CN109765891B - Vehicle control method, device, equipment, vehicle and storage medium - Google Patents
Vehicle control method, device, equipment, vehicle and storage medium Download PDFInfo
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- CN109765891B CN109765891B CN201910036972.9A CN201910036972A CN109765891B CN 109765891 B CN109765891 B CN 109765891B CN 201910036972 A CN201910036972 A CN 201910036972A CN 109765891 B CN109765891 B CN 109765891B
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Abstract
The application provides a control method, a control device, a control equipment, a vehicle and a storage medium of the vehicle, wherein the method comprises the following steps: acquiring a determined target site; and controlling the vehicle to travel to the destination station according to a preset fixed travel route. The vehicle is controlled to run to a target station according to a preset fixed running route, and the vehicle is parked and opened to enable a user to get on or get off the vehicle.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a device, a vehicle, and a storage medium for controlling a vehicle.
Background
With the continuous development of autonomous driving technology, autonomous vehicles are beginning to be put into operation. In the prior art, an automatic driving vehicle usually navigates based on a high-precision map, and a route is planned from a starting point specified by a user to an end point specified by the user, and the driving route is not a fixed route.
As an automatic driving vehicle enters fixed parks such as parks and mine lands and travels according to an unfixed route, if the high-precision map acquisition is insufficient or the phenomenon of getting close to a road exists, the automatic driving vehicle has problems on a planned path, such as barrier of a rail or obstruction of a small path. Therefore, how to effectively control the safe driving of the automatic driving vehicle in a fixed park becomes a technical problem which needs to be solved urgently.
Disclosure of Invention
The application provides a control method, a control device, control equipment, a control vehicle and a control storage medium for solving the defects that a planned path in the prior art may have barrier of a rail, no passage of a small path and the like.
A first aspect of the present application provides a control method of a vehicle, including:
acquiring a determined target site;
and controlling the vehicle to travel to the destination station according to a preset fixed travel route.
A second aspect of the present application provides a control apparatus of a vehicle, comprising:
the acquisition module is used for acquiring the determined destination site;
and the control module is used for controlling the vehicle to run to the destination station according to a preset fixed running route.
A third aspect of the present application provides a computer device comprising: at least one processor and memory;
the memory stores a computer program; the at least one processor executes the computer program stored by the memory to implement the method provided by the first aspect.
A fourth aspect of the present application provides a vehicle comprising: sensor, and apparatus as provided in the second aspect
A fifth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements the method provided by the first aspect.
The vehicle control method, the vehicle control device, the vehicle control equipment, the vehicle and the storage medium are characterized in that the vehicle is controlled to run to a target station according to a preset fixed running route, the vehicle is parked and opened, so that a user can get on or off the vehicle, the vehicle runs automatically according to the fixed running route and is automatically controlled to stop when the vehicle arrives at the station, the smooth running of the vehicle can be ensured, and the problems that the route is planned according to a high-precision map in the prior art, if the collection of the high-precision map is not timely and insufficient, the planned route is prone to being obstructed and the like are solved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a control method for a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic view of a fixed travel route for a target area according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a control method for a vehicle according to another embodiment of the present application;
fig. 4 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The vehicle control method provided by the embodiment of the application is suitable for scenes of the automatic driving vehicle in fixed areas such as parks and mine places. Route collection can be performed on the target area in advance, for example, collection vehicles are used for collecting coordinates of different stations of the target area and coordinates of routes among the stations, station identifiers can be set for each station, for example, station names are set, and automatic driving fixed driving routes of the target area are generated according to the collected coordinates of the different stations and the collected station names. The fixed driving route can be obtained before the vehicle drives, a user or automation takes a station as a destination station for first arrival, the vehicle takes the current position as a starting point and the destination station as a destination point, route planning is carried out according to the fixed driving route, and the vehicle is controlled to automatically drive to the destination station.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.
These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Example one
The present embodiment provides a control method of a vehicle for controlling the vehicle to travel on a fixed travel route. The execution subject of the present embodiment is a control device of a vehicle, which may be provided in a computer apparatus or in a vehicle.
As shown in fig. 1, a flow chart of a control method for a vehicle according to the present embodiment is schematically shown, and the method includes:
and step 101, acquiring the determined destination station.
Specifically, route collection may be performed on the target area in advance, for example, collection vehicles are used to collect coordinates of different stations of the target area, coordinates of routes between stations, and the like, a station identifier may be set for each station, for example, a station name may be set, and an automatic driving fixed driving route of the target area may be generated according to the collected coordinates of different stations and the station names. The fixed driving route can be obtained before the vehicle drives, and a station can be taken as a destination station for the first arrival by a user or automatically.
