CN-115817461-B - Automatic driving vehicle and running control method, device, equipment and medium thereof

Abstract

The disclosure provides an automatic driving vehicle and a driving control method, a device, equipment and a medium thereof, which relate to the technical field of automatic driving and high-precision maps, in particular to the technical field of data processing and intelligent control; the method comprises the steps of determining a target shielding lane in a target shielding area and obtaining corresponding lane related information, obtaining barrier related information of barriers in the target shielding area based on the lane related information, judging whether a preset speed limit condition is met based on the barrier related information, generating a target speed limit area at the junction of a lane to be driven of an automatic driving vehicle and the target shielding lane if the preset speed limit condition is met, realizing the active and timely early speed limit of the automatic driving vehicle, reducing the vehicle speed before a vision blind area exists, leaving sufficient reaction space and time for emergency occurrence, and effectively improving the safety and reliability of automatic driving.

Inventors

• ZHANG MINGCHUAN

Assignees

• 北京百度网讯科技有限公司

Dates

Publication Date

20260508

Application Date

20221130

Claims (20)

1. 1. A running control method of an autonomous vehicle, the running control method comprising: Acquiring an initial shielding area corresponding to a driving intersection of the automatic driving vehicle based on at least one device of a laser radar, a position sensor and a speed sensor loaded in the automatic driving vehicle; Screening out an effective shielding area in the initial shielding area by adopting a preset screening rule to serve as a target shielding area; wherein the target shielding area of the preset screening rule meets at least one of the following conditions: the distance between the nearest shielding point and the lane reference line of the lane to be driven is smaller than a second set threshold value, and the area of the corresponding area is within a preset area range; determining the target shielding lane in the target shielding area and acquiring corresponding lane association information; Acquiring barrier related information of a barrier in the target shielding area based on the lane related information; Judging whether a preset speed limit condition is met or not based on the obstacle association information, and if so, generating a target speed limit area at the junction of a lane to be driven of the automatic driving vehicle and the target shielding lane; wherein the initial boundary of the target speed limit area, which is close to the automatic driving vehicle, is positioned at the boundary of the target shielding lane or outside the boundary; And controlling the automatic driving speed-limiting driving when the automatic driving vehicle is driven into the target speed-limiting area.
2. 2. The running control method of an autonomous vehicle according to claim 1, the step of judging whether a preset speed limit condition is reached based on the obstacle-related information, comprising: determining a center point corresponding to the obstacle based on the obstacle association information; Determining a nearest shielding point corresponding to the target shielding region based on shielding region information of the target shielding region; and when the distance between the central point and the nearest shielding point is larger than a first set threshold value, determining that the current driving scene belongs to a necessary speed limiting scene, and reaching the preset speed limiting condition.
3. 3. The running control method of an autonomous vehicle according to claim 2, the running control method further comprising: When the distance between the center point and the nearest shielding point is smaller than or equal to the first set threshold value, determining that the current driving scene belongs to an unnecessary speed limiting scene, and adopting a set driving control strategy to control the driving state of the automatic driving vehicle along the lane to be driven.
4. 4. The running control method of an autonomous vehicle according to claim 1, the step of judging whether a preset speed limit condition is reached based on the obstacle-related information, comprising: And when the obstacle association information characterizes that the obstacle does not exist in the target shielding area, determining that the current driving scene belongs to a necessary speed limiting scene, and reaching the preset speed limiting condition.
5. 5. The running control method of an autonomous vehicle according to any one of claims 1 to 4, the step of generating a target speed limit area at a junction of a lane to be run of the autonomous vehicle and the target-shielded lane, comprising: acquiring a lane reference line of the lane to be driven of the automatic driving vehicle and a center line of the target shielding lane; Acquiring an intersection point of the lane reference line and the central line; taking the intersection point as a reference, extending a first set area along the lane to be driven and towards the direction approaching the automatic driving vehicle so as to obtain the target speed limiting area; The outer edge of the first setting area is located at the boundary of the target shielding lane or outside the boundary.
6. 6. The travel control method of an autonomous vehicle according to claim 5, wherein the step of extending a first set area along the lane to be traveled and in a direction approaching the autonomous vehicle with reference to the intersection point to obtain the target speed limit area includes: Taking the intersection point as a reference, extending the first set area along the lane to be driven and in a direction approaching the automatic driving vehicle, and extending a second set area along the lane to be driven and in a direction separating from the automatic driving vehicle; And taking a common area of the first setting area and the second setting area as the target speed limiting area.
7. 7. The travel control method of an autonomous vehicle according to claim 6, wherein the first set area is greater than or equal to the second set area.
8. 8. A travel control method of an automatically driven vehicle according to claim 5, further comprising, before the step of controlling the automatically driven speed limit travel when the automatically driven vehicle is driven into the target speed limit region: Acquiring the actual running speed of the automatic driving vehicle; And when the actual running speed exceeds a preset speed threshold, the target speed limit area is extended outwards close to the initial boundary of the automatic driving vehicle so as to update and obtain the new expanded target speed limit area.
9. 9. The travel control method of an autonomous vehicle according to claim 1, the step of determining a target-shielded lane in the target-shielded area and acquiring corresponding lane-related information, comprising: Acquiring a plurality of first lanes corresponding to the position of the target shielding area based on a high-precision map; selecting a lane closest to a lane shielding object from the plurality of first lanes as the target shielding lane, and acquiring the lane association information corresponding to the target shielding lane; the step of acquiring the obstacle related information of the obstacle in the target shielding area based on the lane related information includes: And acquiring the obstacle related information of each obstacle in the target occlusion lane based on the high-precision map and the lane related information.
