CN112748720A - Control method, device, equipment and storage medium for automatic driving vehicle - Google Patents
Control method, device, equipment and storage medium for automatic driving vehicle Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The application discloses a control method, a control device, control equipment and a storage medium for an automatic driving vehicle, and relates to the technical field of automatic driving. At least one embodiment of the control method of the autonomous vehicle is: by acquiring the position of the autonomous vehicle 3 and the direction of travel of the autonomous vehicle; judging whether the position of the automatic driving vehicle and the driving direction of the automatic driving vehicle meet preset conditions at the same time; if so, acquiring a preset dynamic parameter corresponding to the preset condition, and enabling the automatic driving vehicle to run according to the preset dynamic parameter. According to the embodiment of the application, when the position and the driving direction of the automatic driving vehicle meet the preset conditions, the automatic driving system does not adopt certain initial parameters any more, but adopts preset dynamic parameters to control the automatic driving vehicle to drive, so that the automatic driving vehicle can quickly adapt to various scenes, the safe driving is realized, dynamic modification or adjustment of an algorithm is not needed, and the cost for modifying or adjusting the algorithm is saved.
Description
Technical Field
The application relates to the technical field of computers, in particular to an automatic driving technology.
Background
With the development of technology, the automatic driving vehicle becomes an important development direction of future automobiles.
During the driving process of the automatic driving vehicle, the automatic driving vehicle can control the automatic driving process according to some fixed algorithms. However, because the road environment is complicated and changeable, for example, the width of the road is narrowed due to temporary stop of a vehicle beside the road or the width of the road is narrowed due to green invasion, and the like, the fixed algorithm adopted in the control method of the automatic driving vehicle in the prior art cannot be well adapted to the situation that the road environment is changed, and there is a safety risk.
Disclosure of Invention
The application provides a control method, a control device, control equipment and a storage medium of an automatic driving vehicle, so that the automatic driving vehicle can better adapt to the condition that the road environment changes.
A first aspect of the present application provides a control method of an autonomous vehicle, including:
acquiring a position of the autonomous vehicle and a driving direction of the autonomous vehicle;
judging whether the position of the automatic driving vehicle and the driving direction of the automatic driving vehicle meet preset conditions at the same time;
if so, acquiring a preset dynamic parameter corresponding to the preset condition, and enabling the automatic driving vehicle to run according to the preset dynamic parameter.
By the method, when the position and the driving direction of the vehicle meet the preset conditions, the automatic driving system does not adopt certain initial parameters, but adopts the preset dynamic parameters to control the vehicle to drive, so that the vehicle can quickly adapt to various scenes, the safe driving is realized, the algorithm does not need to be dynamically modified or adjusted, and the cost for modifying or adjusting the algorithm is saved.
Further, the determining whether the position of the autonomous vehicle and the traveling direction of the autonomous vehicle satisfy preset conditions at the same time includes:
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in a preset direction allowed to run in the preset area or not.
Further, the determining whether the position of the autonomous vehicle is in a preset area and whether the driving direction of the autonomous vehicle is in a preset direction in which the preset area allows driving includes:
acquiring a preset direction allowed to run in the preset area at the current moment;
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in the preset direction or not.
Further, before determining whether the position of the autonomous vehicle and the traveling direction of the autonomous vehicle satisfy the preset condition at the same time, the method further includes:
acquiring the preset condition and a preset dynamic parameter corresponding to the preset condition; storing the preset conditions and the preset dynamic parameters in a local storage unit of the autonomous vehicle.
A second aspect of the present application provides a control apparatus of an autonomous vehicle, comprising:
an acquisition module for acquiring a position of the autonomous vehicle and a driving direction of the autonomous vehicle;
the judging module is used for judging whether the position of the automatic driving vehicle and the running direction of the automatic driving vehicle meet preset conditions at the same time;
and the control module is used for acquiring a preset dynamic parameter corresponding to a preset condition when judging that the preset condition is met, so that the automatic driving vehicle runs according to the preset dynamic parameter.
A third aspect of the present application provides an electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
A fourth aspect of the present application provides a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.
A fifth aspect of the application provides a computer program comprising program code for performing the method according to the first aspect when the computer program is run by a computer.
A sixth aspect of the present application provides a control method of an autonomous vehicle,
acquiring preset dynamic parameters according to the position and the driving direction of the automatic driving vehicle;
and controlling the automatic driving vehicle to run according to the preset dynamic parameters.
One embodiment in the above application has the following advantages or benefits: by obtaining a position of the autonomous vehicle and a direction of travel of the autonomous vehicle; judging whether the position of the automatic driving vehicle and the driving direction of the automatic driving vehicle meet preset conditions at the same time; if so, acquiring a preset dynamic parameter corresponding to the preset condition, and enabling the automatic driving vehicle to run according to the preset dynamic parameter. According to the embodiment of the application, when the position and the driving direction of the automatic driving vehicle meet the preset conditions, the automatic driving system does not adopt certain initial parameters any more, but adopts preset dynamic parameters to control the vehicle to drive, so that the automatic driving vehicle can quickly adapt to various scenes, safe driving is realized, dynamic modification or adjustment of an algorithm is not needed, and the cost for modifying or adjusting the algorithm is saved.
Other effects of the above-described alternative will be described below with reference to specific embodiments.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is a flow chart of a method for controlling an autonomous vehicle provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of preset conditions provided by an embodiment of the present application;
FIG. 3 is a schematic diagram of preset conditions provided by another embodiment of the present application;
FIG. 4 is a flow chart of a method of controlling an autonomous vehicle provided by another embodiment of the present application;
FIG. 5 is a flow chart of a method of controlling an autonomous vehicle provided by another embodiment of the present application;
fig. 6 is a block diagram of a control device of an autonomous vehicle according to an embodiment of the present application;
fig. 7 is a block diagram of an electronic device for implementing the control method of an autonomous vehicle according to the embodiment of the present application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
An embodiment of the present application provides a control method for an autonomous vehicle, and fig. 1 is a flowchart of the control method for an autonomous vehicle according to the embodiment of the present invention. As shown in fig. 1, the control method of the autonomous vehicle includes the following specific steps:
s101, acquiring the position of the automatic driving vehicle and the running direction of the automatic driving vehicle.
In this embodiment, the position of the autonomous vehicle may be obtained through a Positioning System of the autonomous vehicle, where the Positioning System is not limited to a Global Positioning System (GPS) and a beidou satellite navigation System, and the driving direction of the autonomous vehicle may be detected through a direction sensor or the like, or detected by using other sensors, which is not described herein again.
S102, judging whether the position of the automatic driving vehicle and the running direction of the automatic driving vehicle meet preset conditions at the same time;
and S103, if so, acquiring a preset dynamic parameter corresponding to the preset condition, and enabling the automatic driving vehicle to run according to the preset dynamic parameter.
In the prior art, in the automatic driving process of an automatic driving vehicle, an algorithm for controlling the automatic driving vehicle is adopted by an automatic driving system, and parameters corresponding to the algorithm and the algorithm are usually fixed, but the algorithm cannot be applied in some scenes in which the environment changes continuously, for example, a vehicle stops beside a road in a certain area, so that the road width is narrowed, and the like. Therefore, in this embodiment, at least one preset condition may be configured in advance, each preset condition is configured with at least one preset dynamic parameter, the preset dynamic parameter is a parameter that the automatic driving system needs to modify in some special scenes, and the preset condition corresponding to the preset dynamic parameter is a condition that the preset dynamic parameter becomes effective, the preset condition is specifically a condition that defines the position and the driving direction of the automatic driving vehicle, that is, when the position and the driving direction of the automatic driving vehicle satisfy the preset condition, the parameters related to the automatic driving system of the automatic driving vehicle are modified according to the corresponding preset dynamic parameters, so that the automatic driving vehicle can respond to scenes in which the environment changes continuously only by modifying the parameters, thereby implementing safe driving of the automatic driving vehicle without modifying the algorithm itself or writing corresponding algorithms for the scenes, the algorithm development cost is saved; and if the position and the running direction of the automatic driving vehicle do not meet the preset conditions, the automatic driving system still continues to control the automatic driving vehicle to run according to the initial parameters.
Specifically, the preset condition includes a preset area and a preset direction, that is, when the position of the autonomous driving vehicle is in the preset area and the driving direction is in the preset direction, it is determined that the position and the driving direction of the autonomous driving vehicle satisfy the preset condition. For example, for a preset area a, vehicles are temporarily parked beside a road in a road segment from south to north to narrow the width of the road, and the road width of the road segment from north to south is a normal width, the preset conditions may include that the preset area is a and the preset direction is from south to north, so after the position and the driving direction of the automatically-driven vehicle are obtained, it is determined that the position of the automatically-driven vehicle is currently in the preset area a, and if the driving direction of the automatically-driven vehicle is from south to north, the preset conditions are met, and the automatically-driven system of the automatically-driven vehicle needs to control the automatically-driven vehicle to drive according to preset dynamic parameters corresponding to the preset conditions to avoid the parked vehicles beside the road; if the driving direction of the automatic driving vehicle is from north to south, the preset condition is not met, and the automatic driving system still continues to control the automatic driving vehicle to drive according to the initial parameters.
Optionally, in this embodiment, the preset conditions and the preset dynamic parameters corresponding to the preset conditions may be pre-stored in the local storage unit of the autonomous vehicle, or may be dynamically acquired from a server in communication with the autonomous vehicle and then stored in the local storage unit of the autonomous vehicle, and a determination module may determine whether there is a valid preset condition according to the acquired position and driving direction of the autonomous vehicle; in addition, the acquired position and the driving direction of the automatic driving vehicle can be sent to the server, the server judges whether the preset condition is met, and if the preset condition is met, the server sends the preset dynamic parameters corresponding to the preset condition to the automatic driving vehicle.
In the control method of the autonomous vehicle provided by the embodiment, the position of the autonomous vehicle and the running direction of the autonomous vehicle are obtained; judging whether the position of the automatic driving vehicle and the driving direction of the automatic driving vehicle meet preset conditions at the same time; if so, acquiring a preset dynamic parameter corresponding to the preset condition, and enabling the automatic driving vehicle to run according to the preset dynamic parameter. In the embodiment, when the position and the driving direction of the automatic driving vehicle meet the preset conditions, the automatic driving system does not adopt certain initial parameters, but adopts the preset dynamic parameters to control the automatic driving vehicle to drive, so that the automatic driving vehicle can quickly adapt to various scenes, the safe driving is realized, the algorithm does not need to be dynamically modified or adjusted, and the cost for modifying or adjusting the algorithm is saved.
On the basis of the above embodiment, the determining whether the position of the autonomous vehicle and the traveling direction of the autonomous vehicle satisfy preset conditions at the same time includes:
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in a preset direction allowed to run in the preset area or not.
In this embodiment, the preset area may be determined by position information of several position points. As shown in fig. 2, the preset area a may be determined by coordinates of four location points a1, a2, A3, a 4. The driving direction may be a direction range, and a sector area may be used to indicate the direction range of the driving direction, and when the driving direction is in the sector area, the driving direction is in the preset direction. It should be noted that, in different preset conditions, both the preset region and the preset direction may be different, that is, in a preset condition, the preset region and the preset direction are corresponding to each other.
On the basis of the above embodiment, the determining whether the position of the autonomous vehicle is in a preset area and whether the traveling direction of the autonomous vehicle is in a preset direction in which traveling is permitted in the preset area includes:
acquiring a preset direction allowed to run in the preset area at the current moment;
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in the preset direction or not.
In this embodiment, since the roads in some areas may be tidal lanes, that is, the driving directions of the vehicles specified by some lanes may change in different time periods (for example, in morning and evening during a peak period), in some preset conditions, the preset areas may include tidal lanes, and the preset directions defined by the preset areas may correspond to different preset directions in different time periods, so that before the determination of the vehicle position and the driving direction, the preset directions corresponding to the preset areas need to be obtained according to the current time.
For example, as shown in fig. 3, the preset conditions may include that the preset area is a, the preset direction is from south to north in the first time period, the preset direction is from north to south in the second time period, and if the current time is in the first time period, the position of the autonomous vehicle is in the preset area a, and the driving direction of the autonomous vehicle is from south to north, the preset conditions are satisfied; if the current time is within the second time period, the position of the automatic driving vehicle is in the preset area A, and the driving direction of the automatic driving vehicle is from north to south, the preset condition is also met; except the two conditions, the other conditions do not meet the preset conditions.
On the basis of the above embodiment, as shown in fig. 4, the causing the autonomous vehicle to travel according to the preset dynamic parameter in S103 includes:
s201, modifying relevant parameters of an automatic driving system of the automatic driving vehicle according to the preset dynamic parameters;
and S202, controlling the automatic driving vehicle to run by the automatic driving system after the parameters are modified.
In this embodiment, relevant parameters of the autonomous driving system, specifically relevant parameters in an algorithm for controlling the autonomous vehicle of the autonomous driving system, may be modified according to preset dynamic parameters corresponding to the obtained preset conditions. One of the algorithms may correspond to at least one predetermined condition and at least one predetermined dynamic parameter.
Specifically, the modifying the relevant parameters of the automatic driving system according to the preset dynamic parameters includes: and modifying related parameters of at least one module of a path planning module, a control module and a sensing module of the automatic driving system according to the preset dynamic parameters. The path planning module is used for planning a running path of the automatic driving vehicle; the control module is used for controlling the automatic driving vehicle to automatically drive according to the planned driving path, the electronic map and the like; the sensing module is used for sensing the surrounding environment information of the automatic driving vehicle and also can obtain the information of the automatic driving vehicle. By modifying the relevant parameters of at least one module, the modules can execute corresponding operations according to preset dynamic parameters. That is, the path planning module after the parameters are modified can plan a driving route according to the preset dynamic parameters, the control module after the parameters are modified can control the automatic driving vehicle to automatically drive according to the preset dynamic parameters, and the sensing module after the parameters are modified can sense the surrounding environment information of the automatic driving vehicle and acquire the information of the automatic driving vehicle according to the preset dynamic parameters.
Taking the above example as an example, for the preset area a, the width of the road is narrowed due to temporarily parking a vehicle beside the road in the road segment from south to north, and the width of the road in the road segment from north to south is the normal width, the preset condition may include that the preset area is a, the preset direction is from south to north, the preset dynamic parameter corresponding to the preset condition is the speed limit of 20 km/h, and the initial parameter of a certain algorithm of the control module is the speed limit of 30 km/h. When the position of the automatic driving vehicle is judged to be in the preset area A at present, and the driving direction of the automatic driving vehicle is from south to north, the preset condition is met, so that the control module can acquire that the preset dynamic parameter corresponding to the preset condition is the speed limit of 20 kilometers per hour, then the speed limit in the algorithm of the control module is modified according to the preset dynamic parameter, and then the control module can control the automatic driving vehicle to drive according to the preset dynamic parameter, namely the automatic driving vehicle drives at the speed limit of 20 kilometers per hour. In addition, the driving path of the automatic driving vehicle can be planned by the path planning module according to the road width change, so that the automatic driving vehicle can safely pass through the road section. And if the position and the running direction of the automatic driving vehicle do not meet the preset conditions, the control module still controls the automatic driving vehicle to run according to the initial parameters, namely the automatic driving vehicle runs at the speed limit of 30 kilometers per hour. In the above example, the automatic driving vehicle can safely pass through the road section by directly modifying the parameters of the control module and/or the path planning module without modifying the map, so that the cost is saved.
On the basis of any of the above embodiments, when a preset dynamic parameter corresponding to a preset condition is obtained, the preset dynamic parameter may be sent to at least one of the path planning module, the control module, and the sensing module.
In this embodiment, when the position and the driving direction of the autonomous vehicle satisfy the preset conditions, only the relevant parameters of at least one of the path planning module, the control module, and the sensing module need to be modified, and therefore only the preset dynamic parameters need to be sent to the module that needs to modify the parameters.
In an optional embodiment, the preset dynamic parameter may be sent in a publish/subscribe (pub/sub) manner, as shown in fig. 5, the specific steps are as follows:
s301, broadcasting the preset dynamic parameters to the path planning module, the control module and the sensing module, wherein the preset dynamic parameters carry parameter types;
s302, the path planning module, the control module and the sensing module are controlled to broadcast and receive the preset dynamic parameters according to the pre-subscribed parameter types.
In this embodiment, since the types of parameters required by different modules may be different, the received types of parameters may be configured for the path planning module, the control module, and the sensing module in advance, and then the preset dynamic parameters may be broadcasted to the path planning module, the control module, and the sensing module when the preset dynamic parameters are issued, and the parameters are carried, and each module may determine whether the preset dynamic parameters are the types of parameters required by itself according to the types of parameters, if so, receive the preset dynamic parameters, and if not, discard the preset dynamic parameters.
The control method for the automatic driving vehicle provided by each embodiment can enable the automatic driving system to control the automatic driving vehicle to drive by adopting the preset dynamic parameters instead of certain initial parameters when the position and the driving direction of the automatic driving vehicle meet the preset conditions, so that the automatic driving vehicle can quickly adapt to various scenes to realize safe driving without dynamically modifying or adjusting the algorithm, and the cost of modifying or adjusting the algorithm is saved.
Fig. 6 is a structural diagram of a control device of an autonomous vehicle according to an embodiment of the present invention. As shown in fig. 6, control device 600 of the autonomous vehicle specifically includes: an obtaining module 601, a determining module 602, and a control module 603.
An obtaining module 601, configured to obtain a position of the autonomous vehicle and a driving direction of the autonomous vehicle;
a determining module 602, configured to determine whether a position of the autonomous vehicle and a driving direction of the autonomous vehicle meet preset conditions at the same time;
the control module 603 is configured to, when it is determined that a preset condition is met, obtain a preset dynamic parameter corresponding to the preset condition, so that the autonomous vehicle travels according to the preset dynamic parameter.
On the basis of the foregoing embodiment, the determining module 602 is configured to:
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in a preset direction allowed to run in the preset area or not.
On the basis of the foregoing embodiment, the determining module 602 is configured to:
acquiring a preset direction allowed to run in the preset area at the current moment;
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in the preset direction or not.
On the basis of the foregoing embodiment, the obtaining module 601 is further configured to:
acquiring the preset condition and a preset dynamic parameter corresponding to the preset condition;
storing the preset conditions and the preset dynamic parameters in a local storage unit of the autonomous vehicle.
On the basis of the above embodiment, the control module 603 is configured to:
modifying relevant parameters of an automatic driving system of the automatic driving vehicle according to the preset dynamic parameters;
and controlling the automatic driving vehicle to run by the automatic driving system after the parameters are modified.
On the basis of the above embodiment, the control module 603 is configured to:
and modifying related parameters of at least one module of a path planning module of the automatic driving system, a control module of the automatic driving system and a perception module of the automatic driving system according to the preset dynamic parameters.
On the basis of the above embodiment, the control module 603 is configured to:
and sending the preset dynamic parameters to at least one of a path planning module of the automatic driving system, a control module of the automatic driving system and a sensing module of the automatic driving system.
On the basis of the above embodiment, the control module 603 is configured to:
broadcasting the preset dynamic parameters to a path planning module of the automatic driving system, a control module of the automatic driving system and a sensing module of the automatic driving system, wherein the preset dynamic parameters carry parameter types;
and the path planning module for controlling the automatic driving system, the control module for controlling the automatic driving system and the sensing module for controlling the automatic driving system receive the preset dynamic parameters according to the pre-subscribed parameter types.
On the basis of the above embodiment, the control module 603 is configured to:
controlling the autonomous vehicle by the modified autonomous system at least one of:
planning a driving route according to the preset dynamic parameters, controlling the automatic driving process of the automatic driving vehicle, and acquiring information of the automatic driving vehicle and/or information of the surrounding environment of the automatic driving vehicle.
The control device of the autonomous vehicle provided in this embodiment may be specifically configured to execute the method embodiments provided in fig. 1, 4, and 5, and specific functions are not described herein again.
The control device of the autonomous vehicle according to the present embodiment obtains the position of the autonomous vehicle and the traveling direction of the autonomous vehicle; judging whether the position of the automatic driving vehicle and the driving direction of the automatic driving vehicle meet preset conditions at the same time; if so, acquiring a preset dynamic parameter corresponding to the preset condition, and enabling the automatic driving vehicle to run according to the preset dynamic parameter. In the embodiment, when the position and the driving direction of the automatic driving vehicle meet the preset conditions, the automatic driving system does not adopt certain initial parameters, but adopts the preset dynamic parameters to control the automatic driving vehicle to drive, so that the automatic driving vehicle can quickly adapt to various scenes, the safe driving is realized, the algorithm does not need to be dynamically modified or adjusted, and the cost for modifying or adjusting the algorithm is saved.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
As shown in fig. 7, is a block diagram of an electronic device of a control method of an autonomous vehicle according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 7, the electronic apparatus includes: one or more processors 701, a memory 702, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 7, one processor 701 is taken as an example.
The memory 702 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the method of controlling an autonomous vehicle provided herein. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to execute the control method of an autonomous vehicle provided by the present application.
The memory 702, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules (e.g., the obtaining module 601, the determining module 602, and the control module 603 shown in fig. 6) corresponding to the control method of the autonomous vehicle in the embodiment of the present application. The processor 701 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 702, that is, implements the control method of the autonomous vehicle described in the above method embodiment.
The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of an electronic device of a control method of an autonomous vehicle, and the like. Further, the memory 702 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 702 may optionally include memory located remotely from the processor 701, and these remote memories may be connected over a network to the electronics of the control method of the autonomous vehicle. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the control method of an autonomous vehicle may further include: an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703 and the output device 704 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.
The input device 703 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic equipment of the control method of the autonomous vehicle, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or other input devices. The output devices 704 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
According to the technical scheme of the embodiment of the application, the position of the automatic driving vehicle and the running direction of the automatic driving vehicle are obtained; judging whether the position of the automatic driving vehicle and the driving direction of the automatic driving vehicle meet preset conditions at the same time; if so, acquiring a preset dynamic parameter corresponding to the preset condition, and enabling the automatic driving vehicle to run according to the preset dynamic parameter. In the embodiment, when the position and the driving direction of the automatic driving vehicle meet the preset conditions, the automatic driving system does not adopt certain initial parameters, but adopts the preset dynamic parameters to control the automatic driving vehicle to drive, so that the automatic driving vehicle can quickly adapt to various scenes, the safe driving is realized, the algorithm does not need to be dynamically modified or adjusted, and the cost for modifying or adjusting the algorithm is saved.
The present application also provides a computer program comprising program code for executing the control method of an autonomous vehicle as described in the above embodiments, when the computer program is run by a computer.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A control method of an autonomous vehicle, characterized by comprising:
acquiring a position of an autonomous vehicle and a driving direction of the autonomous vehicle;
judging whether the position of the automatic driving vehicle and the driving direction of the automatic driving vehicle meet preset conditions at the same time;
if so, acquiring a preset dynamic parameter corresponding to the preset condition, and enabling the automatic driving vehicle to run according to the preset dynamic parameter.
2. The method of claim 1, wherein the determining whether the position of the autonomous vehicle and the direction of travel of the autonomous vehicle simultaneously satisfy a preset condition comprises:
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in a preset direction allowed to run in the preset area or not.
3. The method of claim 1, wherein the determining whether the position of the autonomous vehicle and the direction of travel of the autonomous vehicle simultaneously satisfy a preset condition comprises:
acquiring a preset direction allowed to run in the preset area at the current moment;
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in the preset direction or not.
4. The method according to any one of claims 1-3, wherein before determining whether the position of the autonomous vehicle and the direction of travel of the autonomous vehicle simultaneously satisfy a preset condition, further comprising:
acquiring the preset condition and a preset dynamic parameter corresponding to the preset condition;
storing the preset conditions and the preset dynamic parameters in a local storage unit of the autonomous vehicle.
5. A control apparatus of an autonomous vehicle, characterized by comprising:
an acquisition module for acquiring a position of an autonomous vehicle and a driving direction of the autonomous vehicle;
the judging module is used for judging whether the position of the automatic driving vehicle and the running direction of the automatic driving vehicle meet preset conditions at the same time;
and the control module is used for acquiring a preset dynamic parameter corresponding to a preset condition when judging that the preset condition is met, so that the automatic driving vehicle runs according to the preset dynamic parameter.
6. The apparatus of claim 5, wherein the determining module is configured to:
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in a preset direction allowed to run in the preset area or not.
7. The apparatus of claim 5, wherein the determining module is configured to:
acquiring a preset direction allowed to run in the preset area at the current moment;
and judging whether the position of the automatic driving vehicle is in a preset area or not and whether the running direction of the automatic driving vehicle is in the preset direction or not.
8. The apparatus of any of claims 5-7, wherein the obtaining module is further configured to:
acquiring the preset condition and a preset dynamic parameter corresponding to the preset condition;
storing the preset conditions and the preset dynamic parameters in a local storage unit of the autonomous vehicle.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
10. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-4.
11. A control method of an autonomous vehicle, characterized by comprising:
acquiring preset dynamic parameters according to the position and the driving direction of the automatic driving vehicle;
and controlling the automatic driving vehicle to run according to the preset dynamic parameters.
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