Control method and system for autonomous vehicle

Abstract

The invention relates to the field of driving, and particularly discloses a control method and system for an automatic driving vehicle, and the method comprises the steps: obtaining the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle and the real-time speed of the vehicle, obtaining the collision time of the vehicle and the surrounding vehicles, and determining whether the driving parameters need to be adjusted according to the collision time; acquiring light intensity around the vehicle, and determining turned-on vehicle lamps according to the light intensity; and acquiring real-time parameters of each component of the vehicle, and comparing the real-time parameters with preset parameters to determine whether the state of the component is normal or not. According to the invention, the surrounding environment information of the vehicle and the information of the internal parts of the vehicle are obtained, and then the information is compared with the preset information, so that various parameters of the vehicle are adjusted, potential safety hazards can be found, and the safety of the vehicle is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of driving, and particularly to a control method and system of an automatic driving vehicle. BACKGROUND

[0002] With the improvement of people's economic income, more and more families have their own cars. The car is a vehicle that is powered to drive itself, does not need to rely on a track or power erection, and can move freely.

[0003] The traditional car is a vehicle that needs to be controlled by the user in a manual operation mode. With the progress of science and technology, automatic driving vehicles have also begun to appear. The existing automatic driving vehicles need the driver to manually or voice input instructions to realize corresponding adjustment, and cannot self-judge and adjust, so the intelligent degree is not high. SUMMARY

[0004] The purpose of the present application is to provide a control method and system of an automatic driving vehicle to solve the problems raised in the background.

[0005] To achieve the above purpose, the present application provides the following technical solutions:

[0006] A control method of an automatic driving vehicle, the method comprising:

[0007] Obtaining the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle and the real-time speed of the vehicle, obtaining the collision time of the vehicle and the surrounding vehicles, and determining whether the driving parameter needs to be adjusted according to the collision time;

[0008] Obtaining the light intensity around the vehicle, and determining the opened vehicle light according to the light intensity;

[0009] Obtaining the real-time parameters of each component of the vehicle, comparing the real-time parameters with the preset parameters, and determining whether the state of the component is normal.

[0010] As a further scheme of the present application, the step of obtaining the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle and the real-time speed of the vehicle, obtaining the collision time of the vehicle and the surrounding vehicles, and determining whether the driving parameter needs to be adjusted according to the collision time comprises:

[0011] Obtaining the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle and the real-time speed of the vehicle;

[0012] Calculating the distance between the vehicle and the surrounding vehicles in the driving direction according to the distance between the vehicle and the surrounding vehicles and the driving direction of the vehicle, and calculating the collision time of the vehicle and the surrounding vehicles;

[0013] Comparing the collision time with the safety time, and adjusting the driving parameter when the collision time is less than the safety time.

[0014] As a further scheme of the present application: the step of adjusting the driving parameter when the collision time is less than the safety time comprises:

[0015] adjusting the driving direction of the vehicle;

[0016] adjusting the driving speed of the vehicle;

[0017] adjusting the driving lane of the vehicle.

[0018] As a further scheme of the present application: the step of obtaining the light intensity around the vehicle and determining the opened vehicle light according to the light intensity comprises:

[0019] obtaining the light intensity around the vehicle;

[0020] comparing the light intensity with the limit intensity, and opening the high beam when the light intensity is not greater than the first limit intensity;

[0021] opening the low beam when the light intensity is greater than the first limit intensity but not greater than the second limit intensity;

[0022] not opening the vehicle light when the light intensity is greater than the second limit intensity.

[0023] The present application also provides a control system of an automatic driving vehicle, which comprises:

[0024] a collision judgment module, configured to obtain the distance between the vehicle and the surrounding vehicle, the driving direction of the vehicle and the real-time speed of the vehicle, derive the collision time of the vehicle and the surrounding vehicle, and determine whether the driving parameter needs to be adjusted according to the collision time;

[0025] a light judgment module, configured to obtain the light intensity around the vehicle and determine the opened vehicle light according to the light intensity;

[0026] a component judgment module, configured to obtain the real-time parameter of each component of the vehicle, compare the real-time parameter with the preset parameter, and determine whether the state of the component is normal.

