CN108248611B

CN108248611B - Automatic driving method, automobile control equipment, automobile and system

Info

Publication number: CN108248611B
Application number: CN201611244227.6A
Authority: CN
Inventors: 李纪先
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2016-12-29
Filing date: 2016-12-29
Publication date: 2020-08-25
Anticipated expiration: 2036-12-29
Also published as: CN108248611A

Abstract

The embodiment of the invention discloses an automatic driving method, automobile control equipment, an automobile and a system, wherein the method comprises the following steps: planning a path from a starting point to a destination point; determining the position of the vehicle according to the map and the information collected by the sensor; acquiring first congestion information of a next intersection to be passed from intelligent traffic signal equipment arranged at the next intersection to be passed, wherein the first congestion information comprises traffic light condition information, the number of automobiles in each lane in front and estimated passing time of each lane in front; and replanning a path according to the first congestion information. By adopting the method and the device, the traffic jam condition in automatic driving can be relieved, and the waiting time of the user is reduced.

Description

Automatic driving method, automobile control equipment, automobile and system

Technical Field

The invention relates to the technical field of automatic driving, in particular to an automatic driving method, automobile control equipment, an automobile and a system.

Background

With the rapid development of intelligent control technology and communication technology, automatic driving is realized. However, the intelligence thereof has yet to be enhanced. According to estimation, 20% -45% of traffic congestion in cities occurs at road intersections. The conventional 63-style traffic lights and stop signs do not serve much because they are stationary and cannot take traffic flow into account. The unmanned path planning algorithm is often preset from a starting point to a destination point. However, the autonomous automobile may encounter various traffic road conditions, such as road congestion, too many intersections in the road network, too long time for traffic lights, road changes (road closure and road repair), during the traveling of a complex road network, which results in long waiting time and poor driving experience for the user.

In the prior art, Dedicated Short Range Communication (DSRC) is adopted to realize Communication between a Host Vehicle (HV) and other vehicles (RV), and abnormal vehicles can automatically notify and warn the surrounding vehicles of abnormal conditions or potential dangers to realize active avoidance; and intelligent traffic management can be realized, including fleet management, emergency vehicle management, safe overtaking and the like on the highway. For example, in ground traffic, if an emergency vehicle exists, a green channel can be opened for the emergency vehicle through emergency vehicle management. However, such a method can only consider local congestion information, but cannot consider global congestion information, and for an intersection where traffic congestion is most likely to occur, an autonomous driving automobile still may wait for a long traffic light time at the intersection, resulting in poor driving experience of a user.

Disclosure of Invention

The embodiment of the invention provides an automatic driving method, automobile control equipment, an automobile and a system, and aims to solve the problems of serious traffic jam and long waiting time of a user in automatic driving.

The first aspect of the embodiments of the present invention provides an automatic driving method, including:

planning a path from a starting point to a destination point;

determining the position of the vehicle according to the map and the information collected by the sensor;

acquiring first congestion information of a next intersection to be passed from intelligent traffic signal equipment arranged at the next intersection to be passed, wherein the first congestion information comprises traffic light condition information, the number of automobiles in each lane in front and estimated passing time of each lane in front;

and replanning a path according to the first congestion information.

And replanning the path according to the first congestion information, and selecting a lane with short passing time to pass, thereby quickly establishing a path route according to the congestion information, improving the response speed of the network, reducing the congestion phenomenon as much as possible, obviously reducing the waiting time of the user, and improving the driving experience of the user.

In one possible implementation, the determining the position of the host vehicle according to the map and the information collected by the sensor includes:

correcting the first position of the vehicle in real time based on a particle filter algorithm;

according to the light detection and ranging technology, the sensor is used for collecting the data of the surrounding environment of the vehicle, and the matching updating is carried out according to the first position and the map, so that the second position of the vehicle is determined; wherein the accuracy of the second position is greater than the accuracy of the first position.

