Speed recommendation method and device, electronic equipment and storage medium

Abstract

The invention provides a speed recommendation method and device, electronic equipment and a storage medium. The speed recommendation method comprises the following steps: obtaining target lamp information of a target traffic lamp sensed by a vehicle; the target traffic light is used for controlling whether a road section travels; based on the target lamp information, determining a recommendation speed corresponding to the target lamp information from a corresponding relationship between traffic lamp information and different recommendation speed decisions; and according to the corresponding recommended speed, controlling whether the vehicle travels through the controlled road section or not. In this way, the vehicle speed is effectively controlled.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a speed recommendation method and device, an electronic device and a storage medium. BACKGROUND

[0002] In recent years, with the rapid development of automatic driving assistance systems, more and more vehicles are equipped with automatic driving assistance systems, and their use scenarios are gradually expanding from low-speed driving and high-speed driving in small areas and simple urban environments to complex urban roads. Related technologies control traffic lights by using external devices to control pedestrian traffic. However, how to effectively control the speed of a vehicle has become a technical problem to be solved. SUMMARY

[0003] The present application provides an improved speed recommendation method, device, electronic device and storage medium.

[0004] The present application provides a speed recommendation method, comprising:

[0005] obtaining target light information of a target traffic light perceived by a vehicle; the target traffic light is used to control whether a road section is driven through;

[0006] based on the target light information, determining a recommended speed corresponding to the target light information from a correspondence between traffic light information and different recommended speed decisions;

[0007] controlling whether the vehicle drives through the controlled road section according to the corresponding recommended speed.

[0008] Further, the traffic light information includes a state of traffic light lighting;

[0009] The determination of the recommended speed corresponding to the target light information from the correspondence between the traffic light information and the different recommended speed decisions based on the target light information comprises:

[0010] if the target light information includes specific traffic light lighting information, determining a current state of the specific traffic light lighting;

[0011] determining a recommended speed corresponding to the current state of the specific traffic light lighting from a correspondence between states of traffic light lighting and different recommended speed decisions according to the current state of the specific traffic light lighting.

[0012] Further, the traffic light information includes each traffic light lighting information of a traffic signal light set state;

[0013] The corresponding recommended speed of the specific traffic light is determined from the correspondence between the state of the traffic light and different recommended speed decisions according to the current state of the specific traffic light, including:

[0014] It is judged whether the vehicle can safely pass the stop line under the current state of the specific traffic light according to the current state of the specific traffic light;

[0015] If not, the recommended speed of the vehicle to pass the stop line is determined and recommended to be zero from the correspondence between the state of the traffic light and different recommended speed decisions according to the current state of the specific traffic light;

[0016] If yes, the recommended speed of the vehicle to pass the stop line is determined and recommended to be the expected driving speed of the driver from the correspondence between the state of the traffic light and different recommended speed decisions according to the current state of the specific traffic light.

[0017] Further, the corresponding recommended speed of the specific traffic light is determined from the correspondence between the traffic light information and different recommended speed decisions based on the target light information, including:

[0018] If the target light information includes green light information, the current state of the green light is determined;

[0019] The corresponding recommended speed of the specific traffic light is determined from the correspondence between the state of the traffic light and different recommended speed decisions according to the current state of the specific traffic light.

[0020] Further, the corresponding recommended speed of the specific traffic light is determined from the correspondence between the state of the traffic light and different recommended speed decisions according to the current state of the specific traffic light.

[0021] If the current state of the green light includes a green light ending state, it is judged whether the estimated driving distance of the vehicle for passing the target traffic light is less than the safety threshold of the vehicle and the stop line;

[0022] If yes, the recommended speed of the vehicle to pass the stop line is determined and recommended to be zero from the correspondence between the state of the traffic light and different recommended speed decisions according to the green light ending state;

[0023] If not, the recommended speed of the vehicle to pass the stop line is determined and recommended to be the expected driving speed of the driver from the correspondence between the state of the traffic light and different recommended speed decisions according to the green light ending state.

[0024] Further, the corresponding relationship between the current state of the specific traffic light and the recommended speed decision includes:

[0025] If the current state of the green light includes a green light constantly on, the corresponding relationship between the current state of the green light and the recommended speed decision is determined, and the recommended speed of the vehicle to pass the stop line is the expected driving speed of the driver.

[0026] Further, the corresponding relationship between the current state of the specific traffic light and the recommended speed decision includes:

[0027] If the target light information includes a yellow light constantly flashing, the corresponding relationship between the current state of the yellow light and the recommended speed decision is determined, and the recommended speed of the vehicle to pass the stop line is the expected driving speed of the driver.

[0028] If the target light information includes a black light constantly unlit and a black light constantly appearing, the corresponding relationship between the current state of the black light and the recommended speed decision is determined, and the recommended speed of the vehicle to pass the stop line is the expected driving speed of the driver.

[0029] Further, the corresponding relationship between the current state of the specific traffic light and the recommended speed decision includes:

[0030] If the target light information includes a red light and / or an unknown light, the corresponding relationship between the current state of the red light and the recommended speed decision is determined, and the recommended speed of the vehicle to pass the stop line is zero.

[0031] If the target light information includes an unknown light, the corresponding relationship between the current state of the unknown light and the recommended speed decision is determined, and the recommended speed of the vehicle to pass the stop line is zero.

[0032] Furthermore, obtaining the target light information of the perceived target traffic light includes: obtaining the target light information of the perceived target traffic light corresponding to the turning type based on the turning type of the vehicle before reaching the nearest stop line; the target light information is corresponding to the turning type.