[0027] As a further scheme of the present application: the collision judgment module comprises:

[0028] an obtaining unit, configured to obtain the distance between the vehicle and the surrounding vehicle, the driving direction of the vehicle and the real-time speed of the vehicle;

[0029] a calculation unit, configured to calculate the distance between the vehicle and the surrounding vehicle in the driving direction according to the distance between the vehicle and the surrounding vehicle and the driving direction of the vehicle, and derive the collision time of the vehicle and the surrounding vehicle;

[0030] a judgment unit, configured to compare the collision time with the safety time, and adjust the driving parameter when the collision time is less than the safety time.

[0031] As a further scheme of the present application: the judging unit comprises:

[0032] The comparison unit is configured to compare the collision time with the safety time.

[0033] The direction adjusting unit is configured to adjust the driving direction of the vehicle.

[0034] The speed adjusting unit is configured to adjust the driving speed of the vehicle.

[0035] The lane adjusting unit is configured to adjust the driving lane of the vehicle.

[0036] As a further scheme of the present application: the light judging module comprises:

[0037] The light intensity obtaining unit is configured to obtain the light intensity around the vehicle.

[0038] The high beam opening unit is configured to compare the light intensity with the limit intensity, and open the high beam when the light intensity is not greater than the first limit intensity.

[0039] The low beam opening unit is configured to open the low beam when the light intensity is greater than the first limit intensity but not greater than the second limit intensity.

[0040] The non-adjusting unit is configured to not open the vehicle light when the light intensity is greater than the second limit intensity.

[0041] Compared with the prior art, the present application has the beneficial effects that: the present application obtains the information of the environment around the vehicle and the information of the internal components of the vehicle, and then compares the information with the preset information, so as to adjust various parameters of the vehicle, which can find safety hazards and ensure the safety of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application.

[0043] Figure 1 The flow chart of the control method of the autonomous vehicle.

[0044] Figure 2 The first sub-flow chart of the control method of the autonomous vehicle.

[0045] Figure 3 The second sub-flow chart of the control method of the autonomous vehicle.

[0046] Figure 4 The composition structure chart of the control system of the autonomous vehicle.

[0047] Figure 5 A component structure block diagram of a collision judgment module in a control system of an autonomous vehicle.

[0048] Figure 6 A component structure block diagram of a judgment unit in a control system of an autonomous vehicle.

[0049] Figure 7 A component structure block diagram of a light judgment module in a control system of an autonomous vehicle. DETAILED DESCRIPTION

[0050] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0051] Example 1: Figure 1 A flow block diagram of a control method of an autonomous vehicle, the control method of the autonomous vehicle comprising:

[0052] The distance between the vehicle and the surrounding vehicle, the driving direction of the vehicle and the real-time speed of the vehicle are obtained, the collision time of the vehicle and the surrounding vehicle is obtained, and it is determined whether the driving parameter needs to be adjusted according to the collision time;

[0053] In order to ensure the safety of vehicle driving, the vehicle needs to pay attention to the situation of other vehicles during driving, so as to avoid collision with other vehicles. In order to avoid the vehicle from colliding, the server will set a safety time in advance, which is to ensure that the vehicle can be manually adjusted when the collision is discovered, so as to ensure that the vehicle will not collide. The distance between the two vehicles, the speed of the vehicle and the driving direction of the vehicle can be used to calculate the time required for the two vehicles to collide. When the time required for the two vehicles to collide is less than the safety time, it indicates that the time of collision is less than the time of manual adjustment, that is, the manual adjustment is not in time, and at this time the server adjusts the driving parameter of the vehicle, so as to avoid the vehicle from colliding and ensure the safety of the vehicle.

[0054] The light intensity around the vehicle is obtained, and the opened vehicle light is determined according to the light intensity;

[0055] The driver's field of view is also an important factor affecting driving safety. The wider the driver's field of view, the more road conditions the driver can see, and the safer the vehicle is. When the light around the vehicle is insufficient, the driver's field of view is limited, at which time the vehicle light needs to be turned on to ensure the driver's field of view within a certain range. The vehicle light has low beam and high beam, and the two types of vehicle light are suitable for different light intensities. When the light is weak, the low beam is turned on, and when the light is extremely weak, the high beam is turned on.

[0056] The real-time parameters of each component of the vehicle are obtained, and the real-time parameters are compared with the preset parameters to determine whether the state of the component is normal.