Optionally, the coordinates of different stations and the names of the stations manually added acquired by the earlier-stage route acquisition function can be sent to the cloud server, and each station which automatically runs in the target area is configured as an automatic driving fixed running route in the cloud server. The vehicle can obtain the fixed driving route from the cloud server before driving.
Alternatively, the user may select a station as a destination station through the mobile terminal, or the user may select a station as a destination station through the human-machine interface HMI on the vehicle, or if no user selects a destination station, the control device of the vehicle may automatically take one station as a destination station. For example, according to the sequence of the stations on the fixed driving route, the next station of the current station is obtained as the destination station, and the like, which may be specifically set according to actual requirements, and this embodiment is not limited.
And 102, controlling the vehicle to travel to a destination station according to a preset fixed travel route.
Specifically, after the determined destination station is obtained, the vehicle plans a route according to the fixed driving route by taking the current position of the vehicle as a starting point and the destination station as an end point, and controls the vehicle to automatically drive to the destination station.
The vehicle may be an autonomous vehicle, with various types of sensors disposed thereon, such as radar, lidar, millimeter-wave radar, cameras, monocular cameras, binocular cameras, GPS positioning sensors, IMU inertial measurement units, and so forth. The automatic driving vehicle senses the surrounding environment through the sensors, and automatic driving is achieved.
Illustratively, as shown in fig. 2, a schematic diagram of a fixed driving route of a target area is provided for the present embodiment. The fixed driving route comprises 8 stations, and a closed-loop route is formed. After the vehicle arrives at the destination station, the vehicle can be automatically controlled to stop and open the door, and the vehicle can be controlled to open the door and stay for a certain time, so that a user can get on or off the vehicle. And after the vehicle reaches the final station of the fixed driving route, the vehicle automatically drives by taking the first station of the fixed driving route as a destination station. The fixed travel path may not be a closed loop path, and is illustrative and not limiting.
Alternatively, when the vehicle reaches the destination, the vehicle may be controlled to stop and open the door to allow the user to get on or off the vehicle.
According to the control method of the vehicle, the vehicle is controlled to run to a target station according to a preset fixed running route, and the vehicle is parked and opened, so that a user can get on or get off the vehicle.
Example two
The present embodiment further supplements the description of the control method for a vehicle provided in the first embodiment.
As shown in fig. 3, a flow chart of a control method of a vehicle according to the present embodiment is schematically shown.
As a practical way, on the basis of the first embodiment, optionally after the step 102, the method may further include:
and 103, controlling the vehicle to stop and open the door when the destination station is reached.
Specifically, when the vehicle reaches the destination station, the control device of the vehicle can automatically control the vehicle to stop and open the door so that the user can get on or off the vehicle.
Optionally, after controlling the vehicle to stop and open the door, the method may further include:
and step 104, controlling the vehicle to stay and keeping the door opening state for a preset time.
And step 105, controlling the vehicle to close the door.
Specifically, after the vehicle is controlled to stop and open the door when arriving at the destination station, the vehicle can be controlled to stop and the door opening state can be kept for a preset time. Such as opening the door and then waiting 15 seconds for the user to get off or on. The preset duration of the stay may be set according to actual requirements, and this embodiment is not limited. Such as 20 seconds, 30 seconds, etc.
Alternatively, based on historical experience, longer stay times may be set at sites with more users, shorter stay times may be set at sites with fewer users, and so on. Namely, the parking time can be dynamically adjusted according to the actual condition of the operation process. For example, the original preset time duration is 15 seconds, it is found that users at some stations are more in the operation process, and the time for the users to get on or off the vehicle is not enough in 15 seconds, and the preset time duration for parking at the station is adjusted to be prolonged, for example, 30 seconds.
Optionally, after controlling the vehicle to close the door, the method may further include:
in step 2011, if the next destination station selected by the user is obtained, the vehicle is controlled to travel to the next destination station.
Optionally, after controlling the vehicle to close the door, the method may further include:
in step 2021, if the next destination station selected by the user is not obtained, the vehicle is controlled to drive to the next station of the current station according to the station sequence on the fixed driving route.
Specifically, a human-machine interface HMI may be arranged on the vehicle, and after the vehicle reaches the destination station, a destination station selection interface may be popped up through the HMI for the user to select. Such as a user getting on the bus from the station and selecting the next destination station to be reached by the user.
Optionally, the user may also select a next destination site through a mobile terminal of the user, such as a mobile phone, where the mobile phone of the user may be installed with a corresponding application APP, view a site list in the target area through the APP, and select a destination site that the user wants to reach, and a specific manner is not limited.
When the user selects the next destination station through the HMI, the control device of the vehicle controls the vehicle to travel to the next destination station according to the fixed travel route.
If no user selects the next destination station, the control device of the vehicle may sequentially drive to the next station of the current station according to the stations on the fixed driving route, that is, the next station of the current station is used as the next destination station. Thus, the vehicle can travel automatically even without user activation.
As another practicable manner, optionally, the method may further include:
step 2031, acquiring environmental information of each station collected by a sensor on the vehicle.
Step 2032, judging whether the preset time for each station to keep the door open state is reasonable according to the environment information of each station.
Step 2033, if the preset duration of the first station is not reasonable, adjusting the preset duration of the first station.
Specifically, the preset stay time of each site can be adjusted according to the historical user condition of each site because the possible number of users of different sites is different. The environment information of each station, which is acquired by various sensors on the vehicle, can be used for analyzing and extracting the conditions of getting on and off of a user when each station stays, and further judging whether the preset duration of each station is reasonable or not. For example, when the image information collected at a certain station is displayed, and when a vehicle is closed, a user waiting outside does not get on the vehicle, the preset time of the station is proved to be unreasonable, and the preset time of the station can be prolonged. Such as extending from 15 seconds to 30 seconds, etc. The present embodiment is not limited specifically according to the actual situation.
The first station may be any station on the fixed driving route, and the "first" is not limited thereto.
Optionally, the number of the first sites may be one or more, which is determined according to the actual analysis situation.
As another implementable manner, on the basis of the first embodiment, optionally, the method may further include:
and 2041, when the destination station is reached, controlling the HMI of the vehicle to display a station selection interface for the user to select the next destination station.
Specifically, a human-machine interface HMI may be arranged on the vehicle, and after the vehicle reaches the destination station, a destination station selection interface may be popped up through the HMI for the user to select. Such as a user getting on the bus from the station and selecting the next destination station to be reached by the user.
As another practicable manner, on the basis of the first embodiment, optionally, before controlling the vehicle to travel to the destination station according to the preset fixed travel route, the method may further include:
and receiving the fixed driving route sent by the server, wherein the server generates the fixed driving route according to the collected site coordinates and the corresponding site identification.
Specifically, different station coordinates acquired through a previous-stage route acquisition function, manually added station names and the like can be sent to the cloud server, and each station which automatically runs in a target area is configured as an automatic driving fixed running route in the cloud server. The vehicle can obtain the fixed driving route from the cloud server.
In some embodiments, optionally, after the vehicle arrives at the destination station or when the vehicle is about to arrive at the destination station, an HMI or a voice broadcast device on the vehicle may be further controlled to prompt the user to get off the vehicle, and a specific prompting mode may be set according to an actual requirement, which is not limited in this embodiment.
It should be noted that the respective implementable modes in the present embodiment may be implemented individually, or may be implemented in combination in any combination without conflict, and the present application is not limited thereto.
According to the control method of the vehicle, the vehicle is controlled to run to a target station according to a preset fixed running route, and the vehicle is parked and opened, so that a user can get on or get off the vehicle. And the preset duration of the stay is dynamically adjusted according to the actual conditions of all the sites, so that service is better provided for the user, and the user experience is improved. And the vehicle may automatically determine that the next destination station is automatically driven without the user triggering the next destination station.
EXAMPLE III
The present embodiment provides a control apparatus of a vehicle for executing the method of the first embodiment.
As shown in fig. 4, a schematic structural diagram of a control device of a vehicle according to the present embodiment is provided. The control device 30 of the vehicle includes an acquisition module 31 and a control module 32.
The obtaining module 31 is configured to obtain a determined destination station; the control module 32 is configured to control the vehicle to travel to the destination according to a predetermined fixed travel route.
The specific manner in which the respective modules perform operations has been described in detail in relation to the apparatus in this embodiment, and will not be elaborated upon here.
According to the control device of the vehicle, the vehicle is controlled to run to a target station according to the preset fixed running route, the vehicle is parked and the door is opened, so that a user can get on or get off the vehicle, the running route is collected in advance, the vehicle automatically runs according to the fixed running route, and the vehicle is automatically controlled to stop when arriving at the station, so that the smooth running of the vehicle can be ensured, and the problems that the route is planned according to a high-precision map in the prior art, if the collection of the high-precision map is not timely and insufficient, the planned route is easy to run and the like are solved. And the preset duration of the stay is dynamically adjusted according to the actual conditions of all the sites, so that service is better provided for the user, and the user experience is improved. And the vehicle may automatically determine that the next destination station is automatically driven without the user triggering the next destination station.
Example four
The present embodiment further supplements the apparatus provided in the third embodiment to perform the method provided in the second embodiment.
As a practical manner, on the basis of the third embodiment, optionally, the control module is further configured to control the vehicle to stop and open the door when the destination station is reached.
Optionally, the control module is further configured to:
controlling the vehicle to stay and keeping the door opening state for a preset time;
and controlling the vehicle to close the door.
Optionally, the control module is further configured to:
and if the next destination station selected by the user is obtained, controlling the vehicle to run to the next destination station.
Optionally, the control module is further configured to:
and if the next destination station selected by the user is not obtained, controlling the vehicle to drive to the next station of the current station according to the station sequence on the fixed driving route.
Optionally, the obtaining module is further configured to obtain environment information of each station, which is collected by a sensor on the vehicle;
the control module is also used for judging whether the preset duration of the door opening state of each station is reasonable or not according to the environmental information of each station;
the control module is further configured to adjust the preset duration of the first site if the preset duration of the first site is not reasonable.
As another implementable manner, on the basis of the third embodiment, optionally, the control module is further configured to:
and when the destination station is reached, controlling the HMI of the vehicle to display a station selection interface for a user to select the next destination station.
As another implementable manner, on the basis of the third embodiment, optionally, the obtaining module is further configured to:
and receiving the fixed driving route sent by the server, wherein the server generates the fixed driving route according to the collected site coordinates and the corresponding site identification.
The specific manner in which the respective modules perform operations with respect to the apparatus in the present embodiment has been described in detail in the embodiment related to the method, and will not be described in detail herein.
It should be noted that the respective implementable modes in the present embodiment may be implemented individually, or may be implemented in combination in any combination without conflict, and the present application is not limited thereto.
According to the control device of the vehicle, the vehicle is controlled to run to a target station according to the preset fixed running route, the vehicle is parked and the door is opened, so that a user can get on or get off the vehicle, the running route is collected in advance, the vehicle automatically runs according to the fixed running route, and the vehicle is automatically controlled to stop when arriving at the station, so that the smooth running of the vehicle can be ensured, and the problems that the route is planned according to a high-precision map in the prior art, if the collection of the high-precision map is not timely and sufficient, the planned route is easy to run out and the like are solved.
EXAMPLE five
The embodiment provides a computer device for executing the method provided by the embodiment.
Fig. 5 is a schematic structural diagram of the computer device provided in this embodiment. The computer device 50 includes: at least one processor 51 and memory 52;
the memory stores a computer program; at least one processor executes the computer program stored in the memory to implement the methods provided by the above-described embodiments.
According to the computer equipment of the embodiment, the vehicle is controlled to run to a target station according to the preset fixed running route, and the vehicle is parked and opened, so that a user can get on or get off the vehicle. And the preset duration of the stay is dynamically adjusted according to the actual conditions of all the sites, so that service is better provided for the user, and the user experience is improved. And the vehicle may automatically determine that the next destination station is to be automatically driven without the user triggering the next destination station.
EXAMPLE six
The present embodiment provides a vehicle for carrying out the method provided by the above embodiment.
As shown in fig. 6, a schematic structural diagram of the vehicle provided in the present embodiment is shown. The vehicle includes: a sensor, and a device as provided in any of the above embodiments. Wherein M is a positive integer. The sensor can be laser radar, and can also include other sensors of different grade type such as camera, binocular camera, monocular camera, radar, millimeter wave radar.
According to the vehicle of the embodiment, the vehicle is controlled to run to a target station according to a preset fixed running route, and the vehicle is parked and opened, so that a user can get on or get off the vehicle. And the preset duration of the stay is dynamically adjusted according to the actual conditions of all the sites, so that service is better provided for the user, and the user experience is improved. And the vehicle may automatically determine that the next destination station is automatically driven without the user triggering the next destination station.
EXAMPLE seven
The present embodiment provides a computer-readable storage medium, in which a computer program is stored, and the computer program is executed to implement the method provided by any one of the above embodiments.
According to the computer-readable storage medium of the embodiment, the vehicle is controlled to run to a target station according to the preset fixed running route, and the vehicle is parked and opened, so that a user can get on or get off the vehicle. And the preset duration of the stay is dynamically adjusted according to the actual conditions of all the sites, so that service is better provided for the user, and the user experience is improved. And the vehicle may automatically determine that the next destination station is automatically driven without the user triggering the next destination station.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. A control method of a vehicle, characterized by comprising:
acquiring a determined target site;
receiving a fixed driving route sent by a server, wherein the server is used for generating the fixed driving route according to the collected site coordinates and the corresponding site identification;
controlling the vehicle to travel to the destination station according to the fixed travel route; if the next destination station selected by the user is not obtained, controlling the vehicle to drive to the next station of the current station according to the station sequence on the fixed driving route;
if the next destination station selected by the user is obtained, controlling the vehicle to run to the next destination station;
the method further comprises the following steps:
acquiring historical user conditions of each station or image information of each station acquired by a sensor on the vehicle;
judging whether the preset time for keeping the door opening state of each station is reasonable or not according to the historical user condition of each station or the image information of each station;
and if the preset duration of the first site is not reasonable, adjusting the preset duration of the first site.
2. The method of claim 1, further comprising, before said controlling said vehicle to travel to a next stop of a current stop in a stop order on said fixed travel route:
and when the destination station is reached, controlling the vehicle to stop and open the door.
3. The method of claim 2, wherein after controlling the vehicle to park and open the door, the method further comprises:
controlling the vehicle to stay and keeping the door opening state for a preset time;
and controlling the vehicle to close the door.
4. The method of claim 1, further comprising:
and when the destination station is reached, controlling the HMI of the vehicle to display a station selection interface for a user to select the next destination station.
5. A control apparatus of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the determined destination site;
the control module is used for controlling the vehicle to drive to the destination station according to a preset fixed driving route; if the next destination station selected by the user is not obtained, controlling the vehicle to drive to the next station of the current station according to the station sequence on the fixed driving route; if the next destination station selected by the user is obtained, controlling the vehicle to run to the next destination station;
the acquisition module is further used for acquiring historical user conditions of each station or acquiring image information of each station acquired by the sensors on the vehicle;
the control module is also used for judging whether the preset duration of the door opening state of each station is reasonable or not according to the historical user condition of each station or the image information of each station;
the control module is further configured to adjust the preset duration of the first station if the preset duration of the first station is not reasonable;
the obtaining module is further configured to:
and receiving the fixed driving route sent by a server, wherein the server is used for generating the fixed driving route according to the collected site coordinates and the corresponding site identification.
6. The apparatus of claim 5, wherein the control module is further configured to control the vehicle to park and open the door upon reaching the destination station.
7. The apparatus of claim 6, wherein the control module is further configured to:
controlling the vehicle to stay and keeping the door opening state for a preset time;
and controlling the vehicle to close the door.
8. The apparatus of claim 5, wherein the control module is further configured to:
and when the destination station is reached, controlling the HMI of the vehicle to display a station selection interface for a user to select the next destination station.
9. A computer device, comprising: at least one processor and a memory;
the memory stores a computer program; the at least one processor executes the memory-stored computer program to implement the method of any of claims 1-4.
10. A vehicle, characterized by comprising: a sensor, and an apparatus as claimed in any one of claims 5 to 8.
11. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when executed, implements the method of any of claims 1-4.
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| CN201910036972.9A CN109765891B (en) | 2019-01-15 | 2019-01-15 | Vehicle control method, device, equipment, vehicle and storage medium |
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| CN201910036972.9A CN109765891B (en) | 2019-01-15 | 2019-01-15 | Vehicle control method, device, equipment, vehicle and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112055327B (en) * | 2019-06-05 | 2022-09-16 | 华为技术有限公司 | Automatic driving information indicating method, automatic driving information acquiring method, automatic driving information sending method and device |
| CN110941269B (en) * | 2019-11-22 | 2023-06-13 | 深圳一清创新科技有限公司 | Unmanned vehicle control method, unmanned vehicle control device, computer equipment and medium |
| CN111638711A (en) * | 2020-05-22 | 2020-09-08 | 北京百度网讯科技有限公司 | Driving track planning method, device, equipment and medium for automatic driving |
| CN112185153B (en) * | 2020-09-27 | 2021-09-28 | 腾讯科技（深圳）有限公司 | Vehicle driving route determining method, device, equipment and medium |
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