By acquiring the accurate position of the automobile, the information interaction between the automobile and the related intelligent traffic signal equipment is facilitated, the position of the automobile is favorably informed to the intelligent traffic signal equipment, and the intelligent traffic signal equipment is favorably used for acquiring the number and the position of the vehicles in the area and informing the congestion condition of the automobile.

In a possible implementation manner, the acquiring first congestion information of the next intersection to be passed from the intelligent traffic signal device set at the next intersection to be passed includes:

determining a lane where the vehicle is located;

sending a registration request to the intelligent traffic signal equipment arranged at the next intersection to be passed through, wherein the registration request comprises the speed information and the position information of the vehicle and the lane where the vehicle is located;

receiving a registration response message returned by the intelligent traffic signal equipment, wherein the registration response message contains identification information distributed to the vehicle by the intelligent traffic signal equipment;

sending a first congestion information request to the intelligent traffic signal device, wherein the congestion information request comprises the identification information;

and receiving first congestion information returned by the intelligent traffic signal equipment.

Through information interaction, the automobile can acquire congestion information of a front intersection, and then determine the optimal path and determine whether lane change is needed.

In one possible implementation manner, after the first congestion information is acquired, the method further includes:

sending a second congestion information acquisition request to the cloud server;

receiving second congestion information of the remaining paths in the paths returned by the cloud server, wherein the second congestion information of the remaining paths in the paths is reported to the cloud server by intelligent traffic signal equipment on the remaining paths;

the replanning a path according to the first congestion information includes:

and replanning a path according to the first congestion information and the second congestion information.

The congestion condition of the front intersection and the congestion conditions of other intersections in the surplus path are comprehensively considered, so that the running time in the surplus path can be reduced as much as possible, and the running efficiency is improved.

In one possible implementation manner, the method further includes:

and controlling the vehicle to change lanes or continue to run according to the re-planned path before the solid line of the lane.

And the lane change is performed before the solid line, so that the lane change safety is improved.

A second aspect of an embodiment of the present invention provides an automobile control apparatus, which is mounted on an automobile, and includes:

the path planning unit is used for planning a path from a starting point to a destination point;

the vehicle positioning unit is used for determining the position of the vehicle according to the map and the information collected by the sensor;

the system comprises an information acquisition unit, a traffic information acquisition unit and a traffic information processing unit, wherein the information acquisition unit is used for acquiring first congestion information of a next intersection to be passed from intelligent traffic signal equipment arranged at the next intersection to be passed, and the first congestion information comprises traffic light condition information, the number of automobiles in each lane in front and estimated passing time of each lane in front;

the path planning unit is further configured to re-plan a path according to the first congestion information.

In one possible implementation manner, the host-vehicle positioning unit is specifically configured to:

In a possible implementation manner, the information obtaining unit is specifically configured to:

determining a lane where the vehicle is located;

sending a first congestion information request to the intelligent traffic signal device, wherein the first congestion information request comprises the identification information;

In a possible implementation manner, the information obtaining unit is further configured to:

the path planning unit is specifically configured to: and replanning a path according to the first congestion information and the second congestion information.

In a possible implementation, the path planning unit is further configured to:

A third aspect of an embodiment of the present invention provides an automobile control apparatus, which is mounted on an automobile, and includes:

the system comprises a processor, a memory, an interface circuit, a sensor and a bus, wherein the processor, the memory, the interface circuit and the sensor are connected through the bus, the memory is used for storing a group of program codes, and the processor is used for calling the program codes stored in the memory and executing the following operations:

planning a path from a starting point to a destination point;

and replanning a path according to the first congestion information.

In one possible implementation, the processor is specifically configured to:

determining a lane where the vehicle is located;

sending a registration request to the intelligent traffic signal equipment arranged at the next intersection to be passed through by the interface circuit, wherein the registration request comprises the speed information and the position information of the vehicle and the lane where the vehicle is located;

receiving a registration response message returned by the intelligent traffic signal equipment through the interface circuit, wherein the registration response message contains identification information distributed to the vehicle by the intelligent traffic signal equipment;

sending a first congestion information request to the intelligent traffic signal device via the interface circuit, the congestion information request including the identification information;

and receiving first congestion information returned by the intelligent traffic signal equipment through the interface circuit.

