Automatic driving method and device and vehicle

Abstract

The invention discloses an automatic driving method and device and a vehicle, and relates to the technical field of vehicle driving. The method comprises the following steps: in response to a conflict area existing between a driving path of an autonomous vehicle and a driving path of a barrier vehicle, judging whether the braking of the autonomous vehicle can cause the collision between the autonomous vehicle and the barrier vehicle; responding to the situation that the automatic driving vehicle collides with the obstacle vehicle due to braking of the automatic driving vehicle, according to the time when the automatic driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area and the conflict duration, the time when the automatic driving vehicle arrives at the conflict area; the automatic driving vehicle is controlled to brake or continue to run at a constant speed; and in response to the situation that braking of the automatic driving vehicle cannot cause collision between the automatic driving vehicle and the obstacle vehicle, controlling the automatic driving vehicle to run in a decelerating manner. According to the embodiment, the technical problem that the sudden brake phenomenon of the automatic driving vehicle occurs frequently can be solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle driving technology, and in particular to an automatic driving method, device and vehicle. Background Art

[0002] When an autonomous driving vehicle (main vehicle) encounters a dynamically moving obstacle vehicle during driving, the interaction strategy between the main vehicle and the obstacle vehicle is generally conservative. In the existing technology, the processing of dynamic obstacle vehicles interacting around the main vehicle is mainly to use a prediction module to predict the movement trend of the obstacle vehicle in the next few seconds, so as to determine whether there is a risk of collision between the main vehicle and the obstacle vehicle in the future. Once the predicted trajectory intersects with the main vehicle trajectory, it will trigger the emergency braking of the main vehicle, resulting in frequent emergency braking of autonomous driving vehicles.

[0003] The shortcomings of the existing strategy include two aspects. On the one hand, the risk assessment is too conservative, which affects the traffic efficiency of the entire vehicle. On the other hand, if there is a vehicle following closely behind, it is easy to trigger a rear-end collision. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides an autonomous driving method, device and vehicle to solve the technical problem of frequent sudden braking of autonomous driving vehicles.

[0005] To achieve the above objective, according to one aspect of an embodiment of the present invention, an automatic driving method is provided, including:

[0006] In response to a conflict area between a driving path of the autonomous driving vehicle and a driving path of an obstacle vehicle, determining whether braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle;

[0007] In response to the braking of the autonomous driving vehicle causing a collision between the autonomous driving vehicle and the obstacle vehicle, controlling the autonomous driving vehicle to brake or continue to travel at a constant speed according to the time when the autonomous driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area, and the duration of the conflict;

[0008] In response to the fact that braking of the autonomous driving vehicle will not cause a collision between the autonomous driving vehicle and the obstacle vehicle, the autonomous driving vehicle is controlled to decelerate.

[0009] Optionally, determining whether braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle includes:

[0010] Calculating a braking time of the autonomous driving vehicle according to an initial speed and a maximum deceleration of the autonomous driving vehicle;

[0011] Calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle;

[0012] Determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the braking time of the automatic driving vehicle is less than or equal to a first time threshold.

[0013] Optionally, according to the time when the autonomous driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area, and the duration of the conflict, controlling the autonomous driving vehicle to brake or continue to travel at a constant speed includes:

[0014] Calculating the time it takes for the autonomous driving vehicle to reach the conflict area according to the distance between the autonomous driving vehicle and the conflict area and the initial speed of the autonomous driving vehicle;

[0015] Calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle;

[0016] Calculate the conflict duration according to the time when the autonomous driving vehicle arrives at the conflict area and the safety time threshold;

[0017] Determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to a second time threshold, and whether the conflict duration is less than a third time threshold; if both are yes, control the autonomous driving vehicle to continue traveling at a constant speed; otherwise, control the autonomous driving vehicle to brake.

[0018] Optionally, calculating the conflict duration according to the time when the autonomous driving vehicle arrives at the conflict area and a safety time threshold includes:

[0019] At every time step, calculating the conflict duration sub-time corresponding to the time step;

[0020] Each time step and its corresponding conflict duration sub-time are multiplied and summed to calculate the conflict duration.

[0021] Optionally, calculating the conflict duration sub-time corresponding to the time step includes:

[0022] Determine whether the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to zero and less than or equal to the safety time threshold. If so, the conflict duration sub-time corresponding to the time step is set to one; otherwise, the conflict duration sub-time corresponding to the time step is set to zero.

[0023] Optionally, controlling the autonomous driving vehicle to decelerate comprises:

[0024] Calculating a yielding deceleration of the autonomous driving vehicle according to an initial speed of the autonomous driving vehicle and a distance between the autonomous driving vehicle and the conflict area;

[0025] Based on the yielding deceleration of the autonomous driving vehicle, the autonomous driving vehicle is controlled to decelerate.

[0026] Optionally, based on the yielding deceleration of the autonomous driving vehicle, controlling the autonomous driving vehicle to decelerate comprises:

[0027] Determine whether the yielding deceleration of the autonomous driving vehicle is less than the maximum deceleration of the autonomous driving vehicle; if so, control the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle; if not, control the autonomous driving vehicle to decelerate based on the maximum deceleration of the autonomous driving vehicle.

