CN106218632A - 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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- CN106218632A CN106218632A CN201610569881.8A CN201610569881A CN106218632A CN 106218632 A CN106218632 A CN 106218632A CN 201610569881 A CN201610569881 A CN 201610569881A CN 106218632 A CN106218632 A CN 106218632A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/55—External transmission of data to or from the vehicle using telemetry
-
- 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
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from the vehicle
Abstract
This application discloses the method and apparatus for controlling automatic driving vehicle.One detailed description of the invention of described method includes: generate or receive the action command information to automatic driving vehicle；Obtain the current driving environmental information of described automatic driving vehicle；Described action command information is carried out Context resolution, extraction action key word；Described current driving environmental information is carried out Context resolution, extraction environment key word；According to described action key word and described environment key word, the control parameter value corresponding with described action key word and described environment key word is chosen from the control parameter lookup table pre-build, wherein, described control parameter lookup table is for characterizing action key word, environment key word and controlling the corresponding relation of parameter value；Described automatic driving vehicle is controlled according to described control parameter value.This embodiment achieves and controls automatic driving vehicle in different environments.
Description
Technical field
The application relates to automotive field, is specifically related to automatic driving vehicle technical field, particularly for control
The method and apparatus of automatic driving vehicle processed.
Background technology
For the control of automatic driving vehicle, controlling parameter value is non-the normally off key, controls the accurate journey of parameter value
Degree determines automatic driving vehicle and controls the quality of effect.For the automatic driving vehicle of different model, control parameter value and have
The biggest difference.Even the vehicle of same model, chassis time owing to dispatching from the factory, direction controlling device, throttle system control device,
Brake system controls the difference of device, uses same set of control parameter value can not accurately control the automatic row of automatic driving vehicle
Sail.
But, the method for existing control automatic driving vehicle is typically the automatic driving vehicle to same model and uses same
A set of control parameter value is controlled, it is impossible to be applicable to different vehicle control in different environments, accordingly, there are control unmanned
Drive the problem that the accuracy of vehicle is poor.
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: generate
Or receive the action command information to automatic driving vehicle；Obtain the current driving environmental information of described automatic driving vehicle；Right
Described action command information carries out Context resolution, extraction action key word；Described current driving environmental information is carried out content solution
Analysis, extraction environment key word；According to described action key word and described environment key word, from the control parameter comparison pre-build
Table is chosen the control parameter value corresponding with described action key word and described environment key word, wherein, described control parameter pair
According to table for characterizing action key word, environment key word and controlling the corresponding relation of parameter value；According to described control parameter value control
Make described automatic driving vehicle.
Second aspect, this application provides a kind of device for controlling automatic driving vehicle, and described device includes: generate
Or reception unit, it is configured to the action command information generating or receiving automatic driving vehicle；Acquiring unit, is configured to obtain
Take the current driving environmental information of described automatic driving vehicle；First resolution unit, is configured to described action command information
Carry out Context resolution, extraction action key word；Second resolution unit, in being configured to carry out described current driving environmental information
Hold and resolve, extraction environment key word；Choose unit, be configured to according to described action key word and described environment key word, from
The control parameter lookup table pre-build chooses the control parameter corresponding with described action key word and described environment key word
Value, wherein, described control parameter lookup table is for characterizing action key word, environment key word and controlling the corresponding pass of parameter value
System；Control unit, is configured to control described automatic driving vehicle according to described control parameter value.
The method and apparatus being used for controlling automatic driving vehicle that the application provides, by receiving or generating unmanned
The action command information of vehicle；Then the current driving environmental information of automatic driving vehicle is obtained；Then to action command information
Carry out Context resolution, extraction action key word；Current driving environmental information is carried out Context resolution, extraction environment key word again；
Afterwards according to above-mentioned action key word and environment key word, choose and above-mentioned action from the control parameter lookup table pre-build
The control parameter value that key word is corresponding with environment key word；Automatic driving vehicle is controlled finally according to above-mentioned control parameter value, from
And it is effectively utilized the current driving environmental information of automatic driving vehicle, it is achieved that automatic driving vehicle control in different environments
System.
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 driving control devices 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, performer 1013,1014,1015 and sensor 1016,1017,1018.
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.
Data that each performer received in Vehicle Body Bus 1012 can be sent by driving control devices and/or each sensing
The data that device is sent are analyzed processing, and make corresponding decision-making, and generate the action command information that decision-making is corresponding.
The action command information generated can also be analyzed by driving control devices 1011, and extracts this action command
Action key word in information；The current driving environmental information obtained from sensor 1016,1017,1018 can also be carried out
Resolve, extraction environment key word.
Vehicle Body Bus 1012 could be for connecting driving control devices 1011, performer 1013,1014,1015 and passing
The bus of other unshowned equipment of sensor 1016,1017,1018 and automatic driving vehicle 101.Due to CAN
High-performance and the reliability of (Controller Area Network, controller local area network) bus are extensively admitted, therefore
In motor vehicles, conventional Vehicle Body Bus is CAN at present.Of course it is to be appreciated that Vehicle Body Bus can also be other types
Bus.
Automatic driving vehicle 101 can also include radar, image the first-class current line that can gather automatic driving vehicle
Sail the device of environmental information；Automatic driving vehicle 101 can also include network communication equipment, and by network communication equipment, nobody drives
Sail vehicle 101 and can remotely be obtained the current driving environment letter of automatic driving vehicle by the current location of automatic driving vehicle
Breath.
Cloud Server 103 can be the Cloud Server of sending action command information, and driving control devices 1011 can receive
The action command information that Cloud Server sends.
Cloud Server 103 can also is that the Cloud Server providing data query service, such as to driving control devices 1011
The control parameter value inquiry request of the control parameter value that the inquiry sent is corresponding with action key word and environment key word connects
Receive and provide the background network Cloud Server of query function.Background network Cloud Server can store the control parameter pre-build
Synopsis, wherein, above-mentioned control parameter lookup table is for characterizing action key word, environment key word and controlling the correspondence of parameter value
Relation.Certainly, the control parameter lookup table that driving control devices 1011 can also locally stored pre-build, and from locally stored
Control parameter lookup table chooses the control parameter value corresponding with action key word and environment key word, it is not necessary to Cloud Server
The support of 103.In this case, exemplary system architecture 100 can also not have network 102 above-mentioned in Fig. 1 and cloud service
Device 103.
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, performer, sensor, 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, performer, sensor, 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, generates or receives the action command information to automatic driving vehicle.
In the present embodiment, the method being used for controlling automatic driving vehicle runs on electronic equipment thereon (such as Fig. 1 institute
Driving control devices 1011 in the automatic driving vehicle 101 shown) can generate or receive the action to automatic driving vehicle and refer to
Make information.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can receive above-mentioned automatic driving car
The action command information that the Cloud Server being supported sends.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be by the interface mutual with user
Receive the action command information 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 action command information.
In the present embodiment, action command information can comprise make automatic driving vehicle change existing transport condition
The information of instruction.
In some optional implementations of the present embodiment, action command information can include following at least one: rise
Step command information, straight-line travelling command information, turn command information, cutoff command information.Wherein, straight-line travelling command information institute
The automatic driving vehicle action of instruction can include accelerating to keep straight on, slow down and keep straight on；Unmanned indicated by turn command information
Vehicle action can include turning left, turns right, turn around.
Step 202, obtains the current driving environmental information of automatic driving vehicle.
In the present embodiment, above-mentioned electronic equipment can the local current driving environmental information obtaining automatic driving vehicle,
Can also is that the current driving ring remotely obtaining automatic driving vehicle from the Cloud Server that automatic driving vehicle is supported
Environment information.
In the present embodiment, the current driving environmental information of above-mentioned electronic equipment this locality acquisition automatic driving vehicle can be
The current driving of automatic driving vehicle is obtained by the first-class equipment of the radar being arranged on automatic driving vehicle, sensor and shooting
Environmental information.Such as, radar can obtain range information, and sensor can obtain temperature information, Weather information, illuminance information
Deng, photographic head can obtain the information such as barrier, traffic signs thing.
In the present embodiment, current driving environmental information can be with automatic driving vehicle geographic location with geography
Environmental correclation, affect vehicle travel information.
In some optional implementations of the present embodiment, current driving environmental information can include following at least one
: Weather information, road information, light information.
As example, the weather indicated by Weather information can be fine day, rainy day, snow sky and strong wind etc., more refines
Ground, the rainy day in Weather information, this weather can also be refined as the different brackets such as light rain, moderate rain, heavy rain.Weather information also may be used
To include temperature information.
As example, road information may refer to show the information on the road surface that vehicle travelled on, such as road information indication
The road surface shown can be to be dried asphalt surface, wet-skid road surface, muddy road surface.
As example, temperature information can include high temperature, low temperature, and above-mentioned electronic equipment can be passed by the temperature on vehicle
The temperature value of sensor detection environment.Temperature value is high temperature higher than temperature information during preset temperature threshold value, and temperature value is less than presetting temperature
During degree threshold value, temperature information is low temperature.If it is understood that pre-set multiple different temperature threshold, it is also possible to by temperature
Angle value is divided into more grade, and correspondingly, temperature information can include more option, and such as, temperature information can wrap
Include ultralow temperature, low temperature, middle temperature, high temperature, superhigh temperature.
As example, light information can include high light, the low light level, and above-mentioned electronic equipment can be by the illuminance on vehicle
The illuminance value of sensor detection environment, illuminance value is high light higher than light information when presetting illuminance threshold value, illuminance value
It is the low light level less than light information when presetting illuminance threshold value.
Step 203, carries out Context resolution, extraction action key word to action command information.
In the present embodiment, above-mentioned electronic equipment can utilize the action to receiving in step 201 of the various analysis means
Command information carries out Context resolution, thus extracts action key word.
In the optional implementation of some of the present embodiment, the above-mentioned side that action command information is carried out Context resolution
Formula can be to be statistical analysis mode.
In the optional implementation of some of the present embodiment, the above-mentioned side that action command information is carried out Context resolution
Formula can also is that semantic analysis mode.
As example, the action command information of " at the uniform velocity keeping straight on 10 kilometers " is extracted action key word can be " at the uniform velocity
Keep straight on ".
Step 204, carries out Context resolution, extraction environment key word to current driving environmental information.
In the present embodiment, above-mentioned electronic equipment can utilize the various analysis means current line to obtaining in step 202
Sail environmental information and carry out Context resolution, thus extraction environment key word.
In the optional implementation of some of the present embodiment, above-mentioned current driving environmental information is carried out Context resolution
Mode can be to be statistical analysis mode.
In the optional implementation of some of the present embodiment, above-mentioned current driving environmental information is carried out Context resolution
Mode can also be semantic analysis mode.
In the optional implementation of some of the present embodiment, above-mentioned current driving environmental information is carried out Context resolution
Mode can also is that first to inquire the environment corresponding with current driving environmental information in default ambient parameter table crucial
Word, wherein, ambient parameter table is for characterizing the corresponding relation between running environment information and environment key word；Then will inquire
Environment key word as the environment key word of current driving environmental information.
As example, the current driving environmental information of " fine day, 38 degree " is carried out Context resolution, obtains environment key word
" fine day, high temperature ".
Step 205, according to above-mentioned action key word and environment key word, selects from the control parameter lookup table pre-build
Take the control parameter value corresponding with above-mentioned action key word and environment key word.
In the present embodiment, above-mentioned electronic equipment can extract according to step 203 action key word and step 204 are extracted
Environment key word, choose corresponding with above-mentioned action key word and environment key word from the control parameter lookup table pre-build
Control parameter value.Wherein, parameter lookup table is controlled for characterizing action key word, environment key word and controlling the right of parameter value
Should be related to.Here, above-mentioned control parameter lookup table can be stored in above-mentioned electronic equipment this locality, it is also possible to is stored in unmanned
Driving vehicle and provide the server supported, above-mentioned server can be Cloud Server.
In some optional implementations of the present embodiment, above-mentioned control parameter lookup table can be with tlv triple (action
Key word, environment key word, control parameter value) form set up.Control parameter lookup table can also with correspondence storage index value,
The two tuple forms controlling parameter value are set up, and wherein, index value can calculate according to action key word and environment key word.
In the present embodiment, action key word set in advance and environment key word are permissible with the corresponding relation controlling parameter
Preset according to practical situation, meanwhile, this corresponding relation can be along with the difference of the vehicle of automatic driving vehicle, running environment
Difference or the demand of user different and change, it is also possible to increase at any time according to the demand of user or reduce correspondence therein
Relation.
In some optional implementations of the present embodiment, above-mentioned control parameter list can be stored in automatic driving car
Provide support Cloud Server in；First above-mentioned electronic equipment can send for inquiry and above-mentioned action key word and above-mentioned
The control parameter value inquiry request of the control parameter value that environment key word is corresponding is to Cloud Server；Then above-mentioned Cloud Server is received
The control parameter value returned；Finally using received control parameter value as crucial with above-mentioned action key word and above-mentioned environment
The control parameter value that word is corresponding.
Step 206, controls automatic driving vehicle according to above-mentioned control parameter value.
In the present embodiment, each control parameter value selected by step 205 can be sent to phase by above-mentioned electronic equipment
The performer answered so that automatic driving vehicle is according to the numerical value automatic running controlled indicated by parameter value.
The method and apparatus being used for controlling automatic driving vehicle that the application provides, by receiving or generating unmanned
The action command information of vehicle；Then the current driving environmental information of automatic driving vehicle is obtained；Then to action command information
Carry out Context resolution, extraction action key word；Current driving environmental information is carried out Context resolution, extraction environment key word again；
Afterwards according to above-mentioned action key word and environment key word, choose and above-mentioned action from the control parameter lookup table pre-build
The control parameter value that key word is corresponding with environment key word；Automatic driving vehicle is controlled finally according to above-mentioned control parameter value.From
And it is effectively utilized the current driving environmental information of automatic driving vehicle, it is achieved that automatic driving vehicle control in different environments
System.
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, receives or generates the action command information to automatic driving vehicle.
Step 302, obtains the current driving environmental information of automatic driving vehicle.
Step 303, carries out Context resolution, extraction action key word to action command information.
Step 304, carries out Context resolution, extraction environment key word to current driving environmental information.
Step 305, according to above-mentioned action key word and environment key word, selects from the control parameter lookup table pre-build
Take the control parameter value corresponding with above-mentioned action key word and environment key word.
Step 306, controls automatic driving vehicle according to above-mentioned control parameter value.
The operation of above-mentioned steps 301-step 306 is essentially identical with the operation of step 201-step 206, at this no longer respectively
Repeat.
Step 307, gathers and controls the feedback information after automatic driving vehicle according to above-mentioned control parameter value.
In the present embodiment, above-mentioned electronic equipment can according to above-mentioned control parameter value control automatic driving vehicle it
After, gather and control the feedback information after automatic driving vehicle according to above-mentioned control parameter value.Wherein, feedback information include with down to
One item missing: travel routes information, brake pressure information, throttle fuel delivery information, vehicle speed information.
Step 308, carries out content analysis to action command information and feedback information, draws control effect information.
In the present embodiment, step 301 can be generated or receive by above-mentioned electronic equipment action command information and step
307 feedback informations gathered carry out content analysis, and draw control effect information.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can include car at action command information
During velocity amplitude, according to the car speed indicated by the vehicle speed information in feedback information and the vehicle in action command information
Velocity amplitude, draws control effect information.Such as, when the car speed indicated by the vehicle speed information in feedback information and action
The speed difference between toy vehicle velocity value in command information and the ratio between the toy vehicle velocity value in action command information are little
In 2% time, draw the control effect information of " controlling effect fine "；When above-mentioned ratio is between 2% and 10%, draw " control
Make effective " control effect information；When above-mentioned ratio is between 10% and 20%, draw the control of " controlling effect general "
Effect information；When above-mentioned ratio is when more than 20%, draw the control effect information of " controlling effect bad ".
In some optional implementations of the present embodiment, above-mentioned electronic equipment can include mesh at action command information
In the case of mark travel route, according to the travel routes information in feedback information and target travel route, draw control effect letter
Breath.For example, it is possible to the objective calculated in different at least one specifies the action command information in moment and feedback information
In actual vehicle place between the sum of distance difference, if this distance difference and more than distance to a declared goal threshold value, then draw
The control effect information " controlling effective "；If this distance difference and less than or equal to distance to a declared goal threshold value, then draw and " control
Effect is bad " control effect information.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can be according to obtaining in step 308
Control effect information, it may be judged whether update above-mentioned control parameter lookup table, if it is, be updated operation.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can judge that obtaining updating control joins
In the case of number synopsis, using above-mentioned action command information as action key word, above-mentioned current driving environmental information as ring
Border key word is corresponding with above-mentioned control parameter value to be added to controlling parameter lookup table to update control parameter lookup table.
As example, action command information is " turn left, 30 degree ", and current driving environmental information is " light rain ", action key
Word is " turn left, 30 degree ", and environment key word be " rainy day ", if the control parameter value that use is corresponding with " left-hand rotation, 30 degree, rainy day "
Controlling the control effect information that above-mentioned automatic driving vehicle draws is " very well ", then by action command information " turn left, 30 degree " work
For action key word, current driving environmental information " light rain " as environment key word and the control corresponding with " left-hand rotation, 30 degree, rainy day "
Parameter value correspondence processed is added to controlling parameter lookup table, to add the action key word of more horn of plenty, environment key word so that control
The classification of parameter value processed is the most careful, and it is the most accurate to control.
In some optional implementations of the present embodiment, above-mentioned electronic equipment can also draw control in step 308
After effect information processed, do not carry out the operation of step 309, but effect information, action command information, current driving environment will be controlled
Information and control parameter value are sent to provide, to automatic driving vehicle, the Cloud Server supported, judge whether to use for Cloud Server
Above-mentioned action command information, above-mentioned current driving environmental information and above-mentioned control parameter value update and control parameter lookup table.
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 had more and gather the step 307 of feedback information, generate the step 308 controlling effect information.Thus,
The scheme that the present embodiment describes can introduce the feedback information controlling parameter value, it is achieved more effectively controls automatic driving vehicle.
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: generates or receives
Unit 401, acquiring unit the 402, first resolution unit the 403, second resolution unit 404, choose unit 405 and control unit 406.
Wherein, generate or receive unit 401, be configured to the action command information generating or receiving automatic driving vehicle；Obtain single
Unit 402, is configured to obtain the current driving environmental information of above-mentioned automatic driving vehicle；First resolution unit 403, is configured to
Above-mentioned action command information is carried out Context resolution, extraction action key word；Second resolution unit 404, is configured to above-mentioned
Current driving environmental information carries out Context resolution, extraction environment key word；Choose unit 405, be configured to according to above-mentioned action
Key word and above-mentioned environment key word, choose and above-mentioned action key word and above-mentioned from the control parameter lookup table pre-build
The control parameter value that environment key word is corresponding, wherein, above-mentioned control parameter lookup table is used for characterizing action key word, environment key
Word and the corresponding relation of control parameter value；Control unit 406, be configured to according to above-mentioned control parameter value control above-mentioned nobody drive
Sail vehicle.
In the present embodiment, for controlling the generation of the device 400 of automatic driving vehicle or receiving unit 401, obtain list
Unit's 402, first resolution unit the 403, second resolution unit 404, choose unit 405 and control unit 406 concrete process and
The technique effect brought can be respectively with reference to step 201, step 202, step 203, step 204 and step in Fig. 2 correspondence embodiment
Rapid 205 and the related description of step 206, do not repeat them here.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
May include that collecting unit 407, be configured to gather according to above-mentioned control parameter value control after above-mentioned automatic driving vehicle anti-
Feedforward information, wherein, above-mentioned feedback information include following at least one: travel routes information, brake pressure information, throttle fuel delivery
Information, vehicle speed information；Signal generating unit 408, in being configured to carry out above-mentioned action command information and above-mentioned feedback information
Hold and analyze, generate and control effect information.Collecting unit 407 and the concrete technology effect processing and being brought of signal generating unit 408
Fruit can not repeat them here respectively with reference to step 307 and the related description of step 308 in Fig. 3 correspondence embodiment.
In some optional implementations of the present embodiment, the above-mentioned device 400 for controlling automatic driving vehicle is also
May include that judging unit (not shown), be configured to judge whether to update above-mentioned control ginseng according to above-mentioned control effect information
Number synopsis；Updating block (not shown), be configured to if it is, using above-mentioned action command information as action key word,
Above-mentioned current driving environmental information is added to the comparison of above-mentioned control parameter as environment key word is corresponding with above-mentioned control parameter value
Table is to update above-mentioned control parameter lookup table.
In some optional implementations of the present embodiment, above-mentioned second resolution unit 404 can configure use further
In: in default ambient parameter table, inquire the environment key word corresponding with above-mentioned current driving environmental information, wherein, above-mentioned
Ambient parameter table is for characterizing the corresponding relation between running environment information and environment key word；The environment key word that will inquire
Environment key word as above-mentioned current driving environmental information.The concrete skill processing and being brought of the second resolution unit 404
Art effect refers to the related description of step 204 in Fig. 2 correspondence embodiment, does not repeats them here.
In some optional implementations of the present embodiment, above-mentioned current driving environmental information includes following at least one
: road information, Weather information, light information.
In some optional implementations of the present embodiment, above-mentioned action command information include following at least one: rise
Step command information, straight-line travelling command information, turn command information, cutoff command information.
Below with reference to Fig. 5, it illustrates the department of computer science being suitable to the driving control devices for realizing the embodiment of the present application
The structural representation of system 500.
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 RAM 503, also storage has system 500 to operate required various programs and data.
CPU 501, ROM 502 and RAM 503 are connected with each other by bus 504.Input/output (I/O) interface 505 is also connected to always
Line 504.
It is connected to I/O interface 505: include the importation 506 of performer, sensor etc. with lower component；Including such as
The output part 507 of performer, 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.When this computer program is performed by CPU (CPU) 501, perform in the present processes
The above-mentioned functions limited.
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 generation or receive unit, acquiring unit, the first resolution unit, the second resolution unit, choose unit and control unit.Wherein,
The title of these unit is not intended that the restriction to this unit itself under certain conditions, and such as, acquiring unit can also be retouched
State as " obtaining the unit of the current driving environmental information of automatic driving vehicle ".
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: generate
Or receive the action command information to automatic driving vehicle；Obtain the current driving environmental information of above-mentioned automatic driving vehicle；Right
Above-mentioned action command information carries out Context resolution, extraction action key word；Above-mentioned current driving environmental information is carried out content solution
Analysis, extraction environment key word；According to above-mentioned action key word and above-mentioned environment key word, from the control parameter comparison pre-build
Table is chosen the control parameter value corresponding with above-mentioned action key word and above-mentioned environment key word, wherein, above-mentioned control parameter pair
According to table for characterizing action key word, environment key word and controlling the corresponding relation of parameter value；According to above-mentioned control parameter value control
Make above-mentioned automatic driving vehicle.
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 (10)
1. the method being used for controlling automatic driving vehicle, it is characterised in that described method includes:
Generate or receive the action command information to automatic driving vehicle；
Obtain the current driving environmental information of described automatic driving vehicle；
Described action command information is carried out Context resolution, extraction action key word；
Described current driving environmental information is carried out Context resolution, extraction environment key word；
According to described action key word and described environment key word, choose with described from the control parameter lookup table pre-build
The control parameter value that action key word is corresponding with described environment key word, wherein, described control parameter lookup table is used for characterizing dynamic
Make key word, environment key word and control the corresponding relation of parameter value；
Described automatic driving vehicle is controlled according to described control parameter value.
Method the most according to claim 1, it is characterised in that described method also includes:
Gather and control the feedback information after described automatic driving vehicle, wherein, described feedback information according to described control parameter value
Including following at least one: travel routes information, brake pressure information, throttle fuel delivery information, vehicle speed information；
Described action command information and described feedback information are carried out content analysis, generates and control effect information.
Method the most according to claim 2, it is characterised in that described described current driving environmental information is carried out content solution
Analysis, extraction environment key word, including:
The environment key word corresponding with described current driving environmental information, wherein, institute is inquired in default ambient parameter table
State ambient parameter table for characterizing the corresponding relation between running environment information and environment key word；
Using the environment key word that inquires as the environment key word of described current driving environmental information.
4. according to the method according to any one of claim 1-3, it is characterised in that described current driving environmental information include with
Descend at least one: road information, Weather information, light information.
Method the most according to claim 4, it is characterised in that described action command information include following at least one: rise
Step command information, straight-line travelling command information, turn command information, cutoff command information.
6. the device being used for controlling automatic driving vehicle, it is characterised in that described device includes:
Generate or receive unit, being configured to the action command information generating or receiving automatic driving vehicle；
Acquiring unit, is configured to obtain the current driving environmental information of described automatic driving vehicle；
First resolution unit, is configured to carry out described action command information Context resolution, extraction action key word；
Second resolution unit, is configured to described current driving environmental information is carried out Context resolution, extraction environment key word；
Choose unit, be configured to according to described action key word and described environment key word, from the control parameter pre-build
Choosing the control parameter value corresponding with described action key word and described environment key word in synopsis, wherein, described control is joined
Number synopsis is for characterizing action key word, environment key word and controlling the corresponding relation of parameter value；
Control unit, is configured to control described automatic driving vehicle according to described control parameter value.
Device the most according to claim 6, it is characterised in that described device also includes:
Collecting unit, is configured to the feedback information after gathering according to the described control parameter value described automatic driving vehicle of control,
Wherein, described feedback information include following at least one: travel routes information, brake pressure information, throttle fuel delivery information, car
Velocity information；
Signal generating unit, is configured to carry out described action command information and described feedback information content analysis, generates and controls effect
Really information.
Device the most according to claim 7, it is characterised in that described second resolution unit is configured to further:
The environment key word corresponding with described current driving environmental information, wherein, institute is inquired in default ambient parameter table
State ambient parameter table for characterizing the corresponding relation between running environment information and environment key word；
Using the environment key word that inquires as the environment key word of described current driving environmental information.
9. according to the device according to any one of claim 6-8, it is characterised in that described current driving environmental information include with
Descend at least one: road information, Weather information, light information.
Device the most according to claim 9, it is characterised in that described action command information include following at least one: rise
Step command information, straight-line travelling command information, turn command information, cutoff command information.
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| CN201610569881.8A CN106218632B (en) | 2016-07-19 | 2016-07-19 | Method and apparatus for controlling automatic driving vehicle |
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| CN106218632B (en) | 2019-01-01 |
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