[0033] Furthermore, the target traffic light is the traffic light at the stop line closest to the vehicle on the navigation route of the vehicle navigation map.

[0034] This application embodiment also provides a speed recommendation device, including:

[0035] The target traffic light information acquisition module is used to obtain the target traffic light information perceived by the vehicle; the target traffic light is used to control whether the vehicle passes through the road segment;

[0036] The recommended speed determination module is used to determine the recommended speed corresponding to the target light information based on the target light information and the correspondence between traffic light information and different recommended speed decisions;

[0037] The vehicle driving control module is used to control whether the vehicle travels through the controlled road segment according to the corresponding recommended speed.

[0038] This application provides an electronic device including one or more processors for implementing the method described in any of the preceding claims.

[0039] This application provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the method described in any of the preceding claims.

[0040] This application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the method described in any of the preceding claims.

[0041] In some embodiments, the speed recommendation method of this application obtains target light information of a target traffic light and determines a recommended speed corresponding to the target light information from the correspondence between the traffic light information and different recommended speed decisions, so as to control whether a vehicle travels through a controlled road segment. In this way, the recommended speed for vehicles to travel through the controlled road segment can be effectively controlled. Attached Figure Description

[0042] Figure 1 The diagram shown is an overall schematic diagram of the speed recommendation method according to an embodiment of this application;

[0043] Figure 2 The diagram shown is a flowchart of the speed recommendation method provided in an embodiment of this application;

[0044] Figure 3 As shownFigure 2 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122;

[0045] Figure 4 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122; Figure 2 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122;

[0046] Figure 5 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122; Figure 2 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122;

[0047] Figure 6 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122; Figure 2 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122;

[0048] Figure 7a The speed recommendation method of FIG. 1 includes the specific flowchart of step 122; Figure 2 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122;

[0049] Figure 7b The speed recommendation method of FIG. 1 includes the specific flowchart of step 122; Figure 2 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122;

[0050] Figure 8 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122;

[0051] Figure 9 The speed recommendation method of FIG. 1 includes the specific flowchart of step 122; DETAILED DESCRIPTION

[0052] The exemplary embodiments will be described in detail herein below with reference to the drawings. In the following description, the same drawings reference numbers are used to denote like or similar elements. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with one or more embodiments of the present description. Rather, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of the present description as detailed in the appended claims.

[0053] It should be noted that the steps of the corresponding methods are not necessarily performed in the order shown and described in the present description in other embodiments. In some other embodiments, the steps included in the methods can be more or less than those described in the present description. In addition, a single step described in the present description can be divided into multiple steps for description in other embodiments, and multiple steps described in the present description can be combined into a single step for description in other embodiments.

[0054] In order to effectively control the speed of the vehicle, the speed recommendation method provided by the embodiments of the present application combines the perceived traffic light information and the traffic light position represented by the navigation map to obtain target light information of a target traffic light, and determines the recommended speed corresponding to the target light information from the correspondence between the traffic light information and different recommended speed decisions, so as to control whether the vehicle travels through the controlled road section. In this way, the recommended speed of the vehicle passing through the controlled road section can be effectively controlled.

[0055] The autonomous vehicle in the present application can realize autonomous driving by four modules of perception, decision, planning and control. The decision module directly interacts with the planning module and is equivalent to the human brain. Therefore, the driver of the autonomous vehicle (hereinafter referred to as vehicle) can be liberated from driving, and the driver only needs to operate the steering wheel. The longitudinal control is provided with a recommended speed by the speed recommendation method in the present application, so that the vehicle can reach the expected speed.

[0056] Figure 1 Fig. 1 shows the overall schematic diagram of the speed recommendation method according to the embodiments of the present application.

[0057] As shown in Fig. 1, the speed recommendation method according to the embodiments of the present application can include but not limited to the following steps 110 to 130. Figure 1 As shown in Fig. 1, the speed recommendation method according to the embodiments of the present application can include but not limited to the following steps 110 to 130.

[0058] Since the vehicle condition changes in real time, the recommended speed at this time may change over time and cannot be used. In this regard, if the distance between the vehicle and the nearest stop line exceeds the preset threshold, it means that the vehicle is relatively far from the stop line, and the method ends. If the distance between the vehicle and the nearest stop line is less than or equal to the preset threshold, it means that the vehicle is relatively close to the stop line, and the method is executed. In this way, the effectiveness of the recommended speed can be improved. The preset threshold can be set according to user demand.

[0059] Based on this, the target traffic light selection strategy in the present application is executed as follows: selecting a target traffic light, and if the target traffic light cannot be obtained, the method ends. If the target traffic light is obtained, the method is executed. For example, the recommended speed decision in the present application is executed as follows: determining the speed recommended for the vehicle according to different traffic light information, which is called recommended speed. For details, please refer to the following.

[0060] Figure 2 Fig. 2 shows the flowchart of the speed recommendation method according to the embodiments of the present application.

[0061] As shown in Fig. 1, the speed recommendation method according to the embodiments of the present application can include but not limited to the following steps 110 to 130. Figure 2 As shown in Fig. 1, the speed recommendation method according to the embodiments of the present application can include but not limited to the following steps 110 to 130.

[0062] In step 110, a target light information of a target traffic light perceived by the vehicle is obtained; the target traffic light is used to control whether the vehicle is allowed to drive through a road section.

