Method and apparatus for controlling automated vehicle

Patent metadata

Field	Value
Publication number	US-12319277-B2
Application number	US-202217847907-A
Country	US
Kind code	B2
Filing date	Jun 23, 2022
Priority date	Dec 24, 2019
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

Monitoring driving safety information before a vehicle enters a curve or when the vehicle has entered the curve; obtaining a position of the vehicle in response to the driving safety information; obtaining curve information, where the curve information includes at least one of a position of a start point of the curve and a position of an end point of the curve; and controlling, based on the position of the vehicle and the curve information, the vehicle to stop at a position outside the curve.

First claim

What is claimed is:

1. A method comprising:
detecting driving safety information before a vehicle enters a curve of a road or when the vehicle has entered the curve;
obtaining a position of the vehicle in response to detecting the driving safety information;
obtaining curve information, wherein the curve information comprises at least one of a position of a start point of the curve or a position of an end point of the curve;
determining a relative position relationship between the vehicle and the curve based on the position of the vehicle and the curve information, wherein the relative position relationship indicates whether the vehicle has entered the curve; and
controlling, based on the relative position relationship, the vehicle to stop at a position outside the curve;
wherein when the relative position relationship indicates that the vehicle has not entered the curve, controlling the vehicle to stop at the position outside the curve comprises:
controlling the vehicle to stop at a position before the start point of the curve or controlling the vehicle to stop at a position after the end point of the curve; and

wherein when the relative position relationship indicates that the vehicle has entered the curve, controlling the vehicle to stop at the position outside the curve comprises:
obtaining a first safety distance, wherein the first safety distance is a maximum braking distance of the vehicle for preventing a vehicle behind from colliding with the vehicle;
detecting a parked vehicle at the position that is greater than or equal to the first safety distance from the end point of the curve;
obtaining a second safety distance based on the position of the parked vehicle and the first safety distance, wherein the second safety distance is greater than the first safety distance; and
controlling the vehicle to stop at a position that is greater than or equal to the second safety distance from the end point of the curve.

2. The method according to claim 1 ,
wherein the driving safety information is system fault information, and the system fault information indicates that a system fault occurs in the vehicle; and
wherein detecting the driving safety information comprises:
obtaining the system fault information by detecting a system status of the vehicle.

3. The method according to claim 1 ,
wherein the driving safety information is environmental risk information, and the environmental risk information indicates that a driving environment of the vehicle does not meet a risk range preset in an automated driving system; and
wherein detecting the driving safety information comprises:
obtaining the environmental risk information by detecting a condition of an environment in which the vehicle is located.

4. The method according to claim 1 ,
wherein the driving safety information is curve obstacle information, and the curve obstacle information indicates that there is an obstacle blocking traffic in the curve; and
wherein detecting the driving safety information comprises:
receiving the curve obstacle information from a road side unit (RSU).

5. The method according to claim 1 , wherein obtaining the curve information comprises:
receiving the curve information from a road side unit (RSU).

6. The method according to claim 1 , wherein obtaining the curve information comprises:
processing map data of the vehicle to obtain the curve information.

7. The method according to claim 1 , wherein obtaining the curve information comprises:
receiving motion trail information from a reference vehicle that has entered the curve; and
processing the motion trail information, to obtain the curve information.

8. The method according to claim 1 ,
wherein the curve information further comprises a curvature radius of the curve; and
wherein obtaining the first safety distance comprises:
obtaining the first safety distance based on the curvature radius of the curve.

9. The method according to claim 8 , wherein obtaining the first safety distance based on the curvature radius of the curve comprises:
performing calculation based on the curvature radius of the curve, to obtain a safety speed of the vehicle; and
obtaining the first safety distance based on the curvature radius of the curve and the safety speed.

10. The method according to claim 8 , wherein obtaining the first safety distance based on the curvature radius of the curve comprises:
searching for mapping information based on the curvature radius of the curve, to obtain the first safety distance, wherein the mapping information comprises a mapping relationship between a safety distance and a combination of a safety speed and the curvature radius.

11. The method according to claim 1 , wherein after controlling the vehicle to stop at the position outside the curve, the method further comprises performing at least one of following:
indicating the vehicle to turn on a hazard warning signal light to perform danger signal alerting;
indicating the vehicle to start an automatic shutdown instruction to shut down an engine;
indicating a door to be automatically unlocked when the door is locked; or
indicating the vehicle to activate an emergency rescue system.

12. An apparatus, comprising:
at least one processor; and
at least one non-transitory memory, wherein the at least one non-transitory memory is configured to store program instructions, and the at least one processor is coupled to the at least one non-transitory memory and configured to execute the program instructions to:
detect driving safety information before a vehicle enters a curve of a road or when the vehicle has entered the curve;
obtain a position of the vehicle in response to detecting the driving safety information;
obtain curve information, wherein the curve information comprises at least one of a position of a start point of the curve or a position of an end point of the curve;
determine a relative position relationship between the vehicle and the curve based on the position of the vehicle and the curve information, wherein the relative position relationship indicates whether the vehicle has entered the curve; and
control, based on the relative position relationship, the vehicle to stop at a position outside the curve;

wherein when the relative position relationship indicates that the vehicle has not entered the curve, controlling the vehicle to stop at the position outside the curve comprises:
controlling the vehicle to stop at a position before the start point of the curve or controlling the vehicle to stop at a position after the end point of the curve; and

wherein when the relative position relationship indicates that the vehicle has entered the curve, controlling the vehicle to stop at the position outside the curve comprises:
obtaining a first safety distance, wherein the first safety distance is a maximum braking distance of the vehicle for preventing a vehicle behind from colliding with the vehicle;
detecting a parked vehicle at the position that is greater than or equal to the first safety distance from the end point of the curve;
obtaining a second safety distance based on the position of the parked vehicle and the first safety distance, wherein the second safety distance is greater than the first safety distance; and
controlling the vehicle to stop at a position that is greater than or equal to the second safety distance from the end point of the curve.

13. The apparatus according to claim 12 ,
wherein the driving safety information is system fault information, and the system fault information indicates that a system fault occurs in the vehicle; and
wherein detecting the driving

Assignees

• Shenzhen Yinwang Intelligent Technology Co Ltd

Inventors

• Liu Nan
• Li Mingchao
• Sui Linlin

Classifications

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W50/0205

  Diagnosing or detecting failures; Failure detection models · CPC title

• B60W30/18145

  Cornering · CPC title

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• B60W2554/802

  Longitudinal distance · CPC title