Automatic driving vehicle following driving method, device and equipment and readable storage medium

Abstract

The invention provides an automatic driving vehicle following driving method, device and equipment and a readable storage medium. The method comprises the following steps: acquiring a multi-frame distance signal acquired by at least one ultrasonic radar of a vehicle; determining distance information and speed information of a target vehicle in a signal acquisition area relative to the vehicle according to the signal acquisition area corresponding to the ultrasonic radar and the multi-frame distance signal; judging whether the target vehicle enters the lane where the vehicle is located according to the distance information and the speed information to obtain a judgment result; and controlling the driving state of the vehicle according to the judgment result. The ultrasonic radar is low in manufacturing cost, widely installed in most vehicles and sensitive in close-range distance sensing in a congested environment, distance signals in all directions of the vehicle are collected through the ultrasonic radar, whether other vehicles need to cut into the lane of the vehicle or not is judged, the following driving state of the vehicle is controlled, the cost is low, and the method is suitable for popularization and application. And the accuracy and the sensitivity are greatly improved, and the capability of resisting transverse cut-in of vehicles on adjacent lanes is improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to a method, device, equipment and readable storage medium for following an autonomous driving vehicle. Background Art

[0002] With the development of autonomous driving technology, vehicles equipped with autonomous driving functions are also favored by people. When a vehicle is driving automatically, close, high-precision, and high-sensitivity following of the vehicle in a congested environment can prevent the situation where the vehicle cannot move normally due to the continuous cutting in of lateral vehicles caused by the following distance being too large and the following being untimely.

[0003] In the related technology, the solution to achieve vehicle-following driving is to use the vehicle's multiple laser radars, millimeter-wave radars and other sensors to collect the vehicle's surrounding data, then calculate the collected data through a controller to determine the driving conditions around the vehicle, and then control the vehicle's following driving status.

[0004] The above solution requires the use of expensive sensors such as lidar and millimeter-wave radar, which cannot be used on a large scale and cannot solve the problem of following vehicles in congested environments. Summary of the invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a method, device, equipment and readable storage medium for following an autonomous driving vehicle that overcomes the above problems or at least partially solves the above problems.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, an embodiment of the present application discloses a method for following a vehicle by an autonomous driving vehicle, the method comprising:

[0008] Acquire a multi-frame distance signal collected by at least one ultrasonic radar of the vehicle;

[0009] Determine the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle according to the signal collection area corresponding to the ultrasonic radar and the multiple frames of distance signals;

[0010] Determine whether the target vehicle will cut into the lane where the vehicle is located according to the distance information and the speed information, and obtain a determination result;

[0011] The driving state of the vehicle is controlled according to the judgment result.

[0012] In a second aspect, an embodiment of the present application discloses an autonomous driving vehicle following vehicle driving device, the device comprising:

[0013] An acquisition module, used to acquire a multi-frame distance signal collected by at least one ultrasonic radar of the vehicle;

[0014] A determination module, configured to determine the distance information and speed information of a target vehicle located in the signal collection area relative to the vehicle according to the signal collection area corresponding to the ultrasonic radar and the multi-frame distance signal;

[0015] A judgment module, used for judging whether the target vehicle will cut into the lane where the vehicle is located according to the distance information and the speed information, and obtaining a judgment result;

[0016] The control module is used to control the driving state of the vehicle according to the judgment result.

[0017] In a third aspect, an embodiment of the present application discloses an electronic device, comprising a processor and a memory, wherein the memory stores programs or instructions that can be executed on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the first aspect are implemented.

[0018] In a fourth aspect, an embodiment of the present application discloses a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0019] In an embodiment of the present application, a multi-frame distance signal collected by at least one ultrasonic radar of the vehicle is obtained; the distance information and speed information of a target vehicle located in the signal collection area relative to the vehicle are determined based on the signal collection area corresponding to the ultrasonic radar and the multi-frame distance signal; based on the distance information and the speed information, it is judged whether the target vehicle will cut into the lane where the vehicle is located, and a judgment result is obtained; and the driving state of the vehicle is controlled based on the judgment result. The present application determines the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle through multiple frames of distance signals collected by the ultrasonic radar. Ultrasonic radar is widely installed in most vehicles due to its low cost, and ultrasonic radar is more sensitive and convenient for short-range distance perception in congested environments. Therefore, the present application collects distance signals from all directions of the vehicle through the ultrasonic radar equipped on most vehicles, and can determine the distance information and speed information of the target vehicle in the signal collection area in all directions of the vehicle relative to the vehicle, and then determine whether the target vehicle is about to execute the action of cutting into the lane of the vehicle, and further control the following driving state of the vehicle. The solution of the present application has a low cost, and without equipping the vehicle with additional expensive sensors, it can realize automatic driving of the vehicle in congested conditions, and the accuracy and sensitivity are greatly improved, and the ability to resist lateral cutting in by vehicles in adjacent lanes is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1This is a flowchart of the steps of a method for following a vehicle by an autonomous driving vehicle provided by an embodiment of the present invention;

[0021] Figure 2 This is a schematic diagram of the installation position of a vehicle ultrasonic radar provided by an embodiment of the present invention;

[0022] Figure 3 is a distance determination flow chart provided by an embodiment of the present invention;

[0023] Figure 4 is a speed determination flow chart provided by an embodiment of the present invention;

[0024] Figure 5 is a flow chart of a congestion mode execution solution provided by an embodiment of the present invention;

[0025] Figure 6 This is a block diagram of an automatic driving vehicle following vehicle driving device provided by an embodiment of the present invention;

[0026] Figure 7 is a block diagram of an electronic device provided in an embodiment of the present application;

[0027] Figure 8 This is a block diagram of another electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0029] refer to Figure 1 , which shows a step flow chart of the method for following a vehicle by an autonomous driving vehicle provided in an embodiment of the present application.

[0030] Step 101: Acquire multiple frames of distance signals collected by at least one ultrasonic radar of a vehicle.

[0031] In an embodiment of the present invention, an ultrasonic radar is a radar sensor device that uses ultrasonic waves to measure distance. Among vehicle-mounted sensors, ultrasonic radar is one of the most common types at present. In short-distance measurement, ultrasonic ranging sensors have great advantages, for example, they can be used as reversing radars. The working principle of ultrasonic radar is to emit ultrasonic waves outward through an ultrasonic transmitting device, and measure the distance by the time difference between the time when the receiver corresponding to the transmitting device receives the ultrasonic wave and the time when the transmitting device transmits the ultrasonic wave. The operating frequency of the ultrasonic radar can be 40kHz, 48kHz, 58kHz, etc. The higher the frequency, the higher the sensitivity, but the smaller the detection angle in the horizontal and vertical directions. Ultrasonic radar is waterproof and dustproof, and it is not affected even if there is a small amount of mud and sand blocking it. The detection range is between 0.1-3 meters, and the accuracy is high, so it is very suitable for close-range distance measurement. There is no restriction on the frequency of the ultrasonic radar in this application, and those skilled in the art can choose according to actual needs.

[0032] Furthermore, in a congested environment, the following distance between vehicles is relatively close. Therefore, the vehicle's ultrasonic radar can be used to judge the distance between the vehicle and the vehicle in front, and whether the vehicle in the adjacent lane is about to cut into the lane where the vehicle is located.

[0033] refer to Figure 2 , Figure 2 A schematic diagram of the installation position of a vehicle ultrasonic radar is shown. The ultrasonic radars can be set around the vehicle. For example, according to the number of ultrasonic radars on the vehicle, they can be named U1, U2, U3, U4, U5, U6, U7, and U8 respectively; the distance signals collected by each ultrasonic radar correspond to S1, S2, S3, S4, S5, S6, S7, and S8 respectively; and each ultrasonic radar can continuously collect distance signals according to a preset time period. Therefore, a multi-frame distance signal collected by at least one ultrasonic radar of the vehicle can be obtained. By calculating the multi-frame distance signals corresponding to each ultrasonic radar, the vehicle status within the signal collection area corresponding to each ultrasonic radar can be judged, and then the relative position relationship between the vehicles around the vehicle and the vehicle can be obtained.

[0034] Optionally, step 101 specifically includes:

[0035] Sub-step 1011, obtaining a first moment when the ultrasonic radar transmits a first ultrasonic signal and a second moment when the ultrasonic radar receives the first ultrasonic signal, and obtaining a first distance signal according to the first moment and the second moment;

[0036] Sub-step 1012, obtaining a third moment when the ultrasonic radar transmits a second ultrasonic signal and a fourth moment when the ultrasonic radar receives the second ultrasonic signal, and obtaining a second distance signal according to the third moment and the fourth moment.

[0037] In the embodiment of the present invention, for sub-steps 1011 and 1012, the ultrasonic radar transmitter and receiver complete the transmission and reception of ultrasonic waves during ranging, and the timer is responsible for timing. The transmitter of the ultrasonic radar transmits the first ultrasonic signal in the specified direction and starts the timer for timing, and obtains the first moment when the ultrasonic radar transmits the first ultrasonic signal. When the transmitted first ultrasonic signal propagates in the medium, it encounters an obstacle and is reflected back. After the receiver receives the reflected first ultrasonic signal, the timer immediately stops timing, and obtains the second moment when the first ultrasonic signal is received. According to the time difference between the first moment and the second moment, the time taken for the ultrasonic wave to reach the obstacle and return from the obstacle to the receiver can be determined. Since the propagation speed of the ultrasonic wave is known, the first distance signal between the obstacle and the ultrasonic radar of the vehicle can be obtained according to the propagation speed and the time taken.

[0038] Furthermore, after obtaining the first distance signal, the second ultrasonic signal can continue to be emitted through the ultrasonic radar. Similarly, the second distance signal can be obtained according to the third moment of the emitted second ultrasonic signal and the fourth moment of the received second ultrasonic signal. The first ultrasonic signal and the second ultrasonic signal can be two adjacent ultrasonic signals. The time interval between the first ultrasonic signal and the second ultrasonic signal can be set according to actual needs, and the embodiment of the present application is not limited here. After obtaining two distance signals, the relative position relationship between the target vehicle in the signal collection area of ​​the ultrasonic radar and the vehicle can be judged by the two distance signals. For example, if the value represented by the second distance signal is greater than the value represented by the first distance signal, it indicates that the target vehicle in the signal collection area of ​​the ultrasonic radar is approaching the vehicle. If the value represented by the second distance signal is less than the value represented by the first distance signal, it indicates that the target vehicle in the signal collection area of ​​the ultrasonic radar is moving away from the vehicle. Through the ultrasonic radar, the relative position relationship between the vehicles around the vehicle and the vehicle can be quickly obtained in a congested environment.

[0039] Step 102, determining the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle according to the signal collection area corresponding to the ultrasonic radar and the multi-frame distance signal.

[0040] In the embodiment of the present invention, for ultrasonic radars U1, U2, U3, U4, U5, U6, U7, and U8, the multi-frame distance signals collected by each ultrasonic radar correspond to S1, S2, S3, S4, S5, S6, S7, and S8 respectively; each ultrasonic radar can calculate the instantaneous speed V1, V2, V3, V4, V5, V6, V7, and V8 respectively according to the collected distance and interval time. According to the signal collection area corresponding to the ultrasonic radar and the multi-frame distance signal, the distance information and speed information of the target vehicle in the signal collection area relative to the vehicle can be determined.

[0041] refer to Figure 2 For example, for the ultrasonic radar U4, the speed information in the direction of U4 can be determined based on the continuously collected distance signal S4, and then the relative position relationship between the target vehicle in the direction of U4 and the vehicle can be determined.

[0042] Optionally, step 102 specifically includes:

[0043] Sub-step 1021, determining the distance information and speed information of the target vehicle according to the first distance signal and the second distance signal.

[0044] In an embodiment of the present invention, the moving distance of the target vehicle located in the signal collection area within the interval between two signals can be determined based on the first distance signal and the second distance signal, and the speed information of the target vehicle located in the signal collection area can be determined based on the moving distance and the two interval times.

[0045] Optionally, sub-step 1021 specifically includes:

[0046] Sub-step 10211, determining the distance information of the target vehicle relative to the host vehicle according to the first distance signal and the second distance signal.

[0047] In an embodiment of the present invention, if the value represented by the second distance signal is greater than the value represented by the first distance signal, it indicates that the target vehicle in the signal collection area of ​​the ultrasonic radar is approaching the vehicle; if the value represented by the second distance signal is less than the value represented by the first distance signal, it indicates that the target vehicle in the signal collection area of ​​the ultrasonic radar is moving away from the vehicle.

[0048] Sub-step 10212, determining the instantaneous speed of the target vehicle based on the distance information and the time difference between the first moment and the second moment.

[0049] In an embodiment of the present invention, the moving distance of the target vehicle located in the signal collection area within the interval between two signals can be determined based on the first distance signal and the second distance signal, and the speed information of the target vehicle located in the signal collection area can be determined based on the moving distance and the two interval times.

[0050] Sub-step 10213, determining the speed direction according to the distance information and the instantaneous speed.

[0051] In an embodiment of the present invention, if it is determined based on the distance information that the target vehicle in the signal collection area is getting closer to the vehicle and the instantaneous speed is increasing, then it can be determined that the speed direction of the target vehicle in the signal collection area is the direction of cutting into the lane where the vehicle is located.

[0052] Optionally, sub-step 10213 specifically includes:

[0053] Sub-step A1, when the signal collection area collected by the ultrasonic radar is an adjacent lane of the vehicle's lane, if the distance information is less than a first threshold and the instantaneous speed is greater than a second threshold, then determine that the speed direction is the direction of cutting into the vehicle's lane.

[0054] In the embodiment of the present invention, in the specific congestion algorithm, a vehicle safety distance threshold value such as the first threshold value Sa may be set. Figure 3 , Figure 3 The flow chart of distance determination is shown. For the ultrasonic radar U1, U1 collects the distance signal S1 according to the clock frequency. The distance signal S1 is input into the controller to determine the distance information. When the distance information S < Sa, it means that the distance in the direction is lower than the safety value, and the corresponding direction speed control signal is output; otherwise, the normal driving state will be maintained. The distance signals transmitted by different ultrasonic radars represent the distance signals between the vehicle and the surrounding vehicles or facilities in different directions, which are S1, S2, S3...Sn respectively. Different thresholds can be set for different directions according to needs, which are S1a, S2a, S3a...Sna respectively. ,

[0055] Further, refer to Figure 4 , Figure 4The speed determination flow chart is shown, and the safety speed threshold for the surrounding vehicles or facilities to approach the vehicle can also be set, such as the second threshold Va. For the ultrasonic radar U1, the instantaneous speed V1 can be determined according to the clock frequency and the collected distance signal S1. When the speed V1 ≥ Va, it means that the speed in the direction is higher than the safety value, and it is determined that it cannot continue to move forward, and a braking control signal is output. When the speed V1 is less than Va, it means that the speed in the direction is not higher than the safety value, and it can continue to move forward. The approach speed in different directions represents different events. If the speed V2 calculated by the signal S2 transmitted by the ultrasonic radar U2 in front of the vehicle is too high, it means that the vehicle is approaching the front vehicle quickly, and braking measures must be taken immediately; if the signal S4 transmitted by the ultrasonic radar U4 in the right front is suddenly less than the first threshold, and the speed V4 calculated by S4 is suddenly greater than the second threshold, it means that a vehicle in front of the right suddenly cuts into the lane of the vehicle, and the speed of the vehicle will be controlled according to the preset value, and emergency braking will be taken if necessary.

[0056] It should be noted that the device for processing the distance signal and controlling the driving of the vehicle may be IACC (Integrated Adapted Cruise Control). IACC adopts multi-sensor fusion technology, integrating radar data, multi-function cameras and navigation maps, sensing the driving road environment, and controlling the vehicle's automatic acceleration, deceleration and steering through power, braking and steering, keeping the vehicle in the lane or automatically following the trajectory of the target vehicle in front.

[0057] Sub-step A2, when multiple ultrasonic radars collect distance information and instantaneous speed of the same target vehicle, determining the speed direction according to the signal collection areas corresponding to the multiple ultrasonic radars, as well as the distance information and instantaneous speed;

[0058] In the embodiment of the present invention, multiple ultrasonic radars may collect the distance information and instantaneous speed of the same target vehicle. Therefore, the distance signals collected by the multiple ultrasonic radars can be comprehensively judged to more accurately determine the speed direction of the target vehicle. For example, if the ultrasonic radar U4 collects the distance information and instantaneous speed of the target vehicle, and the ultrasonic radar U3 also collects the distance information and instantaneous speed of the same target vehicle, then the speed direction of the target vehicle can be determined according to the time of the distance signals of the target vehicle collected by U3 and U4, and the signal collection areas corresponding to U3 and U4. For example, the ultrasonic radar U4 first collects the distance signal of the target vehicle, and the ultrasonic radar U3 then collects the distance signal of the target vehicle. Then, according to the distance signal, the distance information of the target vehicle from the ultrasonic radars U4 and U3 can be determined. According to the distance information, the instantaneous speed of the target vehicle can be determined. Combined with the order of the distance signals collected by the ultrasonic radars U4 and U3, the speed direction of the target vehicle can be determined as the direction of cutting into the lane of the vehicle, and the braking scheme to be taken by the vehicle can be determined.

[0059] Step 103, judging whether the target vehicle will cut into the lane where the host vehicle is located according to the distance information and the speed information, and obtaining a judgment result.

[0060] In an embodiment of the present invention, it is determined whether the target vehicle will cut into the lane where the vehicle is located based on the distance information and the speed information. Referring to the description of sub-steps A1 and A2, the distance signals collected by the ultrasonic radar in various directions can be used to determine the relative position relationship between the vehicle and the surrounding vehicles, and then determine whether the target vehicle will cut into the lane where the vehicle is located to obtain a judgment result. It is also possible to combine the distance signals of multiple ultrasonic radars, and comprehensively determine the relative position relationship between the vehicle and the surrounding vehicles based on the signal collection areas of the multiple ultrasonic radars and the time when the distance signals are collected, and then determine whether the target vehicle will cut into the lane where the vehicle is located to obtain a judgment result. The embodiments of the present invention will not be repeated here.

[0061] Optionally, step 103 specifically includes:

[0062] Sub-step 1031, when it is determined that the speed direction is the direction of cutting into the lane of the vehicle, a judgment result that the target vehicle will cut into the lane of the vehicle is obtained.

[0063] In an embodiment of the present invention, when the speed direction is determined to be the direction of cutting into the lane of the vehicle, a judgment result is obtained that the target vehicle will cut into the lane of the vehicle. According to the judgment result, the driving state of the vehicle is controlled. The present application collects distance signals from all directions of the vehicle through the ultrasonic radar equipped on most vehicles, and can determine the distance information and speed information of the target vehicle relative to the vehicle in the signal collection area in all directions of the vehicle, and then judge whether the target vehicle is going to execute the action of cutting into the lane of the vehicle, and further control the following driving state of the vehicle. The solution of the present application is low in cost. Without equipping the vehicle with more expensive sensors, automatic driving of the vehicle in congested conditions is realized, and the accuracy and sensitivity are greatly improved, and the ability to resist lateral cutting of vehicles in adjacent lanes is improved.

[0064] Step 104: Control the driving state of the vehicle according to the judgment result.

[0065] In an embodiment of the present invention, if the judgment result shows that the target vehicle will cut into the lane of this vehicle, then measures such as reducing the speed or emergency braking can be taken for this vehicle. If it is judged according to the ultrasonic radar that the distance between this vehicle and the vehicle in front exceeds a preset threshold, then measures such as reducing the speed or emergency braking can also be taken for this vehicle. This application only realizes automatic driving of vehicles in congested conditions under the low-cost hardware configuration conditions of ultrasonic radar, and the accuracy and sensitivity are greatly improved, and the ability to resist lateral cutting in (cutting in) of vehicles in adjacent lanes is greatly improved.

[0066] Optionally, step 104 specifically includes:

[0067] Sub-step 1041 , if the judgment result is that the target vehicle will cut into the lane of the host vehicle, the host vehicle is controlled to reduce speed or take braking operation.

[0068] In an embodiment of the present invention, if the judgment result is that the target vehicle is about to cut into the lane of the host vehicle, the host vehicle is controlled to reduce speed or take braking operation. For example, if the target vehicle is about to cut into the lane of the host vehicle and the instantaneous speed exceeds the first preset threshold, the vehicle can be controlled to reduce speed. If the target vehicle is about to cut into the lane of the host vehicle and the instantaneous speed exceeds the second preset threshold, the vehicle can be controlled to emergency brake. Among them, the second preset threshold is greater than the first preset threshold, and the embodiment of the present invention does not limit the specific size of the first preset threshold and the second preset threshold.

[0069] Sub-step 1042: If the judgment result is that the target vehicle will continue to travel in the adjacent lane, the driving state of the host vehicle is maintained.

[0070] In the embodiment of the present invention, if the judgment result is that the target vehicle will continue to travel in the adjacent lane, it means that the target vehicle will not affect the current following driving state of the vehicle, and the vehicle can continue to travel according to the current driving state.

[0071] Optionally, the method further comprises:

[0072] Step 105, when the signal collection area collected by the ultrasonic radar is the area in front of the vehicle, if the distance information is less than the third threshold, or the instantaneous speed is greater than the fourth threshold, it is determined that the following state of the vehicle is in a dangerous state.

[0073] Step 106: When the vehicle is in the dangerous state, control the vehicle to reduce speed or take braking operations.

[0074] In the embodiment of the present invention, if the distance information obtained by the distance signal transmitted by the ultrasonic radar U2 in front is less than the third threshold, or the instantaneous speed is greater than the fourth threshold, it means that the vehicle is rapidly approaching the vehicle in front, and at this time, it is determined that the following state of the vehicle is in a dangerous state. The driving state of the vehicle needs to be adjusted.

[0075] Specifically, different control behaviors may be set for different distance information. For example, if the distance information is less than A1, the corresponding control behavior is to reduce the speed. If the distance information is less than A2, the corresponding control behavior is emergency braking, where A2 is less than A1.

[0076] Similarly, different control behaviors can be set for different instantaneous speeds. For example, if the instantaneous speed is greater than B1, the corresponding control behavior is to reduce the speed. If the instantaneous speed is greater than B2, the corresponding control behavior is emergency braking, where B2 is greater than B1.

[0077] refer to Figure 5 , Figure 5A flow chart of a congestion mode execution scheme provided by an embodiment of the present invention is shown. When the vehicle is in a congested environment, the congestion mode is turned on, the system mobilizes the forward-looking module to operate the IACC function normally, and adjusts the following distance to the preset value Ss. Ss can be set as the minimum safe distance in a congested state according to the manufacturer or the user's personal needs. At the same time, the ultrasonic module is started. The ultrasonic module collects the distance signal and imports it into the IACC controller. Through the optimized congestion algorithm, the IACC driving mode is maintained until the controller outputs a braking signal. Under the condition of turning on the congestion auxiliary driving mode, the present application reduces the IACC following distance to the minimum value, and at the same time outputs a unified clock signal with the IACC controller, and starts the ultrasonic radar of the entire vehicle, continuously collects the surrounding radar sensor signals, and synchronizes the feedback signal to the IACC controller. The controller does not need to determine whether there are other vehicles around, but only needs to use the ultrasonic radar ranging signal in a normal parking manner to evaluate the minimum free distance and direction around the vehicle. At the same time, based on the clock signal, the front and rear free distances and direction signals are compared to determine the speed and direction of movement of surrounding vehicles approaching the vehicle, directly determine and predict the movement mode of surrounding vehicles, and guide the vehicle's decision-making and control algorithms to complete the vehicle's automatic driving operation, thereby realizing the automatic driving function of low-cost configured vehicles in congested environments.

[0078] Furthermore, in addition to using ultrasonic radar to sense the distance information of the vehicle in all directions, the solution of the present application can also be combined with other components of the vehicle, such as cameras, or networked map data for fusion judgment. For example, the environmental image data around the vehicle collected by the camera, such as surrounding vehicle images, lane line images, and map data, can be obtained for data fusion, and based on the fused data, it can be judged whether the target vehicle meets the conditions for cutting into the lane of the vehicle, wherein the judgment condition for the target vehicle to cut into the lane of the vehicle can be to sense whether the target vehicle is located near the lane line of the current vehicle and to judge in combination with parameters such as the speed of the target vehicle. Specifically, it can be set accordingly by those skilled in the art according to factors such as road type, road construction status, vehicle type, environment, etc., and the present invention does not make specific restrictions here.

[0079] In an embodiment of the present application, a multi-frame distance signal collected by at least one ultrasonic radar of the vehicle is obtained; the distance information and speed information of a target vehicle located in the signal collection area relative to the vehicle are determined based on the signal collection area corresponding to the ultrasonic radar and the multi-frame distance signal; based on the distance information and the speed information, it is judged whether the target vehicle will cut into the lane where the vehicle is located, and a judgment result is obtained; and the driving state of the vehicle is controlled based on the judgment result. The present application determines the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle through multiple frames of distance signals collected by the ultrasonic radar. Ultrasonic radar is widely installed in most vehicles due to its low cost, and ultrasonic radar is more sensitive and convenient for short-range distance perception in congested environments. Therefore, the present application collects distance signals from all directions of the vehicle through the ultrasonic radar equipped on most vehicles, and can determine the distance information and speed information of the target vehicle in the signal collection area in all directions of the vehicle relative to the vehicle, and then determine whether the target vehicle is about to execute the action of cutting into the lane of the vehicle, and further control the following driving state of the vehicle. The solution of the present application has a low cost, and without equipping the vehicle with additional expensive sensors, it can realize automatic driving of the vehicle in congested conditions, and the accuracy and sensitivity are greatly improved, and the ability to resist lateral cutting in by vehicles in adjacent lanes is improved.

[0080] refer to Figure 6 , which shows a block diagram of an automatic driving vehicle following vehicle driving device 20 provided in an embodiment of the present application, the device comprising:

[0081] An acquisition module 201 is used to acquire a multi-frame distance signal collected by at least one ultrasonic radar of a vehicle;

[0082] A determination module 202 is used to determine the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle according to the signal collection area corresponding to the ultrasonic radar and the multi-frame distance signal;

[0083] A judgment module 203 is used to judge whether the target vehicle will cut into the lane where the vehicle is located according to the distance information and the speed information, and obtain a judgment result;

[0084] The control module 204 is used to control the driving state of the vehicle according to the judgment result.

[0085] Optionally, the acquisition module includes:

[0086] A first acquisition submodule, used to acquire a first moment when the ultrasonic radar transmits a first ultrasonic signal and a second moment when the first ultrasonic signal is received, and obtain a first distance signal according to the first moment and the second moment;

[0087] The second acquisition submodule is used to acquire a third moment when the ultrasonic radar transmits a second ultrasonic signal and a fourth moment when the ultrasonic radar receives the second ultrasonic signal, and obtain a second distance signal according to the third moment and the fourth moment.

[0088] Optionally, a module is determined, including:

[0089] The first determination submodule is used to determine the distance information and speed information of the target vehicle according to the first distance signal and the second distance signal.

[0090] Optionally, the speed information includes instantaneous speed and speed direction, and the first determination submodule includes:

[0091] A distance determination submodule, used to determine the distance information of the target vehicle relative to the host vehicle according to the first distance signal and the second distance signal;

[0092] A speed determination submodule, used to determine the instantaneous speed of the target vehicle according to the distance information and the time difference between the first moment and the second moment;

[0093] The direction determination submodule is used to determine the speed direction according to the distance information and the instantaneous speed.

[0094] Optionally, the direction determination submodule includes:

[0095] A second determination submodule is used for determining, when the signal collection area collected by the ultrasonic radar is an adjacent lane of the own vehicle lane, if the distance information is less than a first threshold and the instantaneous speed is greater than a second threshold, that the speed direction is a direction of cutting into the own vehicle lane;

[0096] A third determination submodule is used to determine the speed direction according to the signal collection areas corresponding to the multiple ultrasonic radars, as well as the distance information and the instantaneous speed when multiple ultrasonic radars collect distance information and instantaneous speed of the same target vehicle;

[0097] The judging module comprises:

[0098] The judgment result determination submodule is used to obtain a judgment result that the target vehicle will cut into the lane of the vehicle under the condition that the speed direction is determined to be the direction of cutting into the lane of the vehicle.

[0099] Optionally, the control module includes:

[0100] A first control submodule, configured to control the vehicle to reduce speed or take braking action if the judgment result is that the target vehicle will cut into the lane of the vehicle;

[0101] The second control submodule is used to maintain the driving state of the vehicle if the judgment result is that the target vehicle will continue to drive in the adjacent lane.

[0102] Optionally, the device further comprises:

[0103] a state determination module, configured to determine that the following state of the vehicle is in a dangerous state if the distance information is less than a third threshold or the instantaneous speed is greater than a fourth threshold when the signal collection area collected by the ultrasonic radar is the area in front of the vehicle;

[0104] The operation control module controls the vehicle to reduce speed or take braking operations when the vehicle is in the dangerous state.

[0105] In summary, in the embodiments of the present application, a multi-frame distance signal collected by at least one ultrasonic radar of the vehicle is obtained; the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle are determined based on the signal collection area corresponding to the ultrasonic radar and the multi-frame distance signal; based on the distance information and the speed information, it is judged whether the target vehicle will cut into the lane where the vehicle is located, and a judgment result is obtained; and the driving state of the vehicle is controlled based on the judgment result. The present application determines the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle through multiple frames of distance signals collected by the ultrasonic radar. Ultrasonic radar is widely installed in most vehicles due to its low cost, and ultrasonic radar is more sensitive and convenient for short-range distance perception in congested environments. Therefore, the present application collects distance signals from all directions of the vehicle through the ultrasonic radar equipped on most vehicles, and can determine the distance information and speed information of the target vehicle in the signal collection area in all directions of the vehicle relative to the vehicle, and then determine whether the target vehicle is about to execute the action of cutting into the lane of the vehicle, and further control the following driving state of the vehicle. The solution of the present application has a low cost, and without equipping the vehicle with additional expensive sensors, it can realize automatic driving of the vehicle in congested conditions, and the accuracy and sensitivity are greatly improved, and the ability to resist lateral cutting in by vehicles in adjacent lanes is improved.

[0106] Figure 7 is a block diagram of an electronic device 600 according to an exemplary embodiment. For example, the electronic device 600 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0107] Reference Figure 7, the electronic device 600 may include one or more of the following components: a processing component 602 , a memory 604 , a power component 606 , a multimedia component 608 , an audio component 610 , an input / output (I / O) interface 612 , a sensor component 614 , and a communication component 616 .

[0108] The processing component 602 generally controls the overall operation of the electronic device 600, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 602 may include one or more processors 620 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 602 may include one or more modules to facilitate the interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate the interaction between the multimedia component 608 and the processing component 602.

[0109] The memory 604 is used to store various types of data to support the operation of the electronic device 600. Examples of such data include instructions for any application or method operating on the electronic device 600, contact data, phone book data, messages, pictures, multimedia, etc. The memory 604 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0110] The power supply component 606 provides power to the various components of the electronic device 600. The power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 600.

[0111] The multimedia component 608 includes a screen that provides an output interface between the electronic device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 608 includes a front camera and / or a rear camera. When the electronic device 600 is in an operating mode, such as a shooting mode or a multimedia mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and the rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0112] The audio component 610 is used to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC), and when the electronic device 600 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is used to receive an external audio signal. The received audio signal can be further stored in the memory 604 or sent via the communication component 616. In some embodiments, the audio component 610 also includes a speaker for outputting audio signals.

[0113] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0114] The sensor assembly 614 includes one or more sensors for providing various aspects of status assessment for the electronic device 600. For example, the sensor assembly 614 can detect the open / closed state of the electronic device 600, the relative positioning of the components, such as the display and keypad of the electronic device 600, and the sensor assembly 614 can also detect the position change of the electronic device 600 or a component of the electronic device 600, the presence or absence of contact between the user and the electronic device 600, the orientation or acceleration / deceleration of the electronic device 600, and the temperature change of the electronic device 600. The sensor assembly 614 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 614 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 614 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0115] The communication component 616 is used to facilitate wired or wireless communication between the electronic device 600 and other devices. The electronic device 600 can access a wireless network based on a communication standard, such as WiFi, a carrier network (such as 2G, 3G, 4G or 5G), or a combination thereof. In an exemplary embodiment, the communication component 616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0116] In an exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to implement a method for following an autonomous driving vehicle provided in an embodiment of the present application.

[0117] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 604 including instructions, and the instructions can be executed by a processor 620 of an electronic device 600 to perform the above method. For example, the non-transitory storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0118] Figure 8 is a block diagram of an electronic device 700 according to an exemplary embodiment. For example, the electronic device 700 may be provided as a server. Figure 8 , the electronic device 700 includes a processing component 722, which further includes one or more processors, and a memory resource represented by a memory 732, for storing instructions that can be executed by the processing component 722, such as an application. The application stored in the memory 732 may include one or more modules, each corresponding to a set of instructions. In addition, the processing component 722 is configured to execute instructions to execute a method for following an autonomous driving vehicle provided in an embodiment of the present application.

[0119] The electronic device 700 may also include a power supply component 726 configured to perform power management of the electronic device 700, a wired or wireless network interface 750 configured to connect the electronic device 700 to a network, and an input / output (I / O) interface 758. The electronic device 700 may operate based on an operating system stored in the memory 732, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™ or the like.

[0120] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the autonomous driving vehicle following driving method.

[0121] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0122] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for following an autonomous driving vehicle, characterized in that: The method comprises: Acquire a multi-frame distance signal collected by at least one ultrasonic radar of the vehicle; Determine the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle according to the signal collection area corresponding to the ultrasonic radar and the multiple frames of distance signals; Determine whether the target vehicle will cut into the lane where the vehicle is located according to the distance information and the speed information, and obtain a determination result; The driving state of the vehicle is controlled according to the judgment result.

2. The method according to claim 1, characterized in that The step of acquiring a plurality of frames of distance signals collected by at least one ultrasonic radar of the vehicle comprises: Acquire a first moment when the ultrasonic radar transmits a first ultrasonic signal and a second moment when the ultrasonic radar receives the first ultrasonic signal, and obtain a first distance signal according to the first moment and the second moment; A third moment when the ultrasonic radar transmits a second ultrasonic signal and a fourth moment when the ultrasonic radar receives the second ultrasonic signal are acquired, and a second distance signal is obtained according to the third moment and the fourth moment.

3. The method according to claim 2, characterized in that Determining the distance information and speed information of the target vehicle located in the signal collection area relative to the vehicle according to the signal collection area corresponding to the ultrasonic radar and the multiple frames of distance signals, including: The distance information and the speed information of the target vehicle are determined according to the first distance signal and the second distance signal.

4. The method according to claim 3, characterized in that The speed information includes instantaneous speed and speed direction, and determining the distance information and speed information of the target vehicle according to the first distance signal and the second distance signal includes: Determining distance information of the target vehicle relative to the host vehicle according to the first distance signal and the second distance signal; Determine the instantaneous speed of the target vehicle according to the distance information and the time difference between the first moment and the second moment; The speed direction is determined according to the distance information and the instantaneous speed.

5. The method according to claim 4, characterized in that The determining the speed direction according to the distance information and the instantaneous speed comprises: In the case where the signal collection area collected by the ultrasonic radar is an adjacent lane of the own vehicle lane, if the distance information is less than a first threshold value and the instantaneous speed is greater than a second threshold value, then determining that the speed direction is a direction of cutting into the own vehicle lane; Or, when multiple ultrasonic radars collect distance information and instantaneous speed of the same target vehicle, the speed direction is determined according to the signal collection areas corresponding to each of the multiple ultrasonic radars, as well as the distance information and instantaneous speed; The step of determining whether the target vehicle will cut into the lane where the vehicle is located according to the distance information and the speed information, and obtaining a determination result, includes: When it is determined that the speed direction is the direction of cutting into the lane of the host vehicle, a judgment result that the target vehicle will cut into the lane of the host vehicle is obtained.

6. The method according to claim 5, characterized in that The controlling the driving state of the vehicle according to the judgment result includes: If the judgment result is that the target vehicle will cut into the lane of the host vehicle, the host vehicle is controlled to reduce speed or take braking operation; If the judgment result is that the target vehicle will continue to travel in the adjacent lane, the driving state of the host vehicle is maintained.

7. The method according to claim 4, characterized in that The method further comprises: In the case where the signal collection area collected by the ultrasonic radar is the area in front of the vehicle, if the distance information is less than a third threshold, or the instantaneous speed is greater than a fourth threshold, it is determined that the following state of the vehicle is in a dangerous state; When in the dangerous state, the vehicle is controlled to reduce speed or take braking operation.

8. An automatic driving vehicle following vehicle driving device, characterized in that: The device comprises: An acquisition module, used to acquire a multi-frame distance signal collected by at least one ultrasonic radar of the vehicle; A determination module, configured to determine the distance information and speed information of a target vehicle located in the signal collection area relative to the vehicle according to the signal collection area corresponding to the ultrasonic radar and the multi-frame distance signal; A judgment module, used to judge whether the target vehicle will cut into the lane where the vehicle is located according to the distance information and the speed information, and obtain a judgment result; The control module is used to control the driving state of the vehicle according to the judgment result.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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