CN106200467B - Method and apparatus for controlling automatic driving vehicle - Google Patents
Method and apparatus for controlling automatic driving vehicle Download PDFInfo
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- CN106200467B CN106200467B CN201610576096.5A CN201610576096A CN106200467B CN 106200467 B CN106200467 B CN 106200467B CN 201610576096 A CN201610576096 A CN 201610576096A CN 106200467 B CN106200467 B CN 106200467B
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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
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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
- 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
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- G08G—TRAFFIC CONTROL SYSTEMS
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- 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 specific embodiment of the method includes: to obtain the vehicle control rule pre-established to correspond to table, wherein, vehicle control rule corresponds to each vehicle control rule in table and corresponding type of vehicle associated storage, vehicle control rule be used for according in control instruction control parameter and control parameter value determine for executing the performer of control instruction and the physical parameter of performer；Table is corresponded to according to vehicle control rule, it is determining regular with the automatic driving vehicle associated vehicle control of type of vehicle；It is determined using the control parameter and control parameter value in vehicle control rule and control instruction for executing the performer of control instruction and the physical parameter of performer in response to control instruction receive or generation；Performer determined by controlling works under corresponding physical parameter.This embodiment improves the control efficiencies of the automatic driving vehicle to different model.
Description
Technical field
This application involves field of computer technology, and in particular to Internet technical field more particularly, to controls nobody
The method and apparatus for driving vehicle.
Background technique
The vehicle of different model have different control protocols, the control protocol of vehicle may include vehicle control logic,
Vehicle control rule, vehicle communication agreement etc..The vehicle control logic of automatic driving vehicle can be according to current driving environment
Information makes the logic for indicating how the automatic driving vehicle acts.
However, the automatic driving vehicle that the control method of existing automatic driving vehicle is usually each model is used and is somebody's turn to do
The distinctive vehicle control logic of model, vehicle control rule, vehicle communication agreement, need to various types of nothings in R&D process
The control protocol that people drives vehicle carries out adaptation debugging, the control for the automatic driving vehicle to different model that accordingly, there are
The problem of low efficiency.
Summary of the invention
The purpose of the application is to propose a kind of improved method and apparatus for controlling automatic driving vehicle, to solve
The technical issues of background section above is mentioned.
In a first aspect, this application provides a kind of methods for controlling automatic driving vehicle, which comprises obtain
The vehicle control rule pre-established corresponds to table, wherein the vehicle control rule corresponds to the rule of each vehicle control in table
With corresponding type of vehicle associated storage, vehicle control rule is used for according to the control parameter and control parameter value in control instruction
It determines for executing the performer of control instruction and the physical parameter of performer；It is corresponding according to the vehicle control rule
Table, it is determining regular with the automatic driving vehicle associated vehicle control of type of vehicle；In response to receiving or generation
Control instruction, using the control parameter and control parameter value in identified vehicle control rule and the control instruction, really
Determine for executing the performer of the control instruction and the physical parameter of performer；Performer determined by controlling exists
It works under corresponding physical parameter.
In some embodiments, after the performer determined by the control works under corresponding physical parameter,
The method also includes: acquire the actual physics parameter of the performer of the determination；It is regular according to identified vehicle control,
Determine the corresponding control parameter value of the actual physics parameter.
In some embodiments, the method determines the practical object in the rule of the vehicle control according to determined by
After the corresponding control parameter value of reason parameter, further includes: according to the control parameter value and actual physics parameter pair in control instruction
The control parameter value answered determines control assessed value.
In some embodiments, the method determines the practical object in the rule of the vehicle control according to determined by
After the corresponding control parameter value of reason parameter, further includes: control parameter value corresponding with actual physics parameter is presented.
In some embodiments, performer determined by the control works under corresponding physical parameter, comprising: obtains
Communication protocol of picking up the car corresponds to table, and the vehicle communication agreement corresponds to each vehicle communication agreement in table and corresponding vehicle class
Type associated storage, vehicle communication agreement are used to provide the message transmission format inside automatic driving vehicle；According to the vehicle control
The corresponding table of system rule, the determining associated vehicle communication agreement of type of vehicle with automatic driving vehicle.
In some embodiments, performer determined by the control works under corresponding physical parameter, comprising: root
According to identified communication protocol, the corresponding physical parameter is converted to the communication message of the automatic driving vehicle；It sends
The communication message to identified performer electronic control unit.
In some embodiments, described to send the communication message to the electronics controlled identified performer
Control unit, comprising: verify the communication message；Send the controller of the communication message through verifying to the automatic driving vehicle
Area Network bus, so that the CAN bus transmits the electricity of the communication message to identified performer
Sub-control unit；Monitor transmission of the CAN bus to the communication message.
Second aspect, this application provides a kind of for controlling the device of automatic driving vehicle, and described device includes: to obtain
Unit is configured to the vehicle control rule that acquisition pre-establishes and corresponds to table, wherein the vehicle control rule corresponds in table
Each vehicle control rule is used for corresponding type of vehicle associated storage, vehicle control rule according to the control in control instruction
Parameter and control parameter value are determined for executing the performer of control instruction and the physical parameter of performer；First determines
Unit is configured to correspond to table according to the vehicle control rule, and determination is associated with the type of vehicle of the automatic driving vehicle
Vehicle control rule；Second determination unit, is configured in response to control instruction receive or generation, using determining
Vehicle control rule and the control instruction in control parameter and control parameter value, determine and refer to for executing the control
The performer of order and the physical parameter of performer；Control unit is configured to control identified performer right
It works under the physical parameter answered.
In some embodiments, described device further include: acquisition unit is configured to acquire the performer of the determination
Actual physics parameter；Third determination unit is configured to determine the actual physics according to identified vehicle control rule
The corresponding control parameter value of parameter.
In some embodiments, described device further include: the 4th determination unit is configured to according to the control in control instruction
The corresponding control parameter value of parameter value and actual physics parameter processed determines control assessed value.
In some embodiments, described device further include: display unit is configured to present corresponding with actual physics parameter
Control parameter value.
In some embodiments, described control unit includes: acquisition module, and it is corresponding to be configured to acquisition vehicle communication agreement
Table, the vehicle communication agreement correspond to each vehicle communication agreement in table and corresponding type of vehicle associated storage, and vehicle is logical
Letter agreement is used to provide the message transmission format inside automatic driving vehicle；Determining module is configured to according to the vehicle control
The corresponding table of system rule, the determining associated vehicle communication agreement of type of vehicle with automatic driving vehicle.
In some embodiments, described control unit further include: conversion module is configured to according to identified communication protocols
The corresponding physical parameter, is converted to the communication message of the automatic driving vehicle by view；Sending module is configured to send
The communication message to identified performer electronic control unit.
In some embodiments, the sending module is further configured to: verifying the communication message；It sends through verifying
Communication message to the automatic driving vehicle CAN bus, for the CAN bus biography
Send the communication message to the electronic control unit of identified performer；The CAN bus is monitored to institute
State the transmission of communication message.
Method and apparatus provided by the present application for controlling automatic driving vehicle, by obtaining the vehicle control pre-established
The corresponding table of system rule, wherein above-mentioned vehicle control rule corresponds to each vehicle control rule in table and corresponding type of vehicle
Associated storage, vehicle control rule are used to be determined with control parameter value for executing control according to the control parameter in control instruction
The performer of instruction and the physical parameter of performer；Table, determining and above-mentioned nothing are corresponded to according to above-mentioned vehicle control rule
People drives the associated vehicle control rule of type of vehicle of vehicle；In response to control instruction receive or generation, institute is used
Control parameter and control parameter value in determining vehicle control rule and above-mentioned control instruction, determine for executing above-mentioned control
Make the performer of instruction and the physical parameter of performer；Performer determined by controlling is under corresponding physical parameter
Work, to improve the control efficiency to the automatic driving vehicle of different model.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that this application can be applied to exemplary system architecture figures therein；
Fig. 2 is the flow chart according to one embodiment of the method for controlling automatic driving vehicle of the application；
Fig. 3 is the flow chart according to another embodiment of the method for controlling automatic driving vehicle of the application；
Fig. 4 is the structural schematic diagram according to one embodiment of the device for controlling automatic driving vehicle of the application；
Fig. 5 is adapted for the structural schematic diagram for the computer system for realizing the terminal device of the embodiment of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using the application for controlling the method or unmanned for controlling of automatic driving vehicle
The exemplary system architecture 100 of the embodiment of the device of vehicle.
As shown in Figure 1, system architecture 100 may 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 (also known as vehicle-mounted brain) 1011 are responsible for the overall intelligent control of entire automatic driving vehicle.It drives
Sailing control equipment 1011 can be the controller being separately provided, such as programmable logic controller (PLC) (Programmable Logic
Controller, PLC), single-chip microcontroller, Industrial Control Computer etc.；It is also possible to by other with input/output end port, and there is fortune
The equipment for calculating the electronic device composition of control function；It can also be the computer equipment for being equipped with vehicle drive control class application.
Driving control devices can be to receiving or generating control instruction, as an example, driving control devices can connect from above-mentioned Cloud Server
Control instruction is received, can also be made a policy according to vehicle current driving environment and generate control instruction.Above-mentioned driving control devices are also
It can be according to control instruction receive or generation, using in identified vehicle control rule and above-mentioned control instruction
Control parameter and control parameter value determine the physics ginseng of the performer and performer for executing above-mentioned control instruction
Number；Performer determined by controlling works under corresponding physical parameter.
Vehicle Body Bus 1012 can 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, control
Device local area network) bus high-performance and reliability accepted extensively, therefore common Vehicle Body Bus is in motor vehicle at present
CAN bus.Of course it is to be appreciated that Vehicle Body Bus is also possible to other kinds of bus.
Cloud Server 103, which can be to be made a policy according to vehicle current driving environment, generates the cloud service of control instruction service
Device, such as the current running environment of vehicle is analyzed first, the decision that then how vehicle acts simultaneously generates control instruction, is sending
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 according to vehicle current driving environment generates control instruction, in this case, exemplary system architecture 100
It can be without network 102 and Cloud Server 103 above-mentioned in Fig. 1.
Cloud Server 103, which can also be, provides the Cloud Server of data query service, such as to driving control devices 1011
The vehicle control rule query request for the corresponding control parameter value of enquiring vehicle type sent is received and provides inquiry function
The background network Cloud Server of energy.Background network Cloud Server can store the vehicle control rule pre-established and correspond to table,
In, above-mentioned vehicle control rule corresponds to each vehicle control rule in table and corresponding type of vehicle associated storage.Certainly, it drives
It sails control equipment 1011 the vehicle control rule pre-established can also be locally stored and correspond to table, and from the vehicle control being locally stored
Inquiry control parameter corresponding with type of vehicle in the corresponding table of system rule, does not need the support of Cloud Server 103.In such case
Under, exemplary system architecture 100 can also be without network 102 and Cloud Server 103 above-mentioned in Fig. 1.
Performer 1013,1014,1015 can receive the control of driving control devices 1011, the control in control instruction
It works under parameter processed.Performer 1013,1014,1015 may include brake device, throttle, engine etc..
It should be noted that for controlling the method for automatic driving vehicle generally by driving provided by the embodiment of the present application
It controls equipment 1011 to execute, correspondingly, the device for controlling automatic driving vehicle is generally positioned at driving control devices 1011
In.
It should be understood that automatic driving vehicle, driving control devices, Vehicle Body Bus, sensor, performer, net in Fig. 1
The number of network and Cloud Server is only schematical.According to realize 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, one embodiment of the method for controlling automatic driving vehicle according to the application is shown
Process 200.The above-mentioned method for controlling automatic driving vehicle, comprising the following steps:
Step 201, it obtains the vehicle control rule pre-established and corresponds to table.
In the present embodiment, the method for controlling automatic driving vehicle runs electronic equipment (such as Fig. 1 institute thereon
The driving control devices 1011 shown) table can be corresponded to from the vehicle control rule that local or Cloud Server acquisition pre-establish.
In the present embodiment, vehicle control rule corresponds to each vehicle control rule in table and closes with corresponding type of vehicle
Connection storage.
In the present embodiment, vehicle control rule is used for according to the control parameter and control parameter value in control instruction, really
Determine for executing the performer of control instruction and the physical parameter of performer.
It may include pre-set description in vehicle control rule in some optional implementations of the present embodiment
Matching relationship between control parameter and performer, vehicle control rule in can also include being converted to control instruction value to hold
The transfer algorithm of the physical parameter of row device may include empirical equation, empirical parameter, calibration value in transfer algorithm.
As an example, control instruction is " to accelerate, 5km/s2", the control parameter in control instruction is " acceleration ", and control refers to
Enabling value is " 5km/s2", it can indicate in the above-mentioned table of comparisons of vehicle control rule and " acceleration " this control parameter is matched holds
Row device is Throttle Opening Control device, can convert " 5km/s in the transfer algorithm of vehicle control rule2" this control instruction value is
The fuel delivery of throttle, Throttle Opening Control device complete accelerator by adjusting the fuel delivery of throttle.
In the present embodiment, the matching relationship between pre-set description control parameter and performer can be with various
Mode is realized, as an example, the matching relationship between pre-set control parameter and performer can accordingly be patrolled by having
The application program for collecting arbitration functions is realized；Can also by be stored in above-mentioned electronic equipment local or be stored in unmanned
The matching relationship that vehicle is provided between the control parameter and performer of the Cloud Server supported is compared lookup to realize.Make
For example, matching relationship table can be established in the form of (control parameter, performer) binary group, can also be according to control
Then index value and performer are corresponded to and are stored in database table to realize by parameter computation index value.
Step 202, table, the determining associated vehicle of type of vehicle with automatic driving vehicle are corresponded to according to vehicle control rule
Control rule.
In the present embodiment, above-mentioned electronic equipment can determine automatic driving vehicle belonging to above-mentioned electronic equipment first
Type of vehicle is then based on vehicle control rule acquired in step 201 and corresponds to table, the determining vehicle with above-mentioned automatic driving vehicle
The associated vehicle control rule of type.
Step 203, in response to control instruction receive or generation, identified vehicle control rule and control are used
Control parameter and control parameter value in system instruction, determine for executing the performer of control instruction and the object of performer
Manage parameter.
In the present embodiment, above-mentioned electronic equipment can receive or generate first the driving control devices of automatic driving vehicle
The control instruction of sending parses the control instruction received and obtains control parameter and control parameter value, based on obtaining in step 202
Vehicle control rule, determine with the obtained matched performer of control parameter of parsing, and determine the control obtained with parsing
The corresponding physical parameter of parameter.
In some optional implementations of the present embodiment, above-mentioned electronic equipment be can receive to 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 that interacts 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 driving status generate control instruction.
As an example, control instruction is " to accelerate, 5km/s2", the control parameter in control instruction is " acceleration ", and control refers to
Enabling value is " 5km/s2", it can indicate in the above-mentioned table of comparisons of vehicle control rule and " acceleration " this control parameter is matched holds
Row device is Throttle Opening Control device, can convert " 5km/s in the transfer algorithm of vehicle control rule2" this control instruction value is
The fuel delivery of throttle, Throttle Opening Control device complete accelerator by adjusting the fuel delivery of throttle.
Step 204, performer determined by controlling 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, obtains vehicle communication agreement and correspond to table, above-mentioned vehicle communication
Agreement corresponds to each vehicle communication agreement in table and corresponding type of vehicle associated storage, and vehicle communication agreement is for providing nothing
The message transmission format of people's driving vehicle interior；Table is corresponded to according to above-mentioned vehicle control rule, it is determining and automatic driving vehicle
The associated vehicle communication agreement of type of vehicle.
In some optional implementations of the present embodiment, according to identified communication protocol, by above-mentioned corresponding object
Manage the communication message that Parameter Switch is above-mentioned automatic driving vehicle；Send the electricity of above-mentioned communication message to identified performer
Sub-control unit.
In some optional implementations of the present embodiment, above-mentioned communication message is verified；Send the communication report through verifying
Text leads to the CAN bus of above-mentioned automatic driving vehicle so that the transmission of above controller Area Network bus is above-mentioned
Believe the electronic control unit of message to identified performer；Above controller Area Network bus is monitored to above-mentioned communication report
The transmission of text.
The method provided by the above embodiment of the application corresponds to table by establishing vehicle control rule, is advised according to vehicle control
Table is then corresponded to, it is determining regular with the automatic driving vehicle associated vehicle control of type of vehicle, in response to receive or generation
Control instruction, use the control parameter and control parameter value in identified vehicle control rule and control instruction, determine
For executing the performer of control instruction and the physical parameter of performer, the case where not changing vehicle control logic
Under, realize the physics relevant to the model of the vehicle that the control instruction that same control logic issues is converted to vehicle
Parameter is realized using the same set of various types of automatic driving cars of vehicle control logic control, is improved to different model
The control efficiency of automatic driving vehicle.
With further reference to Fig. 3, it illustrates the processes of another embodiment of the method for controlling automatic driving vehicle
300.This is used to control the process 300 of the method for automatic driving vehicle, comprising the following steps:
Step 301, it obtains the vehicle control rule pre-established and corresponds to table.
Step 302, table, the determining associated vehicle of type of vehicle with automatic driving vehicle are corresponded to according to vehicle control rule
Control rule.
Step 303, in response to control instruction receive or generation, identified vehicle control rule and control are used
Control parameter and control parameter value in system instruction, determine for executing the performer of control instruction and the object of performer
Manage parameter.
Step 304, performer determined by controlling 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 respectively, herein no longer
It repeats.
Step 305, the actual physics parameter of determining performer is acquired.
In the present embodiment, above-mentioned electronic equipment can control identified performer under corresponding physical parameter
After work, the actual physics parameter of determining performer is acquired.Wherein, actual physics parameter may include throttle fuel feeding
Amount, brake pressure, engine torque.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be acquired determining by sensor
The actual physics parameter of performer.As an example, the confession of throttle can be acquired by the flow sensor being arranged on throttle
Oil mass can acquire brake pressure by the pressure sensor being arranged on brake device, can be by being arranged on transmitter
Angle measuring sensor acquire transmitter torque.
Step 306, according to identified vehicle control rule, the corresponding control parameter value of actual physics parameter is determined.
In the present embodiment, above-mentioned electronic equipment can determine real according to vehicle control rule identified in step 302
The corresponding control parameter value of border physical parameter.
As an example, the control parameter of the control instruction in step 306 is " brake ", the control parameter value in control instruction
It is " 30% ", determines that the performer for executing above-mentioned control instruction is brake using identified vehicle control rule
Part, the maximum pressure of brake device in vehicle control rule including the automatic driving vehicle is 10.0Mpa, and brake is calculated
The brake pressure of device is the product 3.0Mpa of the control parameter value 30% in maximum brake pressure 10.0Mpa and control instruction,
After control brake device works at brake pressure 3.0Mpa, collected by the pressure sensor being arranged on brake device
Brake pressure is 3.1Mpa, and by collecting, brake pressure is 3.1Mpa and the maximum pressure for the device that brakes is the ratio of 10.0Mpa
Value can determine that the corresponding control parameter value of actual physics parameter brake pressure is 31%.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be presented by user interface
Control parameter value corresponding with actual physics parameter.As an example, can be presented to the user of above-mentioned control automatic driving vehicle
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
Parameter value and the corresponding control parameter value of actual physics parameter, are calculated control assessed value.As an example, can be according to control
Control parameter value in instruction is " 30% " and control parameter value corresponding with actual physics parameter brake pressure 31% obtains control
Assessed value processed, as an example, can will the corresponding control parameter value of actual physics parameter brake pressure 31% in control instruction
Control parameter value be 30% difference 1% as control assessed value；It can also be by above-mentioned difference 1% and the control in control instruction
Parameter value processed is the 30% conduct control assessed value of ratio 3.33%.
From figure 3, it can be seen that being used to control automatic driving car in the present embodiment compared with the corresponding embodiment of Fig. 2
The process 300 of method highlight acquisition after performer works under corresponding physical parameter determined by control
The step of the step of actual physics parameter of determining performer, is with actual physics parameter corresponding control parameter value is determined.By
This, the scheme of the present embodiment description can monitor the control effect that performer works under corresponding physical parameter, thus real
Now more effectively control various types of automatic driving vehicles.
With further reference to Fig. 4, as the realization to method shown in above-mentioned each figure, this application provides one kind for controlling nothing
People drives one embodiment of the device of vehicle, and the Installation practice is corresponding with embodiment of the method shown in Fig. 2, device tool
Body can be applied in various electronic equipments.
As shown in figure 4, the present embodiment it is above-mentioned for control the device 400 of automatic driving vehicle to include: acquiring unit
401, the first determination unit 402, the second determination unit 403 and control unit 404.Wherein, acquiring unit 401 is configured to obtain
The vehicle control rule pre-established corresponds to table, wherein above-mentioned vehicle control rule corresponds to the rule of each vehicle control in table
With corresponding type of vehicle associated storage, vehicle control rule is used for according to the control parameter and control parameter value in control instruction
It determines for executing the performer of control instruction and the physical parameter of performer；First determination unit 402 is configured to
Table is corresponded to according to above-mentioned vehicle control rule, it is determining to be advised with the above-mentioned automatic driving vehicle associated vehicle control of type of vehicle
Then；Second determination unit 403 is configured to use identified vehicle control in response to control instruction receive or generation
Control parameter and control parameter value in regular and above-mentioned control instruction determine the actuator for executing above-mentioned control instruction
The physical parameter of part and performer；Control unit 404 is configured to control identified performer in corresponding physics
It works under parameter.
It in the present embodiment, can be from local or cloud for controlling the acquiring unit 401 of the device 400 of automatic driving vehicle
Server obtains the vehicle control rule pre-established and corresponds to table, and above-mentioned vehicle control rule corresponds to each vehicle control in table
It is regular with corresponding type of vehicle associated storage, above-mentioned vehicle control rule is used for according to the control parameter and control in control instruction
Parameter value processed is determined for executing the performer of control instruction and the physical parameter of performer.Pre-set description
Matching relationship between control parameter and performer can be realized in various ways, as an example, pre-set control is joined
Matching relationship between several 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 provide support Cloud Server control parameter and
Matching relationship between performer is compared lookup to realize.As an example, matching can be established in the form of binary group
Related table can also be according to control parameter computation index value, and index value and performer correspondence are then stored in data
It is realized in the table of library.
In the present embodiment, above-mentioned first determination unit 402 can be determined first belonging to above-mentioned first determination unit 402
The type of vehicle of automatic driving vehicle is then based on vehicle control rule acquired in above-mentioned acquiring unit 401 and corresponds to table, determines
Vehicle control rule associated with the type of vehicle of above-mentioned automatic driving vehicle.
In the present embodiment, above-mentioned second determination unit 403 can receive or generate first the driving of automatic driving vehicle
The control instruction that equipment issues is controlled, the control instruction received is parsed and obtains control parameter and control parameter value, based on above-mentioned
The rule of vehicle control obtained in first determination unit 402 determines the matched performer of control parameter obtained with parsing, and
Determine physical parameter corresponding with the control parameter that parsing obtains.
In the present embodiment, above-mentioned control unit 404 controls performer determined by above-mentioned second determination unit 403 and exists
It works under corresponding physical parameter.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
It may include acquisition unit (not shown), above-mentioned acquisition unit can control identified performer in corresponding object
After working under reason parameter, the actual physics parameter of determining performer is acquired.Wherein, actual physics parameter may 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
It may include third determination unit (not shown), above-mentioned third determination unit can be according to above-mentioned first determination unit 402
In identified vehicle control rule, determine the corresponding control parameter value of actual physics parameter.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
It may include the 4th determination unit (not shown), above-mentioned 4th determination unit can be according to the control parameter in control instruction
It is worth control parameter value corresponding with actual physics parameter, control assessed value is calculated.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
It may include display unit (not shown), above-mentioned display unit can be presented by user interface joins with actual physics
The corresponding control parameter value of number.
In some optional implementations of the present embodiment, above-mentioned control unit 404 may include obtaining module (in figure
It is not shown) and determining module (not shown).Wherein, the available vehicle communication agreement of above-mentioned acquisition module corresponds to table, on
It states vehicle communication agreement and corresponds to each vehicle communication agreement in table and corresponding type of vehicle associated storage, vehicle communication agreement
For providing the message transmission format inside automatic driving vehicle；Later, above-mentioned determining module can be according to above-mentioned vehicle control
The corresponding table of rule, the determining associated vehicle communication agreement of type of vehicle with automatic driving vehicle.
In some optional implementations of the present embodiment, above-mentioned control unit 404 may include conversion module (in figure
It is not shown) and sending module (not shown).Wherein, above-mentioned conversion module can be according to identified communication protocol, will be upper
State the communication message that corresponding physical parameter is converted to above-mentioned automatic driving vehicle；Later, above-mentioned sending module can be sent
Communication message is stated to the electronic control unit controlled identified performer, for the adjustment of above-mentioned electronic control unit
The performer based on determined by above-mentioned corresponding control of physical parameter.
In some optional implementations of the present embodiment, above-mentioned sending module can further verify above-mentioned communication report
Text；The CAN bus of the communication message through verifying to above-mentioned automatic driving vehicle is sent, for above controller
Area Network bus transmits the electronic control unit of above-mentioned communication message to identified performer；Monitor above controller office
Transmission of the domain network-bus to above-mentioned communication message.
Below with reference to Fig. 5, it illustrates the structural representations for the computer system 500 for being suitable for being used to realize the embodiment of the present application
Figure.
As shown in figure 5, computer system 500 includes central processing unit (CPU) 501, it can be read-only according to being stored in
Program in memory (ROM) 502 or be loaded into the program in random access storage device (RAM) 503 from storage section 508 and
Execute various movements appropriate and processing.In RAM503, also it is stored with system 500 and operates 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。
I/O interface 505 is connected to lower component: the importation 506 including keyboard, mouse etc.；It is penetrated including such as cathode
The output par, c 507 of spool (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section 508 including hard disk etc.；
And the communications portion 509 of the network interface card including LAN card, modem etc..Communications portion 509 via such as because
The network of spy's net executes communication process.Driver 510 is also connected to I/O interface 505 as needed.Detachable media 511, such as
Disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 510, in order to read from thereon
Computer program be mounted into storage section 508 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be tangibly embodied in machine readable
Computer program on medium, above-mentioned computer program include the program code for method shown in execution flow chart.At this
In the embodiment of sample, which can be downloaded and installed from network by communications portion 509, and/or from removable
Medium 511 is unloaded to be mounted.
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of above-mentioned module, program segment or code include one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor packet
Include acquiring unit, the first determination unit, the second determination unit and control unit.Wherein, the title of these units is in certain situation
Under do not constitute restriction to the unit itself.For example, acquiring unit is also described as " the vehicle control that acquisition pre-establishes
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, the non-volatile calculating
Machine storage medium can be nonvolatile computer storage media included in above-mentioned apparatus in above-described embodiment；It is also possible to
Individualism, without the nonvolatile computer storage media in supplying terminal.Above-mentioned nonvolatile computer storage media is deposited
One or more program is contained, when said one or multiple programs are executed by an equipment, so that above equipment: obtaining
The vehicle control rule pre-established corresponds to table, wherein above-mentioned vehicle control rule corresponds to the rule of each vehicle control in table
With corresponding type of vehicle associated storage, vehicle control rule is used for according to the control parameter and control parameter value in control instruction
It determines for executing the performer of control instruction and the physical parameter of performer；It is corresponding according to above-mentioned vehicle control rule
Table, it is determining regular with the above-mentioned automatic driving vehicle associated vehicle control of type of vehicle；In response to receiving or generation
Control instruction, using the control parameter and control parameter value in identified vehicle control rule and above-mentioned control instruction, really
Determine for executing the performer of above-mentioned control instruction and the physical parameter of performer；Performer determined by controlling exists
It works under corresponding physical parameter.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (14)
1. a kind of method for controlling automatic driving vehicle, which is characterized in that the described method includes:
It obtains the vehicle control rule pre-established and corresponds to table, wherein the vehicle control rule corresponds to each vehicle in table
Control rule is used for corresponding type of vehicle associated storage, vehicle control rule according to the control parameter and control in control instruction
Parameter value processed is determined for executing the performer of control instruction and the physical parameter of performer；
Table, the determining associated vehicle control of type of vehicle with the automatic driving vehicle are corresponded to according to the vehicle control rule
Rule；
In response to control instruction receive or generation, using in identified vehicle control rule and the control instruction
Control parameter and control parameter value, determine for execute the control instruction performer and performer physics ginseng
Number；
Performer determined by controlling works under corresponding physical parameter.
2. the method according to claim 1, wherein the performer determined by the control is in corresponding object
After working under reason parameter, the method also includes:
Acquire the actual physics parameter of the performer of the determination；
According to identified vehicle control rule, the corresponding control parameter value of the actual physics parameter is determined.
3. according to the method described in claim 2, it is characterized in that, the method is advised in the vehicle control according to determined by
Then, after determining the corresponding control parameter value of the actual physics parameter, further includes:
According to the control parameter value and the corresponding control parameter value of actual physics parameter in control instruction, control assessed value is determined.
4. according to the method described in claim 2, it is characterized in that, the method is advised in the vehicle control according to determined by
Then, after determining the corresponding control parameter value of the actual physics parameter, further includes:
Control parameter value corresponding with actual physics parameter is presented.
5. method according to any of claims 1-4, which is characterized in that performer determined by the control exists
It works under corresponding physical parameter, comprising:
Obtain vehicle communication agreement and correspond to table, the vehicle communication agreement correspond to each vehicle communication agreement in table with it is corresponding
Type of vehicle associated storage, vehicle communication agreement are used to provide the message transmission format inside automatic driving vehicle；
Table is corresponded to according to the vehicle communication agreement, it is determining to be assisted with the automatic driving vehicle associated vehicle communication of type of vehicle
View.
6. according to the method described in claim 5, it is characterized in that, performer determined by the control is in corresponding physics
It works under parameter, comprising:
According to identified communication protocol, the corresponding physical parameter is converted to the communication report of the automatic driving vehicle
Text；
Send the electronic control unit of the communication message to identified performer.
7. according to the method described in claim 6, it is characterized in that, described send the communication message to identified actuator
The electronic control unit of part, comprising:
Verify the communication message；
The CAN bus of the communication message through verifying to the automatic driving vehicle is sent, for the controller
Area Network bus transmits the electronic control unit of the communication message to identified performer；
Monitor transmission of the CAN bus to the communication message.
8. a kind of for controlling the device of automatic driving vehicle, which is characterized in that described device includes:
Acquiring unit is configured to the vehicle control rule that acquisition pre-establishes and corresponds to table, wherein the vehicle control rule is right
Each vehicle control rule in table and corresponding type of vehicle associated storage are answered, vehicle control rule is used for according to control instruction
In control parameter and control parameter value determine for executing the performer of control instruction and the physical parameter of performer；
First determination unit is configured to correspond to table according to the vehicle control rule, determining and the automatic driving vehicle
The associated vehicle control rule of type of vehicle；
Second determination unit is configured to use identified vehicle control in response to control instruction receive or generation
Control parameter and control parameter value in the regular and described control instruction determine the actuator for executing the control instruction
The physical parameter of part and performer；
Control unit is configured to control identified performer and works under corresponding physical parameter.
9. device according to claim 8, which is characterized in that described device further include:
Acquisition unit is configured to acquire the actual physics parameter of the performer of the determination；
Third determination unit is configured to determine that the actual physics parameter is corresponding according to identified vehicle control rule
Control parameter value.
10. device according to claim 9, which is characterized in that described device further include:
4th determination unit is configured to according to the control parameter value and the corresponding control ginseng of actual physics parameter in control instruction
Numerical value determines control assessed value.
11. device according to claim 9, which is characterized in that described device further include:
Display unit is configured to that control parameter value corresponding with actual physics parameter is presented.
12. the device according to any one of claim 8-11, which is characterized in that described control unit includes:
Module is obtained, acquisition vehicle communication agreement is configured to and corresponds to table, the vehicle communication agreement corresponds to each vehicle in table
Communication protocol is used to provide the message inside automatic driving vehicle with corresponding type of vehicle associated storage, vehicle communication agreement
Transformat；
Determining module is configured to correspond to table according to the vehicle communication agreement, the determining type of vehicle with automatic driving vehicle
Associated vehicle communication agreement.
13. device according to claim 12, which is characterized in that described control unit further include:
Conversion module, is configured to according to identified communication protocol, by the corresponding physical parameter be converted to it is described nobody
Drive the communication message of vehicle；
Sending module is configured to send the electronic control unit of the communication message to identified performer.
14. device according to claim 13, which is characterized in that the sending module is further configured to:
Verify the communication message；
The CAN bus of the communication message through verifying to the automatic driving vehicle is sent, for the controller
Area Network bus transmits the electronic control unit of the communication message to identified performer；
Monitor transmission of the CAN bus to the communication message.
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| CN107200017A (en) * | 2017-05-22 | 2017-09-26 | 北京联合大学 | A kind of automatic driving vehicle control system based on deep learning |
| CN107499258A (en) * | 2017-09-05 | 2017-12-22 | 百度在线网络技术（北京）有限公司 | Control method and device applied to autonomous driving vehicle |
| CN109474647B (en) * | 2017-09-07 | 2020-07-10 | 比亚迪股份有限公司 | Remote control method and device for vehicle |
| CN108921971B (en) * | 2018-05-30 | 2021-04-02 | 北京图森智途科技有限公司 | Data recording system and method for automatic driving vehicle and data acquisition equipment |
| CN109144054B (en) * | 2018-07-27 | 2022-04-29 | 上海商汤智能科技有限公司 | Intelligent driving drive test control method and device, electronic equipment and storage medium |
| CN109263651A (en) * | 2018-09-28 | 2019-01-25 | 上汽通用五菱汽车股份有限公司 | Safe checking method, autonomous driving vehicle and the storage medium of autonomous driving vehicle |
| CN111483466A (en) * | 2019-01-28 | 2020-08-04 | 北京新能源汽车股份有限公司 | Decision planning control system, method and equipment and automobile |
| CN111506024A (en) * | 2019-01-31 | 2020-08-07 | 驭势科技（北京）有限公司 | Autonomous vehicle, control method, control device, and computer processing medium |
| US11066025B2 (en) * | 2019-03-27 | 2021-07-20 | Jack Chen | Electric vehicle drive system and operation method of the same |
| CN110614965A (en) * | 2019-09-24 | 2019-12-27 | 彭小权 | Auxiliary driving expansion device |
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