[0063] The traffic light perceived by the vehicle is used to represent that the traffic light information at the intersection is collected by means of an external device. For example, the traffic light can include but is not limited to a single light bulb. The single light bulb is used to represent the display state of the traffic light, such as including one of a red light being lit, a green light being lit, a yellow light being lit, and a black light. The black light is used to represent that none of the light bulbs is lit. The target traffic light is the traffic light at the stop line closest to the vehicle on the driving route of the vehicle. For example, the target traffic light can be the traffic light at the stop line closest to the vehicle on the driving route of the vehicle perceived by the vehicle, such as a camera. For another example, the target traffic light can be the traffic light at the stop line closest to the vehicle on the navigation route of the navigation map of the vehicle. In this way, the recommended speed corresponding to the target light information is determined from the correspondence between the traffic light information and different recommended speed decisions, in combination with the perceived traffic light information and the traffic light position represented by the navigation map. This can effectively control the recommended speed of the vehicle driving through the controlled road section.

[0064] For another example, the target navigation traffic light is the overall traffic light at an intersection, which can have multiple light bulbs. In this case, the traffic light can include but is not limited to a combination light of two or more light bulbs. Two or more includes two. The combination light is used to represent the appearance state of any light bulb. The appearance state is used to represent the lighting information or appearance. For example, the state of any light can include but is not limited to one of a red light being lit, a green light being lit, a yellow light being lit, a black light appearing, and an unknown light appearing. The unknown light is used to represent that the color and / or lighting state of the light bulb cannot be determined. The black light is used to represent that all light bulbs are not lit.

[0065] Based on this, the traffic light at the stop line closest to the vehicle on the navigation route of the navigation map of the vehicle becomes the target traffic light. Moreover, the current state of the target traffic light is referred to as the target light information.

[0066] The vehicle navigation map herein can contain at least one of traffic light position, traffic light state, and mapping relationship between stop line and traffic light. For example, the perceived traffic light and the traffic light position of the navigation information are integrated, the distance between the vehicle and the stop line is about 5 meters, and the turning type is determined. Then, according to the turning type, the target light information is determined. If the perceived target light information is empty, the target light with unknown color is output. Otherwise, according to the turning type, the relative target light information is found. For example, at least one of the color, countdown, flashing state and confidence is integrated into the final target light. Among them, the target light is the bulb corresponding to the driving route of the vehicle in the target traffic light, such as the left turn corresponding to the left turn light. For example, the vehicle right turn corresponds to the right turn light.

[0067] In step 120, based on the target light information, the corresponding relationship between the traffic light information and the different recommended speed decisions is determined to determine the recommended speed corresponding to the target light information.

[0068] The recommended speed of the vehicle driving through the controlled road segment is called the recommended speed herein. The recommended speed is used to represent the vehicle driving through the controlled road segment, controlling the vehicle acceleration to accelerate and / or decelerate.

[0069] In step 130, according to the corresponding recommended speed, whether the vehicle drives through the controlled road segment is controlled.

[0070] In the embodiments of the present application, the perceived traffic light information and the traffic light position of the navigation map are integrated to calculate the recommended speed of the recommended passing, and the recommended speed is provided to the subsequent calculation unit, so that the autonomous vehicle can adaptively accelerate and decelerate.

[0071] The controlled road segment herein can include an intersection and a designated road segment provided with a traffic light.

[0072] Among them, the designated road segment is used to represent the road segment that needs to be limited or controlled. The designated road segment can include but is not limited to school road segment, hospital road segment, shopping mall road segment, railway crossing, etc. When the vehicle reaches the designated road segment, only the traffic light limits the straight line, and the turn signal of the vehicle is not turned on.

[0073] In one aspect, the target light information of the perceived target traffic light can be obtained by the following method: according to the lane type before the vehicle reaches the nearest stop line, the target light information corresponding to the lane type in the perceived target traffic light is obtained; the target light information corresponds to the lane type. Among them, the lane type can include at least one of the straight lane, the right turn lane and the left turn lane.

[0074] In another aspect, the intersection can include, but is not limited to, a cross intersection, a T-shaped intersection, a roundabout, and the like. When the vehicle reaches the intersection, the traffic lights limit the driving of multiple directions, such as left turn, right turn, and straight driving. Correspondingly, the traffic lights are combination lights.

[0075] To this end, the embodiment of the present application can obtain the target light information of the perceived target traffic light in the following manner: according to the turning type before the vehicle reaches the nearest stop line, obtaining the target light information corresponding to the turning type in the perceived target traffic light; the target light information corresponds to the turning type. Wherein, the turning type is determined by the opened turn signal. For example, the turning type is left turn, and correspondingly, the traffic light is determined as the left turn traffic light.

[0076] In the embodiment of the present application, the automatic driving vehicle is taken as the center, and the design is made from the subjective angle. For example, when turning, the design is made by opening the turn signal. For the traffic light element, the perceived traffic light information and the traffic light position of the navigation map are comprehensively considered to determine the recommended speed, so that the automatic driving vehicle can adaptively accelerate or decelerate, optimize the road resources, and improve the traffic efficiency without changing the burden of road construction.

[0077] The traffic light information herein includes each traffic light lighting information of the state of the combination traffic light set.

[0078] In combination Figure 2 As shown, the traffic light information includes the state of the traffic light lighting; the step 120 can include, but is not limited to, the following first step and second step: the first step, if the target light information includes the target light lighting information, determining the current state of the target light lighting. The second step, according to the current state of the target light lighting, determining the recommended speed corresponding to the current state of the target light lighting from the corresponding relationship between the state of the traffic light lighting and different recommended speed decisions.

