CN108831175A - Automobile navigation control method, device and vehicle - Google Patents
Automobile navigation control method, device and vehicle Download PDFInfo
- Publication number
- CN108831175A CN108831175A CN201810355958.0A CN201810355958A CN108831175A CN 108831175 A CN108831175 A CN 108831175A CN 201810355958 A CN201810355958 A CN 201810355958A CN 108831175 A CN108831175 A CN 108831175A
- Authority
- CN
- China
- Prior art keywords
- speed
- vehicle
- retention time
- traffic lights
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Environmental & Geological Engineering (AREA)
- Environmental Sciences (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of automobile navigation control method, device and vehicle.This method includes：Obtain the current state information of traffic lights nearest apart from current vehicle position on the driving path of planning；The current state information includes light color information and retention time；It calculates at a distance from crossing locating for vehicle and the traffic lights；According to the light color information of the current state information and retention time and the distance, the vehicle driving is controlled.The embodiment of the present invention carries out Navigation Control to vehicle since traffic lights current state information is utilized, so that can be realized the Navigation Control to vehicle in the intersection with traffic lights, user experience is higher.
Description
Technical field
The present invention relates to Vehicular automatic driving technical field more particularly to a kind of automobile navigation control methods, device and vehicle
?.
Background technique
With science and technology progress, the especially development of automobile manufacture and information technology, in order to save user when
Between, and traffic accident is reduced, automatic Pilot becomes the application and research and development focus of vehicle.
Automatic Pilot be unable to do without path planning and navigation.The general path realized by digital navigation map to vehicle at present
Planning and navigation, and vehicle inevitably passes through the intersection of road in the process of moving.To guarantee intersection
It is safe with it is unimpeded, traffic management department often qualified crossing install Traffic signal control machine, Traffic signal control
Machine is responsible for controlling the traffic lights at crossing, and traffic lights are used to guide the orderly passage of motor vehicle.Traffic lights are by red
Lamp, green light, amber light composition, the color of signal lamp, duration are controlled by Traffic signal control machine.
Current digital navigation map can prompt junction ahead traffic lights in navigation according to the actual situation, but need
It is checked dependent on Driver Vision, simultaneously operating and controlling vehicle is acted by driver's judgement and decision in next step, therefore passing through crossing
It cannot achieve automatic Pilot when traffic lights.
Summary of the invention
The present invention provides a kind of automobile navigation control method, device and vehicle, utilizes the current of traffic lights to realize
State carries out Navigation Control to vehicle.
In a first aspect, the present invention provides a kind of automobile navigation control method, including：
Obtain the current state information of traffic lights nearest apart from current vehicle position on the driving path of planning；Institute
Stating current state information includes light color information and retention time；
It calculates at a distance from crossing locating for vehicle and the traffic lights；
According to the light color information of the current state information and retention time and the distance, the vehicle row is controlled
It sails.
Optionally, described according to the current shape if the light color information instruction of the traffic lights is currently green light
The light color information of state information and retention time and the distance control the vehicle driving, including：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than First Speed；The First Speed is the distance
It is obtained divided by the retention time of the green light；
If the speed limit is greater than First Speed, the vehicle is controlled within the retention time of the green light according to the second speed
Degree traveling；The second speed is greater than the First Speed and is less than or equal to the speed limit；
If the speed limit is less than or equal to the First Speed, the vehicle is controlled within the retention time of the green light
It is travelled according to the speed for being less than or equal to the speed limit.
Optionally, described according to the current shape if the light color information instruction of the traffic lights is currently red light
The light color information of state information and retention time and the distance control the vehicle driving, including：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than third speed；The third speed is the distance
It is obtained divided by the retention time of the red light；
If the speed limit is greater than third speed, controlled within the retention time of the red light vehicle according to being less than or
Speed equal to the third speed travels；
If the speed limit is less than or equal to the third speed, the vehicle is controlled within the retention time of the red light
It is travelled according to the speed for being less than or equal to the speed limit.
Optionally, described according to the current shape if the light color information instruction of the traffic lights is currently amber light
The light color information of state information and retention time and the distance control the vehicle driving, including：
It is corresponding according to road locating for the vehicle is less than or equal to that the vehicle is controlled within the retention time of the amber light
Speed limit speed traveling.
Optionally, the method also includes：
Judge the barrier in preset range locating for the vehicle and the vehicle whether in preset safe distance model
In enclosing；
If so, controlling the speed that the vehicle travels at the stop line at the crossing meets the requirement of crossing speed limit；
If it is not, then being controlled according to preset active safety control strategy the vehicle.
Second aspect, the present invention provide a kind of automobile navigation control device, including：
Module is obtained, the traffic lights nearest apart from current vehicle position works as on the driving path for obtaining planning
Preceding status information；The current state information includes light color information and retention time；
Computing module, for calculating at a distance from crossing locating for vehicle and the traffic lights；
Control module, for according to the light color information of the current state information and retention time and the distance, control
Make the vehicle driving.
