CN107438873A

CN107438873A - A kind of method and apparatus for being used to control vehicle to travel

Info

Publication number: CN107438873A
Application number: CN201780000872.XA
Authority: CN
Inventors: 张丹; 杨煜; 李心成; 申超; 朱昊
Original assignee: Uisee Technologies Beijing Co Ltd
Current assignee: Uisee Technologies Beijing Co Ltd
Priority date: 2017-07-07
Filing date: 2017-07-07
Publication date: 2017-12-05
Also published as: WO2019006743A1

Abstract

The purpose of the application is to provide a kind of method and apparatus for being used to control vehicle to travel；Driving vehicle in identification object region；Obtain vehicle environmental information of the driving vehicle in the target area；Based on the vehicle environmental information, driving instruction information is sent to the car-mounted terminal of the driving vehicle.Compared with prior art, the application, which controls the realization of driving vehicle and is not need to rely on driving vehicle, is deployed with complicated, accurate sensing device, even if a small amount of sensing device is only deployed with driving vehicle, even without deployment sensing device, technical scheme based on the application also can still realize the accurate control travelled to vehicle in target area, thus repacking less, vehicle power consumption of the application for existing vehicle it is relatively low, so as to bringing the reduction of overall technology cost.

Description

A kind of method and apparatus for being used to control vehicle to travel

Technical field

The application is related to computer realm, more particularly to a kind of technology for being used to control vehicle to travel.

Background technology

In existing vehicle traveling technology, the acquisition for travelling process middle ring environment information, it is required for depending on substantially The configuration of automobile in itself, such as need that substantial amounts of sensor is additionally installed on vehicle, and because sensor cost is higher, can pole Increase extra bus deployment cost.Meanwhile prior art needs the arithmetic system based on vehicle in itself to carry out vehicle location, road The control decisions such as footpath planning, and the perfect computing cost that can aggravate vehicle itself of the arithmetic system for vehicle, power consumption compared with Greatly, therefore, the operation such as vehicle location, obstacle perception, path planning is in actual applications because existing skill in being travelled for vehicle Art is with high costs and is difficult to generally applicable.

The content of the invention

The purpose of the application is to provide a kind of method and apparatus for being used to control vehicle to travel.

According to the one side of the application, there is provided a kind of method for being used to control vehicle to travel at network equipment end, bag Include：

Driving vehicle in identification object region；

Obtain vehicle environmental information of the driving vehicle in the target area；

Based on the vehicle environmental information, driving instruction information is sent to the car-mounted terminal of the driving vehicle.

According to the another aspect of the application, there is provided a kind of method for being used to control vehicle to travel in car-mounted terminal, including：

Receive the driving instruction letter that vehicle environmental information of the network equipment based on driving vehicle in the target area is provided Breath, wherein, the driving vehicle is corresponding with the car-mounted terminal；

Traveling of the driving instruction Information application in the target vehicle is controlled.

According to the another aspect of the application, a kind of network equipment for being used to control vehicle to travel is additionally provided, including：

Identification device, for the driving vehicle in identification object region；

Acquisition device, for obtaining vehicle environmental information of the driving vehicle in the target area；

Dispensing device, for based on the vehicle environmental information, sending traveling to the car-mounted terminal of the driving vehicle and referring to Show information.

According to the another aspect of the application, a kind of car-mounted terminal for being used to control vehicle to travel is additionally provided, including：

Reception device, provided for receiving the vehicle environmental information of the network equipment based on driving vehicle in the target area Driving instruction information, wherein, the driving vehicle is corresponding with the car-mounted terminal；

Control device, for traveling of the driving instruction Information application in the target vehicle to be controlled.

One or more processors；

Memory；And

One or more programs, wherein one or more of programs are stored in the memory, and it is configured Into by one or more of computing devices, described program includes being used to perform following operation：

Driving vehicle in identification object region；

One or more processors；

Memory；And

According to the another aspect of the application, a kind of computer-readable recording medium is additionally provided, is stored thereon with computer Program, the computer program can be executed by processor following operation：

Driving vehicle in identification object region；

Compared with prior art, in the application by the driving vehicle in network equipment identification object region, and it is based on obtaining Vehicle environmental information of the driving vehicle got in the target area, sent to the car-mounted terminal of the driving vehicle Driving instruction information.Here, deployment of the application by the network equipment outside driving vehicle, is realized to control vehicle traveling The collection of required vehicle environmental information, and by the control decision computing of the network equipment generate driving instruction information, to Realize and the traveling of driving vehicle in target area is controlled.Based on this, the application controls the realization of driving vehicle and need not be according to Rely in being deployed with complicated, accurate sensing device on driving vehicle, even if being only deployed with a small amount of sensing device, very on driving vehicle To being not dispose sensing device, the technical scheme based on the application also can still realize what vehicle in target area was travelled Accurate control, thus repacking less, vehicle power consumption of the application for existing vehicle it is relatively low, so as to bring overall technology into This reduction.

Further, the application provides comprehensive, various dimensions the solutions of control driving vehicle, on the one hand can be with Be to driving vehicle provide any scene auxiliary driving information, such as include but is not limited to match with the driving vehicle Target environment information, match with the driving vehicle route planning information, interact with what the driving vehicle matched Information, the traffic rule information to match with the driving vehicle etc., to help the corresponding user of driving vehicle, such as human pilot Control vehicle is convenient in corresponding scene exactly, successfully travels；On the other hand, the application can also give automatic driving vehicle The friendship for provide vehicle control information in any scene, matching with the driving vehicle, matching with the driving vehicle The driving instruction information such as mutual information, to realize the automatic running of automatic driving vehicle in the target area, further, even for Have been able to independently realize the vehicle of Function for Automatic Pilot, the execution based on application scheme, it can also be further enhanced certainly The dynamic reliability for driving function, accuracy, Consumer's Experience comfort level, expansion automatic Pilot control range etc..

Brief description of the drawings

By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other Feature, objects and advantages will become more apparent upon：

Fig. 1 shows a kind of Sample Scenario figure for being used to control vehicle to travel according to the application one side；

Fig. 2 shows to be illustrated according to a kind of equipment of network equipment for being used to control vehicle to travel of the application one side Figure；

Fig. 3 shows to be illustrated according to a kind of equipment of network equipment for being used to control vehicle to travel of the application one embodiment Figure；

Fig. 4 shows a kind of system schematic for being used to control vehicle to travel according to the application one side；

Fig. 5 shows the example system that can be used for implementing each embodiment described herein；

Fig. 6 shows a kind of method flow for being used to control vehicle to travel at network equipment end according to the application one side Figure；

Fig. 7 shows a kind of method stream for being used to control vehicle to travel at network equipment end according to the application one embodiment Cheng Tu；

Fig. 8 shows to be used to control vehicle to travel at network equipment end and car-mounted terminal according to a kind of of the application one side Method flow diagram.

Same or analogous reference represents same or analogous part in accompanying drawing.

Embodiment

The application is described in further detail below in conjunction with the accompanying drawings.

In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more Processor (CPU), input/output interface, network interface and internal memory.

Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium Example.

Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data. The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM), Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or Any other non-transmission medium, the information that can be accessed by a computing device available for storage.Defined according to herein, computer Computer-readable recording medium does not include non-temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.

Fig. 1 shows a kind of Sample Scenario figure for being used to control vehicle to travel according to the application one side.

Here, in the application, the driving vehicle can include but is not limited to drive with complete mankind's driving model, auxiliary Pattern, part automatic driving mode, automatic driving mode of having ready conditions, highly automated driving model or fully automated driving model etc. The vehicle of arbitrary patterns traveling.In a kind of implementation of the application, the driving vehicle can also include car-mounted terminal 2, The car-mounted terminal 2 can be for receiving driving instruction information or carrying out other terminal devices interacted with the network equipment.Example Such as, can be the equipment that is provided with vehicular applications, including but not limited to vehicle-mounted computer；Or the equipment being connected with vehicle-mounted computer； Or completely self-contained terminal device, such as the mobile end of user corresponding with the driving vehicle (such as current human pilot or passenger) End equipment etc..

The network equipment 1 includes but is not limited to computer, network host, single network server, multiple network services Device collection or Cloud Server, wherein, the Cloud Server can be run in a distributed system, meter by a group loose couplings One virtual supercomputer of calculation machine collection composition, its to realize it is simple efficiently, safe and reliable, disposal ability can elastic telescopic Calculating service.The network includes but is not limited to internet, wide area network, Metropolitan Area Network (MAN), LAN, VPN, wireless Ad Hoc Network (Ad Hoc networks) etc..Further, in one implementation, the network equipment can also include one or more thunders Up to/sensor, such as laser radar, millimetre-wave radar, ultrasonic radar, various camera devices, and/or other are used to realize letter Cease the device of collection.In the embodiment of the present application, the network equipment can be relatively independent with the vehicle that is controlled, for example, institute The network equipment 1 is stated to be deployed in outside the vehicle.

A typical case of technical scheme is shown in Fig. 1：After driving vehicle enters target area, portion Radar/the sensing device or the first-class harvester of shooting affixed one's name in the network equipment 1 of target area can collect the row Sail vehicle environmental information of the vehicle in the target area；And then the network equipment will be based on the vehicle environmental information, to institute The car-mounted terminal for stating driving vehicle sends driving instruction information, to realize that the traveling to driving vehicle in target area controls. Based on this, the application, which controls the realization of driving vehicle and is not need to rely on driving vehicle, is deployed with complicated, accurate sensing Device, even if being only deployed with a small amount of sensing device on driving vehicle, even without deployment sensing device, the skill based on the application Art scheme also can still realize the accurate control travelled to vehicle in target area, therefore the application changing for existing vehicle Fill less, vehicle power consumption it is relatively low, so as to bringing the reduction of overall technology cost.

Fig. 2 shows to be illustrated according to a kind of equipment of network equipment 1 for being used to control vehicle to travel of the application one side Figure.The network equipment 1 includes identification device 21, acquisition device 22 and dispensing device 23.Wherein, the identification device 21 can be with Driving vehicle in identification object region；The acquisition device 22 can obtain the driving vehicle in the target area Vehicle environmental information；The dispensing device 23 can be based on the vehicle environmental information, to the car-mounted terminal of the driving vehicle Send driving instruction information.

Specifically, the identification device 21 can be with the driving vehicle in identification object region.In this application, the target Region be able to can be berthed including vehicle or the arbitrary region of activity, in one implementation, the difference based on vehicle traveling Scene, the target area can include but is not limited to be the arbitrary regions such as parking lot, scenic spot, cell, airport, warehouse district.Enter One step, in one embodiment, the target area include segment boundary, and the segment boundary can be a times in 360 degree of spaces The boundary line of meaning part, the segment boundary can be used for defining the part or all of region model for carrying out driving vehicle control Enclose, wherein, the segment boundary can be boundary line existing for entity, for example, the peripheral wall in parking lot, ground or roof etc.； Can also be based on the virtual boundary line that the function of target area is different from peripheral region and distinguishes.In a kind of implementation In, one or more identical types or different types of sensing device, such as laser thunder can be deployed with the target area Reach, millimetre-wave radar, ultrasonic radar, various camera devices, and/or other are used to realize devices of information gathering, above-mentioned each Class sensor and device can be used for that driving vehicle is identified, and can also be used to vehicle environmental information hereafter or row Any information required for sailing the control driving vehicle such as auxiliary information is acquired.Further, if the target area includes portion Divide border, be also based on the regional extent that can be defined, the needs travelled with reference to control vehicle, each sensor is directed to Property, rational position deployment, so as to strengthen vehicle traveling control the degree of accuracy and improve the utilization of sensor deployment Rate.In addition, in one implementation, if the unit area vehicle load of the target area is more than or equal to predetermined threshold value, The beneficial effect for the wagon control that technical scheme based on the application is realized will greatly promote, advantageously in propulsion vehicle row Sail the popularization of technology, particularly automatic Pilot technology.

Here, identification device 21 can be when driving vehicle enters target area or the driving vehicle comes into Any time behind target area, it was identified.It can realize to determine and position in real time by identification and need what is be controlled Target vehicle.In one implementation, the driving vehicle can be sometime identified in the process of moving；Another A kind of implementation exists, and the driving vehicle can also be and is identified in the process of moving in some continuous time.

In one embodiment of the application, the network equipment 1 (can also not show including car-mounted terminal determining device Go out), here, the identification device 21 can obtain driving vehicle in the target area by the sensing device of target area Vehicle identification information；Then, the car-mounted terminal determining device can reflect according to the vehicle identification information, and vehicle termination Relation is penetrated, determines car-mounted terminal corresponding to the driving vehicle；And then the dispensing device 23 can be based on the vehicle environmental Information, driving instruction information is sent to the car-mounted terminal.

Specifically, the identification device 21 can be obtained in the target area by the sensing device of target area and travelled The vehicle identification information of vehicle.Here, can one or more sensing devices based on the deployment in the target area, such as Laser radar, millimetre-wave radar, ultrasonic radar, various camera devices, WIFI, bluetooth, earth magnetism, RFID, UWB or difference The combination of sensor or harvester gathers the vehicle identification information of the driving vehicle.In one implementation, the biography The vehicle identification information that sensor collects can be vehicle body information, such as：License plate number；The profile of vehicle is big such as vehicle Shape, size, color etc.；The vehicle identification information can also be based on locating and tracking needs, be matched for the driving vehicle Any identification information, the 2 D code information such as matched with the driving vehicle, and for example vehicle for the ease of sensor identify and Various signals of Auto broadcast etc.；The vehicle identification information can be with the combination of above-mentioned much information.Here, art technology Personnel are it should be appreciated that above-mentioned each vehicle identification information is only for example, existing or other vehicle identifications for occurring from now on If the combination of information or vehicle identification letter can be applied to the application, and can realize what driving vehicle was identified It purpose, should also be included in the protection domain of the application, and be incorporated herein in the form of reference.In one implementation, Because the sensing device can be deployed in the optional position of the target area, when the driving vehicle is passed through target area During particular location, corresponding vehicle identification information can be collected in real time with the sensing device of the position correspondence, for example, shooting dress Put shooting and obtain 2 D code information matched with driving vehicle shown on vehicle license information or car etc..Here, the application can With the deployment species based on sensing device in target area and deployment way, the collection knot for neatly adjusting vehicle identification information Fruit, for example, by improving the precision of sensing device, quantity, frequency of collection etc., to improve the degree of accuracy of vehicle identification, and show There is in technology the scheme being directly deployed in sensing device on vehicle, can not increase vehicle cost and negative in actual applications In the case of load, the beneficial effect that the application can be realized conveniently is easily reached.

Then, the car-mounted terminal determining device can close according to the vehicle identification information, and vehicle termination mapping System, determines car-mounted terminal corresponding to the driving vehicle.In this application, because the network equipment 1 is finally needed driving instruction Information is sent to the car-mounted terminal of the driving vehicle, therefore, in the present embodiment, is identifying the traveling of the target area After vehicle, it is also desirable to it is determined that the car-mounted terminal matched with the driving vehicle.In this application, the car-mounted terminal can be used for Receive driving instruction information or carry out other terminal devices interacted with the network equipment.For example, it may be vehicular applications are installed Equipment, including but not limited to vehicle-mounted computer；Or the equipment being connected with vehicle-mounted computer；Or completely self-contained terminal device, such as The mobile terminal device of user (such as current human pilot or passenger) corresponding with the driving vehicle.In a kind of implementation In, vehicle termination mapping relations can include the vehicle identification information and the mapping relations of the car-mounted terminal.A kind of real In existing mode, the vehicle termination mapping relations can be established currently in real time, for example, the driving vehicle is in the target When being identified first in region, while establish the mapping relations of the vehicle identification information and the car-mounted terminal；In another kind In implementation, the vehicle termination mapping relations can be that history is established or updated, for example, when driving vehicle searches mesh in Soviet Union When being again identified in mark region, you can be directly based upon the vehicle termination mapping relations of the corresponding storage of the network equipment 1, match Car-mounted terminal corresponding with the driving vehicle identified.

In one embodiment of the application, the vehicle termination mapping relations be any one of at least established based on following or Renewal：First, information of vehicles and end message that same user submits；Second, vehicle drives into the target area event and car Mounted terminal enters the relativity of time domain of the target area event.

Specifically, in the present embodiment, the vehicle termination mapping relations can be the vehicle submitted based on same user What information was established or updated with end message.In one implementation, common identity information, identical submission equipment can be passed through Information or other information for characterizing same user carry out matching with end message come the information of vehicles to acquisition and associated, and establish that This mapping relations.For example, the user is based on application account corresponding to car-mounted terminal, submitted at the same time or separately accordingly by network Information of vehicles and end message.Here, the foundation of the vehicle termination mapping relations can be at any time, for example, bag When including but being not limited to before the driving vehicle enters the target area or enter.

Here, the information of vehicles can be the vehicle identification information, for example, it may be vehicle body information, example Such as：License plate number；Big shape, size, the color of the profile of vehicle, such as vehicle；It can also be and be based on locating and tracking needs, for institute Any identification information of driving vehicle matching is stated, the 2 D code information such as matched with the driving vehicle, and for example vehicle is in order to just Identified and various signals of Auto broadcast etc. in sensor；Can be with the combination of above-mentioned much information.In this application, the car Information can be overlapping with the vehicle identification information or partly overlapped.In one implementation, the car that the user submits Information can be the vehicle identification information for being subsequently used for identifying vehicle, for example, license plate number；In another implementation, It is also based on the information of vehicles that the user submits and matches corresponding vehicle identification information, such as the vehicle again for user Information is license plate number, and the vehicle identification information of matching is 2 D code information.Now, in one implementation, the vehicle is whole Mapping relations are held to include the vehicle identification information and the mapping relations of the car-mounted terminal；The vehicle termination mapping is closed System can also include the information of vehicles, the vehicle identification information and the mapping relations of the car-mounted terminal.

In the present embodiment, the vehicle termination mapping relations can also be drives into the target area event based on vehicle Establish or update into the relativity of time domain of the target area event with car-mounted terminal.In one implementation, it is described The network equipment 1 can identify by certain communication protocol, such as bluetooth, RFID etc. and enter the mesh based on car-mounted terminal The car-mounted terminal information marked zone issue and got.In one implementation, whether the network equipment 1 can detect has car The target area is driven into, for example, the entrance in target area, such as Entrance, first-class by camera, depth camera Detect identity information such as license plate number, shape, size etc. of vehicle；Or swiped the card by user in the porch of target area (NFC, RFID) detects that the vehicle drives into the target area.And then based on relativity of time domain, establish or renewal is based on car Institute is driven into based on vehicle in the car-mounted terminal information and corresponding time domain that mounted terminal is got into the target area event State the mapping relations between the information of vehicles that target area event is got.In one implementation, the relativity of time domain Default time interval threshold value can be included, if for example, the time interval of above-mentioned two event in the time interval threshold value, The information of vehicles and the end message can then be bound.

Here, those skilled in the art are it should be appreciated that above-mentioned vehicle termination mapping relations are established or the side of renewal Formula is only for example, if other vehicle termination mapping relations existing or occur from now on are established or the mode of renewal can be applied to It the application, should also be included in the protection domain of the application, and be incorporated herein in the form of reference.

In one embodiment of the application, the car-mounted terminal that the identification device 21 can receive driving vehicle is reported Vehicle position information；If the vehicle position information is located at target area, the driving vehicle is identified.In the present embodiment, The identification of the driving vehicle can be realized by the network equipment 1 described in driving vehicle active reporting, when in judgement institute The vehicle position information of biography is in the range of the target area, you can pair controlled using determining the driving vehicle as the application As.In one implementation, the driving vehicle can be equipped with a certain degree of automatic positioning equipment and determine that vehicle location is believed Breath.In one implementation, the car-mounted terminal of the driving vehicle reports the mode of the vehicle position information of its own, example Such as, the trigger condition of report, frequency etc. of report, can be based on practical application scene, the function that wagon control is embodied It is different and flexibly set.

Then, acquisition device 22 can obtain vehicle environmental information of the driving vehicle in the target area. In a kind of implementation, the vehicle environmental information in the target area can include being used to driving vehicle is implemented to control When any information for needing to refer to.For example, the obstacle information in environment, the barrier can be that people, thing, building etc. are any Object outside driving vehicle：Parking space information, such as the vacant parking stall information in parking lot；Traveling lane information；Travel area Domain configured information, any information that instruction is provided can be travelled for vehicle.Here, those skilled in the art it should be appreciated that Above-mentioned each vehicle environmental information is only for example, if other vehicle environmental information existing or occur from now on can be applied to this It application, should also be included in the protection domain of the application, and be incorporated herein in the form of reference.

In one implementation, the acquisition device 22 can be according to the driving vehicle in the target area Vehicle position information obtains vehicle environmental information of the driving vehicle in the target area.In the practical application of the application In, when the scope of target area is larger, and for controllable each amount driving vehicle, the zone of action in its certain time It is generally limited, therefore, in order to improve high efficiency and accuracy to driving vehicle control.Presently described driving vehicle can be based on Vehicle position information in the target area, it is determined that the Some vehicles environmental information to match with the vehicle position information, So as to reduce information redundancy, the degree of accuracy of information is improved, optimizes follow-up control decision, such as traveling execution information is really It is fixed.In one implementation, the vehicle position can be obtained by being deployed in the sensing device of target area in the network equipment 1 Confidence ceases；In another implementation, the car-mounted terminal Active report of the driving vehicle vehicle position of its own can also be passed through Confidence ceases.

Then, dispensing device 23 can be based on the vehicle environmental information, be sent to the car-mounted terminal of the driving vehicle Driving instruction information.In one implementation, the driving instruction information that the driving vehicle is got is current with the vehicle Transport condition and traveling need to match, for example, when the target area is parking lot, then into driving vehicle therein May determine that it is the needs with parking, therefore, the driving instruction information should match with parking.Further, the hair Send device 23 can judgement based on the vehicle environmental information and actively send；Can also when based on the driving vehicle The solicited message of car-mounted terminal and respond transmission.

In the application one embodiment, there is provided the driving instruction information to the driving vehicle car-mounted terminal includes Any one of below at least：

When the target environment information to match with the driving vehicle, in one implementation, the target environment Vehicle environmental information of the information with the driving vehicle got in the target area can or part phase identical with content Together.The target environment information in i.e. described target area can include being used to need to refer to when driving vehicle is implemented and controlled Any information.For example, the obstacle information in environment, the barrier can be any driving vehicle such as people, thing, building it Outer object：Parking space information, such as the vacant parking stall information in parking lot；Traveling lane information；Running region configured information, Any information that instruction is provided can be travelled for vehicle.Here, several detailed examples can include：If for example, mesh Mark region is parking lot, and the target environment information can be the one or more parking space informations nearest apart from the vehicle；And for example, If the target area is scenic spot, the target environment information can be sight spot information nearest apart from the vehicle etc.；And for example, if Barrier in the vehicle environmental information driving vehicle can be caused to travel it is constant, can also be by obstacle information, example As other information of vehicles, pedestrian information are supplied to the driving vehicle as target environment information.Here, those skilled in the art It should be appreciated that above-mentioned each target environment information is only for example, existing or other target environment information for occurring from now on are such as Fruit can be applied to the application, should also be included in the protection domain of the application, and be incorporated herein in the form of reference.

Second, the route planning information to match with the driving vehicle.In one implementation, it can be the row Sail vehicle and route planning information from current location to destination locations be provided, for example, for the driving vehicle in parking lot provide from Berth the route planning information of parking stall to purpose for current location.Such as, the network equipment 1 can be based on vehicle environmental information, right The behavior to the people of vehicle-surroundings, car, thing is predicted, and with reference to the further of vehicle, cooks up corresponding driving trace. In one implementation, the route planning information can be the global path planning based on complete environment information；Can be with It is the local paths planning carried out based on the vehicle environmental information that sensing device obtains in real time.Here, those skilled in the art It should be appreciated that above-mentioned route planning information is only for example, if other route planning information energy existing or occur from now on Enough it is applied to the application, should be also included in the protection domain of the application, and be incorporated herein in the form of reference.

Third, the interactive information to match with the driving vehicle, if for example, being docked in the vehicle of target area needs Passenger is scooped out under automatic driving mode, then can the vehicle environmental information based on the driving vehicle, carry out time departure estimate, net Network equipment 1 provides the time departure of the driving vehicle determined based on vehicle environmental information to the car-mounted terminal.Here, Those skilled in the art are it should be appreciated that above-mentioned interactive information is only for example, existing or other interactive information for occurring from now on If the application can be applied to, should also be included in the protection domain of the application, and be incorporated herein in the form of reference.

Fourth, the traffic rule information to match with the driving vehicle.For example, driving speed information, travel direction are believed The information such as breath, acceleration, brake, changing Lane, turning.Further, under automatic driving mode, the traffic rule information can be with It is directly related with the automatic ride control of vehicle, for example, controlling the driving vehicle to be travelled based on certain traffic rule, such as enter Row course changing control, speed control etc..Here, those skilled in the art are it should be appreciated that above-mentioned traffic rule information is only to lift Example, if other traffic rule information existing or occur from now on can be applied to the application, it should also be included in the application's In protection domain, and it is incorporated herein in the form of reference.

Fifth, the vehicle control information to match with the driving vehicle, in one implementation, the wagon control Information can be any control strategy for the vehicle traveling being directed under each rank automatic driving mode, to instruct the Travel vehicle It is automatic to perform the function of matching with the vehicle control information, for example, controlling the driving vehicle based on certain planning Path automatic running；And for example, control the driving vehicle to be travelled based on certain traffic rule, such as carry out course changing control, speed Control etc.；And for example, the driving vehicle automatic parking is controlled；Control the driving vehicle to set out automatically and scoop out passenger；And for example, carry Show that driving vehicle is kept in track holding, lane departure warning, spacing, barrier warning etc..In one implementation, it is described The particular content of vehicle control information can the difference based on target area, the difference of driving vehicle, the demand of driving vehicle not The difference flexible configuration of equal various conditions.Here, those skilled in the art are it should be appreciated that above-mentioned row vehicle control information It is only for example, if other vehicle control informations existing or occur from now on can be applied to the application, should be also included in this In the protection domain of application, and it is incorporated herein in the form of reference.

Here, those skilled in the art are it should be appreciated that above-mentioned each driving instruction information is only for example, it is existing or modern If other driving instruction information occurred afterwards can be applied to the application, should also be included in the protection domain of the application, And it is incorporated herein in the form of reference.

In this application, the network equipment 1 is based on providing one or more driving instructions letters to one or more driving vehicles Breath, on the one hand, for single driving vehicle, it is possible to achieve as environmental information is reminded, driving path is planned；Automatic parking, leave Time estimates, setting out automatically meets passenger and the thermoacoustic prime engine such as leave；On the other hand, based on to multiple driving vehicles in target area Control, Managed Solution on the whole can also be realized, for example, realize parking stall management, more cars control, vehicle integrated dispatch planning, More car traveling path plannings etc..

The application can be the driving vehicle of different driving modes, such as drive mould with complete mankind's driving model, auxiliary Formula, part automatic driving mode, automatic driving mode of having ready conditions, highly automated driving model or fully automated driving model etc. are appointed The vehicle of ideotype traveling, neatly provides different driving instruction information, directly or indirect to the driving vehicle to realize Instruction or control.Therefore, the applicability of the application is extremely wide.

In the application one embodiment, the dispensing device 23 can be based on corresponding to vehicle environmental information generation Driving instruction information；And then send the driving instruction information to the car-mounted terminal of the driving vehicle.Here, the network Equipment 1 will be determined accordingly based on the vehicle environmental information for collecting from sensing device or being got from other equipment, device Plan judges, formulates corresponding control strategy, it is determined that the driving instruction information to match with the driving vehicle, and then is handed down to pair The car-mounted terminal answered.

By taking the driving vehicle under automatic driving mode as an example, one kind is possible to be achieved in that：The network equipment 1 can be with The vehicle environmental information collected is analyzed using deep learning or machine learning algorithm, for example, using conventional machines Algorithm, such as Adaboost iterative algorithms, or deep learning algorithm, such as CNN convolutional neural networks etc. are practised, in environment Barrier, such as pedestrian, vehicle, building carry out sample collection and the model training for identifying classification；And then based on training Good model is identified, positions and tracked to the barrier in target area, and does avoidance analysis.Such as split using image Algorithm, elevation filtering (range data of depth data and laser radar for camera), clustering algorithm, spreading kalman filter To the barrier in target area, such as vehicle, people, building are identified, position and tracked ripple scheduling algorithm, and do avoidance point Analysis.And then dispensing device 23 can will analyze the route planning information determined, traffic rule information based on avoidance or be based on The vehicle control information of the determinations such as route planning information, traffic rule information was provided to vehicle-mounted end corresponding to the driving vehicle End.

Another is possible to be achieved in that：If the driving instruction information includes route planning information, the path Planning information can be the global path planning based on complete environment information, such as can be based on the vehicle environmental information, adopt Corresponding to the generation such as static path planning algorithms such as Grid Method, Visual Graph method, topological approach, free-space Method, neural network Route planning information；The local paths planning carried out based on the vehicle environmental information that sensing device obtains in real time is can also be, For example, judge there be barrier outside driving vehicle on the good route of Global motion planning based on vehicle environmental information, in order to circumvent These barriers or vehicle adjust track, it is necessary to turn to, and local paths planning can be now carried out, here, people can be used Path corresponding to the generation such as active path planning algorithms such as work potential field method, vector field histogram method, Virtual space conference, genetic algorithm Planning information.And then identified route planning information can be provided to auxiliary and drive vehicle to aid in using by dispensing device 23 Family carries out accurate mobility operation, can also provide the driving vehicle to automatic driving mode, then by the automatic driving vehicle Automated driving system be based on the route planning information perform mobility operation.

Another is possible to be achieved in that：If the driving instruction information includes the car determined based on traffic rule information During control information, the network equipment 1 can use including but not limited to synovial membrane control, fuzzy control, ANN Control, The horizontal speed control of the methods of optimum control, Self Adaptive Control and pure tracing control generation driving vehicle, longitudinal direction Control or the Collaborative Control information of vertical control.

Here, those skilled in the art are it should be appreciated that above-mentioned each corresponding based on vehicle environmental information generation Driving instruction information method and used algorithm be only for example, it is existing or occur from now on other be based on the vehicle If the method for driving instruction information corresponding to environmental information generation and corresponding algorithm can be applied to the application, also should In the protection domain of the application, and it is incorporated herein in the form of reference.

In the application one embodiment, the network equipment 1 also includes traveling auxiliary information acquisition device (not shown), Wherein, the traveling auxiliary information acquisition device can obtain the traveling auxiliary information of the driving vehicle；And then the transmission Device 23 can be sent based on the vehicle environmental information and the traveling auxiliary information to the car-mounted terminal of the driving vehicle Driving instruction information.In one implementation, the traveling auxiliary information can include but is not limited to the position of driving vehicle Information, run routing information, driving speed information, transmits information etc..Here, the acquisition of the traveling auxiliary information can be with It is to gather to obtain by the sensing device of target area；Can also be that driving vehicle itself monitors and by the active of its car-mounted terminal Report to the network equipment 1.In the present embodiment, the vehicle environmental information of driving vehicle can be aided in the traveling Information is combined to determine the driving instruction information, for example, being based on automatic driving mode in the target area in driving vehicle When traveling, judge that pedestrian occurs in du vehicule based on vehicle environmental information, and letter is aided in combination with the traveling collected Breath judges, based on the current travel speed of the driving vehicle, travel direction, there is the risk for striking pedestrian, then the now network equipment 1 can generate corresponding vehicle control information, such as can instruct traveling vehicle deceleration, steering or brake hard etc..

Here, those skilled in the art it should be appreciated that it is above-mentioned based on the vehicle environmental information and it is described traveling it is auxiliary Supplementary information sends driving instruction information to the car-mounted terminal of the driving vehicle and is only for example, existing or other bases for occurring from now on In the vehicle environmental information and the traveling auxiliary information driving instruction information is sent to the car-mounted terminal of the driving vehicle If example can be applied to the application, should also be included in the protection domain of the application, and be included in the form of reference In this.

In the application, the driving vehicle in the identification object region of the network equipment 1, and based on the driving vehicle got Vehicle environmental information in the target area, driving instruction information is sent to the car-mounted terminal of the driving vehicle.Here, The application is realized to the vehicle environmental required for control vehicle traveling by the deployment of the network equipment 1 outside driving vehicle The collection of information, and driving instruction information is generated, realizing in target area by the control decision computing of the network equipment 1 The traveling control of driving vehicle.Based on this, the application controls the realization of driving vehicle and is not need to rely on driving vehicle top There is complicated, accurate sensing device in administration, even if being only deployed with a small amount of sensing device on driving vehicle, even without deployment sensing Device, the technical scheme based on the application also can still realize the accurate control travelled to vehicle in target area, therefore this Apply less, vehicle the power consumption of repacking for existing vehicle it is relatively low, so as to bringing the reduction of overall technology cost.

Fig. 3 shows to be shown according to a kind of equipment of network equipment 1 for being used to control vehicle to travel of the application one embodiment It is intended to；

The network equipment 1 includes identification device 21 ', acquisition device 22 ' and dispensing device 23 ', further, the acquisition Device 22 ' includes vehicle position information acquiring unit 221 ' and vehicle environmental information acquisition unit 222 '.Wherein, the identification dress Putting 21 ' can be with the driving vehicle in identification object region；The vehicle position information acquiring unit 221 ' can obtain the row Sail vehicle position information of the vehicle in the target area；The vehicle environmental information acquisition unit 222 ' can be according to described Vehicle position information obtains vehicle environmental information of the driving vehicle in the target area；The dispensing device 23 ' can So that based on the vehicle environmental information, driving instruction information is sent to the car-mounted terminal of the driving vehicle.Here, Fig. 3 knowledge Identification device 21, the content of dispensing device 23 shown in other device 21 ', dispensing device 23 ' and Fig. 2 is same or similar, herein no longer Repeat, corresponding contents are incorporated herein by reference.

Specifically, in the practical application of the application, when the scope of target area is larger, and for controllable each Amount driving vehicle, the zone of action in its certain time are generally limited, therefore, in order to improve the high efficiency to driving vehicle control And accuracy.Vehicle position information that can be based on presently described driving vehicle in the target area, it is determined that with the vehicle The Some vehicles environmental information that positional information matches, so as to reduce information redundancy, the degree of accuracy of information is improved, after optimization Continuous control decision, such as the determination of traveling execution information.In the present embodiment, target can be deployed in by the network equipment 1 The sensing device in region obtains the vehicle position information；Can also by the car-mounted terminal Active report of driving vehicle its own Vehicle position information.Further, in one embodiment, described in the vehicle environmental information acquisition unit 221 ' can determine The sensing device that the vehicle position information is disposed is corresponded in target area.Here, the vehicle position information can be based on The sensing device with the location matches is determined first, for example, being apart from a range of sensing device of the positional information The sensing device matched with the positional information, and for example, a number of sensing device nearest apart from the positional information be with The sensing device of positional information matching.Then, the driving vehicle is read in the target area from the sensing device Vehicle environmental information.Here, it can be adopted based on the corresponding vehicle identification information for identifying the driving vehicle from sensing device The vehicle environmental information matched with the driving vehicle is extracted in the initial data collected.In one implementation, can be with base In the vehicle position information at a certain moment, it is determined that the vehicle environmental information of the driving vehicle corresponding with the moment；Another In kind implementation, multiple vehicle position informations of certain a period of time are also based on, based on the continuous position of the driving vehicle Confidence ceases, it is determined that the vehicle environmental information to match with this movement locus.

In this embodiment, the collection of vehicle environmental information and being not need to rely on driving vehicle is deployed with complicated, essence True sensing device, even if a small amount of sensing device is only deployed with driving vehicle, even without deployment sensing device, based on this The technical scheme of application also can still realize the collection to the vehicle environmental information of driving vehicle in target area, therefore can be with The equipment cost of driving vehicle is effectively reduced, less, vehicle the power consumption of repacking for existing vehicle is relatively low, whole so as to bring The reduction of body technique cost.

Fig. 4 shows a kind of system schematic for being used to control vehicle to travel according to the application one side.The system Including the network equipment 1 and car-mounted terminal 2.Wherein, the network equipment 1 includes identification device 21 ", acquisition device 22 " and transmission Device 23 "；The car-mounted terminal 2 includes reception device 11 " and control device 12 ".Wherein, the identification device 21 " can be known Driving vehicle in other target area；The acquisition device 22 " can obtain the driving vehicle in the target area Vehicle environmental information；The dispensing device 23 " can be based on the vehicle environmental information, to the car-mounted terminal of the driving vehicle Send driving instruction information；Correspond to therewith, the reception device 11 " of car-mounted terminal can receive the network equipment 1 and be based on traveling The driving instruction information that the vehicle environmental information of vehicle in the target area is provided, wherein, the driving vehicle and the car Mounted terminal is corresponding；And then the control device 12 " can be by the driving instruction Information application in the row of the target vehicle Sail control.Here, Fig. 4 identification device 21 ", acquisition device 22 ", dispensing device 23 " and the identification device 21 shown in Fig. 2, obtaining Take device 22, the corresponding content of dispensing device 23 same or similar, will not be repeated here, corresponding contents are contained in by reference This.

In this application, the driving vehicle can include but is not limited to drive mould with complete mankind's driving model, auxiliary Formula, part automatic driving mode, automatic driving mode of having ready conditions, highly automated driving model or fully automated driving model etc. are appointed The vehicle of ideotype traveling.In a kind of implementation of the application, the driving vehicle can also include car-mounted terminal, described Car-mounted terminal can be for receiving driving instruction information or carrying out other terminal devices interacted with the network equipment.For example, can To be the equipment for being provided with vehicular applications, including but not limited to vehicle-mounted computer；Or the equipment being connected with vehicle-mounted computer；Or completely Independent terminal device, such as the mobile terminal device of user corresponding with the driving vehicle (such as current human pilot or passenger) Deng.

In one implementation, if the driving vehicle is in automatic driving mode downward driving, the driving vehicle is by base Corresponding control operation is performed automatically in the driving instruction information that car-mounted terminal receives, for example, being based on and the driving vehicle phase The vehicle control information of matching performs direct control instruction；And for example, if the driving vehicle possesses partial decision function, also Can be based on getting the route planning information to match with the driving vehicle, with what the driving vehicle matched interact letter The information such as breath or the traffic rule information that matches with the driving vehicle, determines have by the decision system of driving vehicle itself The wagon control mode of body simultaneously performs.In one implementation, if the driving vehicle is in auxiliary driving model downward driving, example The operation of vehicle is such as directly controlled by human pilot, then human pilot may be referred to the specific driving instruction information got, Target environment information, route planning information, interactive information, the traffic rule information auxiliary such as to match with the driving vehicle The driver behavior of oneself so that human pilot can it is more efficient, easily drive vehicle.

In one implementation, as auxiliary driving information driving instruction information can by sound, pictograph, Video shows etc. that one or more modes are provided to human pilot and known.In one implementation, can be by including but unlimited The driving instruction information is sent to corresponding car-mounted terminal in modes such as 4G, 5G, bluetooth, WIFI or NB-IOT.

Further, in one implementation, can be carried by optimizing communication bandwidth and reducing the modes such as transmission delay The effect that high the application is controlled driving vehicle.

In addition, in one implementation, it can also be deployed with the network equipment 1 and car-mounted terminal 2 corresponding Safety and error handling mechanism, to prevent the leakage of information, lose and distort, for example use encryption and signature technology etc..

In one embodiment of the application, the car-mounted terminal also includes annunciator (not shown), the report dress The vehicle position information of driving vehicle corresponding to car-mounted terminal can be reported to the network equipment 1 by putting；And then the if vehicle location Information is located at target area, and the receiving apparatus 11 " can receive the network equipment 1 and be based on the driving vehicle in the target The driving instruction information that vehicle environmental information in region is provided.In one implementation, the driving vehicle can match somebody with somebody Standby a certain degree of automatic positioning equipment determines vehicle position information.In one implementation, the driving vehicle is vehicle-mounted The mode of the terminal report vehicle position information of its own, for example, the trigger condition of report, frequency of report etc., can be based on Practical application scene, function different of wagon control are embodied and flexibly set.

Fig. 6 shows a kind of method flow for being used to control vehicle to travel at network equipment end according to the application one side Figure.Wherein, methods described includes step S61, step S62 and step S63.

Wherein, in step S61, the network equipment 1 can be with the driving vehicle in identification object region；In step S62 In, the network equipment 1 can obtain vehicle environmental information of the driving vehicle in the target area；In step S63 In, the network equipment 1 can be based on the vehicle environmental information, and driving instruction is sent to the car-mounted terminal of the driving vehicle Information.

Specifically, in step S61, the network equipment 1 can be with the driving vehicle in identification object region.In the application In, the target area be able to can be berthed including vehicle or the arbitrary region of activity, in one implementation, based on vehicle The different scenes of traveling, the target area can include but is not limited to be that parking lot, scenic spot, cell, airport, warehouse district etc. are appointed Meaning region.Further, in one embodiment, the target area includes segment boundary, and the segment boundary can be 360 degree The boundary line of the arbitrary portion in space, the segment boundary can be used for defining carrying out the part or all of of control to driving vehicle Regional extent, wherein, the segment boundary can be boundary line existing for entity, for example, the peripheral wall in parking lot, ground or Roof etc.；Can also be based on the virtual boundary line that the function of target area is different from peripheral region and distinguishes.A kind of real In existing mode, one or more identical types or different types of sensing device can be deployed with the target area, such as Laser radar, millimetre-wave radar, ultrasonic radar, various camera devices, and/or other devices for realizing information gathering, Above-mentioned various kinds of sensors and device can be used for that driving vehicle is identified, and can also be used to believe vehicle environmental hereafter Any information required for the control driving vehicle such as breath or traveling auxiliary information is acquired.Further, if the target area Including segment boundary, the regional extent that can be defined is also based on, the needs travelled with reference to control vehicle, each sensor is entered Row specific aim, the deployment of rational position, so as to strengthen the degree of accuracy of vehicle traveling control and improve sensor deployment Utilization rate.In addition, in one implementation, if the unit area vehicle load of the target area is more than or equal to default threshold Value, the beneficial effect for the wagon control that the technical scheme based on the application is realized will greatly promote, advantageously in propulsion car Traveling technology, particularly automatic Pilot technology popularization.

Here, the network equipment 1 can be when driving vehicle enters target area or the driving vehicle comes into mesh Any time behind mark region, it was identified.It can be realized by identification and determine and position the mesh for needing to be controlled in real time Mark vehicle.In one implementation, the driving vehicle can be sometime identified in the process of moving；Another Kind implementation exists, and the driving vehicle can also be and is identified in the process of moving in some continuous time.

In one embodiment of the application, methods described can also include step S64 (not shown), here, in step In S61, the network equipment 1 can obtain the vehicle of driving vehicle in the target area by the sensing device of target area Identification information；In step S64, the network equipment 1 can close according to the vehicle identification information, and vehicle termination mapping System, determines car-mounted terminal corresponding to the driving vehicle；And then in step S63, the network equipment 1 can be based on described Vehicle environmental information, driving instruction information is sent to the car-mounted terminal.

Specifically, the network equipment 1 can be obtained in the target area by the sensing device of target area and travelled The vehicle identification information of vehicle.Here, can one or more sensing devices based on the deployment in the target area, such as Laser radar, millimetre-wave radar, ultrasonic radar, various camera devices, WIFI, bluetooth, earth magnetism, RFID, UWB or difference The combination of sensor or harvester gathers the vehicle identification information of the driving vehicle.In one implementation, the biography The vehicle identification information that sensor collects can be vehicle body information, such as：License plate number；The profile of vehicle is big such as vehicle Shape, size, color etc.；The vehicle identification information can also be based on locating and tracking needs, be matched for the driving vehicle Any identification information, the 2 D code information such as matched with the driving vehicle, and for example vehicle for the ease of sensor identify and Various signals of Auto broadcast etc.；The vehicle identification information can be with the combination of above-mentioned much information.Here, art technology Personnel are it should be appreciated that above-mentioned each vehicle identification information is only for example, existing or other vehicle identifications for occurring from now on If the combination of information or vehicle identification letter can be applied to the application, and can realize what driving vehicle was identified It purpose, should also be included in the protection domain of the application, and be incorporated herein in the form of reference.In one implementation, Because the sensing device can be deployed in the optional position of the target area, when the driving vehicle is passed through target area During particular location, corresponding vehicle identification information can be collected in real time with the sensing device of the position correspondence, for example, shooting dress Put shooting and obtain 2 D code information matched with driving vehicle shown on vehicle license information or car etc..Here, the application can With the deployment species based on sensing device in target area and deployment way, the collection knot for neatly adjusting vehicle identification information Fruit, for example, by improving the precision of sensing device, quantity, frequency of collection etc., to improve the degree of accuracy of vehicle identification, and show There is in technology the scheme being directly deployed in sensing device on vehicle, can not increase vehicle cost and negative in actual applications In the case of load, the beneficial effect that the application can be realized conveniently is easily reached.

Then, in step S64, the network equipment 1 can reflect according to the vehicle identification information, and vehicle termination Relation is penetrated, determines car-mounted terminal corresponding to the driving vehicle.In this application, because the network equipment 1 finally needs to travel Configured information is sent to the car-mounted terminal of the driving vehicle, therefore, in the present embodiment, is identifying the target area After driving vehicle, it is also desirable to it is determined that the car-mounted terminal matched with the driving vehicle.In this application, the car-mounted terminal can be For receiving driving instruction information or carrying out other terminal devices interacted with the network equipment.For example, it may be it is provided with vehicle-mounted The equipment of application, including but not limited to vehicle-mounted computer；Or the equipment being connected with vehicle-mounted computer；Or completely self-contained terminal is set It is standby, such as the mobile terminal device of user corresponding with the driving vehicle (such as current human pilot or passenger).A kind of real In existing mode, vehicle termination mapping relations can include the vehicle identification information and the mapping relations of the car-mounted terminal. In a kind of implementation, the vehicle termination mapping relations can be established currently in real time, for example, the driving vehicle is in institute When stating identified first in target area, while establish the mapping relations of the vehicle identification information and the car-mounted terminal； In another implementation, the vehicle termination mapping relations can be that history is established or updated, for example, when driving vehicle exists Soviet Union is searched when being again identified in target area, you can be directly based upon the vehicle termination mapping relations of the corresponding storage of the network equipment 1, Match car-mounted terminal corresponding with the driving vehicle identified.

In one embodiment of the application, in step S61, the network equipment 1 can receive the car of driving vehicle The vehicle position information that mounted terminal is reported；If the vehicle position information is located at target area, the driving vehicle is identified. In the present embodiment, the identification of the driving vehicle can be realized by the network equipment 1 described in driving vehicle active reporting, When the uploaded vehicle position information of judgement is in the range of the target area, you can to determine the driving vehicle as this Shen The object that please be control.In one implementation, the driving vehicle can be equipped with a certain degree of automatic positioning equipment and determine Vehicle position information.In one implementation, the car-mounted terminal of the driving vehicle reports the vehicle position information of its own Mode, for example, the trigger condition of report, frequency etc. of report, can be based on practical application scene, specific implementation wagon control Function different and flexibly set.

Then, in step S62, the network equipment 1 can obtain the driving vehicle in the target area Vehicle environmental information.In one implementation, the vehicle environmental information in the target area can include be used for pair Driving vehicle implements any information needed to refer to during control.For example, the obstacle information in environment, the barrier can be Object outside any driving vehicle such as people, thing, building：Parking space information, such as the vacant parking stall information in parking lot；Traveling Lane information；Running region configured information, any information that instruction is provided can be travelled for vehicle.Here, people in the art Member is it should be appreciated that above-mentioned each vehicle environmental information is only for example, existing or other vehicle environmental information for occurring from now on If the application can be applied to, should also be included in the protection domain of the application, and be incorporated herein in the form of reference.

In one implementation, in step S62, the network equipment 1 can be according to the driving vehicle described Vehicle position information in target area obtains vehicle environmental information of the driving vehicle in the target area.In this Shen In practical application please, when the scope of target area is larger, and for controllable each amount driving vehicle, its certain time Interior zone of action is generally limited, therefore, in order to improve high efficiency and accuracy to driving vehicle control.It can be based on current Vehicle position information of the driving vehicle in the target area, it is determined that the part car to match with the vehicle position information Environmental information, so as to reduce information redundancy, improves the degree of accuracy of information, optimizes follow-up control decision, such as travel The determination of execution information.In one implementation, can be obtained by being deployed in the sensing device of target area in the network equipment 1 Take the vehicle position information；In another implementation, can also by the car-mounted terminal Active report of driving vehicle its The vehicle position information of itself.

Then, in step S63, the network equipment 1 can be based on the vehicle environmental information, to the driving vehicle Car-mounted terminal send driving instruction information.In one implementation, the driving instruction information that the driving vehicle is got It is that the transport condition current with the vehicle and traveling need to match, for example, when the target area is parking lot, then enters It is the needs with parking that driving vehicle therein, which may determine that, and therefore, the driving instruction information should match with parking. Further, the network equipment 1 can judgement based on the vehicle environmental information and actively send；Can also when based on institute State the solicited message of the car-mounted terminal of driving vehicle and respond transmission.

Third, the interactive information to match with the driving vehicle, if for example, being docked in the vehicle of target area needs Passenger is scooped out under automatic driving mode, then can the vehicle environmental information based on the driving vehicle, carry out time departure estimate, net Network equipment 1 provides the time departure of the driving vehicle determined based on vehicle environmental information to the car-mounted terminal, described Time departure is the interactive information.Here, those skilled in the art are it should be appreciated that above-mentioned interactive information is only to lift Example, if other interactive information existing or occur from now on can be applied to the application, it should also be included in the protection of the application In the range of, and be incorporated herein in the form of reference.

In the application one embodiment, in step S63, the network equipment 1, which can be based on the vehicle environmental, to be believed Driving instruction information corresponding to breath generation；And then send the driving instruction information to the car-mounted terminal of the driving vehicle. This, the network equipment 1 is by based on the vehicle environmental information for collecting from sensing device or being got from other equipment, device Corresponding decision-making judgement is carried out, formulates corresponding control strategy, it is determined that the driving instruction information to match with the driving vehicle, And then it is handed down to corresponding car-mounted terminal.

In the application one embodiment, methods described also includes step S65 (not shown), wherein, in step S65, The network equipment 1 can obtain the traveling auxiliary information of the driving vehicle；And then in step S63, the network equipment 1 can send traveling based on the vehicle environmental information and the traveling auxiliary information to the car-mounted terminal of the driving vehicle refers to Show information.In one implementation, the traveling auxiliary information can include but is not limited to the positional information, OK of driving vehicle Sail routing information, driving speed information, transmits information etc..Here, the acquisition of the traveling auxiliary information can be passed through The sensing device collection of target area obtains；Can also be driving vehicle itself monitoring and by its car-mounted terminal active reporting extremely The network equipment 1.In the present embodiment, can be by the vehicle environmental information of driving vehicle in the traveling auxiliary information phase With reference to determine the driving instruction information, for example, in driving vehicle in the target area based on automatic driving mode traveling When, judge that pedestrian occurs in du vehicule based on vehicle environmental information, and judge in combination with the traveling auxiliary information collected Based on the current travel speed of the driving vehicle, travel direction, there is the risk for striking pedestrian, then now the network equipment 1 can be with Corresponding vehicle control information is generated, such as traveling vehicle deceleration, steering or brake hard etc. can be instructed.

Fig. 7 shows a kind of method stream for being used to control vehicle to travel at network equipment end according to the application one embodiment Cheng Tu.Methods described includes step S61 ', step S62 ' and step S63 ', and further, the step S62 ' includes step S621 ' With step S622 '.Wherein, in step S61 ', the network equipment 1 can be with the driving vehicle in identification object region；In step In rapid S621 ', the network equipment 1 can obtain vehicle position information of the driving vehicle in the target area； In step S622 ', the network equipment 1 can obtain the driving vehicle in the target area according to the vehicle position information Vehicle environmental information in domain；In step S63 ', the network equipment 1 can be based on the vehicle environmental information, to described The car-mounted terminal of driving vehicle sends driving instruction information.Here, the step of Fig. 7 step S61 ', step S63 ' are shown with Fig. 6 S61, step S63 contents are same or similar, will not be repeated here, corresponding contents are incorporated herein by reference.

Specifically, in the practical application of the application, when the scope of target area is larger, and for controllable each Amount driving vehicle, the zone of action in its certain time are generally limited, therefore, in order to improve the high efficiency to driving vehicle control And accuracy.Vehicle position information that can be based on presently described driving vehicle in the target area, it is determined that with the vehicle The Some vehicles environmental information that positional information matches, so as to reduce information redundancy, the degree of accuracy of information is improved, after optimization Continuous control decision, such as the determination of traveling execution information.In the present embodiment, target can be deployed in by the network equipment 1 The sensing device in region obtains the vehicle position information；Can also by the car-mounted terminal Active report of driving vehicle its own Vehicle position information.Further, in one embodiment, in step S622 ', described in the network equipment 1 can determine The sensing device that the vehicle position information is disposed is corresponded in target area.Here, the vehicle position information can be based on The sensing device with the location matches is determined first, for example, being apart from a range of sensing device of the positional information The sensing device matched with the positional information, and for example, a number of sensing device nearest apart from the positional information be with The sensing device of positional information matching.Then, the driving vehicle is read in the target area from the sensing device Vehicle environmental information.Here, it can be adopted based on the corresponding vehicle identification information for identifying the driving vehicle from sensing device The vehicle environmental information matched with the driving vehicle is extracted in the initial data collected.In one implementation, can be with base In the vehicle position information at a certain moment, it is determined that the vehicle environmental information of the driving vehicle corresponding with the moment；Another In kind implementation, multiple vehicle position informations of certain a period of time are also based on, based on the continuous position of the driving vehicle Confidence ceases, it is determined that the vehicle environmental information to match with this movement locus.

Fig. 8 shows to be used to control vehicle to travel at network equipment end and car-mounted terminal according to a kind of of the application one side Method flow diagram.Wherein, methods described includes step S81, step S83, step S85, step S82, step S84.

Specifically, in step S81, the network equipment 1 can be with the driving vehicle in identification object region；Then, exist In step S83, the network equipment 1 can obtain vehicle environmental information of the driving vehicle in the target area；Connect , in step S85, the network equipment 1 can be based on the vehicle environmental information, to the car-mounted terminal of the driving vehicle Send driving instruction information to correspond to therewith, in step S82, the car-mounted terminal 2 can receive the network equipment 1 and be based on row Sail the driving instruction information that the vehicle environmental information of vehicle in the target area is provided, wherein, the driving vehicle with it is described Car-mounted terminal is corresponding；And then in step S84, the car-mounted terminal 2 can be by the driving instruction Information application in described The traveling control of target vehicle.Here, Fig. 8 step S81, step S83, step S85 and the step S61 shown in Fig. 6, step S62, step S63 are same or similar to drink content, will not be repeated here, corresponding contents are incorporated herein by reference.

The embodiment of the present application additionally provides a kind of network equipment for being used to control vehicle to travel, including：

One or more processors；

Memory；And

Driving vehicle in identification object region；

The embodiment of the present application additionally provides a kind of car-mounted terminal for being used to control vehicle to travel, including：

One or more processors；

Memory；And

The embodiment of the present application additionally provides a kind of computer-readable recording medium, is stored thereon with computer program, described Computer program can be executed by processor following operation：

Driving vehicle in identification object region；

As shown in Figure 5 in certain embodiments, system 300 can be used as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 6, Fig. 7 or Fig. 8 Or any one of network equipment 1 or mobile unit 2 in shown embodiment or other described embodiments.In some realities Apply in example, system 300 may include one or more computer-readable mediums with instruction (for example, system storage or NVM/ Storage device 320) and coupled with one or more computer-readable mediums and be configured as execute instruction to realize module So as to perform the one or more processors of action described herein (for example, (one or more) processor 305).

For one embodiment, system control module 310 may include any appropriate interface controller, with to (one or It is multiple) any appropriate equipment that is at least one and/or being communicated with system control module 310 in processor 305 or component carry For any appropriate interface.

System control module 310 may include Memory Controller module 330, to provide interface to system storage 315.Deposit Memory controller module 330 can be hardware module, software module and/or firmware module.

System storage 315 can be used for for example, loading of system 300 and data storage and/or instruction.For a reality Example is applied, system storage 315 may include any appropriate volatile memory, for example, appropriate DRAM.In some embodiments In, system storage 315 may include the Synchronous Dynamic Random Access Memory of Double Data Rate type four (DDR4SDRAM).

For one embodiment, system control module 310 may include one or more input/output (I/O) controller, with Interface is provided to NVM/ storage devices 320 and (one or more) communication interface 325.

For example, NVM/ storage devices 320 can be used for data storage and/or instruction.NVM/ storage devices 320 may include to appoint Anticipating appropriate nonvolatile memory (for example, flash memory) and/or may include that any appropriate (one or more) is non-volatile and deposits Equipment is stored up (for example, one or more hard disk drives (HDD), one or more CDs (CD) driver and/or one or more Digital versatile disc (DVD) driver).

NVM/ storage devices 320 may include a part for the equipment being physically mounted on as system 300 Storage resource, or it can be by equipment access without the part as the equipment.For example, NVM/ storage devices 320 can Conducted interviews by network via (one or more) communication interface 325.

(one or more) communication interface 325 can be system 300 provide interface with by one or more networks and/or with Other any appropriate equipment communications.System 300 can be according to any mark in one or more wireless network standards and/or agreement Accurate and/or agreement to carry out radio communication with the one or more assemblies of wireless network.

For one embodiment, at least one in (one or more) processor 305 can be with system control module 310 The logic of one or more controllers (for example, Memory Controller module 330) is packaged together.For one embodiment, (one It is individual or multiple) at least one in processor 305 can encapsulate with the logic of one or more controllers of system control module 310 Together to form system in package (SiP).It is at least one in (one or more) processor 305 for one embodiment It can be integrated in the logic of one or more controllers of system control module 310 on same mould.For one embodiment, At least one in (one or more) processor 305 can be with the logic of one or more controllers of system control module 310 It is integrated on same mould to form on-chip system (SoC).

In various embodiments, system 300 can be, but not limited to be：Server, work station, desk-top computing device or movement Computing device (for example, lap-top computing devices, handheld computing device, tablet personal computer, net book etc.).In various embodiments, System 300 can have more or less components and/or different frameworks.For example, in certain embodiments, system 300 includes One or more video cameras, keyboard, liquid crystal display (LCD) screen (including touch screen displays), nonvolatile memory port, Multiple antennas, graphic chips, application specific integrated circuit (ASIC) and loudspeaker.

It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt With application specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment In, the software program of the application can realize steps described above or function by computing device.Similarly, the application Software program (including related data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory, Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the application can employ hardware to realize, example Such as, coordinate as with processor so as to perform the circuit of each step or function.

Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the application to the application God and scope.So, if these modifications and variations of the application belong to the scope of the application claim and its equivalent technologies Within, then the application is also intended to comprising including these changes and modification.

It should be noted that the present invention can be carried out in the assembly of software and/or software and hardware, for example, can adopt With application specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment In, software program of the invention can realize steps described above or function by computing device.Similarly, it is of the invention Software program (including related data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory, Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the present invention can employ hardware to realize, example Such as, coordinate as with processor so as to perform the circuit of each step or function.

In addition, the part of the present invention can be applied to computer program product, such as computer program instructions, when its quilt When computer performs, by the operation of the computer, the method according to the invention and/or technical scheme can be called or provided. And the programmed instruction of the method for the present invention is called, it is possibly stored in fixed or moveable recording medium, and/or pass through Broadcast or the data flow in other signal bearing medias and be transmitted, and/or be stored according to described program instruction operation In the working storage of computer equipment.Here, including a device according to one embodiment of present invention, the device includes using Memory in storage computer program instructions and processor for execute program instructions, wherein, when the computer program refers to When order is by the computing device, method and/or skill of the plant running based on foregoing multiple embodiments according to the present invention are triggered Art scheme.

It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.This Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table Show title, and be not offered as any specific order.

Claims

1. a kind of method for being used to control vehicle to travel at network equipment end, wherein, methods described includes：

Driving vehicle in identification object region；

2. the method according to claim 11, wherein, the vehicle for obtaining the driving vehicle in the target area Environmental information includes：

The driving vehicle is obtained in the target according to vehicle position information of the driving vehicle in the target area Vehicle environmental information in region.

3. method according to claim 1 or 2, wherein, it is described to obtain the driving vehicle in the target area Vehicle environmental information includes：

Obtain vehicle position information of the driving vehicle in the target area；

Vehicle environmental information of the driving vehicle in the target area is obtained according to the vehicle position information.

4. the method according to claim 11, wherein, it is described to be existed according to the vehicle position information acquisition driving vehicle Vehicle environmental information in the target area includes：

Determine to correspond to the sensing device that the vehicle position information is disposed in the target area；

Vehicle environmental information of the driving vehicle in the target area is read from the sensing device.

5. method according to claim 1 or 2, wherein, the driving vehicle in the identification object region includes：

The vehicle identification information of driving vehicle in the target area is obtained by the sensing device of target area；

Wherein, methods described also includes：

According to the vehicle identification information, and vehicle termination mapping relations, car-mounted terminal corresponding to the driving vehicle is determined；

Wherein, it is described to be based on the vehicle environmental information, send driving instruction packet to the car-mounted terminal of the driving vehicle Include：

Based on the vehicle environmental information, driving instruction information is sent to the car-mounted terminal.

6. according to the method for claim 5, wherein, the vehicle termination mapping relations are built based on following at least any one It is vertical or renewal：

The information of vehicles and end message that same user submits；

Vehicle drives into the relativity of time domain that the target area event enters the target area event with car-mounted terminal.

7. method according to claim 1 or 2, wherein, the driving vehicle in the identification object region includes：

Receive the vehicle position information that the car-mounted terminal of driving vehicle is reported；

If the vehicle position information is located at target area, the driving vehicle is identified.

8. method according to claim 1 or 2, wherein, methods described also includes：

Obtain the traveling auxiliary information of the driving vehicle；

Traveling is sent based on the vehicle environmental information and the traveling auxiliary information to the car-mounted terminal of the driving vehicle to refer to Show information.

9. method according to claim 1 or 2, wherein, the target area includes segment boundary.

10. method according to claim 1 or 2, wherein, it is described to be based on the vehicle environmental information, to the Travel vehicle Car-mounted terminal send driving instruction information include：

Based on driving instruction information corresponding to vehicle environmental information generation；

The driving instruction information is sent to the car-mounted terminal of the driving vehicle.

11. method according to claim 1 or 2, wherein, the driving instruction information includes following at least any one：

The target environment information to match with the driving vehicle；

The route planning information to match with the driving vehicle；

The interactive information to match with the driving vehicle；

The traffic rule information to match with the driving vehicle；

The vehicle control information to match with the driving vehicle.

12. a kind of method for being used to control vehicle to travel in car-mounted terminal, wherein, methods described includes：

The driving instruction information that vehicle environmental information of the network equipment based on driving vehicle in the target area is provided is received, its In, the driving vehicle is corresponding with the car-mounted terminal；

13. according to the method for claim 12, wherein, methods described also includes：

To the vehicle position information of driving vehicle corresponding to network equipment report car-mounted terminal；

Wherein, the traveling that the vehicle environmental information for receiving the network equipment based on driving vehicle in the target area is provided refers to Show information, wherein, the driving vehicle it is corresponding with the car-mounted terminal including：

If the vehicle position information is located at target area, receives the network equipment and be based on the driving vehicle in the target The driving instruction information that vehicle environmental information in region is provided.

14. a kind of network equipment for being used to control vehicle to travel, wherein, the network equipment includes：

Dispensing device, for based on the vehicle environmental information, driving instruction letter to be sent to the car-mounted terminal of the driving vehicle Breath.

15. the network equipment according to claim 14, wherein, the acquisition device is used for：

16. the network equipment according to claims 14 or 15, wherein, the acquisition device includes：

Vehicle position information acquiring unit, for obtaining vehicle position information of the driving vehicle in the target area；

Vehicle environmental information acquisition unit, for obtaining the driving vehicle in the target area according to the vehicle position information Vehicle environmental information in domain.

17. the network equipment according to claim 16, wherein, the vehicle environmental information acquisition unit is used for：

18. the network equipment according to claims 14 or 15, wherein, the identification device is used for：

Wherein, the network equipment also includes：

Car-mounted terminal determining device, for according to the vehicle identification information, and vehicle termination mapping relations, determining the row Sail car-mounted terminal corresponding to vehicle；

Wherein, the dispensing device is used for：

19. the network equipment according to claim 18, wherein, the vehicle termination mapping relations are at least appointed based on following One establish or renewal：

The information of vehicles and end message that same user submits；

20. the network equipment according to claims 14 or 15, wherein, the identification device is used for：

21. the network equipment according to claims 14 or 15, wherein, the network equipment also includes：

Auxiliary information acquisition device is travelled, for obtaining the traveling auxiliary information of the driving vehicle；

Wherein, the dispensing device is used for：

22. the network equipment according to claims 14 or 15, wherein, the target area includes segment boundary.

23. the network equipment according to claims 14 or 15, wherein, the dispensing device is used for：

24. the network equipment according to claims 14 or 15, wherein, the driving instruction information includes following at least any ：

The target environment information to match with the driving vehicle；

The route planning information to match with the driving vehicle；

The interactive information to match with the driving vehicle；

The traffic rule information to match with the driving vehicle；

The vehicle control information to match with the driving vehicle.

25. a kind of car-mounted terminal for being used to control vehicle to travel, wherein, the car-mounted terminal includes：

Reception device, the row provided for receiving the vehicle environmental information of the network equipment based on driving vehicle in the target area Configured information is sailed, wherein, the driving vehicle is corresponding with the car-mounted terminal；

26. car-mounted terminal according to claim 25, wherein, the car-mounted terminal also includes：

Annunciator, for reporting the vehicle position information of driving vehicle corresponding to car-mounted terminal to the network equipment；

Wherein, the reception device is used for：

27. a kind of network equipment for being used to control vehicle to travel, including：

One or more processors；

Memory；And

One or more programs, wherein one or more of programs are stored in the memory, and be configured to by One or more of computing devices, described program include being used to perform the method such as claim 1-11.

28. a kind of car-mounted terminal for being used to control vehicle to travel, including：

One or more processors；

Memory；And

One or more programs, wherein one or more of programs are stored in the memory, and be configured to by One or more of computing devices, described program include being used to perform the method such as claim 12-13.

29. a kind of computer-readable recording medium, is stored thereon with computer program, the computer program can be held by processor Row is in such as claim 1-11 method.

30. a kind of computer-readable recording medium, is stored thereon with computer program, the computer program can be held by processor Row is in such as claim 12-13 method.