CN108860167A - Automatic Pilot control method and device based on block chain - Google Patents
Automatic Pilot control method and device based on block chain Download PDFInfo
- Publication number
- CN108860167A CN108860167A CN201810565192.9A CN201810565192A CN108860167A CN 108860167 A CN108860167 A CN 108860167A CN 201810565192 A CN201810565192 A CN 201810565192A CN 108860167 A CN108860167 A CN 108860167A
- Authority
- CN
- China
- Prior art keywords
- delivery vehicle
- pending
- movement
- target delivery
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The present embodiments relate to a kind of automatic Pilot control method and device based on block chain.This method includes：The position of acquisition target delivery vehicle and pending movement, and by the position of the target delivery vehicle and pending action record in the block chain；According to the position and pending movement of the position of the target delivery vehicle and other delivery vehicles of the block chained record, the pending movement of first delivery vehicle adjacent with the delivery vehicle is determined；The pending movement of the target delivery vehicle is adjusted according to the pending movement of first delivery vehicle；According to target delivery vehicle described in the pending action control of target delivery vehicle adjusted.The synchronization of position and pending movement between delivery vehicle may further adjust pending movement in conjunction with synchronous information, to avoid the interference of movement pending between delivery vehicle, to reduce delivery vehicle accident rate.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of automatic Pilot control methods and dress based on block chain
It sets.
Background technique
With the increase of the automobile volume of holding, road traffic congestion phenomenon is increasingly severe, etesian traffic accident
Constantly rising, in order to preferably solve the problems, such as this, research and development automatic vehicle control system is necessary.
Autonomous driving vehicle mainly uses trailer-mounted radar to detect vehicle-periphery at present, and according to perception road obtained
Road, vehicle location and obstacle information, control the steering and speed of vehicle, to enable the vehicle to reliably and securely in road
Upper traveling, to effectively reduce until traffic accident caused by eliminating due to driver's carelessness.
A kind of existing automatic vehicle control system is that the video camera and image identification system discrimination by being mounted in driver's cabin are driven
Environment is sailed, then by vehicle-mounted main control computer, GPS positioning system and path planning software according to road-map kept in advance etc.
Information navigates to vehicle, and reasonable driving path is cooked up between the current location and destination of vehicle by vehicle guidance
Destination.
In above-mentioned automatic vehicle control system, since road-map is pre-stored in vehicle, the update of data is depended on
The manual operation of driver, renewal frequency cannot be guaranteed, also, enable a driver to accomplish to timely update, it is also possible to by
Do not make finally obtained data that can not react road feelings instantly about the up-to-date information of road in existing resource
Condition, it is unreasonable to ultimately cause traffic route, and navigation accuracy rate is not high, makes troubles to driving.
Summary of the invention
Based on the above issues, the embodiment of the invention provides a kind of automatic Pilot control methods and dress based on block chain
It sets.
In a first aspect, the embodiment of the invention provides a kind of automatic Pilot control methods based on block chain.Including：
Obtain target delivery vehicle position and pending movement, and by the position of the target delivery vehicle and pending
Action record is in the block chain；
According to the position of the position of the target delivery vehicle and other delivery vehicles of the block chained record and to
Movement is executed, determines the pending movement of first delivery vehicle adjacent with the delivery vehicle；
The pending movement of the target delivery vehicle is adjusted according to the pending movement of first delivery vehicle；
According to target delivery vehicle described in the pending action control of target delivery vehicle adjusted.
In optionally realizing at one, institute's method further includes：
A variety of environment modules by being distributed in multiple positions obtain environmental information in real time；
The environmental information obtained in real time and its position are recorded in the block chain by each environment module.
In another is optionally realized, further include：
According to the position and environment letter of the position of the target delivery vehicle and the block chained record environment module
Breath, determines the environmental information of target delivery vehicle position.
It is described to be remembered according to the position of the target delivery vehicle and the block chain in another is optionally realized
The position of other delivery vehicles of record and pending movement, determine first delivery vehicle adjacent with the delivery vehicle wait hold
Action is made：
First delivery vehicle adjacent with the target delivery vehicle is determined by onboard sensor, and determines the first delivery
The relative position of tool and target delivery vehicle；
According to the position of the position of the target delivery vehicle and other delivery vehicles of the block chained record and to
Movement is executed, the second delivery vehicle for selecting position adjacent with the target delivery vehicle obtains second delivery vehicle
Position and pending movement；
It is right according to the relative position and second delivery vehicle position of first delivery vehicle and target delivery vehicle
First delivery vehicle and second delivery vehicle are matched, determining to transport with first delivery vehicle matched second
The pending movement of load tool is the pending movement of first delivery vehicle.
