阅读说明：本技术 交通拥堵的确定方法、装置、系统及车辆 (Traffic jam determining method, device and system and vehicle ) 是由 吴杭哲 刘枫 刘斌 栗海兵 赵德芳 于 2019-08-01 设计创作，主要内容包括：本发明实施例公开了一种交通拥堵的确定方法、装置、系统及车辆。获取本车运行信息、目标车辆信息及道路信息；根据所述本车运行信息、所述目标车辆信息及所述道路信息确定当前道路的交通拥堵状态；所述交通拥堵状态包括拥堵和非拥堵。本发明实施例提供的交通拥堵的确定方法,可以实现对交通拥堵的判别,提高交通拥堵确定的准确性,从而提高自动驾驶的安全性。(The embodiment of the invention discloses a method, a device and a system for determining traffic jam and a vehicle. Acquiring running information of the vehicle, target vehicle information and road information; determining the traffic jam state of the current road according to the running information of the vehicle, the information of the target vehicle and the road information; the traffic congestion states include congested and uncongested. The method for determining the traffic jam provided by the embodiment of the invention can realize the judgment of the traffic jam and improve the accuracy of determining the traffic jam, thereby improving the safety of automatic driving.)

1. A method for determining traffic congestion, comprising:

acquiring running information of the vehicle, target vehicle information and road information;

determining the traffic jam state of the current road according to the running information of the vehicle, the information of the target vehicle and the road information; the traffic congestion states include congested and uncongested.

2. The method of claim 1, wherein the host-vehicle operation information includes a host-vehicle travel speed; the target vehicle information comprises the running speed of a first front vehicle, the distance between the first front vehicle and the vehicle, the running speed of a second front vehicle and the distance between the second front vehicle and the first front vehicle, wherein the first front vehicle is the front vehicle of the vehicle, and the second front vehicle is the front vehicle of the first front vehicle; the road information comprises lane line information, road sign information and road space occupancy.

3. The method of claim 2, wherein determining the traffic congestion status of the current road based on the vehicle operation information, the target vehicle information, and the road information comprises:

if the vehicle is in the automatic driving state, judging whether the running speed of the vehicle is smaller than a first speed threshold value within a first set time length;

if so, judging whether the running speed of the first front vehicle and the running speed of the second front vehicle are both smaller than a second speed threshold value within a second set time length, and judging whether the distance between the first front vehicle and the distance between the second front vehicle and the first front vehicle are both smaller than a distance threshold value;

if so, the congestion state of the lane where the vehicle is located is congestion, and the congestion state of the variable lane of the vehicle is acquired, and if the congestion state of the variable lane is congestion, the current traffic congestion state of the vehicle is congestion.

4. The method of claim 3, wherein obtaining the congestion status of the variable lane of the host vehicle comprises:

if the road line between the adjacent lane and the lane where the vehicle is located is a broken line, and the road sign of the adjacent lane is consistent with the road sign of the lane where the vehicle is located, the adjacent lane is a variable lane;

and acquiring the road space occupancy of the variable lane, wherein if the road space occupancy is greater than an occupancy threshold, the congestion state of the variable lane is congestion.

5. The method of claim 3, further comprising, after determining a traffic congestion status of a current road based on the host vehicle operation information, the target vehicle information, and the road information:

and planning the running track according to the traffic jam state of the current road.

6. The method of claim 5, wherein the planning of the driving track according to the traffic congestion status of the current road comprises:

if the traffic jam state of the current road is jam, controlling the vehicle to follow a first front vehicle track;

and if the congestion state of the lane where the vehicle is located is congestion and the congestion state of the variable lane is non-congestion, controlling the vehicle to change lanes.

7. An apparatus for determining traffic congestion, comprising:

the information acquisition module is used for acquiring running information of the vehicle, target vehicle information and road information;

the traffic jam state determining module is used for determining the traffic jam state of the current road according to the running information of the vehicle, the target vehicle information and the road information; the traffic congestion states include congested and uncongested.

8. A system for determining traffic congestion, comprising: the system comprises an automatic controller, a forward-looking camera, a look-around camera, a millimeter wave radar and an ultrasonic radar;

the front-view camera is used for collecting the information of a target vehicle in front of the vehicle and the road information; the all-round-looking camera is used for collecting road information on the side of the vehicle; the millimeter wave radar and the ultrasonic radar are used for acquiring vehicle information and road information around the vehicle; the automatic controller is used for acquiring information acquired by the forward-looking camera, the looking-around camera, the millimeter wave radar and the ultrasonic radar and determining the current traffic jam state according to the acquired information.

9. The system of claim 8, wherein the look-around cameras comprise 4, which are respectively disposed on four sides of the vehicle; the millimeter wave radar comprises a forward millimeter wave radar and four corner millimeter wave radars, and the four corner millimeter wave radars are respectively arranged at four corners of the vehicle; the ultrasonic radar comprises a plurality of ultrasonic radars which are arranged around the vehicle.

10. A vehicle comprising a system for determining traffic congestion according to any one of claims 8 to 9.

Technical Field

The embodiment of the invention relates to the technical field of traffic vehicles, in particular to a method, a device and a system for determining traffic jam and a vehicle.