In one possible implementation, the processor is further configured to:

sending a second congestion information acquisition request to a cloud server through the interface circuit;

receiving second congestion information of the remaining paths in the paths returned by the cloud server through the interface circuit, wherein the second congestion information of the remaining paths in the paths is reported to the cloud server by intelligent traffic signal equipment on the remaining paths;

In one possible implementation, the processor is further configured to:

A fourth aspect of an embodiment of the present invention provides an automobile, including:

the control device of the automobile comprises the control device of the automobile according to any one implementation mode of the second aspect of the embodiment of the invention.

A fifth aspect of an embodiment of the present invention provides a system, including:

an automobile as provided in any one of the third aspect of the embodiments of the invention;

the intelligent traffic signal equipment is used for receiving a registration request sent by the automobile and distributing identification information to the automobile; receiving a first congestion information request sent by the automobile, wherein the first congestion information request comprises the identification information; and returning first congestion information to the automobile, wherein the first congestion information comprises traffic light condition information, the number of automobiles in each lane in front and the estimated passing time of each lane in front.

In one possible implementation, the system further includes:

the cloud server is used for receiving a second congestion information acquisition request sent by the automobile; and sending second congestion information of the rest paths in the currently planned paths to the automobile, wherein the second congestion information of the rest paths in the paths is reported to the cloud server by intelligent traffic signal equipment on the rest paths.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of an application scenario of an automatic driving method according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart diagram of a first embodiment of a method of autonomous driving of the present invention;

FIG. 3 is a schematic flow chart diagram of a second embodiment of the method of autonomous driving of the present invention;

fig. 4 is a schematic composition diagram of a first embodiment of a vehicle control apparatus of the present invention;

FIG. 5 is a schematic composition diagram of a second embodiment of an automotive control apparatus of the present invention;

fig. 6 is a schematic diagram of a system according to an embodiment of the invention.

Detailed Description

The terms "first," "second," and "third," etc. in the description and claims of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The method and apparatus involved in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Please refer to fig. 1, which is a schematic view of an application scenario of the automatic driving method according to the embodiment of the present invention; as shown in fig. 1, in the present case, the three-lane road segment is shown, in which the vehicle 1 is traveling in the right-turn lane, the vehicle 2 is traveling in the straight-ahead lane, and the vehicle 3 is traveling in the left-turn lane. If the automobile is driven according to the existing automatic driving mode, the automobile does not change the planned path and waits for a long time at the intersection. However, the intelligent traffic signal device in the embodiment of the invention not only has the functions of the traditional traffic signal lamp (can display red, yellow and green information indicator lamps and waiting time information), but also can know the number of vehicles in each lane in front and the predicted time for passing through each lane. Therefore, the automobile can acquire the traffic jam condition in front from the intelligent traffic signal equipment, determine whether the planned path needs to be changed in advance, and determine whether the lane change is needed. Optionally, the automobile can also obtain the traffic jam condition of the remaining paths in the planned path from the cloud server, so that comprehensive consideration is performed, the waiting time is reduced, and the driving efficiency and the driving experience of the user are improved.

Referring to fig. 2, a flowchart of a first embodiment of the automatic driving method of the present invention is shown, in this embodiment, the method includes:

s201, planning a path from the starting point to the destination point.

Alternatively, the user may plan a path from the start point to the destination point using a car navigation system or a navigation system on the mobile terminal.

S202, the position of the vehicle is determined according to the map and the information collected by the sensors.