[0079] Further, the traffic light information includes each traffic light lighting information of the state of the traffic light set; according to the current state of the target light lighting, determining the recommended speed corresponding to the current state of the target light lighting from the corresponding relationship between the state of the traffic light lighting and different recommended speed decisions can include, but is not limited to, the following first step to third step:

[0080] The first step, according to the current state of the target light lighting, determining whether the vehicle can safely pass the stop line under the current state of the target light lighting to ensure the safe driving of the vehicle.

[0081] In the second step, if not, the corresponding relationship between the state of the traffic light and the different recommended speed decisions is determined, and the recommended speed for the vehicle to pass the stop line is zero corresponding to the state of the target light. In this way, the autonomous vehicle can adaptively slow down, optimize road resources and improve traffic efficiency without changing the burden of road construction.

[0082] The state of the traffic light in this paper can include but is not limited to at least one of the state of whether the green light is on, the state of whether the yellow light is on, the state of whether the yellow light is on, and the state of whether the black light appears.

[0083] On the contrary, the corresponding relationship between the state of the traffic light and the different recommended speed decisions can include but is not limited to at least one of the corresponding relationship between the state of the green light and the different recommended speed decisions, the corresponding relationship between the state of the yellow light and the different recommended speed decisions, the corresponding relationship between the state of the black light and the different recommended speed decisions, the corresponding relationship between the state of the red light and the different recommended speed decisions, and the corresponding relationship between the state of the unknown light and the different recommended speed decisions.

[0084] Then, the above-mentioned corresponding relationship between the state of the traffic light and the different recommended speed decisions can include a corresponding list of the state of the traffic light and the different recommended speed decisions, as shown in Table 1 below.

[0085] Table 1 Corresponding relationship between the state of the traffic light and the different recommended speed decisions

[0086]

[0087] In the third step, if yes, the corresponding relationship between the state of the traffic light and the different recommended speed decisions is determined, and the recommended speed for the vehicle to pass the stop line is the expected driving speed of the driver corresponding to the state of the target light.

[0088] In the embodiments of the present application, not only the effective recommendation of the passing speed can be realized, but also the adaptability and safety of the recommended speed in various scenarios can be improved.

[0089] Figure 3 As shown in the speed recommendation method of Figure 2 The specific flowchart of step 122 is shown.

[0090] As shown in the speed recommendation method of Figure 3 The above-mentioned step 120 can further include but is not limited to the following steps 121 and 122:

[0091] Step 121, if the target light information includes green light on information, determine the current state of the green light on.

[0092] The green light lighting state includes at least one of a green light countdown, a green light flicker, and a green light constant lighting state.

[0093] At step 122, a recommended speed corresponding to the current green light lighting state is determined from a correspondence between green light lighting states and different recommended speed decisions.

[0094] Figure 4 The speed recommendation method is shown in the flowchart of the green light lighting state. Figure 2 The speed recommendation method is shown in the flowchart of the green light lighting state.

[0095] In combination with Figure 2 And Figure 3 As shown in the figure, when the target light is a green light and the green light is on, step 122 can be implemented through at least one of the following embodiments of green light decisions: Figure 4

[0096] In an optional first embodiment, step 1221, if the current green light lighting state includes a green light ending state, it is determined whether the estimated driving distance of the vehicle for indicating passing the target traffic light is less than the safety threshold of the vehicle and the stop line.

[0097] The green light ending state is used to indicate countdown or the first decreasing countdown of green light flicker. The green light ending state can include green light flicker and / or the first decreasing countdown of green light flicker.

[0098] For green light countdown or the first decreasing countdown of green light flicker, considering that the distance between the autonomous vehicle and the stop line is relatively close, the speed of the vehicle is relatively low, and the acceleration of the vehicle is relatively high, it indicates that the autonomous vehicle is in a starting scene, or is applied to a parking scene in which the vehicle slows down to reach the stop line (i.e., the vehicle is close to the stop line).

[0099] If in the starting scene, a starting driving model is designed to calculate the estimated driving distance. If in the parking scene, a parking driving model is designed to calculate the estimated driving distance.

[0100] The starting driving model is used to describe the model of the process in which the vehicle starts from a static state, accelerates to a certain speed, and enters a normal driving state. The starting driving model can be generated in at least one of the following ways: by collecting vehicle starting data, including vehicle state information recorded by sensors, driver operation information, etc., using machine learning or deep learning algorithms to mine vehicle starting data, and establishing a starting driving model. Alternatively, according to the physical parameters of the vehicle, such as power characteristics, mass, tire and ground friction, a dynamics equation is used to establish a starting driving model.

[0101] ​The parking driving model is used to describe the process of deceleration of the vehicle from normal driving state to stop. The parking driving model can be generated in at least one of the following ways: collecting vehicle parking data, including sensor recorded vehicle state information, driver operation information, vehicle braking performance, road surface friction coefficient (such as dry, wet, icy and other different road conditions) and slope information, using machine learning or deep learning algorithm, mining vehicle parking data, and establishing parking driving model. Alternatively, according to the structure and working principle of the vehicle braking system, the parking driving model of the braking force, deceleration, time, driving distance and other parameters in the braking process is established.

[0102] The machine learning or deep learning algorithm can include but is not limited to at least one of a long short-term memory (LSTM) and a neural network (PID).

[0103] If yes, the corresponding relationship between the green light lighting state and the different recommended speed decisions is determined, and the recommended speed of the vehicle to reach the stop line is recommended to be zero.

