CN109515439A - Automatic Pilot control method, device, system and storage medium - Google Patents
Automatic Pilot control method, device, system and storage medium Download PDFInfo
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- CN109515439A CN109515439A CN201811344936.0A CN201811344936A CN109515439A CN 109515439 A CN109515439 A CN 109515439A CN 201811344936 A CN201811344936 A CN 201811344936A CN 109515439 A CN109515439 A CN 109515439A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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Abstract
The present invention provides a kind of automatic Pilot control method, device, system and storage medium, this method, comprising: obtains high-precision map, the high-precision map includes reliability figure layer；According to the current location of vehicle, element information is extracted from the reliability figure layer；Obtain the collected environmental information of vehicle sensors；According to the environmental information, the element state of the element information is determined；Wherein, the element state includes: reliable, unreliable, suspicious；If the element state be it is reliable, according to the element information generate control decision.To realize according to the reliability figure layer in high-precision map, the purpose of automatic Pilot control decision is quickly generated, accuracy, the real-time of servomechanism decision are improved.
Description
Technical field
The present invention relates to vehicle drive control technology field more particularly to a kind of automatic Pilot control methods, device, system
And storage medium.
Background technique
In recent years, automatic Pilot technology is developed rapidly, and automated driving system generally comprises high-precision map, environment
Perception, decision rule and several big modules of motion control.Wherein, high-precision map mainly includes road layer, lane layer and positioning
Data Layer, for being vehicle location, it is the basis for realizing automatic Pilot that guidance and decision, which provide foundation,.
It is more accurately expressed now currently, automatic Pilot technical solution is concentrated mainly on using lane grade road network and road side facility
It is real.Road layer can support automatic Pilot over long distances, and large-scale path planning predicts traveling ahead state in advance；Lane layer
Data can support lane grade path planning, guidance and decision；Lane information, location information are used together with other sensors
In promotion automatic Pilot positioning accuracy.
But lane grade road network layer and road side facility layer contain much information in this mode, and the sensor of vehicle is differentiated
Rate is low, and resolution is not high, and decision information needs go to extract from bulk information, retrieves, is unfavorable for servomechanism and quickly does
Driving Decision-making out affects real-time, the accuracy of automatic Pilot control instruction.
Summary of the invention
The present invention provides a kind of automatic Pilot control method, device, system and storage medium, by high-precision map
Reliability figure layer is constructed, the element of the element information in reliability figure layer is determined using the collected environmental information of vehicle sensors
State, if the element state be it is reliable, according to the element information generate control decision, thus improve generation drive automatically
Sail real-time, the accuracy of control decision.
In a first aspect, providing a kind of automatic Pilot control method, comprising:
High-precision map is obtained, the high-precision map includes reliability figure layer；
According to the current location of vehicle, element information is extracted from the reliability figure layer；
Obtain the collected environmental information of vehicle sensors；
According to the environmental information, the element state of the element information is determined；Wherein, the element state include: can
It leans on, is unreliable, is suspicious；
If the element state be it is reliable, according to the element information generate control decision.
Second aspect provides a kind of automatic Pilot control device, comprising:
First obtains module, and for obtaining high-precision map, the high-precision map includes reliability figure layer；
Extraction module extracts element information from the reliability figure layer for the current location according to vehicle；
Second obtains module, for obtaining the collected environmental information of vehicle sensors；
Analysis module, for determining the element state of the element information according to the environmental information；Wherein, described to want
Plain state includes: reliable, unreliable, suspicious；
Control module, if for the element state be it is reliable, according to the element information generation control decision.
The third aspect provides a kind of automatic driving control system, comprising: memory and processor are stored in memory
The executable instruction of the processor；Wherein, the processor is configured to execute first via the executable instruction is executed
Automatic Pilot control method described in any one of aspect.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
Automatic Pilot control method described in any one of first aspect is realized when the program is executed by processor.