[0057] The normal operation of each component of the vehicle is an important guarantee for safe driving of the vehicle. In the normal state, various working parameters of each component are a small range of fluctuation values, which are the preset parameters. When the real-time parameters of the component are within this fluctuation value, the component is in a normal state, at which time no operation is required. When the real-time parameters of the component exceed this fluctuation value, the component is in an abnormal state, and certain countermeasures need to be taken to restore the component to a normal state. For example, the windshield washer of an automobile usually needs to have a certain storage capacity to clean the windshield. When it is detected that the storage capacity of the windshield washer is lower than the set minimum value, the windshield washer needs to be replenished to ensure that the windshield can be cleaned, otherwise the function cannot be used. For example, the working temperature of the engine of an automobile is also a range. When it is measured that the temperature of the engine is higher than the maximum set value, the engine is in an overheating state, and the engine cannot work normally. At this time, the temperature of the engine needs to be lowered, which can be achieved by reducing the speed, using a fan to cool down, or adding a wet cloth to the water tank of the engine.

[0058] Figure 2 The first sub-flow chart of the control method for the autonomous vehicle, the distance between the vehicle and the surrounding vehicle, the driving direction of the vehicle, and the real-time speed of the vehicle are obtained, the collision time between the vehicle and the surrounding vehicle is obtained, and whether the driving parameter needs to be adjusted is determined according to the collision time, which includes:

[0059] The distance between the vehicle and the surrounding vehicle, the driving direction of the vehicle, and the real-time speed of the vehicle are obtained.

[0060] Only relying on the speed of the vehicle and the distance between the vehicle and the surrounding vehicle cannot obtain the accurate collision time. It is also necessary to know the driving direction of the vehicle to convert the distance between the two vehicles in the driving direction to obtain the accurate collision time.

[0061] The distance between the vehicle and the surrounding vehicle in the driving direction is calculated according to the distance between the vehicle and the surrounding vehicle and the driving direction of the vehicle, and the collision time between the vehicle and the surrounding vehicle is calculated.

[0062] According to the principle of right triangle, the distance between two vehicles can be converted into the distance between the two vehicles in the driving direction. The distance between the two vehicles in the driving direction divided by the real-time speed of the vehicle (the speed is originally in the driving direction) can obtain the time of collision between the driving vehicle and the surrounding vehicle.

[0063] When the collision time is less than the safety time, adjust the driving parameters.

[0064] When the collision time is less than the safety time (i.e. the time required for manual adjustment), it indicates that it is too late to manually adjust when a collision occurs. At this time, the server needs to automatically adjust the driving parameters of the vehicle to avoid the vehicle from colliding. The driving parameters of the vehicle mainly include the driving direction, the driving speed and the driving lane.

[0065] The step of adjusting the driving parameters when the collision time is less than the safety time comprises:

[0066] Adjusting the driving direction of the vehicle;

[0067] The driving direction of the vehicle can determine whether the two vehicles will collide. Originally, the two vehicles are opposite to each other. When the driving direction of the driving vehicle is changed, the two vehicles will not meet at a certain point at the same time. The two vehicles will be staggered, and the two vehicles will not collide.

[0068] Adjusting the driving speed of the vehicle;

[0069] The driving speed of the vehicle can also determine whether the two vehicles will collide. When the two vehicles are not opposite to each other, changing the driving speed of the driving vehicle can make the two vehicles pass through a certain point where the collision should occur at different times, so as to avoid the collision.

[0070] Adjusting the driving lane of the vehicle.

[0071] The driving lane of the vehicle can also determine whether the two vehicles will collide. When two vehicles are opposite in a certain lane and there is no vehicle in the remaining lanes, the driving vehicle only needs to be changed to other driving lanes to avoid the collision of the two vehicles.

[0072] Figure 3 The third sub-flow chart for the control method of the automatic driving vehicle, the step of obtaining the light intensity around the vehicle and determining the opened vehicle light according to the light intensity comprises:

[0073] Obtaining the light intensity around the vehicle;

[0074] The light intensity determines whether the vehicle needs to open the vehicle light and which vehicle light to open, so it is necessary to measure the light intensity around the vehicle. A light sensor can be installed on the vehicle to measure the light intensity.

[0075] When the light intensity is not greater than the first limit intensity, the high beam is turned on;

[0076] Different light intensities correspond to different driver's fields of view. When the driver's field of view is less than a minimum limit, the high beam needs to be turned on, so as to ensure that the driver has a certain field of view. The light intensity at which the driver's field of view is seriously insufficient is the first limit intensity.

[0077] When the light intensity is greater than the first limit intensity but not greater than the second limit intensity, the low beam is turned on.