[0104] The corresponding relationship between the green light lighting state and the different recommended speed decisions can include but is not limited to the recommended speed corresponding to the green light ending state being zero.

[0105] If yes, that is, the estimated driving distance is less than the safety threshold, which means that the vehicle is a relatively close distance from the stop line, but is not adjacent to the stop line. Therefore, the current position of the vehicle needs to start from the position of the stop line to reach the position of the stop line, and the current estimated driving distance is small, and the stop line is not reached again. Therefore, in order to ensure the safety of the vehicle, the vehicle cannot run a red light. Therefore, the vehicle stops at the stop line.

[0106] If no, the corresponding relationship between the green light lighting state and the different recommended speed decisions is determined, and the recommended speed of the vehicle to reach the stop line is recommended to be the expected driving speed of the driver.

[0107] If no, that is, the estimated driving distance is greater than or equal to the safety threshold, which means that the vehicle can be near the stop line. After the vehicle starts, it can exceed the stop line and can travel through the red-green light intersection before the next red light, so the recommended speed is performed.

[0108] It should be noted that the driver's desired speed is used to indicate whether the vehicle can safely pass the target traffic light. In Example 1, this can be calculated using uniform motion; the estimated travel distance is divided by the traffic light's travel time to obtain the driver's desired speed.

[0109] Example 2: Desired driving speed refers to setting a fixed speed value that complies with regulations. The driver's desired driving speed can be a value within a fixed speed range, such as greater than 20 km / h but less than the safe speed limit. The driver's desired driving speed can include, but is not limited to, 20 km / h, 21 km / h, 22 km / h, 23 km / h, 24 km / h, 25 km / h, 26 km / h, 27 km / h, 28 km / h, 29 km / h, and 30 km / h.

[0110] In an optional second embodiment, if the current state of the green light includes a continuously lit green light, then from the correspondence between the green light state and different recommended speed decisions, the recommended speed for the vehicle to reach the stop line corresponding to the current state of the green light is determined and recommended as the driver's desired driving speed.

[0111] When the target light is a yellow light, and the yellow light is illuminated, step 120 or step 2 above can be implemented through the following optional embodiment: If the target light information includes a continuously flashing yellow light, then from the correspondence between the yellow light illumination state and different recommended speed decisions, determine and recommend the recommended speed for the vehicle to reach the stop line corresponding to the current yellow light illumination state as the driver's desired driving speed. Here, yellow light illumination may include, but is not limited to, continuously illuminated yellow light and / or flashing yellow light.

[0112] Figure 5 As shown Figure 2 The diagram shows the flow chart of the yellow light illuminating in the speed recommendation method.

[0113] like Figure 5 As shown in the embodiment of the yellow light decision-making process, when the yellow light is determined to be on, it is determined whether the yellow light continues to flash, indicating a yellow light warning, and not that the next light color will switch to red. If so, the recommended speed for the vehicle to reach the stop line corresponding to the current state of the yellow light is determined and recommended is the driver's desired driving speed. If not, the recommended speed for the vehicle to reach the stop line corresponding to the current state of the yellow light is determined and recommended to be zero.

[0114] Based on this, the speed recommendation for the yellow light decision is explained in detail: If the yellow light flashes for a long time, it indicates that the driver should be wary of the surrounding environment and slow down. The autonomous vehicle can provide a recommended speed according to the driver's desired driving speed, which can be tentatively set at 25 km / h. Otherwise, the autonomous vehicle can stop at the stop line and provide a recommended speed of 0.0.

[0115] Figure 6 The speed recommendation method is shown in the flowchart of the black light appearance. Figure 2 The speed recommendation method is shown in the flowchart of the black light appearance.

[0116] As Figure 6 As shown in the embodiment of the black light decision, if the target light information includes a black light that has not been lit for a long time indicating a traffic light abnormality, from the correspondence between the current state of the black light being lit and different speed decisions, the speed recommendation for the vehicle to pass the stop line is determined and recommended as the expected driving speed of the driver corresponding to the current state of the black light being lit.

[0117] Based on this, when the black light appears, it is determined whether the black light is continuously appearing, and the black light that has not been lit for a long time indicating a traffic light abnormality, such as a traffic light failure or non-activation. If so, the speed recommendation for the vehicle to pass the stop line is determined and recommended as the expected driving speed of the driver corresponding to the current state of the black light being lit, such as maintaining the current speed or decelerating. If not, the speed recommendation for the vehicle to pass the stop line is determined and recommended as zero corresponding to the current state of the black light being lit. At this moment, the driver is reminded to start the manual takeover mode and manually assist in observing the surrounding situation.

[0118] The duration of at least one of the continuous constant, continuous flashing, and black light that has not been lit for a long time in this paper is greater than a preset duration. Greater than the preset duration, such as 3 seconds or more. For example, if the duration of the black light appearance is 3 seconds or more, it is considered that the black light is continuously appearing.

[0119] When the target light can be a red light, the above step 120 or the above second step can be implemented through the following optional red light decision embodiment when the red light is lit: if the target light information includes a red light being lit, from the correspondence between the current state of the red light being lit and different speed decisions, the speed recommendation for the vehicle to pass the stop line is determined and recommended as zero corresponding to the current state of the red light being lit. Wherein, the red light being lit can include but is not limited to the red light being continuously lit and / or the red light being flashing.

[0120] When the target light can be a red light and / or an unknown light, the following optional red light decision and / or unknown light decision embodiment can be implemented: when the red light or the unknown light appears, i.e. all lights are not lit and / or not activated, the speed recommendation for the red light or the unknown light is specified, and if it is a red light or an unknown light, the autonomous vehicle can stop at the stop line and give a recommended speed of 0.0.

[0121] The various embodiments of the green light decision, the embodiment of the red light decision, the embodiment of the yellow light decision, the embodiment of the black light decision, and the embodiment of the unknown light decision described above can be executed independently. Of course, these embodiments can also be implemented in combination. Of course, when these embodiments are implemented in combination, the order of execution of the embodiments of the green light decision, the red light decision, the yellow light decision, the black light decision, and the unknown light decision is not limited.

[0122] For example, first determine the green light, execute the embodiment of the green light decision; if it is not a green light, then determine the yellow light, execute the embodiment of the yellow light decision; if it is not a yellow light, then execute the embodiment of the black light decision; if it is not a black light, then execute the embodiment of the red light decision and the unknown light decision.

[0123] For another example, first determine the green light, execute the embodiment of the green light decision; if it is not a green light, then determine the red light, execute the embodiment of the red light decision; if it is not a red light, then execute the embodiment of the yellow light decision; if it is not a yellow light, then execute the embodiment of the red light decision and the unknown light decision. Here, no longer one by one.

[0124] Figure 7a The application diagram of the left red light straight green light constant in the speed recommendation method is shown. Figure 2 The application diagram of the left green light countdown straight red light in the speed recommendation method is shown. Figure 7b The application diagram of the left red light straight green light constant in the speed recommendation method is shown. Figure 2 The application diagram of the left green light countdown straight red light in the speed recommendation method is shown.

[0125] As shown in Figure 7a and Figure 7b The gray filled box is an autonomous vehicle with an auxiliary system, and the unfilled box is another vehicle. The dashed line with a triangle is the navigation route of the vehicle navigation map. The vehicle navigation map can be used, and the vehicle navigation map has valid traffic lights such as a red and green light set. The nearest traffic light is selected as the navigation red and green light, which is called the target traffic light. Since the turning type of the vehicle navigation map obtained after the stop line is a left turn, the left turn red and green light information needs to be fused into the target traffic light.

[0126] Continuing as Figure 7a The left is a red light, and the autonomous vehicle gives a recommended speed of 0.025 km / h at the stop line. The recommended speed is given to the subsequent calculation unit. Among them, the calculation unit calculates the acceleration according to the recommended speed and the current vehicle speed, and then controls the vehicle to travel at the calculated acceleration. In this way, the vehicle speed when the vehicle reaches the stop line is the recommended speed.

[0127] Continuing as Figure 7bis the left green light countdown, according to the designed driving model to calculate the estimated driving distance, assuming the estimated driving distance is 50m, the actual autonomous vehicle and the distance of the stop line (safety threshold) is 20m, the estimated driving distance is greater than the actual autonomous vehicle and the distance of the stop line (safety threshold), the autonomous vehicle, can be given according to the recommended speed of the driver's expected driving speed, which can be temporarily set to 25km / h, the recommended speed is given to the subsequent calculation unit, and the accelerator pedal does not need to be controlled, the road resources are optimized, and the traffic efficiency is improved.

[0128] Based on the same inventive concept as the above method, the embodiments of the present application also provide a speed recommendation device, as shown in Figure 8 The device can include the following modules:

[0129] As shown in Figure 8 The speed recommendation device of the embodiments of the present application can include but not limited to the following modules:

[0130] The target light information acquisition module 31 is used to obtain the target light information of the target traffic light perceived by the vehicle; the target traffic light is used to control whether the road segment is driven through;

[0131] The recommended speed determination module 32 is used to determine the recommended speed corresponding to the target light information from the correspondence between the traffic light information and different recommended speed decisions based on the target light information;

[0132] The vehicle driving control module 33 is used to control whether the vehicle drives through the controlled road segment according to the corresponding recommended speed.

[0133] As an embodiment, the target light information acquisition module 31 has a function of obtaining the target light information corresponding to the turning type from the perceived target traffic light according to the turning type before the vehicle reaches the nearest stop line; the target light information corresponds to the turning type.

[0134] As an embodiment, the traffic light information includes the state of the traffic light lighting;

[0135] The recommended speed determination module includes:

[0136] The first current state determination submodule is used to determine the current state of the specific traffic light lighting if the target light information includes the specific traffic light lighting information;

[0137] The first recommended speed determination submodule is used to determine the recommended speed corresponding to the current state of the specific traffic light lighting from the correspondence between the state of the traffic light lighting and different recommended speed decisions according to the current state of the specific traffic light lighting.

[0138] As an embodiment, the traffic light information comprises: each traffic light lighting information of a traffic signal set state;

[0139] The recommended speed determining sub-module can include but is not limited to:

[0140] The first determining unit is configured to determine whether the vehicle can safely pass the stop line under the current state of the specific traffic light lighting according to the current state of the specific traffic light lighting;

[0141] The first determining and recommending unit is configured to, if the vehicle cannot pass the stop line, determine and recommend, from the correspondence between the state of the traffic light lighting and different recommended speed decisions, that the recommended speed for the vehicle to pass the stop line is zero corresponding to the state of the specific traffic light lighting.

[0142] The second determining and recommending unit is configured to, if the vehicle can pass the stop line, determine and recommend, from the correspondence between the state of the traffic light lighting and different recommended speed decisions, that the recommended speed for the vehicle to pass the stop line is the expected driving speed of the driver corresponding to the state of the specific traffic light lighting.