The present invention provides a kind of automatic Pilot control method, device, system and storage medium, by obtaining accurately
Figure, the high-precision map includes reliability figure layer；According to the current location of vehicle, element is extracted from the reliability figure layer
Information；Obtain the collected environmental information of vehicle sensors；According to the environmental information, the element shape of the element information is determined
State；Wherein, the element state includes: reliable, unreliable, suspicious；If the element state be it is reliable, according to the element
Information generates control decision.To realize according to the reliability figure layer in high-precision map, quickly generates automatic Pilot control and determine
The purpose of plan improves accuracy, the real-time of servomechanism decision.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the schematic illustration of an application scenarios of the invention；
Fig. 2 is the flow chart for the automatic Pilot control method that the embodiment of the present invention one provides；
Fig. 3 is the flow chart of automatic Pilot control method provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram for the automatic Pilot control device that the embodiment of the present invention three provides；
Fig. 5 is the structural schematic diagram for the automatic Pilot control device that the embodiment of the present invention four provides；
Fig. 6 is the structural schematic diagram for the automatic driving control system that the embodiment of the present invention five provides.
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
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Description and claims of this specification and term " first ", " second ", " third " " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
Technical solution of the present invention is described in detail with specifically embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 1 is the schematic illustration of an application scenarios of the invention, as shown in Figure 1, passing through the collected ring of vehicle sensors
Border information judges the element in the reliability figure layer of high-precision map；If element state be it is reliable, believed according to element
Breath quickly generates control decision；If element state be it is unreliable or suspicious, to the corresponding element information of server feedback so that
It obtains server to be updated element information, obtains updated high-precision map.
Using the above method, may be implemented to construct in high-precision map can be known by the low resolution sensing device of vehicle
Other reliability figure layer, and the information real-time in reliability figure layer is high, accurate and reliable, is quickly generated certainly according to reliability figure layer
The purpose of dynamic Driving control decision, to improve real-time, the accuracy for generating automatic Pilot control decision.
How to be solved with technical solution of the specifically embodiment to technical solution of the present invention and the application below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 2 is the flow chart for the automatic Pilot control method that the embodiment of the present invention one provides, as shown in Fig. 2, the present embodiment
In method may include:
S101, high-precision map is obtained, high-precision map includes reliability figure layer.
In the present embodiment, the reliability figure layer of high-precision map be according to the road layer of original high-precision map, lane layer,
What the element information extracted in location data layer generated；Wherein, element information includes: administrative information region, traffic mark letter
Breath, road information, physical barrier information etc. are in automatic Pilot decision, the important and information that needs to judge in advance.
Specifically, the reliability figure layer of high-precision map is road layer, the lane layer, positioning according to original high-precision map
What the element information extracted in data Layer generated, the element information in reliability figure layer includes Property ID, element state, element
The information such as position.Wherein, element information includes: administrative information region, traffic mark information, road information, physical barrier letter
Breath.Administrative division information is highly stable information, by administrative division, understand automatic driving vehicle traveling which country,
Which province assists servomechanism to carry out by the available each specific traffic rule in province of administrative division information
Decision.For example, the traffic law of country variant is different, Britain is to keep to the left, and China is to keep to the right.Traffic mark letter
Breath includes lane line, road surface arrow, road surface prompt text, nameplate, signal lamp, street lamp, channelizing line etc., assists automatic Pilot
Device carries out decision.For example, if generating cutoff command when judging signal lamp for red light.Road information includes travel
Attribute is closed, if Totally-enclosed-type road and non-Totally-enclosed-type road, such as backroad, urban road are non-Totally-enclosed-type road,
Highway is Totally-enclosed-type road, can take different automatic Pilot control strategies according to the closing attribute of road.For example,
If judge road information for the highway of Totally-enclosed-type, road information further includes ring road information, in the ring road of highway
There is the remittance of vehicle at place or is driven out to.Due on a highway when driving, automatic driving vehicle is by other vehicles and traffic
Interference is small, therefore can quickly travel, and improves speed.But when close to ring road, automatic driving vehicle can be carried out in advance
Risk-aversion prepares, such as regulation speed, keeps the spacing etc. with other vehicles.Physical barrier information includes greening isolation
The danger such as vehicle collision can be effectively prevented according to physical isolation information judgement in band, roadblock etc., for example, high speed entrance,
Charge station is a kind of more complicated scene, and vehicle flowrate is big in the regional scope, and road conditions are complicated, and automatic driving vehicle needs foundation
Judge white guiding region or physical isolation, makes accurate judgement.These reliability map data mining platforms are easy by low point of vehicle
The identification of resolution sensor, can be improved real-time, the accuracy for generating automatic Pilot control decision；
It should be noted that the present embodiment does not limit the element information content of reliability graph layer, those skilled in the art
It can increase according to the actual situation or reduce the element information of reliability figure layer.