Optionally, the first position where the host vehicle is located may be corrected in real time based on a particle filter (particle filter) algorithm;

then, acquiring surrounding environment data of the vehicle by using the sensor according to a Light detection and ranging (LIDAR) technology, and performing matching updating according to the first position and the map to determine a second position of the vehicle; wherein the accuracy of the second position is greater than the accuracy of the first position.

Specifically, when the first position of the vehicle is corrected in real time based on the particle filtering algorithm, a plurality of particles can be initially and uniformly distributed on an external input map, and the particles are matched with map information according to the particle acquisition information. And redistributing the particles according to the matching degree, wherein more particles are distributed at the positions with high matching degree, and less particles are distributed at the positions with low matching degree. The particles are used for continuously collecting the surrounding environment and comparing the surrounding environment with map information to continuously correct the position of the vehicle. And then, acquiring data of the surrounding environment of the vehicle according to the LIDAR, wherein the LIDAR is a System integrating three technologies of laser, Global Positioning System (GPS) and Inertial Navigation System (INS), and the combination of the three technologies can highly accurately position a light spot of a laser beam on an object, so as to obtain data and generate an accurate Digital Elevation Model (DEM). For example, when the automobile runs on the road, the environmental data of buildings, sculptures, schools and the like can be collected and updated and matched with the map again, so that the accurate position of the automobile in the map can be obtained.

S203, acquiring first congestion information of the next intersection to be passed from intelligent traffic signal equipment arranged at the next intersection to be passed.

The first congestion information includes traffic light condition information, the number of cars in each lane ahead, and estimated passing time of each lane ahead.

Alternatively, the lane where the vehicle is located may be determined first;

then sending a registration request to the intelligent traffic signal equipment arranged at the next intersection to be passed through, wherein the registration request comprises the speed information, the position information and the lane of the vehicle;

Specifically, the vehicle can search for the next intelligent traffic signal device to pass through on the traveling path of the vehicle through the map, and send a registration request to the intelligent traffic signal device, wherein the registration request comprises the speed, the position, the lane where the vehicle is located and the like. The intelligent traffic signal device collects all vehicle information, including vehicle Identification (ID), number of vehicles per lane, and location and speed information of the vehicles, that are currently passing the signal lights. The intelligent traffic signal device may represent congestion conditions in the sub-area (which may be described as the distance from the autonomous automobile to the intelligent traffic signal device) based on the number of vehicles and speed.

Alternatively, the data packet format for the intelligent traffic signal device and the autonomous vehicle interaction may be the following format:

the data format of the autopilot request message contains 3 fields: ID information uniquely identifying a current vehicle; location, which represents the current position of the vehicle; speed, representing the current Speed information of the vehicle.

The data format of the information returned by the intelligent traffic signal equipment comprises 3 fields: ID information requesting an ID of the vehicle; the Vehicle Num represents the number of vehicles in front of the intelligent traffic signal lamp from the current Vehicle, and can be subdivided into Vehicle Num 1, Vehicle Num 2, Vehicle Num3 and the like according to lanes, so that the number of automobiles in each lane in front can be represented respectively; the Estimate Pass Time represents the approximate Time required by the current vehicle to Pass through the intelligent traffic signal device, and may also be subdivided into Estimate Pass Time 1, Estimate Pass Time 2, Estimate Pass Time3, etc. according to the lanes, and represents the estimated passing Time of the current vehicle passing through each lane of the intelligent traffic signal device.

And S204, replanning a path according to the first congestion information.

Optionally, the path may be re-planned once according to the first congestion information received each time, and the re-planned path may be the same as or different from the original path. And judging whether the path needs to be re-planned or not according to the first congestion information, if so, executing the step of re-planning the path, and if not, continuing to drive according to the current path.

For example, the currently planned path of the automatic driving vehicle is straight, but the front straight lane is very congested, and the right-turn lane is very smooth, so that after the automatic driving vehicle is registered with the intelligent traffic signal device and acquires the first congestion information, the automatic driving vehicle can reappear the planned path, turn right first and then move towards the destination. When the re-planned path requires a lane change, the car may make a corresponding lane change before the solid line of the lane.