[0143] As an embodiment, the recommended speed determining module 32 can include but is not limited to:

[0144] The second current state determining sub-module is configured to, if the target light information comprises green light lighting information, determine the current state of the green light lighting.

[0145] The second recommended speed determining sub-module is configured to, according to the current state of the green light lighting, determine the recommended speed corresponding to the current state of the green light lighting from the correspondence between the state of the green light lighting and different recommended speed decisions.

[0146] As an embodiment, the second recommended speed determining sub-module comprises:

[0147] The second determining unit is configured to, if the current state of the green light lighting comprises a green light ending state, determine whether the estimated driving distance of the vehicle for passing the target traffic light is less than the safety threshold of the vehicle and the stop line.

[0148] The third determining and recommending unit is configured to, if yes, determine and recommend, from the correspondence between the state of the green light lighting and different recommended speed decisions, that the recommended speed for the vehicle to pass the stop line is zero corresponding to the green light ending state.

[0149] The fourth determining and recommending unit is configured to, if no, determine and recommend, from the correspondence between the state of the green light lighting and different recommended speed decisions, that the recommended speed for the vehicle to pass the stop line is the expected driving speed of the driver corresponding to the green light ending state.

[0150] As an embodiment, the second recommended speed determining submodule comprises: a fifth determining and recommending unit, configured to, if the current state of the green light being on comprises the green light being constantly on, determine and recommend, from the correspondence between the state of the green light being on and different recommended speed decisions, a recommended speed for the vehicle to pass the stop line as the expected driving speed of the driver corresponding to the current state of the green light being on.

[0151] As an embodiment, the second recommended speed determining submodule comprises: a sixth determining and recommending unit, configured to, if the target light information comprises the yellow light being constantly flashing, determine and recommend, from the correspondence between the state of the yellow light being on and different recommended speed decisions, a recommended speed for the vehicle to pass the stop line as the expected driving speed of the driver corresponding to the current state of the yellow light being on.

[0152] A seventh determining and recommending unit is configured to, if the target light information comprises the black light being constantly unlit and the black light being constantly present, determine and recommend, from the correspondence between the current state of the black light and different recommended speed decisions, a recommended speed for the vehicle to pass the stop line as the expected driving speed of the driver corresponding to the current state of the black light being on.

[0153] As an embodiment, the second recommended speed determining submodule comprises: an eighth determining and recommending unit, configured to, if the target light information comprises the red light being on and / or the unknown light, determine and recommend, from the correspondence between the state of the red light being on and different recommended speed decisions, a recommended speed for the vehicle to pass the stop line as zero corresponding to the current state of the red light being on.

[0154] A ninth determining and recommending unit is configured to, if the target light information comprises the unknown light, determine and recommend, from the correspondence between the state of the unknown light and different recommended speed decisions, a recommended speed for the vehicle to pass the stop line as zero corresponding to the unknown light.

[0155] The implementation process of the functions and effects of each module / submodule / unit in the above device is specifically described in the implementation process of the corresponding steps in the above method, and the same technical effects can be achieved, which will not be described here.

[0156] The embodiment of the present application provides an electronic device comprising the speed recommendation device.

[0157] The speed recommendation method of the embodiment of the present application is applied to an electronic device. The electronic device can be a PC (Personal Computer) terminal device, a body processor, a center console, and a vehicle-mounted controller. The vehicle-mounted controller can include but is not limited to a body controller. The PC terminal device can include but is not limited to a desktop computer, a tablet computer, or a notebook computer.

[0158] Figure 9Fig. 1 shows a structural schematic diagram of an electronic device 50 provided by an embodiment of the present application.

[0159] As shown in Fig. 1, the electronic device 50 comprises one or more processors 51 for implementing the speed recommendation method as described above. Figure 9

[0160] In some embodiments, the electronic device 50 can comprise a storage medium 59. For example, the computer-readable storage medium can store a program that can be invoked by the processor 51, and can comprise a non-volatile storage medium. In some embodiments, the electronic device 50 can comprise a memory 58 and an interface 57. In some embodiments, the electronic device 50 can further comprise other hardware according to actual application.

[0161] The computer-readable storage medium of an embodiment of the present application stores a program, which, when executed by the processor 51, is used to implement the speed recommendation method as described above.

[0162] The present application provides a computer program product comprising a computer program / instruction, which, when executed by a processor, implements the method of any one of the above.

[0163] The present application further provides a computer program stored in a computer-readable storage medium, for example, the storage medium 59 of the electronic device 50, and when the processor executes the computer program, the processor 51 is caused to execute the method described above. Figure 9

[0164] The present application can be in the form of a computer program product implemented on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer readable program code. The computer-readable storage media include permanent and non-permanent, removable and non-removable media, and can be implemented in any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer-readable storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0165] ​​In the description of the application, it should be understood that the terms "first", "second" and the like are used to describe various elements, but not to imply or imply relative importance or a specific number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0166] The above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0167] It should also be noted that the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, product or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, product or equipment. Without more limitations, the statement "includes a……" limited element does not exclude the presence of other identical elements in the process, method, product or equipment including the element.

Claims

1. A speed recommendation method, characterized in that, include: Obtain target light information of the target traffic light perceived by the vehicle; The target traffic light is used to control whether vehicles can pass through the road segment; Based on the target light information, the recommended speed corresponding to the target light information is determined from the correspondence between traffic light information and different recommended speed decisions; The vehicle is controlled to travel through the controlled road segment according to the corresponding recommended speed.

2. The speed recommendation method as described in claim 1, characterized in that, The traffic light information includes the status of the traffic lights being lit; The step of determining the recommended speed corresponding to the target light information from the correspondence between traffic light information and different recommended speed decisions based on the target light information includes: If the target light information includes specific traffic light illumination information, determine the current state of the specific traffic light illumination; Based on the current state of the specific traffic light, the recommended speed corresponding to the current state of the specific traffic light is determined from the correspondence between the traffic light's illumination state and different recommended speed decisions.

3. The speed recommendation method as described in claim 2, characterized in that, The traffic light information includes: the lighting information of each traffic light in the traffic signal light set; The step of determining the recommended speed corresponding to the current state of the specific traffic light based on the correspondence between the traffic light's illumination state and different recommended speed decisions includes: Based on the current state of the specific traffic light, determine whether the vehicle can safely pass the stop line under the current state of the specific traffic light. If not, then from the correspondence between the traffic light illumination state and different recommended speed decisions, determine and recommend that the recommended speed for the vehicle to reach the stop line corresponding to the specific traffic light illumination state is zero. If possible, then from the correspondence between the traffic light illumination state and different recommended speed decisions, determine and recommend the recommended speed for the vehicle to reach the stop line corresponding to the specific traffic light illumination state as the driver's desired driving speed.

4. The speed recommendation method as described in any one of claims 1 to 3, characterized in that, The step of determining the recommended speed corresponding to the current state of a specific traffic light based on the target light information, from the correspondence between traffic light information and different recommended speed decisions, includes: If the target light information includes green light illumination information, determine the current state of the green light being illuminated; Based on the current state of the green light, the recommended speed corresponding to the current state of the green light is determined from the correspondence between the green light state and different recommended speed decisions.

5. The speed recommendation method as described in claim 4, characterized in that, The step of determining the recommended speed corresponding to the current state of the green light, based on the correspondence between the green light states and different recommended speed decisions, includes: If the current state of the green light includes the state of the green light about to end, then it is determined whether the estimated travel distance of the vehicle to indicate passing through the target traffic light is less than the safety threshold between the vehicle and the stop line. If so, then based on the correspondence between the green light state and different recommended speed decisions, determine and recommend that the recommended speed for the vehicle to reach the stop line is zero, corresponding to the state where the green light is about to end. If not, then based on the correspondence between the green light state and different recommended speed decisions, determine and recommend the recommended speed for the vehicle to reach the stop line corresponding to the green light about to end, which is the driver's desired driving speed.

6. The speed recommendation method as described in claim 4, characterized in that, The step of determining the recommended speed corresponding to the current state of the green light based on the correspondence between the green light state and different recommended speed decisions includes: If the current state of the green light includes a continuously lit green light, then from the correspondence between the green light state and different recommended speed decisions, the recommended speed for the vehicle to reach the stop line corresponding to the current state of the green light is determined and recommended as the driver's desired driving speed.

7. The speed recommendation method as described in claim 2 or 3, characterized in that, The step of determining the recommended speed corresponding to the current state of the specific traffic light based on the correspondence between the traffic light's illumination state and different recommended speed decisions includes: If the target light information includes a continuously flashing yellow light, then from the correspondence between the yellow light illumination state and different recommended speed decisions, the recommended speed for the vehicle to reach the stop line corresponding to the current state of the yellow light illumination is determined and recommended as the driver's desired driving speed. If the target light information includes a black light indicating a traffic light malfunction that remains unlit and the black light continues to appear, then based on the correspondence between the current state of the black light and different recommended speed decisions, the recommended speed for the vehicle to reach the stop line corresponding to the current state of the black light being lit is determined and recommended as the driver's desired driving speed.

8. The speed recommendation method as described in claim 2 or 3, characterized in that, The step of determining the recommended speed corresponding to the current state of the specific traffic light based on the correspondence between the traffic light's illumination state and different recommended speed decisions includes: If the target light information includes a red light and / or an unknown light, then from the correspondence between the red light state and different recommended speed decisions, the recommended speed for the vehicle to reach the stop line corresponding to the current state of the red light is zero. If the target light information includes an unknown light, then based on the correspondence between the state of the unknown light and different recommended speed decisions, the recommended speed for the vehicle to reach the stop line corresponding to the unknown light is determined and recommended as zero.

9. The speed recommendation method as described in any one of claims 1 to 3, characterized in that, The process of obtaining the target light information of the perceived target traffic light includes: obtaining target light information of the perceived target traffic light that corresponds to the turning type before the vehicle reaches the nearest stop line; the target light information corresponds to the turning type. And / or, The target traffic light is the traffic light at the nearest stop line to the vehicle on the navigation route of the vehicle navigation map.

10. A speed recommendation device, characterized in that, include: The target light information acquisition module is used to obtain the target light information of the target traffic light perceived by the vehicle; The target traffic light is used to control whether vehicles can pass through the road segment; The recommended speed determination module is used to determine the recommended speed corresponding to the target light information based on the target light information and the correspondence between traffic light information and different recommended speed decisions; The vehicle driving control module is used to control whether the vehicle travels through the controlled road segment according to the corresponding recommended speed.

11. An electronic device, characterized in that, It includes one or more processors for implementing the speed recommendation method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, It stores a program that, when executed by a processor, implements the speed recommendation method as described in any one of claims 1 to 9.

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