[0028] In addition, according to another aspect of an embodiment of the present invention, there is provided an automatic driving device, comprising:

[0029] a judgment module, configured to judge whether braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle in response to a conflict area between the driving path of the autonomous driving vehicle and the driving path of the obstacle vehicle;

[0030] a first control module, configured to control the autonomous driving vehicle to brake or continue to travel at a constant speed in response to the braking of the autonomous driving vehicle causing a collision between the autonomous driving vehicle and the obstacle vehicle, according to a time when the autonomous driving vehicle arrives at the conflict area, a time when the obstacle vehicle arrives at the conflict area, and a duration of the conflict;

[0031] The second control module is used to control the autonomous driving vehicle to decelerate in response to the braking of the autonomous driving vehicle not causing a collision between the autonomous driving vehicle and the obstacle vehicle.

[0032] Optionally, the judging module is further used for:

[0033] Calculating a braking time of the autonomous driving vehicle according to an initial speed and a maximum deceleration of the autonomous driving vehicle;

[0034] Calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle;

[0035] Determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the braking time of the automatic driving vehicle is less than or equal to a first time threshold.

[0036] Optionally, the first control module is further used for:

[0037] Calculating the time it takes for the autonomous driving vehicle to reach the conflict area according to the distance between the autonomous driving vehicle and the conflict area and the initial speed of the autonomous driving vehicle;

[0038] Calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle;

[0039] Calculate the conflict duration according to the time when the autonomous driving vehicle arrives at the conflict area and the safety time threshold;

[0040] Determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to a second time threshold, and whether the conflict duration is less than a third time threshold; if both are yes, control the autonomous driving vehicle to continue traveling at a constant speed; otherwise, control the autonomous driving vehicle to brake.

[0041] Optionally, the first control module is further used for:

[0042] At every time step, calculating the conflict duration sub-time corresponding to the time step;

[0043] Each time step and its corresponding conflict duration sub-time are multiplied and summed to calculate the conflict duration.

[0044] Optionally, the first control module is further used for:

[0045] Determine whether the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to zero and less than or equal to the safety time threshold. If so, the conflict duration sub-time corresponding to the time step is set to one; otherwise, the conflict duration sub-time corresponding to the time step is set to zero.

[0046] Optionally, the second control module is further used for:

[0047] Calculating a yielding deceleration of the autonomous driving vehicle according to an initial speed of the autonomous driving vehicle and a distance between the autonomous driving vehicle and the conflict area;

[0048] Based on the yielding deceleration of the autonomous driving vehicle, the autonomous driving vehicle is controlled to decelerate.

[0049] Optionally, the second control module is further used for:

[0050] Determine whether the yielding deceleration of the autonomous driving vehicle is less than the maximum deceleration of the autonomous driving vehicle; if so, control the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle; if not, control the autonomous driving vehicle to decelerate based on the maximum deceleration of the autonomous driving vehicle.

[0051] In addition, according to another aspect of an embodiment of the present invention, a vehicle is provided, comprising the automatic driving device described in any of the above embodiments.

[0052] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, including:

[0053] one or more processors;

[0054] a storage device for storing one or more programs,

[0055] When the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any one of the above embodiments.

[0056] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0057] One embodiment of the above invention has the following advantages or beneficial effects: because the braking of the autonomous driving vehicle will cause the autonomous driving vehicle to collide with the obstacle vehicle, the autonomous driving vehicle is controlled to brake or continue to travel at a constant speed according to the time when the autonomous driving vehicle reaches the conflict area, the time when the obstacle vehicle reaches the conflict area and the duration of the conflict, and the technical means of controlling the autonomous driving vehicle to decelerate in response to the braking of the autonomous driving vehicle will not cause the autonomous driving vehicle to collide with the obstacle vehicle, so the technical problem of frequent sudden braking of autonomous driving vehicles in the prior art is overcome. The embodiment of the present invention determines whether the autonomous driving vehicle has the right of way by whether the braking of the autonomous driving vehicle will cause the autonomous driving vehicle to collide with the obstacle vehicle. If there is no right of way, the autonomous driving vehicle is controlled to slow down or stop. If there is right of way, the autonomous driving vehicle is controlled to continue to travel at a constant speed, thereby improving the traffic efficiency under the premise of ensuring the safety of autonomous driving, so that the autonomous driving vehicle can take into account the safety and efficiency of autonomous driving in complex intersection environments.

[0058] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific implementation examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0060] Figure 1 is a flowchart of an automatic driving method according to an embodiment of the present invention;

[0061] Figure 2 is a schematic diagram of an autonomous driving vehicle encountering a right-turn obstacle at an intersection according to an embodiment of the present invention;

[0062] Figure 3 is a flowchart of an automatic driving method according to a reference embodiment of the present invention;

[0063] Figure 4 is a schematic diagram of an automatic driving device according to an embodiment of the present invention;

[0064] Figure 5 is an exemplary vehicle system architecture diagram to which embodiments of the present invention may be applied;

[0065] Figure 6 It is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0067] It should be noted that the collection, collection, updating, analysis, processing, use, transmission, storage and other aspects of user personal information involved in the technical solution of this disclosure are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. Necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security and national security.

[0068] Figure 1 is a flow chart of an automatic driving method according to an embodiment of the present invention. As an embodiment of the present invention, Figure 1 As shown, the automatic driving method may include:

[0069] Step 101, in response to the presence of a conflict area between the driving path of the autonomous driving vehicle and the driving path of the obstacle vehicle, determine whether braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle.