[0078] When the driver's field of view is greater than the minimum limit but less than a normal value, the low beam needs to be turned on, so as to ensure that the driver has a normal field of view. The light intensity corresponding to the normal field of view of the driver is the second limit intensity.

[0079] When the light intensity is greater than the second limit intensity, the vehicle light does not need to be turned on.

[0080] When the light intensity is greater than the second limit intensity, it indicates that the driver's field of view is a normal value, and at this time, the vehicle light does not need to be turned on. The driver's field of view is in a normal condition.

[0081] Embodiment 2: Figure 4 The control system of the autonomous vehicle comprises:

[0082] The collision judgment module is configured to obtain the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle, and the real-time speed of the vehicle, to obtain the collision time of the vehicle and the surrounding vehicles, and to determine whether the driving parameter needs to be adjusted according to the collision time.

[0083] The light judgment module is configured to obtain the light intensity around the vehicle, and to determine the vehicle light to be turned on according to the light intensity.

[0084] The component judgment module is configured to obtain the real-time parameters of each component of the vehicle, to compare the real-time parameters with preset parameters, and to determine whether the state of the component is normal.

[0085] Figure 5 The collision judgment module in the control system of the autonomous vehicle comprises:

[0086] The acquisition unit is configured to obtain the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle, and the real-time speed of the vehicle.

[0087] The calculation unit is configured to calculate the distance between the vehicle and the surrounding vehicles in the driving direction according to the distance between the vehicle and the surrounding vehicles and the driving direction of the vehicle, and to calculate the collision time of the vehicle and the surrounding vehicles.

[0088] A judging unit is configured to compare the collision time with the safety time, and adjust the driving parameter when the collision time is less than the safety time.

[0089] Figure 6 A structure block diagram of a judging unit in a control system of an autonomous vehicle is provided, and the judging unit comprises:

[0090] A comparing unit is configured to compare the collision time with the safety time.

[0091] A direction adjusting unit is configured to adjust the driving direction of the vehicle.

[0092] A speed adjusting unit is configured to adjust the driving speed of the vehicle.

[0093] A lane adjusting unit is configured to adjust the driving lane of the vehicle.

[0094] Figure 7 A structure block diagram of a light judging module in a control system of an autonomous vehicle is provided, and the light judging module comprises:

[0095] A light intensity obtaining unit is configured to obtain the light intensity around the vehicle.

[0096] A high beam opening unit is configured to compare the light intensity with the limit intensity, and open the high beam when the light intensity is not greater than the first limit intensity.

[0097] A low beam opening unit is configured to open the low beam when the light intensity is greater than the first limit intensity but not greater than the second limit intensity.

[0098] A non-adjusting unit is configured to not open the vehicle light when the light intensity is greater than the second limit intensity.

[0099] The functions of the control method of the autonomous vehicle are completed by a computer device, which comprises one or more processors and one or more memories, and at least one program code is stored in the one or more memories, and the program code is loaded and executed by the one or more processors to realize the functions of the user behavior prediction method based on big data.

[0100] The processor fetches instructions from the memory one by one, analyzes the instructions, and then completes the corresponding operation according to the instructions to generate a series of control commands, so that the parts of the computer automatically, continuously and coordinately act as an organic whole, realize the input of the program, the input of the data and the operation and output of the results, and the arithmetic operation or logical operation generated in this process is completed by the operation unit; the memory comprises a read-only memory (Read-Only Memory, ROM), and the read-only memory is used to store the computer program, and a protection device is arranged outside the memory.

[0101] For example, the computer program can be divided into one or more modules, one or more modules are stored in the memory, and are executed by the processor to complete the present application. One or more modules can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the terminal device.

[0102] Those skilled in the art can understand that the above description of the service device is only an example and does not constitute a limitation on the terminal device, and can include more or less components than the above description, or combine certain components, or different components, for example, can include input and output devices, network access devices, buses, etc.

[0103] The processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The above processor is the control center of the terminal device, and connects all parts of the terminal device through various interfaces and lines.