S102, the current location according to vehicle, extract element information from reliability figure layer.
In the present embodiment, according to the current location of vehicle, changing coordinates of the vehicle in high-precision map are determined；From reliable
Property figure layer in extract corresponding with changing coordinates element information.
S103, the collected environmental information of vehicle sensors is obtained.
In the present embodiment, ring is obtained by spacing radar, imaging sensor, the alignment sensor etc. on automatic driving vehicle
Border information.Wherein, spacing radar is the component part of adaptive cruise control system, can realize spacing using laser radar
Measurement.Specifically, the speed regulating device of adaptive cruise control system is measured and front automobile by spacing radar
Spacing distance and relative velocity.Imaging sensor can be camera, camera etc..Alignment sensor can be the complete of vehicle self-carrying
Ball positioning system (Global Positioning System, GPS), Beidou satellite navigation system, Global Satellite Navigation System
(Global Navigation Satellite System, GNSS) etc..
S104, according to environmental information, determine the element state of element information；Wherein, element state include: it is reliable, can not
It leans on, is suspicious.
In the present embodiment, according to environmental information, judge whether element information matches with environmental information；If matching, it is determined that
The element state of element information is reliable；If mismatching, it is determined that the element state of element information is unreliable；If matching result
It is not unique, it is determined that the element state of element information is suspicious.If element state be it is suspicious, illustrate that the element information cannot be by vehicle
Low Resolution Sensor identification.It is thereby achieved that original high-precision map information filtering, reduces information content, reservation can
The element information identified by vehicle sensors.
It should be noted that element information can be administrative information region, traffic mark information, road information, physics every
From object information etc. in automatic Pilot decision, the important and information that needs to judge in advance；Environmental information be mainly imaging sensor,
The collected information such as alignment sensor.During carrying out element information and environmental information is matched, only between same alike result
Information be compared.For example, element information is traffic mark information, then only to traffic information mark collected in environmental information
Know information to be matched.
Specifically, by taking traffic mark information as an example, it is assumed that collected present image sensor includes traffic mark information
Picture in, speed limit 80km/h；And the traffic mark information in high-precision map is speed limit 100km/h；Then judge that element is believed
Breath and environmental information mismatch.If speed limit is in the collected picture comprising traffic mark information of present image sensor
80km/h；And the traffic mark information in high-precision map is speed limit 80km/h；Then judge element information and environmental information matching.
In a kind of possible situation, it is assumed that the collected picture comprising traffic mark information of present image sensor
In, it can not clearly identify traffic mark information, but the profile information of available traffic signboard, by feature point extraction
Later, the profile of the traffic signboard and profile of the profile of speed limit signboard, left-hand rotation Sign Board etc. in high-precision map are multiple
Sign Board matches, and matching result is not unique at this time.If S105, element state be it is reliable, according to element information generate control
Decision.
In the present embodiment, automatic Pilot control decision is what reliable element information generated according to element state, to mention
The high accuracy for generating automatic Pilot control decision.In addition, since high reliability figure layer element information amount is compared to traditional
High-precision map will reduce a lot, therefore can shorten the information acquisition times of automatic driving vehicle, enable automatic driving vehicle
It is enough quickly to make Driving Decision-making.
The present embodiment, by obtaining high-precision map, high-precision map includes reliability figure layer；According to the present bit of vehicle
It sets, extracts element information from reliability figure layer；Obtain the collected environmental information of vehicle sensors；According to environmental information, really
Determine the element state of element information；Wherein, element state includes: reliable, unreliable, suspicious；If element state is reliable, root
Control decision is generated according to element information.To realize according to the reliability figure layer in high-precision map, automatic Pilot is quickly generated
The purpose of control decision improves accuracy, the real-time of servomechanism decision.
Fig. 3 is the flow chart of automatic Pilot control method provided by Embodiment 2 of the present invention, as shown in figure 3, the present embodiment
In method may include:
S201, high-precision map is obtained, high-precision map includes reliability figure layer.
S202, the current location according to vehicle, extract element information from reliability figure layer.
S203, the collected environmental information of vehicle sensors is obtained.
S204, according to environmental information, determine the element state of element information；Wherein, element state include: it is reliable, can not
It leans on, is suspicious.
If S205, element state be it is reliable, according to element information generate control decision.
In the present embodiment, step S201~step S205 specific implementation process and technical principle are shown in Figure 2
Associated description in method in step S101~step S105, details are not described herein again.
If S206, element state be it is unreliable or suspicious, to the corresponding element information of server feedback, so that service
Device differentiates that result meets element update condition if differentiating to element information, is updated, obtains to the element information
Updated high-precision map.
In the present embodiment, server receives to be labeled as unreliable or suspicious element information by vehicle system, then to wanting
Prime information differentiate, wherein updated core elements condition includes: that the clarity of element information correspondence image reaches preset and wants
It asks, and/or there are N number of above vehicle systems to upload identical element information.Wherein, the natural number that N is big 1.
Specifically, whether the clarity of diagnostic feature information correspondence image reaches preset requirement first, if not reaching requirement,
Then server is not updated element information.If the clarity of the corresponding image of element information reaches preset requirement, can
To further determine whether that N number of above vehicle system uploads identical element information, if so, server is to element information
It is updated.
High-precision map is updated according to element state, ensure that the letter in the reliability figure layer in high-precision map
Cease real-time and accuracy.
S207, the updated high-precision map that server is sent is received.
In the present embodiment, the updated high-precision map that vehicle system real-time reception server is sent, to improve
Accuracy, the real-time of servomechanism decision.
The present embodiment, by obtaining high-precision map, high-precision map includes reliability figure layer；According to the present bit of vehicle
It sets, extracts element information from reliability figure layer；Obtain the collected environmental information of vehicle sensors；According to environmental information, really
Determine the element state of element information；Wherein, element state includes: reliable, unreliable, suspicious；If element state is reliable, root
Control decision is generated according to element information.To realize according to the reliability figure layer in high-precision map, automatic Pilot is quickly generated
The purpose of control decision improves accuracy, the real-time of servomechanism decision.
In addition, the present embodiment to be updated to high-precision map, and can be received to server feedback element information
The updated high-precision map that server is sent, to improve the real-time and standard of the reliability figure layer in high-precision map
True property, and then improve the accuracy of servomechanism decision, real-time.
Fig. 4 is the structural schematic diagram for the automatic Pilot control device that the embodiment of the present invention three provides, as shown in figure 5, this reality
The automatic Pilot control device for applying example may include:
First obtains module 31, and for obtaining high-precision map, high-precision map includes reliability figure layer；
Extraction module 32 extracts element information from reliability figure layer for the current location according to vehicle；
Second obtains module 33, for obtaining the collected environmental information of vehicle sensors；
Analysis module 34, for determining the element state of element information according to environmental information；Wherein, element state includes:
Reliably, unreliable, suspicious；
Control module 35, if for element state be it is reliable, according to element information generation control decision.
In a kind of possible design, the reliability figure layer of high-precision map is the road according to original high-precision map
Layer, lane layer, the element information extracted in location data layer generate；Wherein, element information include: administrative information region,
Traffic mark information, road information, physical barrier information.
In a kind of possible design, extraction module 32 is specifically used for:
According to the current location of vehicle, changing coordinates of the vehicle in high-precision map are determined；
Element information corresponding with changing coordinates is extracted from reliability figure layer.
In a kind of possible design, analysis module 34 is specifically used for:
According to environmental information, judge whether element information matches with environmental information；If matching, it is determined that element information is wanted
Plain state is reliable；If mismatching, it is determined that the element state of element information is unreliable；If matching result is not unique, really
It is suspicious for determining the element state of element information.
The present embodiment, by obtaining high-precision map, high-precision map includes reliability figure layer；According to the present bit of vehicle
It sets, extracts element information from reliability figure layer；Obtain the collected environmental information of vehicle sensors；According to environmental information, really
Determine the element state of element information；Wherein, element state includes: reliable, unreliable, suspicious；If element state is reliable, root
Control decision is generated according to element information.To realize according to the reliability figure layer in high-precision map, automatic Pilot is quickly generated
The purpose of control decision improves accuracy, the real-time of servomechanism decision.
The automatic Pilot control device of the present embodiment can execute the technical solution in method shown in Fig. 2, specific implementation
Associated description in process and technical principle method shown in Figure 2, details are not described herein again.
Fig. 5 is the structural schematic diagram for the automatic Pilot control device that the embodiment of the present invention four provides, as shown in figure 5, this reality
On the basis of the automatic Pilot control device device shown in Fig. 4 for applying example, can also include:
Feedback module 36, for according to environmental information, after the element state for determining element information, if element state is
It is unreliable or suspicious, then to the corresponding element information of server feedback, so that server differentiates element information, if sentencing
Other result meets element update condition, then is updated to the element information, obtains updated high-precision map；
Receiving module 37, for receiving the updated high-precision map of server transmission.
The present embodiment, by obtaining high-precision map, high-precision map includes reliability figure layer；According to the present bit of vehicle
It sets, extracts element information from reliability figure layer；Obtain the collected environmental information of vehicle sensors；According to environmental information, really
Determine the element state of element information；Wherein, element state includes: reliable, unreliable, suspicious；If element state is reliable, root
Control decision is generated according to element information.To realize according to the reliability figure layer in high-precision map, automatic Pilot is quickly generated
The purpose of control decision improves accuracy, the real-time of servomechanism decision.
In addition, the present embodiment to be updated to high-precision map, and can be received to server feedback element information
The updated high-precision map that server is sent, to improve the real-time and standard of the reliability figure layer in high-precision map
True property, and then improve the accuracy of servomechanism decision, real-time.
The automatic Pilot control device of the present embodiment, can execute the technical solution in method shown in Fig. 2, Fig. 3, specific
The associated description of realization process and technical principle referring to fig. 2, in method shown in Fig. 3, details are not described herein again.
Fig. 6 is the structural schematic diagram for the automatic driving control system that the embodiment of the present invention five provides, as shown in fig. 6, this reality
The automatic driving control system 40 for applying example may include: processor 41 and memory 42.
Memory 42 (such as realizes application program, the function of above-mentioned automatic Pilot control method for storing computer program
Module etc.), computer instruction etc.；
Above-mentioned computer program, computer instruction etc. can be with partitioned storages in one or more memories 42.And
Above-mentioned computer program, computer instruction, data etc. can be called with device 41 processed.
Processor 41, for executing the computer program of the storage of memory 42, to realize method that above-described embodiment is related to
In each step.
It specifically may refer to the associated description in previous methods embodiment.
Processor 41 and memory 42 can be absolute construction, be also possible to the integrated morphology integrated.Work as processing
When device 41 and memory 42 are absolute construction, memory 42, processor 41 can be of coupled connections by bus 43.
The server of the present embodiment can execute the technical solution in method shown in Fig. 2, Fig. 3, specific implementation process and
Associated description of the technical principle referring to fig. 2, in method shown in Fig. 3, details are not described herein again.