Optionally, if the light color information instruction of the traffic lights is currently green light, the control module is specific to use
In：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than First Speed；The First Speed is the distance
It is obtained divided by the retention time of the green light；
If the speed limit is greater than First Speed, the vehicle is controlled within the retention time of the green light according to the second speed
Degree traveling；The second speed is greater than the First Speed and is less than or equal to the speed limit；
If the speed limit is less than or equal to the First Speed, the vehicle is controlled within the retention time of the green light
It is travelled according to the speed for being less than or equal to the speed limit.
Optionally, if the light color information instruction of the traffic lights is currently red light, the control module is specific to use
In：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than third speed；The third speed is the distance
It is obtained divided by the retention time of the red light；
If the speed limit is greater than third speed, controlled within the retention time of the red light vehicle according to being less than or
Speed equal to the third speed travels；
If the speed limit is less than or equal to the third speed, the vehicle is controlled within the retention time of the red light
It is travelled according to the speed for being less than or equal to the speed limit.
Optionally, if the light color information instruction of the traffic lights is currently amber light, the control module is specific to use
In：
It is corresponding according to road locating for the vehicle is less than or equal to that the vehicle is controlled within the retention time of the amber light
Speed limit speed traveling.
The third aspect, the present invention provide a kind of vehicle, including：
Automobile navigation control device as described in any one of second aspect.
Automobile navigation control method, device and vehicle provided by the invention, obtain on the driving path of planning apart from vehicle
The current state information of the nearest traffic lights in current location；When the current state information includes light color information and keeps
Between；It calculates at a distance from crossing locating for vehicle and the traffic lights；According to the light color information of the current state information and
Retention time and the distance, control the vehicle driving, since traffic lights current state information is utilized to vehicle
Navigation Control is carried out, so that can be realized the Navigation Control to vehicle, user experience in the intersection with traffic lights
It is higher.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and together with specification for explaining the principles of this disclosure.
Fig. 1 is the flow diagram of one embodiment of automobile navigation control method provided by the invention；
Fig. 2 is the flow diagram of another embodiment of automobile navigation control method provided by the invention
Fig. 3 is the system architecture schematic diagram of one embodiment of automobile navigation control method provided by the invention；
Fig. 4 is the structural schematic diagram of one embodiment of automobile navigation control device provided by the invention.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
Term " includes " in description and claims of this specification and the attached drawing and " having " and they appoint
What is deformed, it is intended that is covered and non-exclusive is included.Noun according to the present invention is explained first：
Traffic lights are made of red light, green light, amber light, respectively represent that no through traffic, it is current to permit and warning.Traffic letter
There are three types of the control form of signal lamp is general：Timing controlled, induction control, self adaptive control.Current most of crossings using
Timing controlled.
The method of the embodiment of the present invention is suitable for pressing GB 14886《Road traffic signal lamp setting and installation specification》Want
Ask the section of setting signal lamp.
The automobile navigation control device of the embodiment of the present invention can be set on car-mounted terminal.
Domestic road construction and construction returns the highway division of Department of Transportation and various regions to administer, and the traffic signals at crossing
Lamp facility then installed and managed by the traffic management department as belonging to the Ministry of Public Security, has included road in current digital navigation map
The case where circuit-switched data and crossing configuration signal lamp, so, it only need to be from the control centre of the traffic management department belonging to the Ministry of Public Security
Server gets the specific control parameter of traffic lights.
Traffic signal controlling machine is the intelligent control unit at crossing, can be with the service of the control centre of traffic management department
Device is networked by wirelessly or non-wirelessly mode.Server sends various controls to traffic signal controlling machine by communication network and orders
(when such as school, timing parameter and timing scheme, control model conversion command) is enabled, it is on-demand that traffic signal controlling machine then passes through network
Ask the traffic information to the server of control centre upload crossing, the fault message of traffic lights and current working condition
And the data such as traffic lights timing.
With perfecting for automatic Pilot legislation, the traffic safety of vehicle is paid more and more attention, and automatic Pilot technology is related to handing over
The control of ventilating signal lamp, the path planning and guidance when traffic lights being allowed to participate in automobile navigation are necessary.
Traffic lights are driven by traffic signal controlling machine, and digital management may be implemented；Current digital navigation map
In have been achieved with the real-time onlines of road conditions and update, with intelligent, digitlization, the development of wireless communication technique, traffic lights
Control law and light color can be integrated into digital navigation map with digitized record and in real time completely.
Fig. 1 is the flow diagram of one embodiment of automobile navigation control method provided by the invention.As shown in Figure 1, this reality
The method that example offer is provided, including：
Step 101, the current shape for obtaining traffic lights nearest apart from current vehicle position on the driving path of planning
State information；The current state information includes light color information and retention time.
Step 102 calculates at a distance from crossing locating for vehicle and the traffic lights.
Step 103, according to the light color information of the current state information and retention time and the distance, described in control
Vehicle driving.
Specifically, when navigating to vehicle, realization vehicle location first, and by destination request planning traveling road
Diameter.
In the process of moving, working as traffic lights nearest apart from current vehicle position on current driving path is obtained
Preceding status information such as includes light color information and retention time.Retention time is the duration of the traffic lights of current light color,
If light color information is green light, retention time 30s refers to that the duration of green light there remains 30s.
The current state information of traffic lights is obtained, it can be corresponding from traffic signal controlling machine or traffic signal controlling machine
Server obtain.
Then, it calculates at a distance from crossing locating for vehicle and traffic lights.It specifically can be fixed by big-dipper satellite or GPS
The current location of vehicle is arrived in position, and according to the location information at crossing, calculates crossing locating for vehicle and traffic lights
Distance.The distance is generally vehicle at a distance from the stop line at crossing.
Finally, controlling the vehicle row by the light color information of current state information and retention time and the distance
It sails.It specifically can be control vehicle to travel according to certain speed.
Optionally, if the light color information instruction of the traffic lights currently step 103 can be by such as green light
Under type is realized：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than First Speed；The First Speed is the distance
It is obtained divided by the retention time of the green light；
If the speed limit is greater than First Speed, the vehicle is controlled within the retention time of the green light according to the second speed
Degree traveling；The second speed is greater than the First Speed and is less than or equal to the speed limit；
If the speed limit is less than or equal to the First Speed, the vehicle is controlled within the retention time of the green light
It is travelled according to the speed for being less than or equal to the speed limit.
Specifically, if current traffic lights are green light, it is determined that whether the corresponding speed limit of road locating for vehicle is greater than
First Speed；First Speed is what distance was obtained divided by the retention time of green light；
If more than, then within the retention time of the green light control vehicle according to be greater than First Speed and be less than or equal to limit
The second speed traveling of speed, guarantees before green light terminates through the crossing.
If being less than or equal to, illustrate that vehicle, can not be by the crossing, then in the green light before the green light terminates
Control vehicle is travelled according to the speed for being less than or equal to speed limit in retention time, as long as meeting speed limit requirement.
Optionally, if the light color information instruction of the traffic lights currently step 103 can be by such as red light
Under type is realized：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than third speed；The third speed is the distance
It is obtained divided by the retention time of the red light；
If the speed limit is greater than third speed, controlled within the retention time of the red light vehicle according to being less than or
Speed equal to the third speed travels；
If the speed limit is less than or equal to the third speed, the vehicle is controlled within the retention time of the red light
It is travelled according to the speed for being less than or equal to the speed limit.
Specifically, if current traffic lights are red light, it is determined that whether the corresponding speed limit of road locating for vehicle is greater than
Third speed；Third speed is what distance was obtained divided by the retention time of red light；
If more than, then within the retention time of the red light control vehicle according to be less than or equal to third speed speed row
It sails, guarantees to reach the crossing before red light terminates, can pass through after reaching crossing, red light becomes green light at this time.
If being less than or equal to, vehicle is controlled within the retention time of the red light according to the speed for being less than or equal to speed limit
Traveling, as long as meeting speed limit requirement.
Optionally, if the light color information instruction of the traffic lights currently step 103 can be by such as amber light
Under type is realized：
It is corresponding according to road locating for the vehicle is less than or equal to that the vehicle is controlled within the retention time of the amber light
Speed limit speed traveling.
Specifically, need to only control vehicle according to the speed for being less than or equal to speed limit if current traffic lights are amber light
Degree traveling, as long as meet speed limit requirement, travel to crossing stop line when need to stop, not across stop line.Having can
It can be red light before reaching crossing, then controlled according to the corresponding control mode of above-mentioned red light.
In the embodiment of the present invention, the driving direction for vehicle at crossing can also consider simultaneously, that is, keep straight on or turn left
Generally there is a corresponding direction indicator light in lane, the typically no direction indicator light in the lane of right-hand rotation, or in only a few
Situation infradextroversion also has direction indicator light, then in the case where there is direction indicator light, referring to the above method, is not having
In the case where direction indicator light, as long as meeting the requirement of crossing speed limit.
Automobile navigation control method provided in this embodiment obtains on the driving path of planning apart from current vehicle position most
The current state information of close traffic lights；The current state information includes light color information and retention time；Calculate vehicle
With the traffic lights locating at a distance from crossing；According to the light color information of the current state information and retention time and
The distance controls the vehicle driving, carries out Navigation Control to vehicle since traffic lights current state information is utilized,
So that can be realized the Navigation Control to vehicle in the intersection with traffic lights, user experience is high.
On the basis of the above embodiments, Fig. 2 is that traffic lights are patrolled in the control of one of automatic Pilot bootup process
Volume.As shown in Fig. 2, control logic is as follows：
Digital navigation map activation realizes vehicle location and by destination request planning driving path；After the confirmation of path, press
Road within the scope of this path searching certain distance R, and judge whether the traffic lights data at the crossing within the scope of the R of front have
It updates, if having update, being downloaded by wireless network and being incorporated into digital navigation map, R is preset numerical value, and the selection of R is pressed
Actual demand according to user determines, if too big can occupy excessive data buffer area, if too small do not catch up with the required road of navigation
Road and traffic lights data information, the i.e. numerical value of R can be according to the spatial contents and automatic Pilot of actual storing data
Navigation needs in the process determine.
Planning carries out traveling guidance by path, using place road ahead intersection as point of interest (Point of
Interest, abbreviation POI) corresponding traffic lights data are obtained, such as light color information and retention time, if judging, network is former
Barrier or junction ahead signal lamp data are abnormal, can give prompting and warning, driver's intervention vehicle drive are requested, by driver
Otherwise the course of the junction ahead on current channeling direction can be judged by carrying out manual intervention：
(1) if keeping straight on or turning left, and the traffic lights kept straight on or turned left are green light, need to calculate vehicle to junction ahead
Distance D0, the corresponding speed limit v of road grade where readingm, junction ahead straight trip or turn left the green light also retainable time
tgdAnd tglIf vm> (D0/tgd) or vm> (D0/tgl), then vehicle is controlled by speed v ∈ (D0/tgd, vm] or v ∈ (D0/tgl, vm]
Otherwise traveling can control vehicle deceleration traveling, until speed meets speed limit requirement；If straight trip or the traffic lights to turn left are
Red light need to calculate the distance D of vehicle to junction ahead0, the corresponding speed limit v of road grade where readingm, junction ahead straight trip or
The also retainable time t of the red light of left-hand rotationrdAnd trlIf vm> (D0/trd) or vm> (D0/trl), then control vehicle by speed v≤
D0/trdOr v≤D0/trlTraveling, so that red light has terminated when it is to crossing；Otherwise vehicle deceleration is controlled to v≤vmTraveling；If preceding
Square crossing straight trip or left-hand rotation are not green light and red light, then can only be amber lights, and reading amber light also needs duration th, in this time
Interior regulation speed presses v≤vmTraveling；
(2) if right-hand rotation and the traffic lights without right-hand rotation, control vehicle, which is regulated the speed, to be required and turns right to crossing speed limit
Traveling.
On the basis of the above embodiments, optionally, the method also includes：
Judge the barrier in preset range locating for the vehicle and the vehicle whether in preset safe distance model
In enclosing；
If so, controlling the speed that the vehicle travels at the stop line at the crossing meets the requirement of crossing speed limit；
If it is not, then being controlled according to preset active safety control strategy the vehicle.
Specifically, as shown in Fig. 2, the barrier on vehicle and periphery is judged whether within the scope of safe distance, if so, control
Speed makes it start to meet the requirement of crossing speed limit at junction ahead stop line, because the requirement of crossing speed limit may be with the speed limit of road
It is required that it is different, otherwise, other active safety control strategies are preferentially executed, drive throttle or braking or steering, vehicle is made to be in peace
Full driving status；Then, it is transferred to and judges network whether failure or junction ahead signal lamp data are abnormal, continue pair
The guidance of junction ahead.
Optionally, the method also includes：
When the vehicle passes through the crossing, the speed for controlling the vehicle driving meets the requirement of crossing speed limit.
Specifically, whether confirmation vehicle is passing through crossing currently with traffic lights, if so, control vehicle is pressed
The speed traveling that crossing speed limit requires.
Further, as shown in Fig. 2, whether confirmation navigation arrives at the destination, if so, navigation terminates, otherwise, then again
Judge whether the traffic lights data at the crossing within the scope of the R of front have update, restarts to execute new control flow.
It should be noted that the data of digital navigation map update can be it is interim, random or based on demand,
By taking the map APP of smart phone as an example, a data are just had after a period of time and update packet, oneself can choose downloading, update,
It is this to belong to interim update；If map APP is constantly in connected state, it is predisposed to backstage and controls renewal model at any time,
As long as map datum changes, so that it may automatic starting updates, it is this belong to it is random；If user has demand, actively search simultaneously
Downloading updates packet, then for based on demand type.The control logic of Fig. 2 is that digital navigation map judges rule when carrying out path planning
Whether the traffic lights data at included crossing have update in the path drawn, if so, then download online, incorporate data into
In digital navigation map, it can be understood as be based on demand type；It can also be traffic lights data more in above-mentioned control logic
New paragon is set as interim or random, it is therefore an objective to ensure that the data of traffic lights can reflect newest actual conditions,
" real-time " state can be embodied, to the control law and light color state of traffic lights can be correctly used after path planning
In the guidance of vehicle driving, the intelligent level of automatic Pilot is improved.
Fig. 3 is a kind of system architecture of the Navigation Control in vehicle, as shown in figure 3, including " traffic lights parameter mould
Block ", " navigation terminal ", " vehicle attitude and displacement computing module ", " automatic Pilot guide decision-making module " etc..Wherein, " traffic letter
Signal lamp parameter module " includes classification, location information, the control logic of signal lamp and the rule of road traffic signal lamp, light color letter
Breath.Optionally, can also include：" map back-stage management maintenance module ", the format for supporting according to map datum is traffic
Signal lamp parameter real-time update is in digital navigation map, and diagram data carries out real-time management and maintenance over the ground, and road net data can be with
Include road name, number, the latitude and longitude information on road surface, crossing position and coordinate etc..
