; issuing a prompt message to leave or park in a safe area based on the sudden stop; if the vehicle has driver assistance or parking functions, and the driver has not left the vehicle by the time the prompt message is issued up to a first time threshold, planning a path to the safe area using the driver assistance function, and reminding the vehicle to automatically drive to the safe area after a second time threshold; if the driver has not left the vehicle by the time the second time threshold is met, controlling the longitudinal and lateral movements of the vehicle to automatically drive the vehicle to the safe area. This application utilizes positioning sensors to identify sudden stops of the vehicle due to non-external factors during driving and reminds the driver to leave or park in a safe area as soon as possible through an alarm system. Furthermore, if the vehicle has driver assistance or parking functions, the system can also plan a path to the safe area and automatically drive the vehicle to the safe area if the driver has not left in time, thereby greatly reducing the incidence of rear-end collisions and ensuring the safety of the driver, passengers, and cargo. Attached Figure Description

[0031] Fig. 1 This is a schematic diagram of the control process for the vehicle to automatically drive to a safe area in this application;

[0032] Fig. 2 This is a schematic diagram of the intelligent driving vehicle automatically driving to a safe area system in this application. Detailed Implementation

[0033] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0034] Please refer to Figs. 1-2 As shown, a control method for automatically driving a vehicle to a safe area includes:

[0035] S101. Identify sudden vehicle stoppages caused by factors other than external ones using the vehicle's perception sensors.

[0036] The intelligent driving car system comprehensively utilizes various perception sensors to identify whether the vehicle is in a sudden stop state caused by non-external factors. These sensors include but are not limited to positioning sensors (such as GPS), inertial measurement units (IMU), vehicle speed sensors, and core perception devices of the intelligent driving system, such as cameras, 4D millimeter wave radars (optional), laser radars (optional), ultrasonic radars, etc. In addition, the system also refers to the motion parameters of the vehicle, high-precision maps (if available), and other information, and calculates and analyzes through complex algorithms to determine whether the vehicle is suddenly stopped without external obstacles or emergencies. This step is the basis for all subsequent operations, ensuring accurate judgment of the vehicle's state.

[0037] S102, according to the sudden stop state, issuing a prompt information of driving off or parking to a safe area.

[0038] Once the system confirms that the vehicle is in a sudden stop state caused by non-external factors, and this state occurs on a driving lane of a highway, expressway or urban road, the system will immediately trigger an alarm mechanism. The alarm mode may include the flashing of the vehicle's double flash lights, the sounding of the horn, and direct reminders to the driver through sound, light signals or seat belt vibration, etc. At the same time, the system will also prompt the driver through the display screen or other interface to drive off the current lane or park to a safe area as soon as possible to avoid possible traffic accidents or congestion.

[0039] S103, if the vehicle is equipped with driving assistance functions or parking functions, when the vehicle issues the prompt information to the first time threshold, the driver still does not drive off, and the driving assistance function plans a path to drive to a safe area and reminds the vehicle to automatically drive to a safe area after the second time threshold;

[0040] If the vehicle is equipped with driving assistance functions or parking functions, and the driver still does not take any action within a certain period of time (i.e. the first time threshold, which can be calibrated according to actual conditions) after the prompt information of driving off or parking to a safe area is issued, the system will further intervene.

[0041] At this time, the system will automatically plan a safe driving path using the driving assistance function, which usually points to the emergency lane of the highway, the roadside of the urban expressway or urban road, etc. After planning, the system will remind the driver again and inform the vehicle that it will automatically execute this driving path after the second time threshold (which can also be calibrated).

[0042] Such design not only gives the driver enough time to intervene, but also ensures that the vehicle can move to a safe position autonomously when the driver cannot or does not want to operate.

[0043] S104, when the time meets the second time threshold, the driver still does not drive away, controls the longitudinal and lateral movement of the vehicle, and automatically drives the vehicle to a safe area.

[0044] If the driver still does not take any action when the second time threshold arrives, the system will no longer wait, but directly control the longitudinal (acceleration, deceleration) and lateral (steering) movement of the vehicle. Through accurate sensor data and advanced algorithms, the system can ensure that the vehicle is smoothly and safely automatically driven to the pre-planned safe area while complying with traffic rules and safety standards. This process not only embodies the advancement of intelligent driving technology, but also greatly improves the safety and efficiency of road traffic.