[0070] Intersection interaction scenarios such as Figure 2 As shown, the autonomous driving vehicle (ego) is going straight, and the obstacle vehicle (obs) is about to turn right. The conflict area refers to the area where the two vehicles conflict. The autonomous driving vehicle and the obstacle vehicle need to take measures to avoid appearing in the conflict area at the same time. Among them, the obstacle vehicle can be a social vehicle driven by a human driver or an autonomous driving vehicle, and the embodiment of the present invention does not limit this.

[0071] First, given the initial speeds of the two vehicles (the autonomous driving vehicle and the obstacle vehicle), the predicted trajectory of the obstacle vehicle, and the planned path of the autonomous driving vehicle, determine whether there is an intersection (that is, the conflict area) between the driving paths of the two vehicles. If so, determine whether emergency braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle.

[0072] Optionally, judging whether the braking of the autonomous driving vehicle will cause the autonomous driving vehicle to collide with the obstacle vehicle includes: calculating the braking time of the autonomous driving vehicle according to the initial speed and maximum deceleration of the autonomous driving vehicle; calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle; judging whether the difference between the time when the obstacle vehicle arrives at the conflict area and the braking time of the autonomous driving vehicle is less than or equal to a first time threshold. Assuming that the autonomous driving vehicle brakes urgently, if the autonomous driving vehicle stops on the driving track of the obstacle vehicle after the emergency braking, it will block the obstacle vehicle from driving, which is an unreasonable behavior. Therefore, it is necessary to calculate the braking time of the autonomous driving vehicle and the time when the obstacle vehicle arrives at the conflict area, and compare the two to judge whether the braking of the autonomous driving vehicle will cause the autonomous driving vehicle to collide with the obstacle vehicle. Among them, the first time threshold can be set according to actual needs, for example, it can be set to 0.2 seconds, 0.5 seconds, 0.8 seconds, 1 second or 1.2 seconds, etc.

[0073] It should be noted that the state of the autonomous driving vehicle includes path, speed, acceleration and deceleration, etc. The path of the autonomous driving vehicle can be obtained through upstream global navigation and path planning, the speed of the autonomous driving vehicle can be obtained through sensors, and the acceleration and deceleration of the autonomous driving vehicle can be given according to the performance parameters of the vehicle, which will not be described in detail in the embodiments of the present invention. Among them, the state of the obstacle vehicle includes predicted trajectory, speed, etc. The predicted trajectory and speed of the obstacle vehicle can be given by the upstream module according to observation data, road structure and other information, which will not be described in detail in the embodiments of the present invention. Since the observation data of the obstacle vehicle is limited and the acceleration information cannot be accurately obtained, the embodiments of the present invention assume that the obstacle vehicle is traveling at a constant speed.

[0074] Step 102, in response to the braking of the autonomous driving vehicle causing a collision between the autonomous driving vehicle and the obstacle vehicle, the autonomous driving vehicle is controlled to brake or continue to travel at a constant speed according to the time when the autonomous driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area, and the duration of the conflict.

[0075] If the difference between the time it takes for the obstacle vehicle to arrive at the conflict area and the time it takes for the autonomous driving vehicle to brake is less than or equal to the first time threshold, it means that the obstacle vehicle does not have enough reaction time and the risk of collision is high. Therefore, it is necessary to further determine whether the autonomous driving vehicle has the right of way based on the time it takes for the autonomous driving vehicle to arrive at the conflict area, the time it takes for the obstacle vehicle to arrive at the conflict area, and the duration of the conflict.

[0076] Optionally, according to the time when the autonomous driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area and the duration of the conflict, the autonomous driving vehicle is controlled to brake or continue to travel at a constant speed, including: calculating the time when the autonomous driving vehicle arrives at the conflict area according to the distance between the autonomous driving vehicle and the conflict area and the initial speed of the autonomous driving vehicle; calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle; calculating the duration of the conflict according to the time when the autonomous driving vehicle arrives at the conflict area and a safety time threshold; judging whether the difference between the time when the obstacle vehicle arrives at the conflict area and the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to a second time threshold, and whether the duration of the conflict is less than a third time threshold; if both are yes, controlling the autonomous driving vehicle to continue to travel at a constant speed; otherwise, controlling the autonomous driving vehicle to brake. First, the time it takes for the autonomous vehicle to reach the conflict area when traveling at a constant speed, the time it takes for the obstacle vehicle to reach the conflict area when traveling at a constant speed, and the duration of the conflict between the two vehicles are calculated. If the difference between the time it takes for the obstacle vehicle to reach the conflict area and the time it takes for the autonomous vehicle to reach the conflict area is greater than or equal to the second time threshold and the duration of the conflict is less than the third time threshold, it is determined that the autonomous vehicle has the right of way and does not need to brake suddenly. Otherwise, it is determined that the autonomous vehicle does not have the right of way and needs to brake suddenly.

[0077] Step 103: In response to the fact that braking of the autonomous driving vehicle will not cause a collision between the autonomous driving vehicle and the obstacle vehicle, the autonomous driving vehicle is controlled to decelerate.

[0078] If the difference between the time it takes for the obstacle vehicle to arrive at the conflict area and the braking time of the autonomous driving vehicle is greater than the first time threshold, it means that the braking of the autonomous driving vehicle will not cause a collision between the autonomous driving vehicle and the obstacle vehicle. In this case, the autonomous driving vehicle has no right of way and needs to slow down and give way.