10. 10. A travel control device of an autonomous vehicle, the travel control device comprising: The target shielding region acquisition module is used for acquiring a target shielding region corresponding to the driving intersection of the automatic driving vehicle; the target shielding area acquisition module comprises: An initial shielding region acquisition unit, configured to acquire an initial shielding region corresponding to a driving intersection of the autonomous vehicle based on at least one device of a laser radar, a position sensor, and a speed sensor loaded in the autonomous vehicle; The target shielding area acquisition unit is used for screening out an effective shielding area in the initial shielding area by adopting a preset screening rule to serve as the target shielding area; The target shielding area of the preset screening rule meets at least one of the following conditions: the distance between the nearest shielding point and the lane reference line of the lane to be driven is smaller than a second set threshold value, and the area of the corresponding area is within a preset area range; the lane association information determining module is used for determining the target shielding lane in the target shielding area and acquiring corresponding lane association information; The obstacle association information acquisition module is used for acquiring obstacle association information of the obstacle in the target shielding area based on the lane association information; The first judging module is used for judging whether a preset speed limit condition is met or not based on the obstacle association information, and if so, the target speed limit area generating module is called to generate a target speed limit area at the junction of the lane to be driven of the automatic driving vehicle and the target shielding lane; wherein the initial boundary of the target speed limit area, which is close to the automatic driving vehicle, is positioned at the boundary of the target shielding lane or outside the boundary; And the running control module is used for controlling the automatic driving speed-limiting running when the automatic driving vehicle is driven into the target speed-limiting area.
11. 11. The travel control device of an autonomous vehicle according to claim 10, the first judgment module comprising: A center point determination unit configured to determine a center point corresponding to the obstacle based on the obstacle association information; A nearest shielding point determining unit, configured to determine a nearest shielding point corresponding to the target shielding region based on shielding region information of the target shielding region; and the first judging unit is used for determining that the current driving scene belongs to a necessary speed limiting scene when the distance between the central point and the nearest shielding point is larger than a first set threshold value, and reaching the preset speed limiting condition.
12. 12. The travel control device of an autonomous vehicle according to claim 11, wherein the first judging unit is further configured to determine that a current driving scenario belongs to an unnecessary speed limit scenario when a distance between the center point and the nearest shielding point is less than or equal to the first set threshold, and invoke the travel control module to control a travel state of the autonomous vehicle along the lane to be traveled using a set travel control policy.
13. 13. The travel control device of an autonomous vehicle according to claim 10, the first judgment module comprising: And the second judging unit is used for determining that the current driving scene belongs to a necessary speed limiting scene when the obstacle associated information characterizes that the obstacle does not exist in the target shielding area, and reaching the preset speed limiting condition.
14. 14. The travel control device of an autonomous vehicle according to any one of claims 10 to 13, the target speed limit region generation module comprising: A center line acquisition unit configured to acquire a lane reference line of the lane to be driven of the autonomous vehicle and a center line of the target-shielded lane; an intersection point obtaining unit for obtaining an intersection point of the lane reference line and the center line; A target speed limit area generating unit, configured to extend a first setting area along the lane to be driven and in a direction approaching the autonomous vehicle based on the intersection point, so as to obtain the target speed limit area; The outer edge of the first setting area is located at the boundary of the target shielding lane or outside the boundary.
15. 15. The travel control device of an autonomous vehicle according to claim 14, wherein the target speed limit area generating means is configured to extend the first set area along the lane to be traveled and in a direction toward the autonomous vehicle, and to extend the second set area along the lane to be traveled and in a direction away from the autonomous vehicle, with a common area of the first set area and the second set area as the target speed limit area, based on the intersection point.
16. 16. The travel control device for an autonomous vehicle according to claim 15, wherein the first setting area is greater than or equal to the second setting area.
17. 17. The travel control device of an autonomous vehicle according to claim 14, the travel control device further comprising: the actual running speed acquisition module is used for acquiring the actual running speed of the automatic driving vehicle; And the second judging module is used for calling the target speed limit area generating module to extend the target speed limit area outwards close to the initial boundary of the automatic driving vehicle when the actual driving speed exceeds a preset speed threshold so as to update and obtain the new expanded target speed limit area.
18. 18. The travel control device of an autonomous vehicle according to claim 10, the lane-related information determination module comprising: The first lane acquisition unit is used for acquiring a plurality of first lanes corresponding to the position of the target shielding area based on a high-precision map; the target shielding lane determining unit is used for selecting a lane closest to a lane shielding object from the plurality of first lanes as the target shielding lane; the lane association information determining unit is used for obtaining the lane association information corresponding to the target shielding lane; The obstacle-related information acquisition module is further configured to acquire the obstacle-related information of each obstacle in the target-shielded lane based on the high-precision map and the lane-related information.
19. 19. An autonomous vehicle comprising the travel control apparatus of an autonomous vehicle according to any one of claims 10 to 18.
20. 20. An electronic device, comprising: At least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

Description

Automatic driving vehicle and running control method, device, equipment and medium thereof Technical Field The disclosure relates to the technical field of automatic driving and high-precision maps, in particular to the field of data processing and intelligent control, and provides an automatic driving vehicle and a driving control method, device, equipment and medium thereof. Background When the motor vehicle approaches to a sharp bend, the top end of a ramp and the like to influence the safety vision distance and overtake or meet emergency, the motor vehicle should slow down and sound a horn to indicate. When an automatic driving vehicle turns left through an intersection, static shielding generated by flower beds, shrubs and the like on two sides of a lane can exist, and the perception capability of the vehicle (namely, devices such as a laser radar and a camera) is affected. As with normal human-driven vehicles, autonomous vehicles also need to actively limit the speed of the vehicle in these dangerous areas where the risk of ghost probes and the like is likely to occur, and by reducing the speed of the vehicle before the blind zone of the field of view exists in the dangerous areas, sufficient reaction space and time are left for emergency. However, in the existing technical scheme, obstacles appearing like ghost probes in the intersection cannot be identified in advance and processed in a vehicle control manner, so that the collision risk of automatic driving is increased, and the running safety of the automatic driving vehicle cannot be guaranteed. Disclosure of Invention The technical problem to be solved by the disclosure is to overcome the defect that in the prior art, driving shielding situations cannot be identified and handled reasonably in automatic driving, so that the driving safety of the automatic driving cannot be guaranteed, and to provide an automatic driving vehicle, and a driving control method, a device, equipment and a medium thereof. The technical problems are solved by the following technical scheme: According to an aspect of the present disclosure, there is provided a travel control method of an autonomous vehicle, the travel control method including: Acquiring a target shielding area corresponding to the driving intersection of the automatic driving vehicle; Determining a target shielding lane in the target shielding area and acquiring corresponding lane association information; Acquiring barrier related information of a barrier in the target shielding area based on the lane related information; Judging whether a preset speed limit condition is met or not based on the obstacle association information, and if so, generating a target speed limit area at the junction of a lane to be driven of the automatic driving vehicle and the target shielding lane; wherein the initial boundary of the target speed limit area, which is close to the automatic driving vehicle, is positioned at the boundary of the target shielding lane or outside the boundary; And controlling the automatic driving speed-limiting driving when the automatic driving vehicle is driven into the target speed-limiting area. According to another aspect of the present disclosure, there is provided a travel control apparatus of an autonomous vehicle, the travel control apparatus including: The target shielding region acquisition module is used for acquiring a target shielding region corresponding to the driving intersection of the automatic driving vehicle; the lane association information determining module is used for determining a target shielding lane in the target shielding area and acquiring corresponding lane association information; The obstacle association information acquisition module is used for acquiring obstacle association information of the obstacle in the target shielding area based on the lane association information; The first judging module is used for judging whether a preset speed limit condition is met or not based on the obstacle association information, and if so, the target speed limit area generating module is called to generate a target speed limit area at the junction of the lane to be driven of the automatic driving vehicle and the target shielding lane; wherein the initial boundary of the target speed limit area, which is close to the automatic driving vehicle, is positioned at the boundary of the target shielding lane or outside the boundary; And the running control module is used for controlling the automatic driving speed-limiting running when the automatic driving vehicle is driven into the target speed-limiting area. According to another aspect of the present disclosure, there is provided an autonomous vehicle including the travel control apparatus of the autonomous vehicle as described above. According to another aspect of the present disclosure, there is provided an electronic device including: At least one processor, and A memory communicatively coupled to the at least one processor, whe