[0045] The application realizes the recognition of the sudden parking scene of the ego vehicle in the driving process by using positioning sensors, and reminds the driver to drive away or park to a safe area as soon as possible through the alarm system. In addition, if the vehicle has driving assistance or parking function, the system can also plan a path to drive to a safe area, and automatically drive the vehicle to a safe area in the case that the driver does not drive away in time, thereby greatly reducing the incidence of rear-end accidents and protecting the safety of the driver, passengers and goods.

[0046] The application also provides a control device for automatically driving a vehicle to a safe area, comprising:

[0047] The recognition module is configured to recognize, by a perception sensor of the vehicle, a sudden parking state of the vehicle caused by a non-external factor;

[0048] The alarm module is configured to issue prompt information for driving away or parking to a safe area according to the sudden parking state;

[0049] The first judgment module is configured to, if the vehicle has driving assistance or parking function, when the vehicle issues the prompt information to a first time threshold, the driver still does not drive away, plan a path to drive to a safe area through the driving assistance function, and remind the vehicle to automatically drive to a safe area after a second time threshold;

[0050] The second judgment module is configured to, when the time meets the second time threshold, the driver still does not drive away, control the longitudinal and lateral movement of the vehicle, and automatically drive the vehicle to a safe area.

[0051] Further, the perception sensor comprises:

[0052] The positioning sensor, the IMU sensor, the camera sensor of the intelligent driving system, the 4D millimeter wave radar, the laser radar, the ultrasonic radar, the inertial sensor, and the global positioning system.

[0053] Further, the sudden stop state includes:

[0054] A stop state on a driving lane of a highway, an expressway or an urban road.

[0055] Further, the alarm module sends a prompt information of driving off or stopping to a safe area according to the sudden stop state, including sending an alarm, including double flashing and / or sounding.

[0056] Further, the safe area includes:

[0057] An emergency lane of a highway, a roadside of an urban expressway and an urban road.

Claims

1. A control method for automatically driving a vehicle to a safe area, characterized in that, include: The vehicle's perception sensors identify sudden stopping states of the vehicle that are not caused by external factors. These sudden stopping states include stopping in the driving lane of a highway, expressway, or urban road. Based on the sudden stop status, a prompt message is issued to drive away or stop in a safe area, including: the emergency lane of a highway, the side of an urban expressway, and the side of an urban road; If the vehicle has driving assistance or parking functions, when the vehicle issues the prompt message to the first time threshold and the driver has not yet left, the driving assistance function will plan a path to the safe area and remind the vehicle to automatically drive to the safe area after the second time threshold. If the driver has not left when the second time threshold is met, the longitudinal and lateral movements of the vehicle are controlled to automatically drive the vehicle to a safe area.

2. The control method for automatically driving a vehicle to a safe area according to claim 1, characterized in that, The sensing sensor includes: Positioning sensors, IMU sensors, camera sensors for intelligent driving systems, 4D millimeter-wave radar, lidar, ultrasonic radar, inertial sensors, and global positioning systems.

3. The control method for automatically driving a vehicle to a safe area according to claim 1, characterized in that, Based on the sudden stop, issue a prompt message to leave or stop in a safe area, including: issuing an alarm, including hazard lights and / or horn.

4. A control device for automatically driving a vehicle to a safe area, characterized in that, include: The identification module is used to identify the sudden stopping state of the vehicle in non-external factors through the vehicle's perception sensors. The sudden stopping state includes the stopping state in the driving lane of a highway, expressway, or urban road. The alarm module is used to issue a prompt message to leave or stop in a safe area based on the sudden stopping state. The safe area includes: the emergency lane of the highway, the side of the road on the urban expressway and the urban road. The first judgment module is used to, if the vehicle has driving assistance or parking functions, when the vehicle issues the prompt message to the first time threshold and the driver has not yet left, plan a path to a safe area through the driving assistance function and remind the vehicle to automatically drive to the safe area after the second time threshold. The second judgment module is used to control the longitudinal and lateral movements of the vehicle when the driver has not left when the time meets the second time threshold, so as to automatically drive the vehicle to a safe area.

5. The control device for automatically driving a vehicle to a safe area according to claim 4, characterized in that, The sensing sensor includes: Positioning sensors, IMU sensors, camera sensors for intelligent driving systems, 4D millimeter-wave radar, lidar, ultrasonic radar, inertial sensors, and global positioning systems.

6. The control device for automatically driving a vehicle to a safe area according to claim 4, characterized in that, The alarm module issues a prompt message indicating that the vehicle is leaving or stopping in a safe area based on the sudden stop status, including issuing an alarm, such as hazard lights and / or horn.

Images