" navigation terminal " can obtain server end map datum by wireless network, update digital navigation map, service
Device end map datum is the map datum that map manufacturer stores in server end, and digital navigation map includes road net data, road
Affiliated facility information, crossroad traffic signal lamp facilities and its design parameter
" vehicle attitude and displacement computing module ", can be according to " big-dipper satellite/GPS positioning module ", " height above sea level sensing
The input of device ", " three-dimensional gyroscope ", " 3-axis acceleration sensor " calculate the speed, acceleration of driving vehicle, pose, course,
Displacement can be counted wherein " big-dipper satellite/GPS positioning module " is used to determine the relative position between vehicle and satellite by algorithm
Calculate vehicle the accurate location with positioning device；" altitude sensor " is used to calculate the practical height above sea level of positioning device in vehicle
Highly；" three-dimensional gyroscope " is for perceiving the accurate orientation of vehicle；" 3-axis acceleration sensor " can measure three of them axial direction
Acceleration value calculates the displacement of vehicle traveling direction in conjunction with vehicle axis system, acceleration of gravity and satellite positioning.Because of vehicle
Centroid position be the variation with vehicle load arrangement states and the numerical value changed, for convenient for calculating, these sensors answer cloth
Setting is influencing place that is smaller and can simplifying vehicle movement calculating to vehicle driving posture.
" automatic Pilot guide decision-making module ", can according to " digital navigation map ", " big-dipper satellite/GPS positioning module ",
" vehicle attitude and displacement computing module " realizes location matches, planning vehicle running path, and combines the light color of traffic lights
Boot policy is provided, " execution module " is inputed to, corresponding instruction is executed according to boot policy by " execution module ", in conjunction with vehicle
Automatic Pilot rank drives disparate modules, provides corresponding response：
(1) " execution module " driving " pro-active intervention module " carries out intervention control.It is driven when for active safety class auxiliary
When, the light color of traffic lights can be used directly to pro-active intervention, for example driver's misoperation or movement are prolonged when the red light of crossing
Late, pro-active intervention module can active control vehicle deceleration or braking；
(2) " execution module " driving " unmanned action module " carries out active control.When for unmanned, traffic
The light color state of signal lamp is directly included into active control strategies, automatically controls the size of throttle, and brakes and turn to and is dynamic
Make.
Method in the embodiment of the present invention, data correlations such as Traffic signal control rule and its light color information in electronics
In the data of navigation map, current electronic map is optimized, keeps the service performance of digital navigation map more excellent, and passed through
Kind digital navigation map, can save the sensing hardware between vehicle and crossroad traffic signal lamp and mass data operation, save automatic
Drive the cost of vehicle.When the planning of digital navigation map realizing route and vehicle driving guide, due to the state of traffic lights
Information directly incorporates intelligent driving decision, and the validity of path planning and traveling guidance can be improved, improve the active of vehicle driving
Security performance and its intelligent level of control meet the utility strategies of automatic Pilot (containing unmanned).Due to traffic signals
Lamp status information directly provides in digital navigation map, can evade because of traffic signals when rain/mist/haze day, illumination condition are bad
The light color of lamp distinguishes difficult problem；Meanwhile the safe driving for the crowd visually impaired such as can solve the problems, such as anomalous trichromatism/colour blindness,
It is avoided that driver is penalized because making a dash across the red light and traffic accident occurs, and the traffic efficiency of road cross can be improved.
Fig. 4 is the structure chart of one embodiment of automobile navigation control device provided by the invention, as shown in figure 4, the present embodiment
Automobile navigation control device, including：
Module is obtained, the traffic lights nearest apart from current vehicle position works as on the driving path for obtaining planning
Preceding status information；The current state information includes light color information and retention time；
Computing module, for calculating at a distance from crossing locating for vehicle and the traffic lights；
Control module, for according to the light color information of the current state information and retention time and the distance, control
Make the vehicle driving.
Optionally, if the light color information instruction of the traffic lights is currently green light, the control module is specific to use
In：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than First Speed；The First Speed is the distance
Divided by the retention time of the green light；
If the speed limit is greater than First Speed, the vehicle is controlled within the retention time of the green light according to the second speed
Degree traveling；The second speed is greater than the First Speed and is less than or equal to the speed limit；
If the speed limit is less than or equal to the First Speed, the vehicle is controlled within the retention time of the green light
It is travelled according to the speed for being less than or equal to the speed limit.
Optionally, if the light color information instruction of the traffic lights is currently red light, the control module is specific to use
In：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than third speed；The third speed is the distance
Divided by the retention time of the red light；
If the speed limit is greater than third speed, controlled within the retention time of the red light vehicle according to being less than or
Speed equal to the third speed travels；
If the speed limit is less than or equal to the third speed, the vehicle is controlled within the retention time of the red light
It is travelled according to the speed for being less than or equal to the speed limit.
Optionally, if the light color information instruction of the traffic lights is currently amber light, the control module is specific to use
In：
It is corresponding according to road locating for the vehicle is less than or equal to that the vehicle is controlled within the retention time of the amber light
Speed limit speed traveling.
Optionally, control module is also used to：
Judge the barrier in preset range locating for the vehicle and the vehicle whether in preset safe distance model
In enclosing；
If so, controlling the speed that the vehicle travels at the stop line at the crossing meets the requirement of crossing speed limit；
If it is not, then being controlled according to preset active safety control strategy the vehicle.
Optionally, control module is also used to：
When the vehicle passes through the crossing, the speed for controlling the vehicle driving meets the requirement of crossing speed limit.
Optionally, above-mentioned acquisition module is similar with traffic lights parameter module function above-mentioned, and computing module is with before
The vehicle attitude and displacement calculating functions of modules stated are similar, and control module and automatic Pilot guide decision-making module above-mentioned execute
Functions of modules is similar.
The device of the present embodiment can be used for executing the technical solution of above method embodiment, realization principle and technology
Effect is similar, and details are not described herein again.
Also a kind of vehicle of the embodiment of the present invention, including：Vehicle as described in any one of above-mentioned embodiment as shown in Figure 4 is led
Navigate control device.
The vehicle of the present embodiment can be used for executing the technical solution of above method embodiment, realization principle and technology
Effect is similar, and details are not described herein again.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure
Its embodiment.The present invention is directed to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following
Claims are pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by appended claims
System.
Claims (10)
1. a kind of automobile navigation control method, which is characterized in that including：
Obtain the current state information of traffic lights nearest apart from current vehicle position on the driving path of planning；It is described to work as
Preceding status information includes light color information and retention time；
It calculates at a distance from crossing locating for vehicle and the traffic lights；
According to the light color information of the current state information and retention time and the distance, the vehicle driving is controlled.
2. the method according to claim 1, wherein if the light color information instruction of the traffic lights is currently
Green light, then it is described according to the light color information of the current state information and retention time and the distance, control the vehicle
Traveling, including：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than First Speed；The First Speed be the distance divided by
What the retention time of the green light obtained；
If the speed limit is greater than First Speed, the vehicle is controlled within the retention time of the green light according to second speed row
It sails；The second speed is greater than the First Speed and is less than or equal to the speed limit；
If the speed limit be less than or equal to the First Speed, controlled within the retention time of the green light vehicle according to
Speed less than or equal to the speed limit travels.
3. the method according to claim 1, wherein if the light color information instruction of the traffic lights is currently
Red light, then it is described according to the light color information of the current state information and retention time and the distance, control the vehicle
Traveling, including：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than third speed；The third speed be the distance divided by
What the retention time of the red light obtained；
If the speed limit is greater than third speed, the vehicle is controlled within the retention time of the red light according to being less than or equal to
The speed of the third speed travels；
If the speed limit be less than or equal to the third speed, controlled within the retention time of the red light vehicle according to
Speed less than or equal to the speed limit travels.
4. the method according to claim 1, wherein if the light color information instruction of the traffic lights is currently
Amber light, then it is described according to the light color information of the current state information and retention time and the distance, control the vehicle
Traveling, including：
The vehicle is controlled within the retention time of the amber light according to less than or equal to the corresponding limit of road locating for the vehicle
The speed traveling of speed.
5. method according to claim 1-4, which is characterized in that the method also includes：
Judge the barrier in preset range locating for the vehicle and the vehicle whether within the scope of preset safe distance；
If so, controlling the speed that the vehicle travels at the stop line at the crossing meets the requirement of crossing speed limit；
If it is not, then being controlled according to preset active safety control strategy the vehicle.
6. a kind of automobile navigation control device, which is characterized in that including：
Module is obtained, the current shape of the traffic lights nearest apart from current vehicle position on the driving path for obtaining planning
State information；The current state information includes light color information and retention time；
Computing module, for calculating at a distance from crossing locating for vehicle and the traffic lights；
Control module, for controlling institute according to the light color information of the current state information and retention time and the distance
State vehicle driving.
7. device according to claim 6, which is characterized in that if the light color information instruction of the traffic lights is currently
Green light, then the control module, is specifically used for：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than First Speed；The First Speed be the distance divided by
What the retention time of the green light obtained；
If the speed limit is greater than First Speed, the vehicle is controlled within the retention time of the green light according to second speed row
It sails；The second speed is greater than the First Speed and is less than or equal to the speed limit；
If the speed limit be less than or equal to the First Speed, controlled within the retention time of the green light vehicle according to
Speed less than or equal to the speed limit travels.
8. device according to claim 6, which is characterized in that if the light color information instruction of the traffic lights is currently
Red light, then the control module, is specifically used for：
Determine whether the corresponding speed limit of road locating for the vehicle is greater than third speed；The third speed be the distance divided by
What the retention time of the red light obtained；
If the speed limit is greater than third speed, the vehicle is controlled within the retention time of the red light according to being less than or equal to
The speed of the third speed travels；
If the speed limit be less than or equal to the third speed, controlled within the retention time of the red light vehicle according to
Speed less than or equal to the speed limit travels.
9. device according to claim 6, which is characterized in that if the light color information instruction of the traffic lights is currently
Amber light, then the control module, is specifically used for：
The vehicle is controlled within the retention time of the amber light according to less than or equal to the corresponding limit of road locating for the vehicle
The speed traveling of speed.
10. a kind of vehicle, which is characterized in that including：
Automobile navigation control device as claim in any one of claims 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810355958.0A CN108831175A (en) | 2018-04-19 | 2018-04-19 | Automobile navigation control method, device and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810355958.0A CN108831175A (en) | 2018-04-19 | 2018-04-19 | Automobile navigation control method, device and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108831175A true CN108831175A (en) | 2018-11-16 |
Family
ID=64154733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810355958.0A Pending CN108831175A (en) | 2018-04-19 | 2018-04-19 | Automobile navigation control method, device and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108831175A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109410604A (en) * | 2018-12-25 | 2019-03-01 | 重庆长安汽车股份有限公司 | Traffic lights information acquisition device and method |
| CN109461320A (en) * | 2018-12-20 | 2019-03-12 | 清华大学苏州汽车研究院（吴江） | Intersection speed planing method based on car networking |
| CN109615896A (en) * | 2018-12-19 | 2019-04-12 | 上海伟世通汽车电子系统有限公司 | A kind of interconnecting method of traffic signal light device and automobile middle control based on 5G |
| CN109760675A (en) * | 2019-03-12 | 2019-05-17 | 百度在线网络技术（北京）有限公司 | Predict method, apparatus, storage medium and the terminal device of track of vehicle |
| CN109808693A (en) * | 2019-02-19 | 2019-05-28 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle amber light decision-making technique, device and storage medium |
| CN110349420A (en) * | 2019-07-01 | 2019-10-18 | 福建睿思特科技股份有限公司 | A kind of intelligent Road management system based on data analysis |
| CN110827552A (en) * | 2019-11-19 | 2020-02-21 | 北京小马慧行科技有限公司 | Vehicle running control method and device and vehicle |
| CN111179613A (en) * | 2020-02-20 | 2020-05-19 | 李迎 | Traffic signal lamp-based driving method for vehicle |
| CN112406876A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪股份有限公司 | Vehicle, and control method and control device thereof |
| CN112419768A (en) * | 2019-08-21 | 2021-02-26 | 北京国双科技有限公司 | Vehicle control method, device and system, storage medium and processor |
| CN112825212A (en) * | 2019-11-21 | 2021-05-21 | 北京四维图新科技股份有限公司 | Vehicle speed guiding method and device and vehicle |
| CN113129625A (en) * | 2021-04-16 | 2021-07-16 | 阿波罗智联(北京)科技有限公司 | Vehicle control method and device, electronic equipment and vehicle |
| WO2021169591A1 (en) * | 2020-02-28 | 2021-09-02 | 北京京东乾石科技有限公司 | Vehicle behavior prediction method and apparatus, electronic device, and storage medium |
| CN113781818A (en) * | 2020-06-08 | 2021-12-10 | 北京京东乾石科技有限公司 | Method and device for planning vehicle driving information |
| CN114333380A (en) * | 2021-12-13 | 2022-04-12 | 重庆长安汽车股份有限公司 | Traffic light identification method and system based on camera and V2x, and vehicle |
| CN114495525A (en) * | 2022-01-18 | 2022-05-13 | 赵晶 | Road traffic management system for guiding vehicle running speed according to dynamic information of traffic signal lamp |
| CN115077545A (en) * | 2022-05-27 | 2022-09-20 | 华东师范大学 | Map blind guiding method and system based on signal lamp indication and blind guiding terminal |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199451A (en) * | 2014-09-22 | 2014-12-10 | 江苏理工学院 | Traffic control system of unmanned vehicle for traffic light intersection and working method thereof |
| CN105139680A (en) * | 2015-10-16 | 2015-12-09 | 上海博泰悦臻网络技术服务有限公司 | Dynamic navigation method based on traffic large data driving and system |
| CN106485931A (en) * | 2016-11-15 | 2017-03-08 | 河北工业大学 | A kind of intersection vehicle fast passing DAS (Driver Assistant System) and method |
| CN107145147A (en) * | 2017-04-10 | 2017-09-08 | 广州小鹏汽车科技有限公司 | A kind of vehicle low speed automatic Pilot collision prevention method and system |
-
2018
- 2018-04-19 CN CN201810355958.0A patent/CN108831175A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199451A (en) * | 2014-09-22 | 2014-12-10 | 江苏理工学院 | Traffic control system of unmanned vehicle for traffic light intersection and working method thereof |
| CN105139680A (en) * | 2015-10-16 | 2015-12-09 | 上海博泰悦臻网络技术服务有限公司 | Dynamic navigation method based on traffic large data driving and system |
| CN106485931A (en) * | 2016-11-15 | 2017-03-08 | 河北工业大学 | A kind of intersection vehicle fast passing DAS (Driver Assistant System) and method |
| CN107145147A (en) * | 2017-04-10 | 2017-09-08 | 广州小鹏汽车科技有限公司 | A kind of vehicle low speed automatic Pilot collision prevention method and system |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109615896A (en) * | 2018-12-19 | 2019-04-12 | 上海伟世通汽车电子系统有限公司 | A kind of interconnecting method of traffic signal light device and automobile middle control based on 5G |
| CN109461320A (en) * | 2018-12-20 | 2019-03-12 | 清华大学苏州汽车研究院（吴江） | Intersection speed planing method based on car networking |
| CN109410604B (en) * | 2018-12-25 | 2021-02-05 | 重庆长安汽车股份有限公司 | Traffic signal lamp information acquisition device and method |
| CN109410604A (en) * | 2018-12-25 | 2019-03-01 | 重庆长安汽车股份有限公司 | Traffic lights information acquisition device and method |
| CN109808693A (en) * | 2019-02-19 | 2019-05-28 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle amber light decision-making technique, device and storage medium |
| CN109760675A (en) * | 2019-03-12 | 2019-05-17 | 百度在线网络技术（北京）有限公司 | Predict method, apparatus, storage medium and the terminal device of track of vehicle |
| CN109760675B (en) * | 2019-03-12 | 2021-05-25 | 百度在线网络技术（北京）有限公司 | Method, device, storage medium and terminal equipment for predicting vehicle track |
| CN110349420A (en) * | 2019-07-01 | 2019-10-18 | 福建睿思特科技股份有限公司 | A kind of intelligent Road management system based on data analysis |
| CN112419768A (en) * | 2019-08-21 | 2021-02-26 | 北京国双科技有限公司 | Vehicle control method, device and system, storage medium and processor |
| CN112406876A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪股份有限公司 | Vehicle, and control method and control device thereof |
| CN110827552A (en) * | 2019-11-19 | 2020-02-21 | 北京小马慧行科技有限公司 | Vehicle running control method and device and vehicle |
| CN112825212A (en) * | 2019-11-21 | 2021-05-21 | 北京四维图新科技股份有限公司 | Vehicle speed guiding method and device and vehicle |
| CN111179613A (en) * | 2020-02-20 | 2020-05-19 | 李迎 | Traffic signal lamp-based driving method for vehicle |
| WO2021169591A1 (en) * | 2020-02-28 | 2021-09-02 | 北京京东乾石科技有限公司 | Vehicle behavior prediction method and apparatus, electronic device, and storage medium |
| CN113781818A (en) * | 2020-06-08 | 2021-12-10 | 北京京东乾石科技有限公司 | Method and device for planning vehicle driving information |
| CN113129625A (en) * | 2021-04-16 | 2021-07-16 | 阿波罗智联(北京)科技有限公司 | Vehicle control method and device, electronic equipment and vehicle |
| CN113129625B (en) * | 2021-04-16 | 2023-01-24 | 阿波罗智联(北京)科技有限公司 | Vehicle control method and device, electronic equipment and vehicle |
| CN114333380A (en) * | 2021-12-13 | 2022-04-12 | 重庆长安汽车股份有限公司 | Traffic light identification method and system based on camera and V2x, and vehicle |
| CN114495525A (en) * | 2022-01-18 | 2022-05-13 | 赵晶 | Road traffic management system for guiding vehicle running speed according to dynamic information of traffic signal lamp |
| CN115077545A (en) * | 2022-05-27 | 2022-09-20 | 华东师范大学 | Map blind guiding method and system based on signal lamp indication and blind guiding terminal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108831175A (en) | Automobile navigation control method, device and vehicle | |
| AU2018385335B2 (en) | Using prediction models for scene difficulty in vehicle routing | |
| US10809733B2 (en) | Intelligent motor vehicles, systems, and control logic for driver behavior coaching and on-demand mobile charging | |
| US10943133B2 (en) | Vehicle control device, vehicle control method, and storage medium | |
| JP7216534B2 (en) | Automated driving support device | |
| US20190286151A1 (en) | Automated driving systems and control logic for cloud-based scenario planning of autonomous vehicles | |
| US20180319324A1 (en) | Lamp light control method and apparatus, computer storage medium and in-vehicle device | |
| CN109421742A (en) | Method and apparatus for monitoring autonomous vehicle | |
| US10759425B2 (en) | Autonomous driving system | |
| JP7039940B2 (en) | Vehicle control unit | |
| CN109426260A (en) | Servomechanism | |
| JP7526795B2 (en) | Autonomous driving device, vehicle control method | |
| CN110506194A (en) | Driving control method and steering control device | |
| US11804136B1 (en) | Managing and tracking scouting tasks using autonomous vehicles | |
| JP6930610B2 (en) | Control method and control device for autonomous vehicles | |
| JP2006131055A (en) | Vehicle traveling controlling device | |
| JP2019059462A (en) | Peak efficiency recommendation and sharing | |
| KR20150066303A (en) | Apparatus and method for autonomous driving using driving pattern of driver | |
| JP7173990B2 (en) | Method for generating passing probability collection, method for operating motor vehicle controller, passing probability collection device and controller | |
| US11648938B2 (en) | Braking data mapping | |
| JP2021181308A (en) | Automatic driving system | |
| US20210387525A1 (en) | Method for improving the energy efficiency of a motor vehicle, motor vehicle, and computer-readable medium | |
| CN110956801B (en) | Moving body monitoring device, vehicle control system using same, and traffic system | |
| JP7233299B2 (en) | Driving behavior control method and driving behavior control device | |
| CN110617829B (en) | Method and device for predicting a possible driving route of a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181116 |