[0104] The memory can be used to store computer programs and / or modules, and the processor realizes various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required by a function (such as an information collection template display function, a product information publishing function, etc.), etc.; the data storage area can store data created according to the use of the berth state display system (such as product information collection templates corresponding to different product categories, product information to be published by different product providers, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, for example, a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0105] The modules / units integrated in the terminal device can be stored in a computer readable storage medium if they are realized in the form of software function units and sold or used as independent products. Based on such understanding, all or part of the modules / units in the above-mentioned embodiment systems can also be completed by instructing related hardware through a computer program. The above-mentioned computer program can be stored in a computer readable storage medium, and the computer program can realize the functions of the above-mentioned various system embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms, etc. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier wave signal, telecommunication signal and software distribution medium, etc.

[0106] It should be noted that in this document, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or apparatus including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of other identical elements in the process, method, article or apparatus including the element.

[0107] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields based on the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. A control method of an autonomous vehicle, characterized by, The method comprises: acquiring the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle, and the real-time speed of the vehicle, obtaining the collision time of the vehicle and the surrounding vehicles, and determining whether the driving parameter needs to be adjusted according to the collision time; acquiring the light intensity around the vehicle, and determining the opened vehicle light according to the light intensity; acquiring the real-time parameters of each component of the vehicle, comparing the real-time parameters with preset parameters, and determining whether the state of the component is normal.

2. The control method of an automated vehicle according to claim 1, characterized by, The step of acquiring the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle, and the real-time speed of the vehicle, obtaining the collision time of the vehicle and the surrounding vehicles, and determining whether the driving parameter needs to be adjusted according to the collision time comprises: acquiring the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle, and the real-time speed of the vehicle; calculating the distance between the vehicle and the surrounding vehicles in the driving direction according to the distance between the vehicle and the surrounding vehicles and the driving direction of the vehicle, and calculating the collision time of the vehicle and the surrounding vehicles; comparing the collision time with the safety time, and adjusting the driving parameter when the collision time is less than the safety time.

3. The control method of an automated vehicle according to claim 2, wherein The step of adjusting the driving parameter when the collision time is less than the safety time comprises: adjusting the driving direction of the vehicle; adjusting the driving speed of the vehicle; adjusting the driving lane of the vehicle.

4. The control method of an automated vehicle according to claim 1, characterized by, The step of acquiring the light intensity around the vehicle, and determining the opened vehicle light according to the light intensity comprises: acquiring the light intensity around the vehicle; comparing the light intensity with the limit intensity, and opening the high beam when the light intensity is not greater than the first limit intensity; opening the low beam when the light intensity is greater than the first limit intensity but not greater than the second limit intensity; not opening the vehicle light when the light intensity is greater than the second limit intensity.

5. A control system of an autonomous vehicle, characterized by, The system comprises: a collision judgment module, configured to acquire the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle, and the real-time speed of the vehicle, obtain the collision time of the vehicle and the surrounding vehicles, and determine whether the driving parameter needs to be adjusted according to the collision time; a light judgment module, configured to acquire the light intensity around the vehicle, and determine the opened vehicle light according to the light intensity; a component judgment module, configured to acquire the real-time parameters of each component of the vehicle, compare the real-time parameters with preset parameters, and determine whether the state of the component is normal.

6. The control system of an autonomous vehicle according to claim 5, wherein The collision judgment module comprises: an acquisition unit, configured to acquire the distance between the vehicle and surrounding vehicles, the driving direction of the vehicle, and the real-time speed of the vehicle; a calculation unit, configured to calculate the distance between the vehicle and the surrounding vehicles in the driving direction according to the distance between the vehicle and the surrounding vehicles and the driving direction of the vehicle, and calculate the collision time of the vehicle and the surrounding vehicles; a judgment unit, configured to compare the collision time with the safety time, and adjust the driving parameter when the collision time is less than the safety time.

7. The control system of an autonomous vehicle according to claim 6, wherein The judgment unit comprises: a comparison unit, configured to compare the collision time with the safety time; a direction adjustment unit, configured to adjust the driving direction of the vehicle; a speed adjustment unit, configured to adjust the driving speed of the vehicle; a lane adjustment unit, configured to adjust the driving lane of the vehicle.

8. The control system of an autonomous vehicle according to claim 5, wherein, The light judgment module comprises: a light intensity acquisition unit, configured to acquire the light intensity around the vehicle; a high beam opening unit, configured to compare the light intensity with the limit intensity, and open the high beam when the light intensity is not greater than the first limit intensity; The low beam light opening unit is configured to open the low beam light when the light intensity is greater than the first limit intensity but not greater than the second limit intensity. The non-adjustment unit is configured to not open the vehicle light when the light intensity is greater than the second limit intensity.

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