CN107150691A - Automatic driving vehicle stunt method, device, equipment and storage medium - Google Patents
Automatic driving vehicle stunt method, device, equipment and storage medium Download PDFInfo
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- CN107150691A CN107150691A CN201710264518.XA CN201710264518A CN107150691A CN 107150691 A CN107150691 A CN 107150691A CN 201710264518 A CN201710264518 A CN 201710264518A CN 107150691 A CN107150691 A CN 107150691A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000005457 optimization Methods 0.000 claims description 33
- 230000009471 action Effects 0.000 claims description 14
- 238000013135 deep learning Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 description 5
- 230000005291 magnetic effect Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000005553 drilling Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 239000013078 crystal Substances 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 241000283070 Equus zebra Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002203 pretreatment Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
-
- 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
-
- 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
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
- B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
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- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses automatic driving vehicle stunt method, device, equipment and storage medium, wherein method includes：Automatic driving vehicle is obtained in the service data in the state of manned when whne performance venue progress stunt；According to the service data, control automatic driving vehicle is treating performance venue progress stunt in the state of unmanned.Using scheme of the present invention, stunt of the automatic driving vehicle under unmanned state can be realized.
Description
【Technical field】
The present invention relates to automatic driving vehicle technology, more particularly to automatic driving vehicle stunt method, device, equipment
And storage medium.
【Background technology】
Automatic driving vehicle, alternatively referred to as automatic driving vehicle, refer to perceive vehicle periphery by vehicle-mounted sensor-based system
Environment, and according to obtained road, vehicle location and obstacle information etc. is perceived, steering and the speed of vehicle are controlled, so that
Enable the vehicle to reliably and securely travel on road.
Fig. 1 is the operation principle schematic diagram of existing automatic driving vehicle, as shown in figure 1, high-precision map therein refers to tool
Have the map of centimetre class precision, can be fine to lane, and can differentiate on bridge, under bridge, camera, guideboard, zebra stripes etc., intelligence
Perception refers to based on Multi-sensor Fusion, deep understanding vehicle-periphery information, and intelligent control refers to automatic planning and vehicle control
System etc..
Car stunt scenes are activity links most excellent in each car exhibition, can show the limiting performance of vehicle, carry
Rise popularity of vehicle and manufacturer etc..
And for automatic driving vehicle, how to make it carry out stunt, existing skill in the state of unmanned
Also without a kind of effective settling mode in art.
【The content of the invention】
In view of this, the invention provides automatic driving vehicle stunt method, device, equipment and storage medium.
Concrete technical scheme is as follows：
A kind of automatic driving vehicle stunt method, including：
Automatic driving vehicle is obtained in the operation number in the state of manned when whne performance venue progress stunt
According to；
According to the service data, control the automatic driving vehicle in the state of unmanned in the field to be performed
Ground carries out stunt.
According to one preferred embodiment of the present invention, this method further comprises：Before the service data is obtained, institute is obtained
State the high-precision map for treating performance venue；
Obtaining the service data includes：According to the high-precision map, the service data is obtained.
According to one preferred embodiment of the present invention, the service data includes：Driving trace and driving data.
According to one preferred embodiment of the present invention, this method further comprises：The service data is optimized；
It is described according to the service data, control the automatic driving vehicle to treat table described in the state of unmanned
Drilling place progress stunt includes：
According to the service data after optimization, the automatic driving vehicle is controlled to treat table described in the state of unmanned
Drill place and carry out stunt.
According to one preferred embodiment of the present invention, it is described the service data is optimized including：
According to the service data, control the automatic driving vehicle in the state of unmanned in the field to be performed
Ground carries out stunt；
After each performance terminates, if receiving data point reuse instruction, controlled again according to the service data after adjustment
The automatic driving vehicle carries out stunt, otherwise, using the service data of the last performance institute foundation as after optimization
Service data.
According to one preferred embodiment of the present invention, it is described according to the service data, the automatic driving vehicle is controlled in nothing
People treats that performance venue carries out stunt and included in the state of driving described：
According to the high-precision map and the service data, the automatic driving vehicle is controlled in unpiloted state
Under it is described treat performance venue carry out stunt.
According to one preferred embodiment of the present invention, this method further comprises：
The service data is uploaded to high in the clouds, so as to the mass data according to collected by high in the clouds, carried by deep learning
The essential of exercise of each excellent action is produced, when the automatic driving vehicle needs to carry out stunt table in a new performance venue
When drilling, according to the essential of exercise and site condition of each excellent action, stunt is adaptively carried out.
A kind of automatic driving vehicle stunt device, including：Pretreatment unit and performance unit；
The pretreatment unit, for obtain automatic driving vehicle in the state of manned treating performance venue carry out
Service data during stunt, and it is sent to the performance unit；
The performance unit, for according to the service data, controlling the automatic driving vehicle in unpiloted shape
Treat that performance venue carries out stunt described under state.
According to one preferred embodiment of the present invention, the pretreatment unit includes：First acquisition subelement and second obtain
Take subelement；
Described first obtains subelement, for obtain it is described treat the high-precision map of performance venue, and be sent to described second
Obtain subelement；
Described second obtains subelement, is driven for according to the high-precision map, obtaining the automatic driving vehicle in someone
In service data when performance venue carries out stunt in the state of sailing, and it is sent to the performance unit.
According to one preferred embodiment of the present invention, the service data includes：Driving trace and driving data.
According to one preferred embodiment of the present invention, the pretreatment unit further comprises：Optimize subelement；
The second acquisition subelement is further used for, and the service data is sent into the optimization subelement；
The optimization subelement, for being optimized to the service data, and the service data after optimization is sent to
The performance unit；
The performance unit controls the automatic driving vehicle in unpiloted state according to the service data after optimization
Under it is described treat performance venue carry out stunt.
According to one preferred embodiment of the present invention, the optimization subelement carries out excellent to the service data in such a way
Change：
According to the service data, control the automatic driving vehicle in the state of unmanned in the field to be performed
Ground carries out stunt；
After each performance terminates, if receiving data point reuse instruction, controlled again according to the service data after adjustment
The automatic driving vehicle carries out stunt, otherwise, using the service data of the last performance institute foundation as after optimization
Service data.
According to one preferred embodiment of the present invention, the first acquisition subelement is further used for, and the high-precision map is sent out
Give the optimization subelement and the performance unit；
The optimization subelement and the performance unit control institute according to the high-precision map and the service data
State automatic driving vehicle and treat that performance venue carries out stunt described in the state of unmanned.
According to one preferred embodiment of the present invention, the performance unit is further used for,
The service data is uploaded to high in the clouds, so as to the mass data according to collected by high in the clouds, carried by deep learning
The essential of exercise of each excellent action is produced, when the automatic driving vehicle needs to carry out stunt table in a new performance venue
When drilling, according to the essential of exercise and site condition of each excellent action, stunt is adaptively carried out.
A kind of computer equipment, including memory, processor and be stored on the memory and can be in the processor
The computer program of upper operation, realizes method as described above during the computing device described program.
A kind of computer-readable recording medium, is stored thereon with computer program, real when described program is executed by processor
Existing method as described above.
It is can be seen that based on above-mentioned introduction using scheme of the present invention, formal spy can be carried out in automatic driving vehicle
Before skill performance, automatic driving vehicle is obtained in the operation in the state of manned when whne performance venue progress stunt
Data, then, when automatic driving vehicle needs to carry out formal stunt, can be controlled according to the service data got
Automatic driving vehicle is treating performance venue progress stunt in the state of unmanned, it is achieved thereby that automatic driving vehicle
Stunt under unmanned state, and then the perfect performance of automatic driving vehicle, moreover, for manned car
For, when it needs to carry out stunt, either formal performance or formally exercise before performance etc. are required to
Vehicle is operated by people such as stunt driver, it is dangerous very high, once careless manipulation, driver is easy to injury, in addition it is dead, and it is right
For automatic driving vehicle, it is participated in formal performance without stunt driver, so as to reduce the danger of driver.
【Brief description of the drawings】
Fig. 1 is the operation principle schematic diagram of existing automatic driving vehicle.
Fig. 2 is the flow chart of automatic driving vehicle stunt embodiment of the method for the present invention.
Fig. 3 is the composition structural representation of automatic driving vehicle stunt device embodiment of the present invention.
Fig. 4 shows the block diagram suitable for being used for the exemplary computer system/server 12 for realizing embodiment of the present invention.
【Embodiment】
In order that technical scheme is clearer, clear, develop simultaneously embodiment referring to the drawings, to institute of the present invention
The scheme of stating is described in further detail.
Fig. 2 is the flow chart of automatic driving vehicle stunt embodiment of the method for the present invention, as shown in Fig. 2 including
Implementation in detail below.
In 201, obtain automatic driving vehicle in the state of manned whne performance venue carry out stunt when
Service data.
Before automatic driving vehicle formally carries out stunt, some pretreatments can be first carried out.
First, automatic driving vehicle can be on performance venue be treated around place covering multipass, the number collected using sensor
The high-precision map for treating performance venue according to drawing out, is implemented as prior art.
Afterwards, automatic driving vehicle can be made to treat performance venue progress stunt in the state of manned.Such as,
Outstanding stunt driver can be chosen, manual drive automatic driving vehicle is treating performance venue progress stunt.
Also, high-precision map etc. can be combined, the service data during performance is obtained.It is preferred that can be wrapped in service data
Include：Driving trace and driving data.
Wherein, driving trace is automatic driving car during referring to driver's driving automatic driving vehicle progress stunt
Driving trace.
Driving data refers to the data related to vehicle drive, such as, and speed, steering wheel turn degree etc..
For driver, when rigid connection touches a new car, it may be necessary to which break-in can be only achieved optimum efficiency several times, therefore,
Driver can be made to drive automatic driving vehicle and treating that performance venue carries out multiple stunt, and choose wherein most it is satisfied once,
And then preserve the most satisfied corresponding service data of specifically performance.
Also, further the service data got can be optimized.
Specifically optimal way can be：According to service data, control automatic driving vehicle in the state of unmanned
Treat that performance venue carries out stunt, after each performance terminates, if data point reuse instruction is received, according to the fortune after adjustment
Row data control automatic driving vehicle to carry out stunt again, otherwise, and the service data of the last performance institute foundation is made
For the service data after optimization.
That is, after service data is got, can be played back to it, i.e., control nobody to drive according to service data
Vehicle is sailed in the state of unmanned, performance venue progress stunt is being treated, can be by manually being seen to performance process
Examine, with reference to place situation such as Obstacle Position etc., it is determined whether need to be adjusted acting style (fine setting), if needed
Will, then correspondingly service data is adjusted, and playback is re-started after the adjustment, to verify Adjustment effect, if still
It is dissatisfied, service data can be adjusted again, the rest may be inferred, until reaching total optimization effect.
As it was previously stated, the high-precision map for treating performance venue has been got in advance, in actual applications, it is necessary to reference to institute
High-precision map and service data are stated, to be controlled to automatic driving vehicle.
Wherein, automatic driving vehicle can be positioned using high-precision map, to understand automatic driving vehicle in real time
Present position etc..
In 202, according to service data, control automatic driving vehicle is treating that performance venue enters in the state of unmanned
Row stunt.
When needing automatic driving vehicle formally to carry out stunt, it can be obtained in the state of unmanned according in 201
The service data got, control automatic driving vehicle is treating performance venue progress stunt.
If processing is optimized to the service data got in 201, then correspondingly, then according to the fortune after optimization
Row data come control automatic driving vehicle carry out stunt.
Similarly, it is necessary to reference to high-precision map and service data, to be controlled to automatic driving vehicle.
Said process can be illustrated below：
Assuming that on April 1st, 2017, in place A once car exhibitions, automatic driving vehicle needs to carry out spy in this car exhibition
Skill is performed；
So, in such as on March 31st, 2017, stunt driver can be made to drive automatic driving vehicle before 1 day April in 2017
In place, A carries out multiple stunt, and can select wherein most it is satisfied once, to the corresponding fortune of current stunt selected
Row data are preserved；
Afterwards, can be by being played back and being adjusted to service data, the service data after being optimized；
, can be according to the fortune after optimization when automatic driving vehicle needs formal performed in this day on April 1st, 2017
Row data, in the state of unmanned, control automatic driving vehicle completes stunt.
It is can be seen that based on above-mentioned introduction using mode described in the present embodiment, realize automatic driving vehicle and driven at nobody
Sail the stunt under state, and then the perfect performance of automatic driving vehicle, moreover, for manned vehicle,
When it needs to carry out stunt, either formal performance or formally exercise before performance etc. are required to by people such as
Stunt driver operates vehicle, dangerous very high, once careless manipulation, driver is easy to injury, in addition it is dead, and for nobody
Drive for vehicle, it is participated in formal performance without stunt driver, so as to reduce the danger of driver.
In addition, in embodiment illustrated in fig. 2, after service data is got, can also be further uploaded to high in the clouds, institute
It can be not optimized the service data after the service data of processing or optimization to state service data.
Accumulation over time, high in the clouds will be collected into extremely many service datas, further, can be according to high in the clouds
Collected mass data, the essential of exercise of each excellent action is extracted by deep learning.
Common excellent action may include：180 ° of whippings turn around, Fall In Love With Crystal, around car drift, two-wheel side open, Bao Biaohu
Defend, driving pyrosphere, drift storage, level land leapfrog, move backwards and lift trailing wheel etc..
By taking storage of drifting about as an example, the essential of exercise extracted may include：When start accelerate, when start beat steering wheel,
Speed, steering wheel turn degree etc..
So, can be according to each excellent when automatic driving vehicle needs to carry out stunt in a new performance venue
The essential of exercise and site condition of action, adaptively carry out stunt.
That is, machine learning can be passed through so that automatic driving vehicle oneself is that can be completed according to site condition etc.
Stunt, is performed to obtain service data without driving vehicle in advance by stunt driver, so as to further improve nothing
People drives the performance of vehicle, and reduce further the danger of driver.
Above is the introduction on embodiment of the method, below by way of device embodiment, enters to advance to scheme of the present invention
One step explanation.
Fig. 3 is the composition structural representation of automatic driving vehicle stunt device embodiment of the present invention, such as Fig. 3 institutes
Show, including：Pretreatment unit 301 and performance unit 302.
Pretreatment unit 301, for obtain automatic driving vehicle in the state of manned treating performance venue carry out
Service data during stunt, and it is sent to performance unit 302.
Perform unit 302, for according to service data, control automatic driving vehicle to treat table in the state of unmanned
Drill place and carry out stunt.
Pretreatment unit 301 can be carried out in automatic driving vehicle before formal stunt, carry out the pre- of some correlations
Processing operation.
As shown in figure 3, may particularly include in pretreatment unit 301：First, which obtains subelement 3011 and second, obtains son
Unit 3012.
First obtains subelement 3011, and the high-precision map of performance venue is treated for obtaining, and it is single to be sent to the second acquisition
Member 3012.
Second obtains subelement 3012, for according to high-precision map, obtaining automatic driving vehicle in manned state
Under whne performance venue carry out stunt when service data, and be sent to performance unit 302.
Automatic driving vehicle can be on performance venue be treated around place covering multipass, using sensor come gathered data, first
The data that obtaining subelement 3011 can collect according to sensor draw out the high-precision map for treating performance venue, are implemented as existing
There is technology.
Afterwards, automatic driving vehicle can be made to treat performance venue progress stunt in the state of manned.Such as,
Outstanding stunt driver can be chosen, manual drive automatic driving vehicle is treating performance venue progress stunt.
Correspondingly, the second acquisition subelement 3012 can combine high-precision map, obtain the service data during performance.Preferably
It may include in ground, service data：Driving trace and driving data.
Wherein, driving trace is automatic driving car during referring to driver's driving automatic driving vehicle progress stunt
Driving trace.
Driving data refers to the data related to vehicle drive, such as, and speed, steering wheel turn degree etc..
As shown in figure 3, can also further comprise in pretreatment unit 301：Optimize subelement 3013.
The service data got can be further transmitted to optimization subelement 3013 by the second acquisition subelement 3012.
Correspondingly, optimization subelement 3013 can be optimized to service data, and the service data after optimization is sent to
Perform unit 302.
So, performance unit 302 can control automatic driving vehicle unpiloted according to the service data after optimization
Performance venue progress stunt is being treated under state.
The concrete mode that is optimized to service data of optimization subelement 3013 can be：
According to service data, control automatic driving vehicle is treating performance venue progress stunt table in the state of unmanned
Drill；
After each performance terminates, if receiving data point reuse instruction, controlled again according to the service data after adjustment
Automatic driving vehicle carries out stunt, otherwise, regard the service data of the last performance institute foundation as the operation after optimization
Data.
First acquisition subelement 3011 also needs to high-precision map being sent to optimization subelement 3013 and performance unit
302。
So, optimization subelement 3013 and performance unit 302 can combine high-precision map and service data, to control
Automatic driving vehicle is treating performance venue progress stunt in the state of unmanned.
It is can be seen that based on above-mentioned introduction using mode described in the present embodiment, realize automatic driving vehicle and driven at nobody
Sail the stunt under state, and then the perfect performance of automatic driving vehicle, moreover, for manned vehicle,
When it needs to carry out stunt, either formal performance or formally exercise before performance etc. are required to by people such as
Stunt driver operates vehicle, dangerous very high, once careless manipulation, driver is easy to injury, in addition it is dead, and for nobody
Drive for vehicle, it is participated in formal performance without stunt driver, so as to reduce the danger of driver.
On this basis, service data can be also uploaded to high in the clouds by performance unit 302, so as to the sea according to collected by high in the clouds
Measure data, the essential of exercise of each excellent action extracted by deep learning, when automatic driving vehicle need it is new at one
When performance venue carries out stunt, according to the essential of exercise and site condition of each excellent action, stunt is adaptively carried out
Performance.
Common excellent action may include：180 ° of whippings turn around, Fall In Love With Crystal, around car drift, two-wheel side open, Bao Biaohu
Defend, driving pyrosphere, drift storage, level land leapfrog, move backwards and lift trailing wheel etc..
That is, machine learning can be passed through so that automatic driving vehicle oneself is that can be completed according to site condition etc.
Stunt, is performed to obtain service data without driving vehicle in advance by stunt driver, so as to further improve nothing
People drives the performance of vehicle, and reduce further the danger of driver.
The specific workflow of Fig. 3 shown device embodiments refer to the respective description in preceding method embodiment, no longer
Repeat.
Fig. 4 shows the block diagram suitable for being used for the exemplary computer system/server 12 for realizing embodiment of the present invention.
The computer system/server 12 that Fig. 4 is shown is only an example, to the function of the embodiment of the present invention and should not use scope
Bring any limitation.
As shown in figure 4, computer system/server 12 is showed in the form of universal computing device.Computer system/service
The component of device 12 can include but is not limited to：One or more processor (processing unit) 16, memory 28 connects not homology
The bus 18 of system component (including memory 28 and processor 16).
Bus 18 represents the one or more in a few class bus structures, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.Lift
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, MCA (MAC)
Bus, enhanced isa bus, VESA's (VESA) local bus and periphery component interconnection (PCI) bus.
Computer system/server 12 typically comprises various computing systems computer-readable recording medium.These media can be appointed
What usable medium that can be accessed by computer system/server 12, including volatibility and non-volatile media, it is moveable and
Immovable medium.
Memory 28 can include the computer system readable media of form of volatile memory, such as random access memory
Device (RAM) 30 and/or cache memory 32.Computer system/server 12 may further include it is other it is removable/no
Movably, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for read-write
Immovable, non-volatile magnetic media (Fig. 4 is not shown, is commonly referred to as " hard disk drive ").Although not shown in Fig. 4, can
It is used for the disc driver to may move non-volatile magnetic disk (such as " floppy disk ") read-write to provide, and to removable non-volatile
Property CD (such as CD-ROM, DVD-ROM or other optical mediums) read-write CD drive.In these cases, it is each to drive
Dynamic device can be connected by one or more data media interfaces with bus 18.Memory 28 can include at least one program
Product, the program product has one group of (for example, at least one) program module, and these program modules are configured to perform the present invention
The function of each embodiment.
Program/utility 40 with one group of (at least one) program module 42, can be stored in such as memory 28
In, such program module 42 includes --- but being not limited to --- operating system, one or more application program, other programs
The realization of network environment is potentially included in each or certain combination in module and routine data, these examples.Program mould
Block 42 generally performs function and/or method in embodiment described in the invention.
Computer system/server 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, aobvious
Show device 24 etc.) communicate, the equipment that can also enable a user to interact with the computer system/server 12 with one or more is led to
Letter, and/or any set with make it that the computer system/server 12 communicated with one or more of the other computing device
Standby (such as network interface card, modem etc.) communication.This communication can be carried out by input/output (I/O) interface 22.And
And, computer system/server 12 can also pass through network adapter 20 and one or more network (such as LAN
(LAN), wide area network (WAN) and/or public network, such as internet) communication.As shown in figure 4, network adapter 20 passes through bus
18 communicate with other modules of computer system/server 12.It should be understood that although not shown in the drawings, computer can be combined
Systems/servers 12 use other hardware and/or software module, include but is not limited to：Microcode, device driver, at redundancy
Manage unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processor 16 is stored in the program in memory 28 by operation, so as to perform at various function application and data
Reason, for example, realize the method in embodiment illustrated in fig. 2, that is, obtain automatic driving vehicle and waiting to perform in the state of manned
Place carries out service data during stunt, and according to the service data, control automatic driving vehicle is in unpiloted shape
Performance venue progress stunt is being treated under state.
The related description that refer in preceding method and device embodiment is implemented, is repeated no more.
The present invention discloses a kind of computer-readable recording medium, computer program is stored thereon with, the program quilt
The method in embodiment as shown in Figure 2 will be realized during computing device.
Any combination of one or more computer-readable media can be used.Computer-readable medium can be calculated
Machine readable signal medium or computer-readable recording medium.Computer-readable recording medium for example can be --- but do not limit
In system, device or the device of --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or it is any more than combination.Calculate
The more specifically example (non exhaustive list) of machine readable storage medium storing program for executing includes：Electrical connection with one or more wires, just
Take formula computer disk, hard disk, random access memory (RAM), read-only storage (ROM), erasable type and may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In this document, computer-readable recording medium can any include or store journey
The tangible medium of sequence, the program can be commanded execution system, device or device and use or in connection.
Computer-readable signal media can be included in a base band or as the data-signal of carrier wave part propagation,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium beyond computer-readable recording medium, the computer-readable medium can send, propagate or
Transmit for being used or program in connection by instruction execution system, device or device.
The program code included on computer-readable medium can be transmitted with any appropriate medium, including --- but do not limit
In --- wireless, electric wire, optical cable, RF etc., or above-mentioned any appropriate combination.
It can be write with one or more programming languages or its combination for performing the computer that the present invention is operated
Program code, described program design language include object oriented program language-such as Java,
Smalltalk, C++, in addition to conventional procedural programming language-such as " C " language or similar program
Design language.Program code fully can on the user computer be performed, partly performed on the user computer, as one
Individual independent software kit is performed, part performs or remotely counted completely on the remote computer on the user computer for part
Performed on calculation machine or server.In the situation of remote computer is related to, remote computer can be by the net of any kind
Network --- including LAN (LAN) or wide area network (WAN)-subscriber computer is connected to, or, it may be connected to outside is calculated
Machine (such as using ISP come by Internet connection).
In several embodiments provided by the present invention, it should be understood that disclosed apparatus and method etc., it can pass through
Other modes are realized.For example, device embodiment described above is only schematical, for example, the division of the unit,
It is only a kind of division of logic function, there can be other dividing mode when actually realizing.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ hardware adds the form of SFU software functional unit to realize.
The above-mentioned integrated unit realized in the form of SFU software functional unit, can be stored in an embodied on computer readable and deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are to cause a computer
Equipment (can be personal computer, server, or network equipment etc.) or processor (processor) perform the present invention each
The part steps of embodiment methods described.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. it is various
Can be with the medium of store program codes.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements done etc. should be included within the scope of protection of the invention.
Claims (16)
1. a kind of automatic driving vehicle stunt method, it is characterised in that including：
Automatic driving vehicle is obtained in the service data in the state of manned when whne performance venue progress stunt；
According to the service data, the automatic driving vehicle is controlled to treat that performance venue enters described in the state of unmanned
Row stunt.
2. according to the method described in claim 1, it is characterised in that
This method further comprises：Before the service data is obtained, the high-precision map of performance venue is treated described in acquisition；
Obtaining the service data includes：According to the high-precision map, the service data is obtained.
3. method according to claim 2, it is characterised in that
The service data includes：Driving trace and driving data.
4. method according to claim 2, it is characterised in that
This method further comprises：The service data is optimized；
It is described according to the service data, control the automatic driving vehicle in the state of unmanned in the field to be performed
Ground, which carries out stunt, to be included：
According to the service data after optimization, control the automatic driving vehicle in the state of unmanned in the field to be performed
Ground carries out stunt.
5. method according to claim 4, it is characterised in that
It is described the service data is optimized including：
According to the service data, the automatic driving vehicle is controlled to treat that performance venue enters described in the state of unmanned
Row stunt；
After each performance terminates, if receiving data point reuse instruction, controlled again according to the service data after adjustment described
Automatic driving vehicle carries out stunt, otherwise, regard the service data of the last performance institute foundation as the operation after optimization
Data.
6. method according to claim 5, it is characterised in that
It is described according to the service data, control the automatic driving vehicle in the state of unmanned in the field to be performed
Ground, which carries out stunt, to be included：
According to the high-precision map and the service data, control the automatic driving vehicle in the state of unmanned
It is described to treat that performance venue carries out stunt.
7. according to the method described in claim 1, it is characterised in that
This method further comprises：
The service data is uploaded to high in the clouds, so as to the mass data according to collected by high in the clouds, extracted by deep learning
The essential of exercise of each excellent action, when the automatic driving vehicle needs to carry out stunt in a new performance venue
When, according to the essential of exercise and site condition of each excellent action, adaptively carry out stunt.
8. a kind of automatic driving vehicle stunt device, it is characterised in that including：Pretreatment unit and performance unit；
The pretreatment unit, for obtain automatic driving vehicle in the state of manned treating performance venue carry out stunt
Service data during performance, and it is sent to the performance unit；
The performance unit, for according to the service data, controlling the automatic driving vehicle in the state of unmanned
Treat that performance venue carries out stunt described.
9. device according to claim 8, it is characterised in that
The pretreatment unit includes：First obtains subelement and the second acquisition subelement；
Described first obtains subelement, for obtain it is described treat the high-precision map of performance venue, and be sent to described second and obtain
Subelement；
Described second obtains subelement, for according to the high-precision map, obtaining the automatic driving vehicle manned
In service data when performance venue carries out stunt under state, and it is sent to the performance unit.
10. device according to claim 9, it is characterised in that
The service data includes：Driving trace and driving data.
11. device according to claim 9, it is characterised in that
The pretreatment unit further comprises：Optimize subelement；
The second acquisition subelement is further used for, and the service data is sent into the optimization subelement；
The optimization subelement, for being optimized to the service data, and the service data after optimization is sent to described
Perform unit；
The performance unit according to the service data after optimization, control the automatic driving vehicle in the state of unmanned
It is described to treat that performance venue carries out stunt.
12. device according to claim 11, it is characterised in that
The optimization subelement is optimized to the service data in such a way：
According to the service data, the automatic driving vehicle is controlled to treat that performance venue enters described in the state of unmanned
Row stunt；
After each performance terminates, if receiving data point reuse instruction, controlled again according to the service data after adjustment described
Automatic driving vehicle carries out stunt, otherwise, regard the service data of the last performance institute foundation as the operation after optimization
Data.
13. device according to claim 12, it is characterised in that
The first acquisition subelement is further used for, and the high-precision map is sent into the optimization subelement and the table
Drill unit；
The optimization subelement and the performance unit control the nothing according to the high-precision map and the service data
People drives vehicle and treats that performance venue carries out stunt described in the state of unmanned.
14. device according to claim 8, it is characterised in that
The performance unit is further used for,
The service data is uploaded to high in the clouds, so as to the mass data according to collected by high in the clouds, extracted by deep learning
The essential of exercise of each excellent action, when the automatic driving vehicle needs to carry out stunt in a new performance venue
When, according to the essential of exercise and site condition of each excellent action, adaptively carry out stunt.
15. a kind of computer equipment, including memory, processor and it is stored on the memory and can be on the processor
The computer program of operation, it is characterised in that realized during the computing device described program as any in claim 1~7
Method described in.
16. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that described program is processed
Such as method according to any one of claims 1 to 7 is realized when device is performed.
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