In the embodiment, a path to a destination point is planned, then the accurate position of the vehicle is determined, and information interaction is performed with the intelligent traffic signal equipment arranged on the next intersection to be passed through on the path, so that the first congestion information of the intersection is obtained, the path can be re-planned according to the first congestion information, and a lane with shorter passing time is selected for passing, so that a path route is quickly established according to the congestion information, the response speed of a network is improved, the congestion phenomenon can be avoided as much as possible, the waiting time of a user is remarkably reduced, and the driving experience of the user is improved.

It should be noted that the method described in the embodiment of the present invention may also be applied to network traffic engineering. If the method is used in the field of network traffic engineering, the Internet Protocol (IP) information of a data message destination and the network congestion information from the message to the destination IP need to be known, a global optimal route is found at each node according to the congestion information, and the message is sent to the destination IP.

Of course, the first embodiment of the present invention only refers to the congestion situation of the intersection ahead to determine whether to re-plan the route, and besides, the traffic congestion situations of other intersections or other road sections can be comprehensively considered, so that the route planning is performed more frequently, and the driving time is saved more favorably.

Referring to fig. 3, which is a flowchart illustrating a second embodiment of the method for automatic driving according to the present invention, in this embodiment, steps S301 to S303 are the same as steps S201 to S203 in fig. 2, and are not repeated herein, and the method further includes:

s304, send a second congestion information obtaining request to the cloud server.

S305, receiving second congestion information of the remaining paths in the paths returned by the cloud server.

And reporting second congestion information of the rest paths in the paths to the cloud server by intelligent traffic signal equipment on the rest paths.

The second congestion information is uploaded to the cloud server through the intelligent traffic signal device, so that the user flow can be remarkably reduced.

S306, replanning a path according to the first congestion information and the second congestion information.

And S307, controlling the vehicle to change lanes before the solid line of the lane or continuously driving according to the re-planned path.

If the re-planned path is different from the original path, the vehicle can be controlled to change lanes before the solid line of the lane, and if the re-planned path is the same as the original path, the vehicle can continue to run according to the original lane.

It should be noted that, in this embodiment, the traffic conditions of the intersection ahead and the other intersections in the remaining path are considered comprehensively, and therefore, the traffic conditions change in real time, so that the vehicle can also obtain information of the intersection ahead and the other intersections in the remaining path to re-plan the path, and the planned path changes due to the real-time change of the traffic conditions.

The above automatic driving method may be executed by an automobile, or may be executed by an automobile control device installed on the automobile, and control of the automobile is completed, so as to implement automatic driving, or may be executed by an independent third-party device, the third-party device may be placed on the automobile that automatically drives, the relevant sensor may be disposed on the automobile, the information acquired by the sensor is acquired by the third-party device, or may be integrated on the third-party device, and the embodiment of the present invention is not limited at all.

Referring to fig. 4, a schematic composition diagram of a first embodiment of an automobile control device according to the present invention is shown, in this embodiment, the automobile control device includes:

a path planning unit 100 for planning a path from a start point to a destination point;

a vehicle positioning unit 200 for determining the position of the vehicle based on the map and the information collected by the sensors;

the information acquisition unit 300 is configured to acquire first congestion information of a next intersection to be passed from intelligent traffic signal equipment arranged at the next intersection to be passed, where the first congestion information includes traffic light condition information, the number of cars in each lane ahead, and estimated passing time of each lane ahead;

the path planning unit 100 is further configured to re-plan a path according to the first congestion information.

The vehicle positioning unit 200 is specifically configured to:

The information obtaining unit 300 is specifically configured to:

determining a lane where the vehicle is located;

The information obtaining unit 300 is further configured to:

the path planning unit 100 is specifically configured to: and replanning a path according to the first congestion information and the second congestion information.

The path planning unit 100 is further configured to:

It should be noted that the path planning unit 100, the vehicle positioning unit 200, and the information acquiring unit 300 may be independent from each other or may be integrally disposed, and in the above embodiment of the vehicle control apparatus, the path planning unit 100, the vehicle positioning unit 200, or the information acquiring unit 300 may be disposed separately in a form of hardware and independent from a processor of the vehicle control apparatus, and the configuration form may be a form of a microprocessor; the route planning unit 100, the vehicle-positioning unit 200, and the information acquisition unit 300 may be embedded in a processor of the vehicle control apparatus in a hardware form, or may be stored in a memory of the vehicle control apparatus in a software form, so that the processor of the vehicle control apparatus invokes and executes operations corresponding to the route planning unit 100, the vehicle-positioning unit 200, and the information acquisition unit 300.

For example, in the first embodiment (the embodiment shown in fig. 4) of the vehicle control apparatus according to the present invention, the path planning unit 100 may be a processor of the vehicle control apparatus, and the functions of the vehicle-locating unit 200 and the information acquiring unit 300 may be embedded in the processor, may be provided separately from the processor, or may be stored in a memory in the form of software, and may be invoked by the processor to implement the functions. The processor can be a Central Processing Unit (CPU), a microprocessor, a singlechip and the like.

An embodiment of the present invention further provides an automobile, which includes the automobile control device shown in fig. 4 as the first embodiment of the automobile control device of the present invention, and the automobile control device is installed on the automobile and can control the automobile to automatically run through the acquired information.

Referring to fig. 5, a schematic composition diagram of a second embodiment of the vehicle control apparatus according to the present invention is shown, in this embodiment, the vehicle control apparatus includes:

a processor 110, a memory 120, an interface circuit 130, a sensor 140, and a bus 150, wherein the processor 110, the memory 120, the interface circuit 130, and the sensor 140 are connected via the bus 150, the memory 120 is used for storing a set of program codes, and the processor 110 is used for calling the program codes stored in the memory 120 to perform the following operations:

planning a path from a starting point to a destination point;

and replanning a path according to the first congestion information.

In one possible implementation, the processor 110 is specifically configured to:

determining a lane where the vehicle is located;

sending a registration request to the intelligent traffic signal equipment set at the next intersection to be passed through by the interface circuit 130, wherein the registration request comprises the speed information and the position information of the vehicle and the lane where the vehicle is located;

receiving a registration response message returned by the intelligent traffic signal equipment through the interface circuit 130, wherein the registration response message contains identification information allocated to the vehicle by the intelligent traffic signal equipment;

sending a first congestion information request to the intelligent traffic signal device via the interface circuit 130, the congestion information request including the identification information;

and receiving the first congestion information returned by the intelligent traffic signal equipment through the interface circuit 130.

In one possible implementation, the processor 110 is further configured to:

sending a second congestion information acquisition request to the cloud server through the interface circuit 130;

receiving second congestion information of the remaining paths in the paths returned by the cloud server through the interface circuit 130, wherein the second congestion information of the remaining paths in the paths is reported to the cloud server by intelligent traffic signal equipment on the remaining paths;

In one possible implementation, the processor 110 is further configured to:

Referring to fig. 6, a schematic composition diagram of a system according to an embodiment of the present invention is shown, in which the system includes:

a vehicle 10 mounted with a vehicle control apparatus shown in fig. 4 in a first embodiment of the vehicle control apparatus of the invention;

the intelligent traffic signal device 20 is used for receiving a registration request sent by the automobile 10 and distributing identification information to the automobile 10; receiving a first congestion information request sent by the automobile 10, wherein the first congestion information request contains the identification information; and returning first congestion information to the automobile 10, wherein the first congestion information comprises traffic light condition information, the number of automobiles in each lane in front and the estimated passing time of each lane in front.

Optionally, the system may further include:

the cloud server 30 is configured to receive a second congestion information acquisition request sent by the automobile 10; and sending second congestion information of the remaining paths in the currently planned path to the automobile 10, wherein the second congestion information of the remaining paths in the path is reported to the cloud server 30 by intelligent traffic signal equipment on the remaining paths.

The vehicle control device described in this embodiment may be used to implement part or all of the processes in the method embodiment described in conjunction with fig. 2 to 3 of the present invention, and perform part or all of the functions in the device embodiment described in conjunction with fig. 4 of the present invention, which will not be described herein again.

In one or more examples, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include computer-readable storage media (which corresponds to tangible media such as data storage media) or communication media, including any medium that facilitates transfer of a computer program from one place to another, such as in accordance with a communication protocol. In this manner, the computer-readable medium may generally correspond to (1) a non-transitory tangible computer-readable storage medium, or (2) a communication medium such as a signal or carrier wave. A data storage medium may be any available medium that can be accessed by one or more computers or one or more processors to retrieve instructions, code and/or data structures for implementation of the techniques described in this disclosure. The computer program product may include a computer-readable medium.

By way of example, and not limitation, some computer-readable storage media may comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, or any other medium that may be used to store desired program code in the form of instructions or data structures and that may be accessed by a computer. Also, any connection is properly termed a computer-readable medium. For example, if the instructions are sent from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. It should be understood, however, that computer-readable storage media and data storage media do not include connections, carrier waves, signals, or other transitory media, but rather pertain to non-transitory tangible storage media. Disk and disc, as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

The instructions may be executed by one or more processors, such as one or more Digital Signal Processors (DSPs), general purpose microprocessors, Application Specific Integrated Circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Thus, the term "processor," as used herein may refer to any of the foregoing structure or any other structure suitable for implementation of the techniques described herein. Additionally, in some aspects, the functionality described herein may be provided within dedicated hardware and/or software modules configured for encoding and decoding, or incorporated in a combined codec. Also, the techniques may be fully implemented in one or more circuits or logic elements.

The techniques of this disclosure may be implemented broadly by various means or devices including a wireless handset, an Integrated Circuit (IC), or a collection of ICs (e.g., a chipset). Various components, modules, or units are described in this disclosure to emphasize functional aspects of devices configured to perform the disclosed techniques, but do not necessarily require realization by different hardware units. In particular, as described above, the various units may be combined in a codec hardware unit, or provided in conjunction with suitable software and/or firmware by a set of interoperability hardware units (including one or more processors as described above).

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

In addition, the terms "system" and "network" are often used interchangeably herein. It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A method of autonomous driving, comprising:

planning a path from a starting point to a destination point by an automobile or automobile control equipment installed on the automobile or third-party equipment placed on the automobile;

replanning a path according to the first congestion information;

the method for acquiring the first congestion information of the next intersection to be passed from the intelligent traffic signal equipment arranged at the next intersection to be passed comprises the following steps:

determining a lane where the vehicle is located;

2. The method of claim 1, wherein determining the location of the host vehicle based on the map and the information collected by the sensors comprises:

3. The method of claim 1, wherein after acquiring the first congestion information, the method further comprises:

the replanning a path according to the first congestion information includes:

4. The method of any one of claims 1-3, further comprising:

5. An automobile control apparatus mounted on an automobile, comprising:

the path planning unit is further configured to re-plan a path according to the first congestion information;

the information acquisition unit is specifically configured to:

determining a lane where the vehicle is located;

6. The vehicle control apparatus according to claim 5, wherein the own-vehicle positioning unit is specifically configured to:

7. The vehicle control apparatus according to claim 5, wherein the information acquisition unit is further configured to:

8. The vehicle control apparatus according to any one of claims 5 to 7, wherein the path planning unit is further configured to:

9. An automobile, comprising:

the control apparatus of an automobile according to any one of claims 5 to 8.

10. An autonomous driving system, comprising:

the automobile of claim 9;

11. The system of claim 10, wherein the system further comprises: