CN106200467A - For the method and apparatus controlling automatic driving vehicle - Google Patents
For the method and apparatus controlling automatic driving vehicle Download PDFInfo
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- CN106200467A CN106200467A CN201610576096.5A CN201610576096A CN106200467A CN 106200467 A CN106200467 A CN 106200467A CN 201610576096 A CN201610576096 A CN 201610576096A CN 106200467 A CN106200467 A CN 106200467A
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000004044 response Effects 0.000 claims abstract description 11
- 230000006854 communication Effects 0.000 claims description 78
- 238000004891 communication Methods 0.000 claims description 77
- 230000005540 biological transmission Effects 0.000 claims description 13
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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Abstract
This application discloses the method and apparatus for controlling automatic driving vehicle.One detailed description of the invention of described method includes: obtain the wagon control rule correspondence table pre-build, wherein, each wagon control rule in wagon control rule correspondence table and the association storage of corresponding type of vehicle, wagon control rule is for determining the physical parameter for the performer and performer performing control instruction according to the control parameter in control instruction with controlling parameter value；According to wagon control rule correspondence table, determine the wagon control rule that the type of vehicle with automatic driving vehicle associates；In response to control instruction that is that receive or that generate, use the control parameter in wagon control rule and control instruction and control parameter value, determine the physical parameter for the performer and performer performing control instruction；Performer determined by control works under corresponding physical parameter.This embodiment improves the control efficiency of the automatic driving vehicle to different model.
Description
Technical field
The application relates to field of computer technology, is specifically related to Internet technical field, unmanned particularly for controlling
The method and apparatus driving vehicle.
Background technology
The vehicle of different model has different control protocols, the control protocol of vehicle can include wagon control logic,
Wagon control rule, vehicle communication agreement etc..The wagon control logic of automatic driving vehicle can be according to current driving environment
Information makes the logic indicating the how action of this automatic driving vehicle.
But, the control method of existing automatic driving vehicle is typically the automatic driving vehicle use of each model should
Model distinctive wagon control logic, wagon control rule, vehicle communication agreement, need the nothing to Multiple Type in R&D process
People drives the control protocol of vehicle and carries out adaptive debugging, the control of the automatic driving vehicle to different model that accordingly, there are
Inefficient problem.
Summary of the invention
The purpose of the application be to propose a kind of improvement for the method and apparatus controlling automatic driving vehicle, solve
The technical problem that background section above is mentioned.
First aspect, this application provides a kind of method for controlling automatic driving vehicle, and described method includes: obtain
The wagon control rule correspondence table pre-build, wherein, each wagon control rule in described wagon control rule correspondence table
With corresponding type of vehicle association storage, wagon control rule is for according to the control parameter in control instruction and control parameter value
Determine the physical parameter for the performer and performer performing control instruction；Corresponding according to described wagon control rule
Table, determines the wagon control rule that the type of vehicle with described automatic driving vehicle associates；In response to that receive or generation
Control instruction, wagon control determined by use is regular and control parameter in described control instruction with control parameter value, really
Fixed for performing the performer of described control instruction and the physical parameter of performer；Determined by control, performer exists
Work under corresponding physical parameter.
In certain embodiments, after performer determined by described control works under corresponding physical parameter,
Described method also includes: gather the actual physics parameter of the described performer determined；Wagon control rule determined by according to,
Determine the control parameter value that described actual physics parameter is corresponding.
In certain embodiments, described method, in wagon control rule determined by described basis, determines described actual thing
After the control parameter value that reason parameter is corresponding, also include: according to the control parameter value in control instruction and actual physics parameter pair
The control parameter value answered, determines control assessed value.
In certain embodiments, described method, in wagon control rule determined by described basis, determines described actual thing
After the control parameter value that reason parameter is corresponding, also include: present the control parameter value corresponding with actual physics parameter.
In certain embodiments, performer determined by described control works under corresponding physical parameter, including: obtain
Pick up the car a communication protocol correspondence table, each vehicle communication agreement in described vehicle communication agreement correspondence table and corresponding vehicle class
Type association storage, vehicle communication agreement is for specifying the message transmission format within automatic driving vehicle；According to described vehicle control
The corresponding table of system rule, determines the vehicle communication agreement that the type of vehicle with automatic driving vehicle associates.
In certain embodiments, performer determined by described control works under corresponding physical parameter, including: root
Communication protocol determined by according to, is converted to the communication message of described automatic driving vehicle by the physical parameter of described correspondence；Send
Described communication message to determined by the electronic control unit of performer.
In certain embodiments, the described communication message of described transmission to determined by the electronics that is controlled of performer
Control unit, including: verify described communication message；Send the controller of the extremely described automatic driving vehicle of the communication message through verifying
Area Network bus, for described CAN bus transmit described communication message to determined by the electricity of performer
Sub-control unit；Monitor the transmission to described communication message of the described CAN bus.
Second aspect, this application provides a kind of device for controlling automatic driving vehicle, and described device includes: obtain
Unit, is configured to obtain the wagon control rule correspondence table pre-build, wherein, in described wagon control rule correspondence table
Each wagon control rule and the association storage of corresponding type of vehicle, wagon control rule is for according to the control in control instruction
Parameter determines the physical parameter for the performer and performer performing control instruction with controlling parameter value；First determines
Unit, is configured to, according to described wagon control rule correspondence table, determine that the type of vehicle with described automatic driving vehicle associates
Wagon control rule；Second determines unit, is configured to, in response to control instruction that is that receive or that generate, use and determined
Wagon control is regular and control parameter in described control instruction with control parameter value, determine and refer to for performing described control
The performer of order and the physical parameter of performer；Control unit, be arranged for controlling for determined by performer right
Work under the physical parameter answered.
In certain embodiments, described device also includes: collecting unit, is configured to gather the described performer determined
Actual physics parameter；3rd determines unit, is configured to wagon control rule determined by basis, determines described actual physics
The control parameter value that parameter is corresponding.
In certain embodiments, described device also includes: the 4th determines unit, is configured to according to the control in control instruction
The control parameter value that parameter value processed is corresponding with actual physics parameter, determines control assessed value.
In certain embodiments, described device also includes: display unit, is configured to present corresponding with actual physics parameter
Control parameter value.
In certain embodiments, described control unit includes: acquisition module, is configured to obtain vehicle communication agreement corresponding
Table, each vehicle communication agreement in described vehicle communication agreement correspondence table and the association storage of corresponding type of vehicle, vehicle leads to
Letter agreement is for specifying the message transmission format within automatic driving vehicle；Determine module, be configured to according to described vehicle control
The corresponding table of system rule, determines the vehicle communication agreement that the type of vehicle with automatic driving vehicle associates.
In certain embodiments, described control unit also includes: modular converter, is configured to communication protocols determined by basis
View, is converted to the communication message of described automatic driving vehicle by the physical parameter of described correspondence；Sending module, is configured to send
Described communication message to determined by the electronic control unit of performer.
In certain embodiments, described sending module is configured to further: verify described communication message；Send through verification
Communication message to the CAN bus of described automatic driving vehicle, pass for described CAN bus
Send described communication message to determined by the electronic control unit of performer；Monitor described CAN bus to institute
State the transmission of communication message.
The method and apparatus being used for controlling automatic driving vehicle that the application provides, the vehicle control pre-build by acquisition
The corresponding table of system rule, wherein, each wagon control rule in above-mentioned wagon control rule correspondence table and corresponding type of vehicle
Association storage, wagon control rule is for determining for performing control with controlling parameter value according to the control parameter in control instruction
The performer of instruction and the physical parameter of performer；According to above-mentioned wagon control rule correspondence table, determine and above-mentioned nothing
People drives the wagon control rule of the type of vehicle association of vehicle；In response to control instruction that is that receive or that generate, use institute
The wagon control determined is regular and control parameter in above-mentioned control instruction with control parameter value, determine for performing above-mentioned control
The performer of system instruction and the physical parameter of performer；Performer determined by control is under corresponding physical parameter
Work, thus improve the automatic driving vehicle to different model control efficiency.
Accompanying drawing explanation
By the detailed description that non-limiting example is made made with reference to the following drawings of reading, other of the application
Feature, purpose and advantage will become more apparent upon:
Fig. 1 is that the application can apply to exemplary system architecture figure therein；
Fig. 2 is the flow chart of an embodiment of the method for controlling automatic driving vehicle according to the application；
Fig. 3 is the flow chart of another embodiment of the method for controlling automatic driving vehicle according to the application；
Fig. 4 is the structural representation of an embodiment of the device for controlling automatic driving vehicle according to the application；
Fig. 5 is adapted for the structural representation of the computer system of the terminal unit for realizing the embodiment of the present application.
Detailed description of the invention
With embodiment, the application is described in further detail below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to this invention.It also should be noted that, in order to
It is easy to describe, accompanying drawing illustrate only the part relevant to about invention.
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the application below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
Fig. 1 show can apply the application for controlling the method for automatic driving vehicle or unmanned for controlling
The exemplary system architecture 100 of the embodiment of the device of vehicle.
As it is shown in figure 1, system architecture 100 can include automatic driving vehicle 101, network 102 and to automatic driving vehicle
101 provide the Cloud Server 103 supported.Driving control devices 1011, Vehicle Body Bus can be installed on automatic driving vehicle 101
1012 and performer 1013,1014,1015.
Driving control devices (being also called vehicle-mounted brain) 1011 is responsible for the overall Based Intelligent Control of whole automatic driving vehicle.Drive
Sailing control equipment 1011 can be the controller being separately provided, such as programmable logic controller (PLC) (Programmable Logic
Controller, PLC), single-chip microcomputer, Industrial Control Computer etc.；Can also be, by other, there is input/output end port, and there is fortune
Calculate the equipment of the electronic device composition controlling function；Can also is that being provided with vehicle drive controls the computer equipment of class application.
Driving control devices to receiving or can generate control instruction, and as example, driving control devices can connect from above-mentioned Cloud Server
Receive control instruction, it is also possible to make a policy generation control instruction according to vehicle current driving environment.Above-mentioned driving control devices is also
Can be in and above-mentioned control instruction regular according to control instruction that is that receive or that generate, wagon control determined by use
Control parameter and control parameter value, determining the physics ginseng of the performer for performing above-mentioned control instruction and performer
Number；Performer determined by control works under corresponding physical parameter.
Vehicle Body Bus 1012 could be for connect driving control devices 1011, performer 1013,1014,1015 and
The bus of other unshowned equipment of automatic driving vehicle 101.Due to CAN, (Controller Area Network controls
Device LAN) high-performance of bus and reliability extensively admitted, and therefore conventional Vehicle Body Bus is in motor vehicles at present
CAN.Of course it is to be appreciated that Vehicle Body Bus can also be other kinds of bus.
Cloud Server 103 can be to make a policy according to vehicle current driving environment to generate the cloud service of control instruction service
Device, first analyzes the current running environment of vehicle, and the decision-making of then vehicle how action also generates control instruction, is sending
The control instruction generated is to above-mentioned automatic driving vehicle.It is of course also possible to by the driving control devices of automatic driving vehicle
1011 make a policy generation control instruction according to vehicle current driving environment, and in this case, exemplary system architecture 100 is also
Can there is no network 102 above-mentioned in Fig. 1 and Cloud Server 103.
Cloud Server 103 can also is that the Cloud Server providing data query service, such as to driving control devices 1011
The wagon control rule query request of what the enquiring vehicle type sent was corresponding control parameter value is received and provides inquiry merit
The background network Cloud Server of energy.Background network Cloud Server can store the wagon control rule correspondence table pre-build, its
In, each wagon control rule in above-mentioned wagon control rule correspondence table and the association storage of corresponding type of vehicle.Certainly, drive
Sail the wagon control rule correspondence table that control equipment 1011 can also locally stored pre-build, and from locally stored vehicle control
The control parameter corresponding with type of vehicle inquired about by the corresponding table of system rule, it is not necessary to the support of Cloud Server 103.In this situation
Under, exemplary system architecture 100 can also not have network 102 above-mentioned in Fig. 1 and Cloud Server 103.
Performer 1013,1014,1015 can accept the control of driving control devices 1011, the control in control instruction
Work under parameter processed.Performer 1013,1014,1015 can include brake device, throttle, electromotor etc..
It should be noted that the method for controlling automatic driving vehicle that the embodiment of the present application is provided is typically by driving
Control equipment 1011 performs, and correspondingly, is generally positioned at driving control devices 1011 for controlling the device of automatic driving vehicle
In.
It should be understood that automatic driving vehicle in Fig. 1, driving control devices, Vehicle Body Bus, sensor, performer, net
The number of network and Cloud Server is only schematically.According to realizing needs, can have any number of automatic driving vehicle,
Driving control devices, Vehicle Body Bus, sensor, performer, network and Cloud Server.
With continued reference to Fig. 2, it is shown that according to an embodiment of the method for controlling automatic driving vehicle of the application
Flow process 200.The above-mentioned method being used for controlling automatic driving vehicle, comprises the following steps:
Step 201, obtains the wagon control rule correspondence table pre-build.
In the present embodiment, the method being used for controlling automatic driving vehicle runs on electronic equipment thereon (such as Fig. 1 institute
The driving control devices 1011 shown) can obtain, from local or Cloud Server, the wagon control rule correspondence table pre-build.
In the present embodiment, each wagon control rule in wagon control rule correspondence table is closed with corresponding type of vehicle
Connection storage.
In the present embodiment, wagon control rule is used for according to the control parameter in control instruction and control parameter value, really
Fixed for performing the performer of control instruction and the physical parameter of performer.
In some optional implementations of the present embodiment, wagon control rule can include the description pre-set
Control the matching relationship between parameter and performer, wagon control rule can also include be converted to hold by control instruction value
The transfer algorithm of the physical parameter of row device, can include empirical equation, empirical parameter, calibration value in transfer algorithm.
As example, control instruction is " to accelerate, 5km/s2", the control parameter in control instruction is " acceleration ", controls to refer to
Making value is " 5km/s2", the above-mentioned synopsis of wagon control rule may indicate that and holding that " acceleration " this control parameter is mated
Row device is Throttle Opening Control device, can change " 5km/s in the transfer algorithm of wagon control rule2" this control instruction value is
The fuel delivery of throttle, Throttle Opening Control device completes accelerator by adjusting the fuel delivery of throttle.
In the present embodiment, the matching relationship described between control parameter and performer pre-set can be with various
Mode realizes, and as example, the matching relationship between the control parameter and the performer that pre-set can be patrolled accordingly by having
The application program collecting arbitration functions realizes；Can also be by with to be stored in above-mentioned electronic equipment local or be stored in unmanned
Vehicle provides the matching relationship between control parameter and the performer of the Cloud Server supported to compare lookup and realizes.Make
For example, matching relationship form can be set up with the form of (controlling parameter, performer) two tuples, it is also possible to be according to control
Parameter computation index value, then realizes corresponding with performer for index value being stored in database table.
Step 202, according to wagon control rule correspondence table, determines the vehicle that the type of vehicle with automatic driving vehicle associates
Control rule.
In the present embodiment, first above-mentioned electronic equipment can determine the automatic driving vehicle belonging to above-mentioned electronic equipment
Type of vehicle, is then based on the wagon control rule correspondence table acquired in step 201, determines and the car of above-mentioned automatic driving vehicle
The wagon control that type is associated rule.
Step 203, in response to control instruction that is that receive or that generate, wagon control rule and control determined by use
Control parameter in system instruction and control parameter value, determine the thing for the performer and performer performing control instruction
Reason parameter.
In the present embodiment, first above-mentioned electronic equipment can receive or generate the driving control devices of automatic driving vehicle
The control instruction sent, resolves the control instruction received and obtains controlling parameter and controlling parameter value, obtain based in step 202
Wagon control rule, determine and resolve the performer that the controls parameter that obtains is mated, and determining and control that parsing obtains
The physical parameter that parameter is corresponding.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can receive above-mentioned automatic driving car
The Cloud Server being supported sends control instruction.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be by the interface mutual with user
Obtain the control instruction sent by user.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be according to above-mentioned automatic driving vehicle
Running environment and transport condition generate control instruction.
As example, control instruction is " to accelerate, 5km/s2", the control parameter in control instruction is " acceleration ", controls to refer to
Making value is " 5km/s2", the above-mentioned synopsis of wagon control rule may indicate that and holding that " acceleration " this control parameter is mated
Row device is Throttle Opening Control device, can change " 5km/s in the transfer algorithm of wagon control rule2" this control instruction value is
The fuel delivery of throttle, Throttle Opening Control device completes accelerator by adjusting the fuel delivery of throttle.
Step 204, performer determined by control works under corresponding physical parameter.
In the present embodiment, performer determined by above-mentioned electronic equipment rate-determining steps 203 is in corresponding physical parameter
Lower work.
In some optional implementations of the present embodiment, obtain vehicle communication agreement correspondence table, above-mentioned vehicle communication
Each vehicle communication agreement in agreement correspondence table and the association storage of corresponding type of vehicle, vehicle communication agreement is used for specifying nothing
People drives the message transmission format of vehicle interior；According to above-mentioned wagon control rule correspondence table, determine and automatic driving vehicle
The vehicle communication agreement of type of vehicle association.
In some optional implementations of the present embodiment, according to determined by communication protocol, by the thing of above-mentioned correspondence
Reason Parameters Transformation is the communication message of above-mentioned automatic driving vehicle；Send above-mentioned communication message to determined by the electricity of performer
Sub-control unit.
In some optional implementations of the present embodiment, verify above-mentioned communication message；Send the communication report through verification
Literary composition, to the CAN bus of above-mentioned automatic driving vehicle, transmits above-mentioned logical for controller noted above Area Network bus
Believe the electronic control unit of performer determined by message is extremely；Above-mentioned communication is reported by monitoring controller noted above Area Network bus
The transmission of literary composition.
The method that above-described embodiment of the application provides, by setting up wagon control rule correspondence table, is advised according to wagon control
Then corresponding table, determines the wagon control rule that the type of vehicle with automatic driving vehicle associates, in response to receive or generation
Control instruction, wagon control rule determined by use and the control parameter in control instruction with control parameter value, determine
The physical parameter of performer and performer for performing control instruction, in the situation not changing wagon control logic
Under, it is achieved that the control instruction that same control logic sends is converted to the physics that the model to this vehicle of vehicle is relevant
Parameter, it is achieved that use the automatic driving car of same set of wagon control logic control Multiple Type, improve different model
The control efficiency of automatic driving vehicle.
With further reference to Fig. 3, it illustrates the flow process of another embodiment of method for controlling automatic driving vehicle
300.This flow process 300 being used for controlling the method for automatic driving vehicle, comprises the following steps:
Step 301, obtains the wagon control rule correspondence table pre-build.
Step 302, according to wagon control rule correspondence table, determines the vehicle that the type of vehicle with automatic driving vehicle associates
Control rule.
Step 303, in response to control instruction that is that receive or that generate, wagon control rule and control determined by use
Control parameter in system instruction and control parameter value, determine the thing for the performer and performer performing control instruction
Reason parameter.
Step 304, performer determined by control works under corresponding physical parameter.
The operation of above-mentioned steps 301-step 304 is essentially identical with the operation of step 201-step 204, at this no longer respectively
Repeat.
Step 305, gathers the actual physics parameter of the performer determined.
In the present embodiment, above-mentioned electronic equipment can be at performer determined by controlling under corresponding physical parameter
After work, gather the actual physics parameter of the performer determined.Wherein, actual physics parameter can include throttle fuel feeding
Amount, brake pressure, engine torque.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be determined by sensor acquisition
The actual physics parameter of performer.As example, the confession of throttle can be gathered by the flow transducer being arranged on throttle
Oil mass, can gather brake pressure by the pressure transducer being arranged on brake device, can be by being arranged on transmitter
Angle measuring sensor gather transmitter moment of torsion.
Step 306, according to determined by wagon control rule, determine the control parameter value that actual physics parameter is corresponding.
In the present embodiment, above-mentioned electronic equipment can determine reality according to wagon control rule determined by step 302
The control parameter value that border physical parameter is corresponding.
Control parameter as the control instruction in example, step 306 is " brake ", the control parameter value in control instruction
" 30% ", wagon control rule determined by use determine for the performer performing above-mentioned control instruction be brake
Part, wagon control rule includes that the maximum pressure of the brake device of this automatic driving vehicle is 10.0Mpa, calculates brake
The brake pressure of device is maximum brake pressure 10.0Mpa and the product 3.0Mpa controlling parameter value 30% in control instruction,
After control brake device works under brake pressure 3.0Mpa, collected by the pressure transducer being arranged on brake device
Brake pressure is 3.1Mpa, is 3.1Mpa and the maximum pressure of brake device is the ratio of 10.0Mpa by collecting brake pressure
Value may determine that the control parameter value that actual physics parameter brake pressure is corresponding is 31%.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be presented by User Interface
The control parameter value corresponding with actual physics parameter.As example, can present to the user of above-mentioned control automatic driving vehicle
The control parameter value 31% corresponding with actual physics parameter brake pressure.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be according to the control in control instruction
The control parameter value that parameter value is corresponding with actual physics parameter, is calculated control assessed value.As example, can be according to control
Control parameter value in instruction is " 30% " and the control parameter value 31% corresponding with actual physics parameter brake pressure draws control
Assessed value processed, as example, can be by control parameter value 31% corresponding for actual physics parameter brake pressure and control instruction
Control parameter value be 30% difference 1% as control assessed value；Can also be by above-mentioned difference 1% and the control in control instruction
Parameter value processed is that the ratio 3.33% of 30% is as controlling assessed value.
From figure 3, it can be seen that compared with the embodiment that Fig. 2 is corresponding, being used in the present embodiment controls automatic driving car
The flow process 300 of method highlight after determined by controlling, performer works under corresponding physical parameter, gather
The step controlling parameter value that the step of the actual physics parameter of the performer determined is corresponding with determining actual physics parameter.By
This, the scheme that the present embodiment describes can monitor the control effect that performer works under corresponding physical parameter, thus real
The most more effectively control the automatic driving vehicle of Multiple Type.
With further reference to Fig. 4, as to the realization of method shown in above-mentioned each figure, this application provides a kind of for controlling nothing
People drives an embodiment of the device of vehicle, and this device embodiment is corresponding with the embodiment of the method shown in Fig. 2, and this device has
Body can apply in various electronic equipment.
As shown in Figure 4, the device 400 being used for controlling automatic driving vehicle that the present embodiment is above-mentioned includes: acquiring unit
401, first determine unit 402, second determine unit 403 and control unit 404.Wherein, acquiring unit 401 is configured to obtain
The wagon control rule correspondence table pre-build, wherein, each wagon control rule in above-mentioned wagon control rule correspondence table
With corresponding type of vehicle association storage, wagon control rule is for according to the control parameter in control instruction and control parameter value
Determine the physical parameter for the performer and performer performing control instruction；First determines that unit 402 is configured to
According to above-mentioned wagon control rule correspondence table, determine the wagon control rule that the type of vehicle with above-mentioned automatic driving vehicle associates
Then；Second determines that unit 403 is configured in response to control instruction that is that receive or that generate, wagon control determined by use
Control parameter in regular and above-mentioned control instruction with control parameter value, determine the executor for performing above-mentioned control instruction
Part and the physical parameter of performer；Control unit 404 be arranged for controlling for determined by performer at corresponding physics
Work under parameter..
In the present embodiment, the acquiring unit 401 being used for controlling the device 400 of automatic driving vehicle can be from local or cloud
Server obtains the wagon control rule correspondence table pre-build, each wagon control in above-mentioned wagon control rule correspondence table
Rule and the association storage of corresponding type of vehicle, above-mentioned wagon control rule is for according to the control parameter in control instruction and control
Parameter value processed, determines the physical parameter for the performer and performer performing control instruction.The description pre-set
The matching relationship controlled between parameter and performer can realize in every way, and as example, the control pre-set is joined
Matching relationship between number and performer can be realized by the application program with respective logic arbitration functions；Can also by with
Be stored in above-mentioned electronic equipment local or be stored in automatic driving vehicle is provided the Cloud Server supported control parameter and
Matching relationship between performer compares lookup and realizes.As example, coupling can be set up with the form of two tuples
Related table, it is also possible to be according to controlling parameter computation index value, being then stored in data by corresponding with performer for index value
Storehouse table realizes.
In the present embodiment, above-mentioned first determines that first unit 402 can determine that above-mentioned first determines belonging to unit 402
The type of vehicle of automatic driving vehicle, is then based on the wagon control rule correspondence table acquired in above-mentioned acquiring unit 401, determines
The wagon control rule being associated with the type of vehicle of above-mentioned automatic driving vehicle.
In the present embodiment, above-mentioned second determines that first unit 403 can receive or generate the driving of automatic driving vehicle
The control instruction that control equipment sends, resolves the control instruction received and obtains controlling parameter and controlling parameter value, based on above-mentioned
First determines the wagon control rule obtained in unit 402, determines and resolves the performer that the control parameter obtained is mated, and
Determine the physical parameter corresponding with resolving the control parameter obtained.
In the present embodiment, above-mentioned control unit 404 controls above-mentioned second and determines that performer determined by unit 403 exists
Work under corresponding physical parameter.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
Can include collecting unit (not shown), above-mentioned collecting unit can be at performer determined by control at corresponding thing
After working under reason parameter, gather the actual physics parameter of the performer determined.Wherein, actual physics parameter can include oil
Door fuel delivery, brake pressure, engine torque.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
Can include that the 3rd determines unit (not shown), the above-mentioned 3rd determines that unit can determine unit 402 according to above-mentioned first
Determined by, wagon control rule, determines the control parameter value that actual physics parameter is corresponding.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
Can include that the 4th determines unit (not shown), the above-mentioned 4th determines that unit can be according to the control parameter in control instruction
It is worth the control parameter value corresponding with actual physics parameter, is calculated control assessed value.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
Can include display unit (not shown), above-mentioned display unit can be presented by User Interface joins with actual physics
The control parameter value that number is corresponding.
In some optional implementations of the present embodiment, above-mentioned control unit 404 can include that acquisition module is (in figure
Not shown) and determine module (not shown).Wherein, above-mentioned acquisition module can obtain vehicle communication agreement correspondence table, on
State each vehicle communication agreement in vehicle communication agreement correspondence table and the association storage of corresponding type of vehicle, vehicle communication agreement
For specifying the message transmission format within automatic driving vehicle；Afterwards, above-mentioned determine that module can be according to above-mentioned wagon control
The corresponding table of rule, determines the vehicle communication agreement that the type of vehicle with automatic driving vehicle associates.
In some optional implementations of the present embodiment, above-mentioned control unit 404 can include that modular converter is (in figure
Not shown) and sending module (not shown).Wherein, above-mentioned modular converter can according to determined by communication protocol, by upper
The physical parameter stating correspondence is converted to the communication message of above-mentioned automatic driving vehicle；Afterwards, above-mentioned sending module can send
State communication message to determined by the electronic control unit that is controlled of performer, adjust for above-mentioned electronic control unit
Performer determined by control of physical parameter based on above-mentioned correspondence.
In some optional implementations of the present embodiment, above-mentioned sending module can verify above-mentioned communication report further
Literary composition；Send the CAN bus of the extremely above-mentioned automatic driving vehicle of the communication message through verifying, for controller noted above
Area Network bus transmit above-mentioned communication message to determined by the electronic control unit of performer；Monitoring controller noted above office
The transmission to above-mentioned communication message of the territory network-bus.
Below with reference to Fig. 5, it illustrates the structural representation being suitable to the computer system 500 for realizing the embodiment of the present application
Figure.
As it is shown in figure 5, computer system 500 includes CPU (CPU) 501, it can be read-only according to being stored in
Program in memorizer (ROM) 502 or be loaded into the program random access storage device (RAM) 503 from storage part 508 and
Perform various suitable action and process.In RAM503, also storage has system 500 to operate required various programs and data.
CPU501, ROM502 and RAM503 are connected with each other by bus 504.Input/output (I/O) interface 505 is also connected to bus
504。
It is connected to I/O interface 505: include the importation 506 of keyboard, mouse etc. with lower component；Penetrate including such as negative electrode
The output part 507 of spool (CRT), liquid crystal display (LCD) etc. and speaker etc.；Storage part 508 including hard disk etc.；
And include the communications portion 509 of the NIC of such as LAN card, modem etc..Communications portion 509 via such as because of
The network of special net performs communication process.Driver 510 is connected to I/O interface 505 also according to needs.Detachable media 511, such as
Disk, CD, magneto-optic disk, semiconductor memory etc., be arranged in driver 510, in order to read from it as required
Computer program as required be mounted into storage part 508.
Especially, according to embodiment of the disclosure, the process described above with reference to flow chart may be implemented as computer
Software program.Such as, embodiment of the disclosure and include a kind of computer program, it includes being tangibly embodied in machine readable
Computer program on medium, above computer program comprises the program code for performing the method shown in flow chart.At this
In the embodiment of sample, this computer program can be downloaded and installed from network by communications portion 509, and/or from removable
Unload medium 511 to be mounted.
Flow chart in accompanying drawing and block diagram, it is illustrated that according to system, method and the computer journey of the various embodiment of the application
Architectural framework in the cards, function and the operation of sequence product.In this, each square frame in flow chart or block diagram can generation
One module of table, program segment or a part for code, a part for above-mentioned module, program segment or code comprises one or more
For realizing the executable instruction of the logic function of regulation.It should also be noted that some as replace realization in, institute in square frame
The function of mark can also occur to be different from the order marked in accompanying drawing.Such as, the square frame that two succeedingly represent is actual
On can perform substantially in parallel, they can also perform sometimes in the opposite order, and this is depending on involved function.Also want
It is noted that the combination of the square frame in each square frame in block diagram and/or flow chart and block diagram and/or flow chart, Ke Yiyong
The special hardware based system of the function or operation that perform regulation realizes, or can refer to computer with specialized hardware
The combination of order realizes.
It is described in the embodiment of the present application involved unit to realize by the way of software, it is also possible to by firmly
The mode of part realizes.Described unit can also be arranged within a processor, for example, it is possible to be described as: a kind of processor bag
Include acquiring unit, first determine unit, second determine unit and control unit.Wherein, the title of these unit is in certain situation
Under be not intended that the restriction to this unit itself.Such as, acquiring unit is also described as " the vehicle control that acquisition pre-builds
The unit of the corresponding table of system rule ".
As on the other hand, present invention also provides a kind of nonvolatile computer storage media, this non-volatile calculating
Machine storage medium can be the nonvolatile computer storage media in above-described embodiment included in said apparatus；Can also be
Individualism, is unkitted the nonvolatile computer storage media allocating in terminal.Above-mentioned nonvolatile computer storage media is deposited
Contain one or more program, when said one or multiple program are performed by an equipment so that the said equipment: obtain
The wagon control rule correspondence table pre-build, wherein, each wagon control rule in above-mentioned wagon control rule correspondence table
With corresponding type of vehicle association storage, wagon control rule is for according to the control parameter in control instruction and control parameter value
Determine the physical parameter for the performer and performer performing control instruction；Corresponding according to above-mentioned wagon control rule
Table, determines the wagon control rule that the type of vehicle with above-mentioned automatic driving vehicle associates；In response to that receive or generation
Control instruction, wagon control determined by use is regular and control parameter in above-mentioned control instruction with control parameter value, really
Fixed for performing the performer of above-mentioned control instruction and the physical parameter of performer；Determined by control, performer exists
Work under corresponding physical parameter.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology of the particular combination of above-mentioned technical characteristic
Scheme, also should contain in the case of conceiving without departing from foregoing invention simultaneously, above-mentioned technical characteristic or its equivalent feature carry out
Combination in any and other technical scheme of being formed.Such as features described above has similar merit with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (14)
1. the method being used for controlling automatic driving vehicle, it is characterised in that described method includes:
Obtain the wagon control rule correspondence table pre-build, wherein, each vehicle in described wagon control rule correspondence table
Controlling rule and the association storage of corresponding type of vehicle, wagon control rule is for according to the control parameter in control instruction and control
Parameter value processed determines the physical parameter for the performer and performer performing control instruction；
According to described wagon control rule correspondence table, determine the wagon control that the type of vehicle with described automatic driving vehicle associates
Rule；
In response to control instruction that is that receive or that generate, wagon control determined by use is regular and in described control instruction
Control parameter with control parameter value, determine the performer for performing described control instruction and performer physics ginseng
Number；
Performer determined by control works under corresponding physical parameter.
Method the most according to claim 1, it is characterised in that at performer determined by described control at corresponding thing
After working under reason parameter, described method also includes:
Gather the actual physics parameter of the described performer determined；
Determined by according to, wagon control rule, determines the control parameter value that described actual physics parameter is corresponding.
Method the most according to claim 2, it is characterised in that described method is advised at wagon control determined by described basis
Then, after determining the control parameter value that described actual physics parameter is corresponding, also include:
According to the control parameter value that the control parameter value in control instruction is corresponding with actual physics parameter, determine control assessed value.
Method the most according to claim 2, it is characterised in that described method is advised at wagon control determined by described basis
Then, after determining the control parameter value that described actual physics parameter is corresponding, also include:
Present the control parameter value corresponding with actual physics parameter.
5. according to the method according to any one of claim 1-4, it is characterised in that performer determined by described control exists
Work under corresponding physical parameter, including:
Obtaining vehicle communication agreement correspondence table, each vehicle communication agreement in described vehicle communication agreement correspondence table is with corresponding
Type of vehicle association storage, vehicle communication agreement is for specifying the message transmission format within automatic driving vehicle；
According to described wagon control rule correspondence table, determine the vehicle communication association that the type of vehicle with automatic driving vehicle associates
View.
Method the most according to claim 5, it is characterised in that performer determined by described control is at corresponding physics
Work under parameter, including:
Communication protocol determined by according to, is converted to the communication report of described automatic driving vehicle by the physical parameter of described correspondence
Literary composition；
Send described communication message to determined by the electronic control unit of performer.
Method the most according to claim 6, it is characterised in that the described communication message of described transmission to determined by executor
The electronic control unit of part, including:
Verify described communication message；
Send the CAN bus of the extremely described automatic driving vehicle of the communication message through verifying, for described controller
Area Network bus transmit described communication message to determined by the electronic control unit of performer；
Monitor the transmission to described communication message of the described CAN bus.
8. the device being used for controlling automatic driving vehicle, it is characterised in that described device includes:
Acquiring unit, is configured to obtain the wagon control rule correspondence table pre-build, wherein, described wagon control rule is right
Answering each wagon control rule in table and the association storage of corresponding type of vehicle, wagon control rule is for according to control instruction
In control parameter with control parameter value determine the physical parameter for the performer and performer performing control instruction；
First determines unit, is configured to, according to described wagon control rule correspondence table, determine and described automatic driving vehicle
The wagon control rule of type of vehicle association；
Second determines unit, is configured in response to control instruction that is that receive or that generate, wagon control determined by use
Control parameter in regular and described control instruction with control parameter value, determine the executor for performing described control instruction
Part and the physical parameter of performer；
Control unit, be arranged for controlling for determined by performer work under corresponding physical parameter.
Device the most according to claim 8, it is characterised in that described device also includes:
Collecting unit, is configured to gather the actual physics parameter of the described performer determined；
3rd determines unit, is configured to wagon control rule determined by basis, determines that described actual physics parameter is corresponding
Control parameter value.
Device the most according to claim 9, it is characterised in that described device also includes:
4th determines unit, is configured to join according to the parameter value control corresponding with actual physics parameter that controls in control instruction
Numerical value, determines control assessed value.
11. devices according to claim 9, it is characterised in that described device also includes:
Display unit, is configured to present the control parameter value corresponding with actual physics parameter.
12. devices according to any one of-11 according to Claim 8, it is characterised in that described control unit includes:
Acquisition module, is configured to obtain vehicle communication agreement correspondence table, each car in described vehicle communication agreement correspondence table
Communication protocol and the association storage of corresponding type of vehicle, vehicle communication agreement is for specifying the message within automatic driving vehicle
Transformat；
Determine module, be configured to, according to described wagon control rule correspondence table, determine the type of vehicle with automatic driving vehicle
The vehicle communication agreement of association.
13. devices according to claim 12, it is characterised in that described control unit also includes:
Modular converter, is configured to communication protocol determined by basis, the physical parameter of described correspondence is converted to described unmanned
Drive the communication message of vehicle；
Sending module, be configured to send described communication message to determined by the electronic control unit of performer.
14. devices according to claim 13, it is characterised in that described sending module is configured to further:
Verify described communication message；
Send the CAN bus of the extremely described automatic driving vehicle of the communication message through verifying, for described controller
Area Network bus transmit described communication message to determined by the electronic control unit of performer；
Monitor the transmission to described communication message of the described CAN bus.
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