In addition, the embodiment of the present application also provides a kind of computer readable storage medium, deposited in computer readable storage medium
Computer executed instructions are contained, when at least one processor of user equipment executes the computer executed instructions, user equipment
Execute above-mentioned various possible methods.
Wherein, computer-readable medium includes computer storage media and communication media, and wherein communication media includes being convenient for
From a place to any medium of another place transmission computer program.Storage medium can be general or specialized computer
Any usable medium that can be accessed.A kind of illustrative storage medium is coupled to processor, to enable a processor to from this
Read information, and information can be written to the storage medium.Certainly, storage medium is also possible to the composition portion of processor
Point.Pocessor and storage media can be located in ASIC.In addition, the ASIC can be located in user equipment.Certainly, processor and
Storage medium can also be used as discrete assembly and be present in communication equipment.
The application also provides a kind of program product, and program product includes computer program, and computer program is stored in readable
In storage medium, at least one processor of server can read computer program from readable storage medium storing program for executing, at least one
Reason device executes the automatic Pilot control method that computer program makes the server implementation embodiments of the present invention any.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of automatic Pilot control method characterized by comprising
High-precision map is obtained, the high-precision map includes reliability figure layer；
According to the current location of vehicle, element information is extracted from the reliability figure layer；
Obtain the collected environmental information of vehicle sensors；
According to the environmental information, the element state of the element information is determined；Wherein, the element state includes: reliably, no
Reliably, suspicious；
If the element state be it is reliable, according to the element information generate control decision.
2. the method according to claim 1, wherein the reliability figure layer of the high-precision map is according to original
The road layer of high-precision map, lane layer, the element information extracted in location data layer generate.
3. the method according to claim 1, wherein according to the current location of vehicle, from the reliability figure layer
Middle extraction element information, comprising:
According to the current location of vehicle, changing coordinates of the vehicle in high-precision map are determined；
Element information corresponding with the changing coordinates is extracted from the reliability figure layer.
4. the method according to claim 1, wherein determining the element information according to the environmental information
Element state, comprising:
According to the environmental information, judge whether the element information matches with the environmental information；If matching, it is determined that described
The element state of element information is reliable；If mismatching, it is determined that the element state of the element information is unreliable；If matching
As a result not unique, it is determined that the element state of the element information is suspicious.
5. method according to any of claims 1-4, which is characterized in that according to the environmental information, determine described in
After the element state of element information, further includes:
If the element state be it is unreliable or suspicious, to the corresponding element information of server feedback, so that the service
Device differentiates that result meets element update condition if differentiating to the element information, is updated to the element information,
Obtain updated high-precision map；
Receive the updated high-precision map that server is sent.
6. a kind of automatic Pilot control device characterized by comprising
First obtains module, and for obtaining high-precision map, the high-precision map includes reliability figure layer；
Extraction module extracts element information from the reliability figure layer for the current location according to vehicle；
Second obtains module, for obtaining the collected environmental information of vehicle sensors；
Analysis module, for determining the element state of the element information according to the environmental information；Wherein, the element shape
State includes: reliable, unreliable, suspicious；
Control module, if for the element state be it is reliable, according to the element information generation control decision.
7. device according to claim 6, which is characterized in that the reliability figure layer of the high-precision map is according to original
The road layer of high-precision map, lane layer, the element information extracted in location data layer generate.
8. device according to claim 6 or 7, which is characterized in that further include:
Feedback module, for according to the environmental information, after the element state for determining the element information, if the element
State be it is unreliable or suspicious, then to the corresponding element information of server feedback, so that the server believes the element
Breath is updated, and obtains updated high-precision map；
Receiving module, for receiving the updated high-precision map of server transmission.
9. a kind of automatic driving control system characterized by comprising memory and processor are stored in memory described
The executable instruction of processor；Wherein, the processor is configured to carry out perform claim requirement via the execution executable instruction
Automatic Pilot control method described in any one of 1-5.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
Automatic Pilot control method of any of claims 1-5 is realized when execution.
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