Second aspect, the embodiment of the invention also provides a kind of automatic Pilot control devices based on block chain.The device
Including：
First recording unit, for obtain target delivery vehicle position and pending movement, and the target is delivered
The position of tool and pending action record are in the block chain；
Determination unit, for according to the position of the target delivery vehicle and other deliveries of the block chained record
The position of tool and pending movement determine the pending movement of first delivery vehicle adjacent with the delivery vehicle；
Adjustment unit, for according to the pending movement of first delivery vehicle adjust the target delivery vehicle to
Execute movement；
Control unit delivers work for the target according to the pending action control of target delivery vehicle adjusted
Tool.
In optionally being realized at one, further include：
Acquiring unit obtains environmental information for a variety of environment modules by being distributed in multiple positions in real time；
The environmental information obtained in real time and its position are recorded in institute for each environment module by the second recording unit
It states in block chain.
In another is optionally realized, the determination unit is also used to, according to the position of the target delivery vehicle, with
And position and the environmental information of the block chained record environment module, determine the environment letter of target delivery vehicle position
Breath.
In another is optionally realized, the determination unit is specifically used for：
First delivery vehicle adjacent with the target delivery vehicle is determined by onboard sensor, and determines the first delivery
The relative position of tool and target delivery vehicle；
According to the position of the position of the target delivery vehicle and other delivery vehicles of the block chained record and to
Movement is executed, the second delivery vehicle for selecting position adjacent with the target delivery vehicle obtains second delivery vehicle
Position and pending movement；
It is right according to the relative position and second delivery vehicle position of first delivery vehicle and target delivery vehicle
First delivery vehicle and second delivery vehicle are matched, determining to transport with first delivery vehicle matched second
The pending movement of load tool is the pending movement of first delivery vehicle.
The third aspect, this specification embodiment provide a kind of computer equipment, including memory, processor and are stored in
On memory and the computer program that can run on a processor, the processor realize aforementioned first party when executing described program
The method and step in face.
Fourth aspect provides a kind of computer readable storage medium, and meter is stored on the computer readable storage medium
Calculation machine program, the computer program realize method described in above-mentioned first aspect when being executed by processor.
5th aspect, provides a kind of computer program product comprising instruction, when described instruction is run on computers
When, so that computer executes method described in above-mentioned first aspect.
6th aspect, provides a kind of automated driving system based on block chain.The system includes：
Block chain node is used for memory block chain；
Delivery vehicle module, for obtain target delivery vehicle position and pending movement, and the target is delivered
The position of tool and pending action record are in the block chain；According to the position of the target delivery vehicle and described
The position of other delivery vehicles of block chained record and pending movement determine the first delivery work adjacent with the delivery vehicle
The pending movement of tool；The pending dynamic of the target delivery vehicle is adjusted according to the pending movement of first delivery vehicle
Make；According to target delivery vehicle described in the pending action control of target delivery vehicle adjusted.
In optionally being realized at one, further include：
Environment module is remembered for obtaining environmental information in real time, and by the environmental information obtained in real time and its position
Record is in the block chain.
The synchronization of position and pending movement between delivery vehicle is realized by block chain, it may further be in conjunction with synchronization
Information adjust pending movement, to avoid the interference of movement pending between delivery vehicle, to reduce delivery vehicle accident
Incidence.
Detailed description of the invention
Fig. 1 is a kind of automated driving system schematic diagram provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of the automatic Pilot control method based on block chain provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of the automatic Pilot control device based on block chain provided in an embodiment of the present invention；
Fig. 4 shows a kind of computer equipment structural schematic diagram provided by this specification embodiment.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of automatic Pilot control method and device based on block chain.This method is suitable for
Automated driving system shown in FIG. 1, as shown in Figure 1, including：Block chain meshed network and functional module.Wherein, functional module
It can also include one or more environment modules 130, for example, fortune optionally including one or more delivery vehicle modules 120
Carrying tool model 120 may include vehicle-mounted computer or onboard sensor module, vehicle-mounted vidicon module etc., the vehicle-mounted sensing
Device module may include trailer-mounted radar module and vehicle mounted infrared module etc..Environment module 130 may include sensor module
Or camara module etc..