Background

With the rapid development of sensor technology, car networking technology, and artificial intelligence, autopilot systems are becoming the standard configuration for automobiles. The automatic driving system greatly improves the safety, comfort and operation convenience of the vehicle in running.

Under different traffic environments, the trajectory planning of the automatic driving system has large differences. Automated driving such as level L3 may be subdivided into high speed automated driving and traffic congestion automated driving. The design from the safe angle, high-speed autopilot can realize changing the road automatically, and traffic jam autopilot can realize following the track of the front car and traveling. Therefore, in the automatic driving process, the judgment of the traffic jam is very important.

Disclosure of Invention

The embodiment of the invention provides a method, a device and a system for determining traffic jam and a vehicle, which are used for distinguishing the traffic jam and improving the accuracy of determining the traffic jam so as to improve the safety of automatic driving.

In a first aspect, an embodiment of the present invention provides a method for determining traffic congestion, where the method includes:

acquiring running information of the vehicle, target vehicle information and road information;

determining the traffic jam state of the current road according to the running information of the vehicle, the information of the target vehicle and the road information; the traffic congestion states include congested and uncongested.

Further, the vehicle running information includes a vehicle running speed; the target vehicle information comprises the running speed of a first front vehicle, the distance between the first front vehicle and the vehicle, the running speed of a second front vehicle and the distance between the second front vehicle and the first front vehicle, wherein the first front vehicle is the front vehicle of the vehicle, and the second front vehicle is the front vehicle of the first front vehicle; the road information comprises lane line information, road sign information and road space occupancy.

Further, determining a traffic congestion state of a current road according to the vehicle running information, the target vehicle information and the road information includes:

if the vehicle is in the automatic driving state, judging whether the running speed of the vehicle is smaller than a first speed threshold value within a first set time length;

if so, judging whether the running speed of the first front vehicle and the running speed of the second front vehicle are both smaller than a second speed threshold value within a second set time length, and judging whether the distance between the first front vehicle and the distance between the second front vehicle and the first front vehicle are both smaller than a distance threshold value;

if so, the congestion state of the lane where the vehicle is located is congestion, and the congestion state of the variable lane of the vehicle is acquired, and if the congestion state of the variable lane is congestion, the current traffic congestion state of the vehicle is congestion.

Further, acquiring the congestion state of the variable lane of the host vehicle comprises the following steps:

if the road line between the adjacent lane and the lane where the vehicle is located is a broken line, and the road sign of the adjacent lane is consistent with the road sign of the lane where the vehicle is located, the adjacent lane is a variable lane;

and acquiring the road space occupancy of the variable lane, wherein if the road space occupancy is greater than an occupancy threshold, the congestion state of the variable lane is congestion.

Further, after determining the traffic congestion state of the current road according to the vehicle running information, the target vehicle information and the road information, the method further includes:

and planning the running track according to the traffic jam state of the current road.

Further, planning a driving track according to the traffic jam state of the current road, which comprises the following steps:

if the traffic jam state of the current road is jam, controlling the vehicle to follow a first front vehicle track;

and if the congestion state of the lane where the vehicle is located is congestion and the congestion state of the variable lane is non-congestion, controlling the vehicle to change lanes.

In a second aspect, an embodiment of the present invention further provides a device for determining traffic congestion, where the device includes:

the information acquisition module is used for acquiring running information of the vehicle, target vehicle information and road information;

the traffic jam state determining module is used for determining the traffic jam state of the current road according to the running information of the vehicle, the target vehicle information and the road information; the traffic congestion states include congested and uncongested.

In a third aspect, an embodiment of the present invention further provides a system for determining traffic congestion, including: the system comprises an automatic controller, a forward-looking camera, a look-around camera, a millimeter wave radar and an ultrasonic radar;

the front-view camera is used for collecting the information of a target vehicle in front of the vehicle and the road information; the all-round-looking camera is used for collecting road information on the side of the vehicle; the millimeter wave radar and the ultrasonic radar are used for acquiring vehicle information and road information around the vehicle; the automatic controller is used for acquiring information acquired by the forward-looking camera, the looking-around camera, the millimeter wave radar and the ultrasonic radar and determining the current traffic jam state according to the acquired information.

Furthermore, the number of the all-round cameras is 4, and the all-round cameras are respectively arranged on four sides of the vehicle; the millimeter wave radar comprises a forward millimeter wave radar and four corner millimeter wave radars, and the four corner millimeter wave radars are respectively arranged at four corners of the vehicle; the ultrasonic radar comprises a plurality of ultrasonic radars which are arranged around the vehicle.

In a fourth aspect, an embodiment of the present invention provides a vehicle including the system for determining traffic congestion according to the embodiment of the present invention.

According to the embodiment of the invention, the running information of the vehicle, the information of the target vehicle and the road information are firstly obtained, and then the traffic jam state of the current road is determined according to the running information of the vehicle, the information of the target vehicle and the road information. The method for determining the traffic jam provided by the embodiment of the invention can realize the judgment of the traffic jam and improve the accuracy of determining the traffic jam, thereby improving the safety of automatic driving.

Drawings

Fig. 1 is a schematic structural diagram of a traffic congestion determination system according to a first embodiment of the present invention;

fig. 2 is a flowchart of a traffic congestion determination method according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a traffic congestion determination apparatus according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.