[0079] Optionally, controlling the autonomous driving vehicle to decelerate includes: calculating the yielding deceleration of the autonomous driving vehicle according to the initial speed of the autonomous driving vehicle and the distance between the autonomous driving vehicle and the conflict area; and controlling the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle. Specifically, firstly calculate the square of the initial speed of the autonomous driving vehicle, and then divide it by the distance between the autonomous driving vehicle and the conflict area, so as to calculate the yielding deceleration of the autonomous driving vehicle, and then control the autonomous driving vehicle to decelerate and yield based on the yielding deceleration of the autonomous driving vehicle.

[0080] Optionally, based on the yielding deceleration of the autonomous driving vehicle, controlling the autonomous driving vehicle to decelerate includes: determining whether the yielding deceleration of the autonomous driving vehicle is less than the maximum deceleration of the autonomous driving vehicle; if so, controlling the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle; if not, controlling the autonomous driving vehicle to decelerate based on the maximum deceleration of the autonomous driving vehicle. After calculating the yielding deceleration of the autonomous driving vehicle, determine whether the yielding deceleration of the autonomous driving vehicle is less than the maximum deceleration of the autonomous driving vehicle. If so, control the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle; if not, control the autonomous driving vehicle to decelerate based on the maximum deceleration of the autonomous driving vehicle. In other words, compare the yielding deceleration of the autonomous driving vehicle with the maximum deceleration, and control the autonomous driving vehicle to decelerate based on the smaller of the two.

[0081] According to the various embodiments above, it can be seen that the embodiments of the present invention, in response to the braking of the autonomous driving vehicle causing the autonomous driving vehicle to collide with the obstacle vehicle, control the autonomous driving vehicle to brake or continue to travel at a constant speed according to the time when the autonomous driving vehicle reaches the conflict area, the time when the obstacle vehicle reaches the conflict area and the duration of the conflict, and in response to the braking of the autonomous driving vehicle not causing the autonomous driving vehicle to collide with the obstacle vehicle, control the autonomous driving vehicle to slow down and travel by technical means, which solves the technical problem of frequent sudden braking of autonomous driving vehicles in the prior art. The embodiments of the present invention determine whether the autonomous driving vehicle has the right of way by whether the braking of the autonomous driving vehicle causes the autonomous driving vehicle to collide with the obstacle vehicle. If it does not have the right of way, the autonomous driving vehicle is controlled to slow down and yield or brake to stop. If it has the right of way, the autonomous driving vehicle is controlled to continue to travel at a constant speed, thereby improving the traffic efficiency while ensuring the safety of autonomous driving, so that the autonomous driving vehicle can take into account both the safety and efficiency of autonomous driving in complex intersection environments.

[0082] Figure 3 is a flow chart of an automatic driving method according to a reference embodiment of the present invention. As another embodiment of the present invention, Figure 3 As shown, the automatic driving method may include:

[0083] Step 301, determine whether there is a conflict area between the driving path of the autonomous driving vehicle and the driving path of the obstacle vehicle; if so, execute step 302; if not, execute step 305.

[0084] Step 302, determine whether braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle; if so, execute step 303; if not, execute step 307.

[0085] Optionally, step 302 may include: calculating the braking time of the autonomous driving vehicle based on the initial speed and maximum deceleration of the autonomous driving vehicle; calculating the time it takes for the obstacle vehicle to arrive at the conflict area based on the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle; and determining whether the difference between the time it takes for the obstacle vehicle to arrive at the conflict area and the braking time of the autonomous driving vehicle is less than or equal to a first time threshold.

[0086] First, define several risk assessment indicators: braking time of autonomous driving vehicles in braking mode , conflict time of autonomous driving vehicles in uniform speed mode , conflict time of obstructing vehicles and duration of the conflict .

[0087] Since an autonomous vehicle has two behavioral decisions when encountering an obstacle, namely braking to yield or passing at a constant speed, both braking and constant speed modes will be comprehensively considered and analyzed when judging the right of way of an autonomous vehicle.

[0088] Assuming the autonomous vehicle brakes suddenly, the braking time of the autonomous vehicle is The definition is as follows:

[0089] (1)

[0090] in, is the initial speed of the autonomous vehicle, is the maximum deceleration of the autonomous vehicle.

[0091] Assume that the initial speed of the autonomous vehicle is , conflict time of the autonomous vehicle in constant speed mode (that is, the time it takes for the autonomous vehicle to reach the conflict area) is:

[0092] (2)

[0093] in, is the distance between the autonomous vehicle and the conflict area.

[0094] It should be noted that if the autonomous vehicle is already in the conflict zone, If the autonomous vehicle is closer to the conflict area, the conflict time of the autonomous vehicle in the uniform speed mode will be The smaller.

[0095] Since the observation data of the obstacle vehicle is limited and the acceleration information cannot be accurately obtained, it is assumed in the embodiment of the present invention that the obstacle vehicle has a uniform speed and the initial speed is , the distance between the obstacle vehicle and the conflict area is , then the time it takes for the obstacle vehicle to reach the conflict area is The definition is as follows:

[0096] (3)

[0097] if The first time threshold means that there is not enough reaction time for the obstacle vehicle, and it is determined that the braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle.

[0098] For example, if the first time threshold is set to 0.5 seconds, then if , it means that there is not enough reaction time for the obstacle vehicle, and it is determined that the braking of the autonomous driving vehicle will cause the autonomous driving vehicle to collide with the obstacle vehicle. For another example, the first time threshold is set to , then if , it means that there is not enough reaction time for the obstacle vehicle, and it is determined that the braking of the autonomous driving vehicle will cause the autonomous driving vehicle to collide with the obstacle vehicle. For another example, the first time threshold is set to 2 seconds. If , it means that there is not enough reaction time for the obstacle vehicle, and it is determined that the braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle.

[0099] Step 303, based on the distance between the autonomous driving vehicle and the conflict area and the initial speed of the autonomous driving vehicle, calculate the time it takes for the autonomous driving vehicle to reach the conflict area; based on the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle, calculate the time it takes for the obstacle vehicle to reach the conflict area; based on the time it takes for the autonomous driving vehicle to reach the conflict area and the safety time threshold, calculate the conflict duration.

[0100] Optionally, according to the time when the autonomous driving vehicle arrives at the conflict area and the safety time threshold, the conflict duration is calculated, including: calculating the conflict duration sub-time corresponding to the time step at every other time step; multiplying and summing each time step and its corresponding conflict duration sub-time, thereby calculating the conflict duration. Optionally, calculating the conflict duration sub-time corresponding to the time step includes: determining whether the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to zero and less than or equal to the safety time threshold, if so, setting the conflict duration sub-time corresponding to the time step to one, otherwise, setting the conflict duration sub-time corresponding to the time step to zero.

[0101] In an embodiment of the present invention, the conflict duration TCT is defined as follows:

[0102] (4)

[0103] in, is the time step, every Time to determine if there is a risk of conflict. is the conflict time for each time step, It can be calculated using the following method:

[0104] (5)

[0105] in, is the time window, The conflict time within T (that is, the time it takes for the autonomous vehicle to reach the conflict area) is less than the safety time threshold The total time, if The larger the value, the lower the safety of the autonomous vehicle. If the autonomous vehicle is closer to the conflict area, The smaller, the The smaller.

[0106] It should be noted that T, , It can be preset according to actual needs. For example, Can be set to 5 seconds, Can be set to 1 second, It can be set to 4 seconds. For example, Can be set to 6 seconds, Can be set to 2 seconds, Can be set to 5 seconds, or, Can be set to 8 seconds, Can be set to 2 seconds, Can be set to 6 seconds.

[0107] From equations (1) to (5), we can derive the definition of risk assessment indicators during the interaction between the autonomous driving vehicle and the obstacle vehicle, including the braking time of the autonomous driving vehicle in braking mode. , conflict time of autonomous driving vehicles in uniform speed mode , conflict time of obstructing vehicles and duration of the conflict .

[0108] Step 304, determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to a second time threshold, and whether the conflict duration is less than a third time threshold; if both are yes, execute step 305; if not, execute step 306.

[0109] Step 305: Control the autonomous driving vehicle to travel at a constant speed.

[0110] Step 306, controlling the autonomous driving vehicle to brake.

[0111] Next, use the above four indicators to conduct risk assessment and determine the road rights of autonomous vehicles.

[0112] If the braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle, it is further determined whether the difference between the time when the obstacle vehicle arrives at the conflict area and the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to a second time threshold, and whether the conflict duration is less than a third time threshold to determine whether the autonomous driving vehicle has the right of way.

[0113] If the autonomous vehicle is closer to the conflict area than the obstacle vehicle and reaches the conflict area more than a second time threshold (such as 2 seconds, 3 seconds, 4 seconds or 5 seconds, etc.) earlier than the obstacle vehicle, that is, , and the duration of the conflict At the third time threshold, the autonomous driving vehicle has the right of way and is controlled to travel at a constant speed.

[0114] if The third time threshold is that the obstacle vehicle and the autonomous vehicle may reach the conflict area at a similar time, or the obstacle vehicle may reach the conflict area earlier than the autonomous vehicle. In this case, the autonomous vehicle does not have the right of way, so the autonomous vehicle is controlled to brake. Or, if the conflict lasts for (For example, 2 seconds, 3 seconds, 4 seconds or 5 seconds, etc.), the current speed will continue to exceed the third time threshold and there is a risk of conflict. At this time, the autonomous driving vehicle has no right of way, so the autonomous driving vehicle is controlled to brake.

[0115] Step 307: Calculate the yielding deceleration of the autonomous driving vehicle according to the initial speed of the autonomous driving vehicle and the distance between the autonomous driving vehicle and the conflict area.

[0116] Step 308, determine whether the yielding deceleration of the autonomous driving vehicle is less than the maximum deceleration of the autonomous driving vehicle; if so, execute step 309; if not, execute step 306.

[0117] Step 309: Control the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle.

[0118] If the braking of the autonomous vehicle will not cause a collision between the autonomous vehicle and the obstacle vehicle, the autonomous vehicle is controlled to slow down and yield. Specifically, the yielding deceleration of the autonomous vehicle is calculated based on the initial speed of the autonomous vehicle and the distance between the autonomous vehicle and the conflict area. It is calculated using the following formula:

[0119] (6)

[0120] in, is the initial speed of the autonomous vehicle, is the distance between the autonomous vehicle and the conflict area.

[0121] Next, the deceleration of the autonomous driving vehicle to yield is compared with the maximum deceleration of the autonomous driving vehicle, and the smaller one is used to decelerate and yield.

[0122] (7)

[0123] In summary, according to the conflict time calculated by equations (1)-(5), if the autonomous driving vehicle has the right of way, the autonomous driving vehicle should try to maintain a constant speed to avoid sudden braking to cause traffic jams or rear-end collisions. Otherwise, the braking deceleration is calculated according to the distance from the autonomous driving vehicle to the conflict area according to equation (7), and the vehicle slows down to give way to avoid traffic accidents caused by cutting in.

[0124] After calculating the yielding deceleration of the autonomous driving vehicle, it is determined whether the yielding deceleration of the autonomous driving vehicle is less than the maximum deceleration of the autonomous driving vehicle. If so, the autonomous driving vehicle is controlled to decelerate based on the yielding deceleration of the autonomous driving vehicle. If not, the autonomous driving vehicle is controlled to decelerate based on the maximum deceleration of the autonomous driving vehicle. In other words, the yielding deceleration of the autonomous driving vehicle is compared with the maximum deceleration, and the autonomous driving vehicle is controlled to decelerate based on the minimum of the two, so as to improve the traffic efficiency of the autonomous driving vehicle.

[0125] In addition, the specific implementation content of the autonomous driving method in a reference embodiment of the present invention has been described in detail in the autonomous driving method described above, so the repeated content will not be described here.

[0126] Figure 4 Schematic diagram of an automatic driving device according to an embodiment of the present invention. Figure 4As shown, the automatic driving device 400 includes a judgment module 401, a first control module 402 and a second control module 403; wherein the judgment module 401 is used to judge whether the braking of the automatic driving vehicle will cause the automatic driving vehicle to collide with the obstacle vehicle in response to the presence of a conflict area between the driving path of the automatic driving vehicle and the driving path of the obstacle vehicle; the first control module 402 is used to control the automatic driving vehicle to brake or continue to travel at a constant speed according to the time when the automatic driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area and the duration of the conflict in response to the braking of the automatic driving vehicle causing the automatic driving vehicle to collide with the obstacle vehicle; the second control module 403 is used to control the automatic driving vehicle to decelerate in response to the braking of the automatic driving vehicle not causing the automatic driving vehicle to collide with the obstacle vehicle.

[0127] Optionally, the judging module 401 is further configured to:

[0128] Calculating a braking time of the autonomous driving vehicle according to an initial speed and a maximum deceleration of the autonomous driving vehicle;

[0129] Calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle;

[0130] Determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the braking time of the automatic driving vehicle is less than or equal to a first time threshold.

[0131] Optionally, the first control module 402 is further configured to:

[0132] Calculating the time it takes for the autonomous driving vehicle to reach the conflict area according to the distance between the autonomous driving vehicle and the conflict area and the initial speed of the autonomous driving vehicle;

[0133] Calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle;

[0134] Calculate the conflict duration according to the time when the autonomous driving vehicle arrives at the conflict area and the safety time threshold;

[0135] Determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to a second time threshold, and whether the conflict duration is less than a third time threshold; if both are yes, control the autonomous driving vehicle to continue traveling at a constant speed; otherwise, control the autonomous driving vehicle to brake.

[0136] Optionally, the first control module 402 is further configured to:

[0137] At every time step, calculating the conflict duration sub-time corresponding to the time step;

[0138] Each time step and its corresponding conflict duration sub-time are multiplied and summed to calculate the conflict duration.

[0139] Optionally, the first control module 402 is further configured to:

[0140] Determine whether the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to zero and less than or equal to the safety time threshold. If so, the conflict duration sub-time corresponding to the time step is set to one; otherwise, the conflict duration sub-time corresponding to the time step is set to zero.

[0141] Optionally, the second control module 403 is further configured to:

[0142] Calculating a yielding deceleration of the autonomous driving vehicle according to an initial speed of the autonomous driving vehicle and a distance between the autonomous driving vehicle and the conflict area;

[0143] Based on the yielding deceleration of the autonomous driving vehicle, the autonomous driving vehicle is controlled to decelerate.

[0144] Optionally, the second control module 403 is further configured to:

[0145] Determine whether the yielding deceleration of the autonomous driving vehicle is less than the maximum deceleration of the autonomous driving vehicle; if so, control the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle; if not, control the autonomous driving vehicle to decelerate based on the maximum deceleration of the autonomous driving vehicle.

[0146] It should be noted that the specific implementation content of the automatic driving device described in the present invention has been described in detail in the automatic driving method described above, so the repeated content will not be described here.

[0147] Figure 5 An exemplary vehicle system architecture 500 is shown to which a vehicle driving method or a vehicle driving device according to an embodiment of the present invention may be applied.

[0148] like Figure 5As shown, the vehicle system architecture 500 may include various systems, such as an autonomous driving system 501, a power system 502, a sensor system 503, a control system 504, one or more peripheral devices 505, a power supply 506, a computer system 507, and a user interface 508. Optionally, the vehicle system architecture 500 may include more or fewer systems, and each system may include multiple elements. In addition, each system and element of the vehicle system architecture 500 may be interconnected by wire or wirelessly.

[0149] Among them, the vehicle system architecture 500 includes an automatic driving system 501, and the automatic driving system 501 can be in a full or partial automatic driving mode. For example, the automatic driving system 501 can automatically control the vehicle to drive without interacting with people; the automatic driving system 501 can also control the automatic driving of the vehicle in the automatic driving mode, and can also adjust the automatic driving behavior of the automatic driving system 501 by interacting with people. Specifically, the automatic driving system 501 can respond to the conflict area between the driving path of the automatic driving vehicle and the driving path of the obstacle vehicle, determine whether the braking of the automatic driving vehicle will cause the automatic driving vehicle to collide with the obstacle vehicle; respond to the automatic driving vehicle braking will cause the automatic driving vehicle to collide with the obstacle vehicle, according to the time when the automatic driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area and the duration of the conflict, control the automatic driving vehicle to brake or continue to drive at a constant speed; respond to the automatic driving vehicle braking will not cause the automatic driving vehicle to collide with the obstacle vehicle, control the automatic driving vehicle to slow down.

[0150] The power system 502 may include components that provide power movement for the vehicle. For example, the power system 502 may include an engine, an energy source, a transmission, wheels, tires, etc. Among them, the engine may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, and a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy and provides it to the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source may also provide energy for other systems of the vehicle. In addition, the transmission may include a gearbox, a differential, a drive shaft, a clutch, etc.

[0151] The sensor system 503 may include sensors for sensing the surrounding environment of the vehicle. For example, a positioning system (the positioning system may be a global positioning system (GPS) system, or a Beidou system or other positioning systems), a radar, a laser rangefinder, an inertial measurement unit (IMU), and a camera. The positioning system may be used to locate the geographic location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. The radar may utilize radio signals to sense objects in the surrounding environment of the vehicle. In some embodiments, in addition to sensing objects, the radar may also be used to sense the speed and / or direction of travel of the object, etc.

[0152] Among them, in order to detect environmental information, objects, etc. located in front, rear or side of the vehicle, radars, cameras, etc. can be configured at appropriate locations outside the vehicle. For example, in order to obtain an image in front of the vehicle, the camera can be configured in the interior of the vehicle close to the front windshield. Alternatively, the camera can be configured around the front bumper or radiator grille. For example, in order to obtain an image behind the vehicle, the camera can be configured in the interior of the vehicle close to the rear window glass. Alternatively, the camera can be configured around the rear bumper, trunk or tailgate. In order to obtain an image on the side of the vehicle, the camera can be configured in the interior of the vehicle close to at least one of the side windows. Alternatively, the camera can be configured around the side mirrors, fenders or doors, etc.

[0153] Laser rangefinders use lasers to sense objects in the vehicle's environment.

[0154] The camera can be used to capture multiple images of the vehicle's surroundings. The camera can be a still or video camera.

[0155] The control system 504 includes a software system for implementing autonomous driving, such as a system for route planning, an obstacle avoidance system, a visual system for image analysis, etc. The control system 504 may also include hardware systems such as a throttle and a steering wheel system. In addition, the control system 504 may include additional or alternative components other than those shown and described. Alternatively, some of the components shown above may be reduced.

[0156] The control system 504 interacts with external sensors, other autonomous driving devices, other computer systems, or users through the peripheral devices 505. The peripheral devices 505 may include a wireless communication system, an onboard computer, a microphone, and / or a speaker.

[0157] In some embodiments, peripheral devices 505 provide a means for a user of control system 504 to interact with user interface 508. For example, an onboard computer can provide information to a user of the vehicle. The user interface can also operate the onboard computer to receive input from the user. The onboard computer can be operated via a touch screen. In other cases, peripheral devices can provide a means for communicating with other devices located in the vehicle. For example, a microphone can receive audio (e.g., voice commands or other audio input) from a user of control system 504. Similarly, a speaker can output audio to a user of control system 504.

[0158] The wireless communication system can communicate with one or more devices wirelessly directly or via a communication network. For example, the wireless communication system can communicate with a network such as a cellular network, WiFi, and a wireless local area network (WLAN), or can communicate directly with a device using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various autonomous driving communication systems, etc.

[0159] The power source 506 can provide power to various components of the vehicle. The power source 506 can be a rechargeable lithium-ion or lead-acid battery.

[0160] Some or all functions of implementing autonomous driving are controlled by computer system 507. Computer system 507 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as a memory. Computer system 507 provides the above-mentioned autonomous driving system with execution code for implementing autonomous driving.

[0161] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a dedicated device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Those of ordinary skill in the art will appreciate that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, the memory can be a hard disk drive or other storage media that is located in a housing different from the computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as steering components and deceleration components can each have their own processors that only perform calculations related to the functions specific to the components.

[0162] The user interface 508 is used to provide information to or receive information from a user of the vehicle. Optionally, the user interface 508 may include one or more input / output devices within the set of peripheral devices 505, such as a wireless communication system, an onboard computer, a microphone, and a speaker.

[0163] It should be understood that the above components are only examples. In actual applications, the components in the above modules or systems may be added or deleted according to actual needs. Figure 5 It should not be understood as limiting the embodiments of the present application.

[0164] Reference below Figure 6 , which shows a schematic diagram of the structure of a computer system 600 of a terminal device suitable for implementing an embodiment of the present invention. Figure 6 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0165] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0166] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage section 608 as needed.

[0167] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the above-mentioned functions defined in the system of the present invention are executed.

[0168] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0169] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0170] The modules involved in the embodiments of the present invention may be implemented by software or hardware. The modules described may also be set in a processor, for example, it may be described as: a processor includes a judgment module, a first control module and a second control module, wherein the names of these modules do not constitute a limitation on the modules themselves in some cases.

[0171] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by a device, the device implements the following method: in response to the existence of a conflict area between the driving path of the autonomous driving vehicle and the driving path of the obstacle vehicle, judging whether the braking of the autonomous driving vehicle will cause the autonomous driving vehicle to collide with the obstacle vehicle; in response to the braking of the autonomous driving vehicle causing the autonomous driving vehicle to collide with the obstacle vehicle, according to the time when the autonomous driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area and the duration of the conflict, controlling the autonomous driving vehicle to brake or continue to drive at a constant speed; in response to the braking of the autonomous driving vehicle not causing the autonomous driving vehicle to collide with the obstacle vehicle, controlling the autonomous driving vehicle to decelerate.

[0172] According to the technical solution of the embodiment of the present invention, the technical problem of frequent sudden braking of autonomous vehicles in the prior art is overcome by controlling the autonomous vehicle to brake or continue to travel at a constant speed in response to the autonomous vehicle braking causing a collision between the autonomous vehicle and the obstacle vehicle, according to the time when the autonomous vehicle reaches the conflict area, the time when the obstacle vehicle reaches the conflict area and the duration of the conflict, and controlling the autonomous vehicle to slow down in response to the autonomous vehicle braking not causing a collision between the autonomous vehicle and the obstacle vehicle. The embodiment of the present invention determines whether the autonomous vehicle has the right of way by whether the braking of the autonomous vehicle causes a collision between the autonomous vehicle and the obstacle vehicle. If it does not have the right of way, the autonomous vehicle is controlled to slow down or stop. If it has the right of way, the autonomous vehicle is controlled to continue to travel at a constant speed, thereby improving the traffic efficiency under the premise of ensuring the safety of autonomous driving, so that the autonomous vehicle can take into account both the safety and efficiency of autonomous driving in complex intersection environments.

[0173] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic driving method, characterized in that: include: In response to a conflict area between a driving path of the autonomous driving vehicle and a driving path of an obstacle vehicle, determining whether braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle; In response to the braking of the autonomous driving vehicle causing a collision between the autonomous driving vehicle and the obstacle vehicle, controlling the autonomous driving vehicle to brake or continue to travel at a constant speed according to the time when the autonomous driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area, and the duration of the conflict; In response to the fact that braking of the autonomous driving vehicle will not cause a collision between the autonomous driving vehicle and the obstacle vehicle, the autonomous driving vehicle is controlled to decelerate.

2. The method according to claim 1, characterized in that Determining whether braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle includes: Calculating a braking time of the autonomous driving vehicle according to an initial speed and a maximum deceleration of the autonomous driving vehicle; Calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle; Determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the braking time of the automatic driving vehicle is less than or equal to a first time threshold.

3. The method according to claim 1, characterized in that According to the time when the autonomous driving vehicle arrives at the conflict area, the time when the obstacle vehicle arrives at the conflict area, and the duration of the conflict, controlling the autonomous driving vehicle to brake or continue to travel at a constant speed includes: Calculating the time it takes for the autonomous driving vehicle to reach the conflict area according to the distance between the autonomous driving vehicle and the conflict area and the initial speed of the autonomous driving vehicle; Calculating the time when the obstacle vehicle arrives at the conflict area according to the distance between the obstacle vehicle and the conflict area and the driving speed of the obstacle vehicle; Calculate the conflict duration according to the time when the autonomous driving vehicle arrives at the conflict area and the safety time threshold; Determine whether the difference between the time when the obstacle vehicle arrives at the conflict area and the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to a second time threshold, and whether the conflict duration is less than a third time threshold; if both are yes, control the autonomous driving vehicle to continue traveling at a constant speed; otherwise, control the autonomous driving vehicle to brake.

4. The method according to claim 3, characterized in that Calculating the conflict duration according to the time when the autonomous driving vehicle arrives at the conflict area and the safety time threshold, including: At every time step, calculating the conflict duration sub-time corresponding to the time step; Each time step and its corresponding conflict duration sub-time are multiplied and summed to calculate the conflict duration.

5. The method according to claim 4, characterized in that Calculating the conflict duration sub-time corresponding to the time step, including: Determine whether the time when the autonomous driving vehicle arrives at the conflict area is greater than or equal to zero and less than or equal to the safety time threshold. If so, the conflict duration sub-time corresponding to the time step is set to one; otherwise, the conflict duration sub-time corresponding to the time step is set to zero.

6. The method according to claim 1, characterized in that Controlling the autonomous driving vehicle to decelerate, comprising: Calculating a yielding deceleration of the autonomous driving vehicle according to an initial speed of the autonomous driving vehicle and a distance between the autonomous driving vehicle and the conflict area; Based on the yielding deceleration of the autonomous driving vehicle, the autonomous driving vehicle is controlled to decelerate.

7. The method according to claim 6, characterized in that Controlling the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle includes: Determine whether the yielding deceleration of the autonomous driving vehicle is less than the maximum deceleration of the autonomous driving vehicle; if so, control the autonomous driving vehicle to decelerate based on the yielding deceleration of the autonomous driving vehicle; if not, control the autonomous driving vehicle to decelerate based on the maximum deceleration of the autonomous driving vehicle.

8. An automatic driving device, characterized in that: include: a judgment module, configured to judge whether braking of the autonomous driving vehicle will cause a collision between the autonomous driving vehicle and the obstacle vehicle in response to a conflict area between the driving path of the autonomous driving vehicle and the driving path of the obstacle vehicle; a first control module, configured to control the autonomous driving vehicle to brake or continue to travel at a constant speed in response to the braking of the autonomous driving vehicle causing a collision between the autonomous driving vehicle and the obstacle vehicle, according to a time when the autonomous driving vehicle arrives at the conflict area, a time when the obstacle vehicle arrives at the conflict area, and a duration of the conflict; The second control module is used to control the autonomous driving vehicle to decelerate in response to the braking of the autonomous driving vehicle not causing a collision between the autonomous driving vehicle and the obstacle vehicle.

9. A vehicle, characterized in that: Comprising an automatic driving device as described in claim 8.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

11. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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