Delivery vehicle module 120 can be only fitted on delivery vehicle.Delivery vehicle module 120 is mainly used for acquisition delivery work
Information, the motion state of delivery vehicle and pending movement around having are also used to generate pending movement and control fortune
Load tool executes pending movement etc., for example, delivery vehicle module 120 may include control module and information collection mould
Block, information acquisition module are used to acquire information, the motion state of delivery vehicle and the pending movement around delivery vehicle,
Control module executes pending movement for generating pending movement and control delivery vehicle.Delivery vehicle module 120 can be with
Block is recorded in by the information for interacting available block chain and the delivery vehicle obtained with block chain link point
In chain.For example, delivery vehicle module 120, for obtain target delivery vehicle position and pending movement, and by the target
The position of delivery vehicle and pending action record are in the block chain；According to the position of the target delivery vehicle, and
The position of other delivery vehicles of the block chained record and pending movement determine first fortune adjacent with the delivery vehicle
The pending movement of load tool；According to the pending movement of first delivery vehicle adjust the target delivery vehicle wait hold
Action is made；According to target delivery vehicle described in the pending action control of target delivery vehicle adjusted.
Environment module 130 is distributed in multiple positions, which may include a variety of.Environment module 130 is mainly used
In adopting environmental information, and the environmental information of acquisition is recorded in block chain by being interacted with block chain link point.For example, ring
Border module 130 for obtaining environmental information in real time, and the environmental information obtained in real time and its position is recorded in described
In block chain.
Block chain meshed network includes one or more block chain nodes 110, can be downloaded on each block chain node
Complete block chain, the block chain node 110 can be interacted with delivery vehicle module 120 and environment module 130.Its
In, block chain node and functional module may be implemented in the same equipment with computing capability, can also have respectively different
Equipment is realized.
Present applicant is found by analysis.Current automatic Pilot technology is mainly believed according to already present environment
It ceases to control the operation of delivery vehicle.These already present environmental informations generally pass through radar or camera obtains, these are
Existing environmental information includes road, vehicle location and obstacle information.But barrier includes fixed barrier and fortune
Dynamic barrier, fixed barrier can be avoided effectively, and the barrier of movement is since its motion profile is difficult to estimate, so very
Hardly possible evacuation.Barrier for the delivery vehicle during automatic Pilot, movement mainly includes other delivery vehicles and row
People.Since the movement velocity of pedestrian is lower, so the influence caused by automatic Pilot is less, still, other delivery works of movement
Tool, often causes very serious interference to automatic Pilot, or even cause traffic accident.For example, two automatic are in are driven automatically
The delivery vehicle sailed goes in the same direction, and when both sides have been found that other side, can all select to avoid, but if the evacuation direction one of selection
It causes, then may bump against, cause traffic accident.
In order to solve the delivery vehicle interference mutual in automatic Pilot, the embodiment of the invention provides one kind to be based on
The automatic Pilot control method and device of block chain.By combine block chain realize automatic Pilot delivery vehicle between information it is same
Step is carried out automatic Pilot control according to synchronizing information, is reduced with this mutual between delivery vehicle in automatic Pilot state
Interference.
In order to facilitate understanding of embodiments of the present invention, it is further explained below in conjunction with attached drawing with specific embodiment
Bright, embodiment does not constitute the restriction to the embodiment of the present invention.
Fig. 2 is a kind of automatic Pilot control method flow chart based on block chain provided in an embodiment of the present invention.This method
Suitable for through scene shown in FIG. 1.As shown in Fig. 2, including environmental information in block chain, this method is specifically included：
S210, obtain target delivery vehicle position and pending movement, and by the position of the target delivery vehicle and
Pending action record is in the block chain.
Delivery vehicle needs to obtain the environmental information and delivery around delivery vehicle during being in automatic Pilot
The information of tool itself, and the pending movement of delivery vehicle is generated according to ambient condition information and the information of itself, and determining should
The execution opportunity of pending movement, the execution opportunity may include environmental condition and/or time conditions etc., the pending movement
Refer generally to next or multiple movements, that is, the movement that will be executed.
Wherein, delivery vehicle ambient condition information can by its own installation sensor obtain, can also by from
It is obtained in block chain node, can be combined with the information that the two obtains and obtain final environmental information.
In one example, multiple environment modules can be arranged in automatic Pilot environment.Multiple environment module can be with
Including a variety of, multiple environment module can be distributed in multiple positions.Each environment module can obtain its position in real time
Environmental information, and by where the environment module position and its obtain environmental information area is recorded in by block chain node
In block chain.Target delivery vehicle can obtain block chain from block chain node, according to the position of target delivery vehicle, Yi Jiqu
The position of block chained record environment module and environmental information, determine the environmental information of the delivery vehicle position.
It in another example, can be by the environmental information obtained from block chain in aforementioned exemplary and by vehicle-mounted biography
The environmental information that sensor obtains, opsition dependent are merged, and the environmental information of its position of target delivery vehicle is finally obtained.
The information of delivery vehicle itself may include the motion state of delivery vehicle, the position of delivery vehicle, delivery vehicle
It is one or more in ambient enviroment and the pending movement of delivery vehicle etc..The information of the delivery vehicle itself can lead to
It crosses and specific component acquisition is installed, or acquire the data in existing component (such as location component).Wherein, the fortune of delivery vehicle
Dynamic state may include the speed of service of delivery vehicle, acceleration and delivery vehicle just execution movement etc..Delivery vehicle is just
It include to travel route or control vehicle direction or the movement of speed etc. in execution or pending movement.Control delivery
The movement of tool direction or speed may include steering, acceleration or deceleration etc..
It may include the delivery vehicle of multiple automatic Pilots, the fortune of each automatic Pilot in entire automatic Pilot environment
The environmental information that the information of respective delivery vehicle or even onboard sensor acquire can be passed through block chain node by load tool
It is recorded in block chain.Each delivery vehicle can obtain the information of other delivery vehicles by block chain.
S220, according to the position of the target delivery vehicle and the position of other delivery vehicles of the block chained record
It sets and pending movement, the pending movement of determining first delivery vehicle adjacent with the delivery vehicle.
Target delivery vehicle can obtain block chain from block chain node, and position in conjunction with where its own and described
The position of other delivery vehicles of block chained record determines the delivery vehicle adjacent with delivery vehicle, and obtains the adjacent fortune
The position of load tool and pending movement.
In addition, the determination of the delivery vehicle adjacent with target delivery vehicle can in conjunction with onboard sensor obtain information with
And the position of other delivery vehicles obtained from block chain is integrated to obtain, and further determines neighbouring carrier
Pending movement.It can specifically be achieved by the steps of：
First delivery vehicle adjacent with target delivery vehicle is determined by onboard sensor, and determines the first delivery vehicle
With the relative position of target delivery vehicle；First delivery vehicle may include one or more.
According to the position of the position of target delivery vehicle and other delivery vehicles of block chained record and pending dynamic
Make, the second delivery vehicle for selecting position adjacent with target delivery vehicle, obtains the position of second delivery vehicle and wait hold
Action is made；Second delivery vehicle may include one or more.The quantity of second delivery vehicle can be greater than or equal to the
The quantity of delivery vehicle.
According to the relative position and the second delivery vehicle position of the first delivery vehicle and target delivery vehicle, delivered to first
Tool and the second delivery vehicle are matched, and the determining pending movement with matched second delivery vehicle of the first delivery vehicle is
The pending movement of first delivery vehicle.
Since there may be certain for the physical location of the position of delivery vehicle that is recorded in block chain and the delivery vehicle
The time difference, so, the position of neighbouring carrier can be subject to onboard sensor acquisition position, obtained from block chain
The mainly pending movement of neighbouring carrier.
In addition, can believe in conjunction with the mark of delivery vehicle when the first delivery vehicle is matched with the second delivery vehicle
Breath, for example, the identification information may include the one or more of the information such as the color, type and license plate number of delivery vehicle.
S230 adjusts the pending dynamic of the target delivery vehicle according to the pending movement of first delivery vehicle
Make.
After the pending movement for determining the adjacent delivery vehicle in target delivery vehicle position, the adjacent fortune can be determined
Whether the pending movement of load tool conflicts with the pending movement of target delivery vehicle.
If conflict, target delivery vehicle and adjacent delivery vehicle are held consultation, and are updated and negotiated in block chain
Respective pending movement afterwards.For example, the negotiations process can directly be handed over for target delivery vehicle with the first delivery vehicle
Mutually negotiate.Be also possible to based on identical prefabricated rule, target delivery vehicle and the first delivery vehicle determine it is therein which
It needing to be adjusted pending movement, such as the threshold rule can be time priority principle, who first finds that who is adjusted, or
Travel speed priority principle, whose slow adjustment of whose speed etc..Wherein, target delivery vehicle may include multiple alternative pending dynamic
To make, target delivery vehicle can select one in alternative pending movement when needing to make adjustment according to presetting rule, and
The result of selection is recorded in block chain.
If do not conflicted, without adjusting respective pending movement.
S240, according to the pending action control target delivery vehicle of target delivery vehicle adjusted.
After the traveling according to pending action control target delivery vehicle, it can continue according to target delivery vehicle
Ambient condition information and the information of delivery vehicle itself determine the pending movement of the target tool, and continue to execute step S210,
Until automatic Pilot terminates.
Through the embodiment of the present invention, the same of position and pending movement between delivery vehicle can be realized by block chain
Step may further adjust pending movement in conjunction with synchronous information, to avoid the interference of movement pending between delivery vehicle,
To reduce delivery vehicle accident rate.For example, two automatic delivery vehicles in automatic Pilot go in the same direction, work as both sides
When having been found that other side, it can all regard evacuation as pending movement, evacuation movement may be implemented through the invention and do not conflict or one
Side's evacuation, another party's normally travel, to guarantee the safety of the traveling of delivery vehicle.
Fig. 3 is a kind of automatic Pilot controling device structure diagram based on block chain provided in an embodiment of the present invention.It should
Device specifically includes：
First recording unit 301, for obtain target delivery vehicle position and pending movement, and the target is transported
The position of load tool and pending action record are in the block chain；
Determination unit 302, for according to the position of the target delivery vehicle and other fortune of the block chained record
The position of load tool and pending movement determine the pending movement of first delivery vehicle adjacent with the delivery vehicle；
Adjustment unit 303, for adjusting the target delivery vehicle according to the pending movement of first delivery vehicle
Pending movement；
Control unit 304 is delivered for the target according to the pending action control of target delivery vehicle adjusted
Tool.
In optionally being realized at one, further include：
Acquiring unit obtains environmental information for a variety of environment modules by being distributed in multiple positions in real time；
The environmental information obtained in real time and its position are recorded in institute for each environment module by the second recording unit
It states in block chain.
In another is optionally realized, the determination unit 302 is also used to, according to the position of the target delivery vehicle
It sets and the position of the block chained record environment module and environmental information, determines target delivery vehicle position
Environmental information.
In another is optionally realized, the determination unit 302 is specifically used for：
First delivery vehicle adjacent with the target delivery vehicle is determined by onboard sensor, and determines the first delivery
The relative position of tool and target delivery vehicle；
According to the position of the position of the target delivery vehicle and other delivery vehicles of the block chained record and to
Movement is executed, the second delivery vehicle for selecting position adjacent with the target delivery vehicle obtains second delivery vehicle
Position and pending movement；
It is right according to the relative position and second delivery vehicle position of first delivery vehicle and target delivery vehicle
First delivery vehicle and second delivery vehicle are matched, determining to transport with first delivery vehicle matched second
The pending movement of load tool is the pending movement of first delivery vehicle.
Fig. 4 shows a kind of computer equipment structural schematic diagram, the computer equipment provided by this specification embodiment
May include：Processor 410, memory 420, input/output interface 430, communication interface 440, bus 450,460 and of sensor
Driving 470.Wherein processor 44, memory 420, input/output interface 430 and communication interface 440 realize that by bus 450
Communication connection between this inside equipment.Processor 410 realizes aforementioned combination figure when executing the program stored in memory 420
Step shown in 2.
Processor 410 can use general CPU (Central Processing Unit, central processing unit), micro process
Device, application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or one or
The modes such as multiple integrated circuits are realized, for executing relative program, to realize technical solution provided by this specification embodiment.
Memory 420 can use ROM (Read Only Memory, read-only memory), RAM (Random Access
Memory, random access memory), static storage device, the forms such as dynamic memory realize.Memory 420 can store
Operating system and other applications are realizing technical solution provided by this specification embodiment by software or firmware
When, relevant program code is stored in memory 420, and execution is called by processor 410.
Input/output interface 430 is for connecting input/output module, to realize information input and output.Input and output/
Module can be used as component Configuration (not shown) in a device, can also be external in equipment to provide corresponding function.Wherein
Input equipment may include keyboard, mouse, touch screen, microphone, various kinds of sensors etc., output equipment may include display,
Loudspeaker, vibrator, indicator light etc..
Communication interface 440 is used for connection communication module (not shown), to realize the communication of this equipment and other equipment
Interaction.Wherein communication module can be realized by wired mode (such as USB, cable etc.) and be communicated, can also be wirelessly
(such as mobile network, WIFI, bluetooth etc.) realizes communication.
Bus 450 includes an access, in various components (such as the processor 410, memory 420, input/output of equipment
Interface 430 and communication interface 440) between transmit information.
Sensor 460 may include a variety of onboard sensors, such as accelerometer and radar etc..
Driving 470 is mainly used for the instruction according to processor 410, and control delivery vehicle executes corresponding movement.For example, side
To driving or power drive etc..
It should be noted that although above equipment illustrates only processor 410, memory 420, input/output interface
430, communication interface 440, bus 450, sensor 460 and driving 470, but in the specific implementation process, which may be used also
To include realizing to operate normally necessary other assemblies.In addition, it will be appreciated by those skilled in the art that, above equipment
In can also be only comprising realizing component necessary to this specification example scheme, without including whole groups shown in figure
Part.
Professional should further appreciate that, described in conjunction with the examples disclosed in the embodiments of the present disclosure
Unit and algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software generally describes each exemplary composition and step according to function in the above description.
These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.
Professional technician can use different methods to achieve the described function each specific application, but this realization
It should not be considered as beyond the scope of the present invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can be executed with hardware, processor
The combination of software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only memory
(ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field
In any other form of storage medium well known to interior.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all any modification, equivalent substitution, improvement and etc. within the scope of the present invention, done should be included in this hair
Within bright protection scope.
Claims (10)
1. a kind of automatic Pilot control method based on block chain, which is characterized in that the method includes：
Obtain target delivery vehicle position and pending movement, and by the position of the target delivery vehicle and pending movement
It is recorded in the block chain；
According to the position of the position of the target delivery vehicle and other delivery vehicles of the block chained record and pending
Movement determines the pending movement of first delivery vehicle adjacent with the delivery vehicle；
The pending movement of the target delivery vehicle is adjusted according to the pending movement of first delivery vehicle；
According to target delivery vehicle described in the pending action control of target delivery vehicle adjusted.
2. the method according to claim 1, wherein institute's method further includes：
A variety of environment modules by being distributed in multiple positions obtain environmental information in real time；
The environmental information obtained in real time and its position are recorded in the block chain by each environment module.
3. according to the method described in claim 2, it is characterized in that, further including：
According to the position and environmental information of the position of the target delivery vehicle and the block chained record environment module, really
The environmental information of fixed target delivery vehicle position.
4. the method according to claim 1, wherein the position according to the target delivery vehicle, and
The position of other delivery vehicles of the block chained record and pending movement determine first fortune adjacent with the delivery vehicle
The pending movement of load tool includes：
First delivery vehicle adjacent with the target delivery vehicle is determined by onboard sensor, and determines the first delivery vehicle
With the relative position of target delivery vehicle；
According to the position of the position of the target delivery vehicle and other delivery vehicles of the block chained record and pending
Movement, the second delivery vehicle for selecting position adjacent with the target delivery vehicle obtain the position of second delivery vehicle
With pending movement；
According to the relative position and second delivery vehicle position of first delivery vehicle and target delivery vehicle, to described
First delivery vehicle and second delivery vehicle are matched, determining to deliver work with first delivery vehicle matched second
The pending movement of tool is the pending movement of first delivery vehicle.
5. a kind of automatic Pilot control device based on block chain, which is characterized in that described device includes：
First recording unit, for obtain target delivery vehicle position and pending movement, and by the target delivery vehicle
Position and pending action record in the block chain；
Determination unit, for according to the position of the target delivery vehicle and other delivery vehicles of the block chained record
Position and pending movement, determine the pending movement of first delivery vehicle adjacent with the delivery vehicle；
Adjustment unit, for adjusting the pending of the target delivery vehicle according to the pending movement of first delivery vehicle
Movement；
Control unit, for the target delivery vehicle according to the pending action control of target delivery vehicle adjusted.
6. device according to claim 5, which is characterized in that including：
Acquiring unit obtains environmental information for a variety of environment modules by being distributed in multiple positions in real time；
The environmental information obtained in real time and its position are recorded in the area for each environment module by the second recording unit
In block chain.
7. device according to claim 6, which is characterized in that the determination unit is also used to, and is delivered according to the target
The position and environmental information of the position of tool and the block chained record environment module determine the target delivery vehicle institute
Environmental information in position.
8. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes following steps when executing described program：
Obtain target delivery vehicle position and pending movement, and by the position of the target delivery vehicle and pending movement
It is recorded in block chain；
According to the position of the position of the target delivery vehicle and other delivery vehicles of the block chained record and pending
Movement determines the pending movement of first delivery vehicle adjacent with the delivery vehicle；
The pending movement of the target delivery vehicle is adjusted according to the pending movement of first delivery vehicle；
According to target delivery vehicle described in the pending action control of target delivery vehicle adjusted.
9. a kind of automated driving system based on block chain, which is characterized in that including：
Block chain node is used for memory block chain；
Delivery vehicle module, for obtain target delivery vehicle position and pending movement, and by the target delivery vehicle
Position and pending action record in the block chain；According to the position of the target delivery vehicle and the block
The position of other delivery vehicles of chained record and pending movement determine first delivery vehicle adjacent with the delivery vehicle
Pending movement；The pending movement of the target delivery vehicle is adjusted according to the pending movement of first delivery vehicle；
According to target delivery vehicle described in the pending action control of target delivery vehicle adjusted.
10. automated driving system according to claim 9, which is characterized in that further include：
Environment module is recorded in for obtaining environmental information in real time, and by the environmental information obtained in real time and its position
In the block chain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810565192.9A CN108860167A (en) | 2018-06-04 | 2018-06-04 | Automatic Pilot control method and device based on block chain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810565192.9A CN108860167A (en) | 2018-06-04 | 2018-06-04 | Automatic Pilot control method and device based on block chain |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860167A true CN108860167A (en) | 2018-11-23 |
Family
ID=64336359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810565192.9A Pending CN108860167A (en) | 2018-06-04 | 2018-06-04 | Automatic Pilot control method and device based on block chain |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860167A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109582018A (en) * | 2018-12-04 | 2019-04-05 | 黄昊 | The intelligent driving method, apparatus and system of four-dimensional framework based on block chain |
| CN109685027A (en) * | 2018-12-28 | 2019-04-26 | 福建工程学院 | A kind of new added road recognition methods and system based on block chain technology |
| CN109895786A (en) * | 2019-03-29 | 2019-06-18 | 深圳市元征科技股份有限公司 | A kind of automatic Pilot householder method, device, equipment and readable storage medium storing program for executing |
| CN113779631A (en) * | 2021-09-10 | 2021-12-10 | 杭州宇链科技有限公司 | Motor vehicle automatic driving operation data recording method based on block chain |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150241880A1 (en) * | 2014-02-26 | 2015-08-27 | Electronics And Telecommunications Research Institute | Apparatus and method for sharing vehicle information |
| CN105741595A (en) * | 2016-04-27 | 2016-07-06 | 常州加美科技有限公司 | Unmanned vehicle navigation driving method based on cloud database |
| CN106428009A (en) * | 2015-07-31 | 2017-02-22 | 福特全球技术公司 | Vehicle trajectory determination |
| CN106608263A (en) * | 2015-10-27 | 2017-05-03 | 通用汽车环球科技运作有限责任公司 | Algorithms for avoiding automotive crashes at left and right turn intersections |
| US20170334441A1 (en) * | 2016-05-19 | 2017-11-23 | Honda Motor Co., Ltd. | Vehicle control system, traffic information sharing system, vehicle control method, and vehicle control program |
| DE102016009461A1 (en) * | 2016-08-03 | 2018-02-08 | Daimler Ag | Method for operating a vehicle and device for carrying out the method |
| US20180091596A1 (en) * | 2016-09-27 | 2018-03-29 | Intel Corporation | Trusted vehicle telematics using blockchain data analytics |
-
2018
- 2018-06-04 CN CN201810565192.9A patent/CN108860167A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150241880A1 (en) * | 2014-02-26 | 2015-08-27 | Electronics And Telecommunications Research Institute | Apparatus and method for sharing vehicle information |
| CN106428009A (en) * | 2015-07-31 | 2017-02-22 | 福特全球技术公司 | Vehicle trajectory determination |
| CN106608263A (en) * | 2015-10-27 | 2017-05-03 | 通用汽车环球科技运作有限责任公司 | Algorithms for avoiding automotive crashes at left and right turn intersections |
| CN105741595A (en) * | 2016-04-27 | 2016-07-06 | 常州加美科技有限公司 | Unmanned vehicle navigation driving method based on cloud database |
| US20170334441A1 (en) * | 2016-05-19 | 2017-11-23 | Honda Motor Co., Ltd. | Vehicle control system, traffic information sharing system, vehicle control method, and vehicle control program |
| CN107444401A (en) * | 2016-05-19 | 2017-12-08 | 本田技研工业株式会社 | Vehicle control system, Traffic Information Sharing system, control method for vehicle and program |
| DE102016009461A1 (en) * | 2016-08-03 | 2018-02-08 | Daimler Ag | Method for operating a vehicle and device for carrying out the method |
| US20180091596A1 (en) * | 2016-09-27 | 2018-03-29 | Intel Corporation | Trusted vehicle telematics using blockchain data analytics |
Non-Patent Citations (3)
| Title |
|---|
| 中国区块链应用研究中心: "《图解区块链》", 31 July 2016 * |
| 杨东著: "《区块链商业实践与法律指南》", 31 July 2017 * |
| 杨柳青: "《区块链技术在车联网中的应用研究》", 《中国新通信》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109582018A (en) * | 2018-12-04 | 2019-04-05 | 黄昊 | The intelligent driving method, apparatus and system of four-dimensional framework based on block chain |
| CN109685027A (en) * | 2018-12-28 | 2019-04-26 | 福建工程学院 | A kind of new added road recognition methods and system based on block chain technology |
| CN109685027B (en) * | 2018-12-28 | 2021-08-27 | 福建工程学院 | Newly added road identification method and system based on block chain technology |
| CN109895786A (en) * | 2019-03-29 | 2019-06-18 | 深圳市元征科技股份有限公司 | A kind of automatic Pilot householder method, device, equipment and readable storage medium storing program for executing |
| CN113779631A (en) * | 2021-09-10 | 2021-12-10 | 杭州宇链科技有限公司 | Motor vehicle automatic driving operation data recording method based on block chain |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6754856B2 (en) | Sensor-intensive framework for self-driving vehicles | |
| US10101745B1 (en) | Enhancing autonomous vehicle perception with off-vehicle collected data | |
| US11940291B2 (en) | Method for updating a map of the surrounding area, device for executing method steps of said method on the vehicle, vehicle, device for executing method steps of the method on a central computer, and computer-readable storage medium | |
| US20210224553A1 (en) | Event detection method and apparatus for cloud control platform, device, and storage medium | |
| CN107251123B (en) | Vehicle group management device, vehicle group management method, and vehicle group display device | |
| CN112543876B (en) | System for sensor synchronicity data analysis in an autonomous vehicle | |
| CN110654381B (en) | Method and device for controlling a vehicle | |
| US11648959B2 (en) | In-vehicle operation of simulation scenarios during autonomous vehicle runs | |
| CN108860167A (en) | Automatic Pilot control method and device based on block chain | |
| US20190171024A1 (en) | Method for calculating the movement data of the head of a driver of a transportation vehicle, data glasses and transportation vehicle for use in the method, and computer program | |
| US11760370B2 (en) | Augmented reality notification system | |
| CN112738171A (en) | Vehicle control method, device, system, equipment and storage medium | |
| JP7043242B2 (en) | Programs, information processing equipment, and delivery management systems | |
| CN111833597A (en) | Autonomous decision making in traffic situations with planning control | |
| US11408747B2 (en) | In-vehicle apparatus and information presentation method | |
| EP2963632A1 (en) | Manoeuvre assistance | |
| CN110654380B (en) | Method and device for controlling a vehicle | |
| CN113479219B (en) | Driving track planning method and device, computer equipment and medium | |
| CN115257768A (en) | Intelligent driving vehicle environment sensing method, system, equipment and medium | |
| CN115265537A (en) | Navigation system with traffic state detection mechanism and method of operation thereof | |
| CN116088538B (en) | Vehicle track information generation method, device, equipment and computer readable medium | |
| CN117693459A (en) | Track consistency measurement for autonomous vehicle operation | |
| US11897503B2 (en) | Method and apparatus for detecting unexpected control state in autonomous driving system | |
| CN105843225A (en) | Data processing method and device | |
| CN110083158B (en) | Method and equipment for determining local planning path |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |