CN109767638B - Vehicle control method, device, equipment and computer readable storage medium - Google Patents
Vehicle control method, device, equipment and computer readable storage medium Download PDFInfo
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- CN109767638B CN109767638B CN201811544719.6A CN201811544719A CN109767638B CN 109767638 B CN109767638 B CN 109767638B CN 201811544719 A CN201811544719 A CN 201811544719A CN 109767638 B CN109767638 B CN 109767638B
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Abstract
The embodiment of the invention provides a vehicle control method, a vehicle control device, vehicle control equipment and a computer readable storage medium. According to the method provided by the embodiment of the invention, the vehicle-mounted terminal determines the station topological line with the shortest distance from the current position according to the current position of the vehicle, the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, and one station on the station topological line with the shortest distance from the current position is taken as the next station, so that the next station can be automatically determined without manual intervention, and a station close to the current position can be determined as the next station, so that the unmanned vehicle can be further controlled to drive to the next station and continue to automatically drive along the driving route, the unmanned vehicle can autonomously recover station operation, the operation is more intelligent, and the reliability of the unmanned vehicle operation is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned driving, in particular to a vehicle control method, device and equipment and a computer readable storage medium.
Background
In an unmanned vehicle operation, such as a scene of an unmanned public transportation vehicle, the unmanned vehicle is set to travel along a set route including a plurality of stations. During non-operation hours, the unmanned vehicle is usually parked at the origin site, and at the start of operation, the unmanned vehicle travels along the set route from the origin site.
In the operation process, once the unmanned vehicle exits the automatic driving halfway, for example, the unmanned vehicle is manually driven for a period of time halfway by a security guard on the unmanned vehicle, or the vehicle is flamed out, if the unmanned vehicle enters the automatic driving again, the next station to be driven must be confirmed again under human intervention, then the unmanned vehicle can continue to drive according to the set route from the currently determined next station, and the unmanned vehicle cannot continue to automatically drive according to the set route without human intervention.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method, a vehicle control device, vehicle control equipment and a computer readable storage medium, which are used for solving the problem that once an unmanned vehicle quits automatic driving midway in the operation process, the unmanned vehicle cannot continuously drive automatically according to a set route without human intervention in the prior art.
An aspect of an embodiment of the present invention is to provide a vehicle control method including:
acquiring the current position of a vehicle, the position of each station on a driving route and the sequence of each station;
according to the position of each station on the driving route and the sequence of each station, determining a station topological line with the shortest distance from the current position, wherein the station topological line is a line segment connecting any two adjacent stations;
and taking one station on the topological line of the station with the shortest distance to the current position as a next station.
It is another aspect of an embodiment of the present invention to provide a vehicle control apparatus including:
the data acquisition module is used for acquiring the current position of the vehicle, the positions of all stations on a driving route and the sequence of all stations;
the first determining module is used for determining a station topological line with the shortest distance to the current position according to the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations;
and the second determining module is used for taking one station on the station topological line with the shortest distance to the current position as the next station.
It is another aspect of an embodiment of the present invention to provide a vehicle control apparatus including:
a memory, a processor, and a computer program stored on the memory and executable on the processor,
the processor implements the vehicle control method described above when running the computer program.
It is another aspect of an embodiment of the present invention to provide a computer-readable storage medium, storing a computer program,
which computer program, when being executed by a processor, carries out the vehicle control method as described above.
The embodiment of the invention provides a vehicle control method, a device, equipment and a computer readable storage medium, determining a station topological line with the shortest distance to the current position through the vehicle-mounted terminal according to the current position of the vehicle, the position of each station on a driving route and the sequence of each station, wherein the site topological line is a line segment connecting any two adjacent sites, one site on the site topological line with the shortest distance to the current position is taken as the next site, so that the next station can be automatically determined without manual intervention, and a station which is closer to the current position can be determined as the next station, therefore, the unmanned vehicle can be further controlled to travel to the next station and continue to automatically drive along the travel route, the unmanned vehicle can autonomously recover station operation, the operation is more intelligent, and the reliability of the operation of the unmanned vehicle is improved.
Drawings
FIG. 1 is a flowchart of a vehicle control method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle control device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle control apparatus according to a fifth embodiment of the present invention.
With the above figures, certain embodiments of the invention have been illustrated and described in more detail below. The drawings and written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with embodiments of the invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of embodiments of the invention, as detailed in the following claims.
The terms "first", "second", etc. referred to in the embodiments of the present invention 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.
The following several specific embodiments may be combined with each other, 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
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention. The embodiment of the invention provides a vehicle control method aiming at the problem that once an unmanned vehicle quits automatic driving midway in the operation process in the prior art, the unmanned vehicle cannot continue to automatically drive according to a set route without human intervention.
The method in the embodiment is applied to a control device of an unmanned vehicle, which may be a vehicle-mounted terminal of the unmanned vehicle, and the like.
As shown in fig. 1, the method comprises the following specific steps:
step S101, obtaining the current position of the vehicle, the position of each station on the driving route and the sequence of the stations.
In practical application, the driving route of the unmanned vehicle can be obtained by pre-planning the driving route according to the position of each station.
The vehicle-mounted terminal of the unmanned vehicle is stored with the topological information of the running route of the current vehicle. The topological information of the driving route comprises the positions of all the stations on the driving route and the sequence of all the stations. The sequence of the stations is used for showing the sequence of the unmanned vehicle passing through the stations when the unmanned vehicle runs along the running route.
In addition, the driving route may be stored in a driving route topological graph or the like, or may also be stored in other manners, which is not specifically limited herein.
In this step, the vehicle-mounted terminal may receive the current position of the vehicle, which is located and transmitted in real time by the vehicle locating device.
Step S102, according to the position of each station on the driving route and the sequence of each station, determining a station topological line with the shortest distance from the current position, wherein the station topological line is a line segment connecting any two adjacent stations.
In this embodiment, for any two adjacent stops on the driving route, a line segment can be obtained by connecting the two adjacent stops, and the line segment connecting any two adjacent stops on the driving route is used as a stop topological line of the driving route. And defining the distance from a specified point outside the line segment to the line segment as the shortest distance in the distances from the specified point to any point on the line segment. The distance of the line segment from the specified point is the specified distance to the line segment.
Distance between current position and site topological line: the shortest distance between the current position and a station topological line is defined; that is, the shortest distance among the distances from the current position to any point on the segment of the site topology line. The distance between the current position and the site topological line is also the distance between the site topological line and the current position.
In this step, according to the current position, the position of each station, and the sequence of each station, the distance between the current position and each station topological line of the driving route can be calculated, so that the station topological line with the shortest distance to the current position can be further determined.
And step S103, taking a station on the station topological line with the shortest distance to the current position as a next station.
After determining the station topological line having the shortest distance to the current position, the in-vehicle terminal may regard any one of two stations on the station topological line having the shortest distance to the current position as a next station, and after determining the next station, the in-vehicle terminal may control the vehicle to travel to the next station and automatically drive along the travel route after reaching the next station.
According to the method and the device, the vehicle-mounted terminal determines the station topological line with the shortest distance from the current position according to the current position of the vehicle, the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, and one station on the station topological line with the shortest distance from the current position is taken as the next station, so that the next station can be automatically determined without manual intervention, and a station closer to the current position can be determined as the next station, so that the unmanned vehicle can be further controlled to drive to the next station and continue to automatically drive along the driving route, the unmanned vehicle can autonomously recover station operation, the operation is more intelligent, and the operation reliability of the unmanned vehicle is improved.
Example two
Fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention. On the basis of the first embodiment, in the present embodiment, after a station on the topological line of the station with the shortest distance to the current position is taken as the next station, the vehicle is controlled to travel from the current position to the next station; and controlling the vehicle to run along the running route from the next station. As shown in fig. 2, the method comprises the following specific steps:
step S201, obtaining the current position of the vehicle, the position of each station on the driving route and the sequence of each station.
In practical application, the driving route of the unmanned vehicle can be obtained by pre-planning the driving route according to the position of each station.
The vehicle-mounted terminal of the unmanned vehicle is stored with the topological information of the running route of the current vehicle. The topological information of the driving route comprises the positions of all the stations on the driving route and the sequence of all the stations. The sequence of the stations is used for showing the sequence of the unmanned vehicle passing through the stations when the unmanned vehicle runs along the running route.
In addition, the driving route may be stored in a driving route topological graph or the like, or may also be stored in other manners, which is not specifically limited herein.
In this step, the vehicle-mounted terminal may receive the current position of the vehicle, which is located and transmitted in real time by the vehicle locating device.
Step S202, according to the position of each station on the driving route and the sequence of each station, determining a station topological line with the shortest distance from the current position, wherein the station topological line is a line segment connecting any two adjacent stations.
In this embodiment, for any two adjacent stops on the driving route, a line segment can be obtained by connecting the two adjacent stops, and the line segment connecting any two adjacent stops on the driving route is used as a stop topological line of the driving route. And defining the distance from a specified point outside the line segment to the line segment as the shortest distance in the distances from the specified point to any point on the line segment. The distance of the line segment from the specified point is the specified distance to the line segment.
Distance between current position and site topological line: the shortest distance between the current position and a station topological line is defined; that is, the shortest distance among the distances from the current position to any point on the segment of the site topology line. The distance between the current position and the site topological line is also the distance between the site topological line and the current position.
In this step, according to the position of each station on the driving route and the sequence of each station, a station topological line with the shortest distance from the current position is determined, which can be specifically implemented by the following method:
calculating all station topological lines of the driving route according to the positions of all stations on the driving route and the sequence of all stations, wherein the station topological lines are line segments connecting any two adjacent stations; calculating the distance from the current position to each station topological line; and comparing the distance between the current position and each site topological line, and determining the site topological line with the shortest distance to the current position.
In addition, the distance from the current position to the topological line of each site can be implemented by any method for calculating the shortest distance from one point to one line segment in the prior art, and details are not repeated here.
And step S203, taking a station on the station topological line with the shortest distance to the current position as a next station.
After determining the station topological line having the shortest distance to the current position, the in-vehicle terminal may regard any one of two stations on the station topological line having the shortest distance to the current position as a next station, and after determining the next station, the in-vehicle terminal may control the vehicle to travel to the next station and automatically drive along the travel route after reaching the next station.
Optionally, one possible implementation of this step is:
taking the station topological line with the shortest distance to the current position as a target topological line, and determining the projection position of the current position on the target topological line; calculating the distance between two stations on the target topological line and the projection position; and taking the station with the minimum distance from the projection position on the target topological line as the next station.
In this embodiment, if the distance from the current position to each site topological line is calculated in step S202, the projection of the current position on the site topological line is already determined; then, in this step, the station closest to the projection position of the current position on the target topological line may be used as the next station, so that the station closest to the current position on the target topological line may be used as the next station more quickly.
Optionally, another possible implementation of this step is:
taking the station topological line with the shortest distance to the current position as a target topological line, and calculating the distance between two stations on the target topological line and the current position; and taking the station with the minimum distance from the current position on the target topological line as the next station. By the implementation mode, the station closest to the current position on the target topological line can be used as the next station.
Optionally, another possible implementation of this step is:
and taking the station behind the two stations as the next station according to the sequence of the two stations on the topological line of the station with the shortest distance to the current position. By this embodiment, a station further back on the station topological line having the shortest distance from the current position is taken as the next station, so that the unmanned vehicle can more quickly reach the terminal station.
Optionally, another possible implementation of this step is:
and taking the previous station of the two stations as the next station according to the sequence of the two stations on the topological line of the station with the shortest distance to the current position. By the implementation mode, the station which is far ahead on the topological line of the station with the shortest distance to the current position is used as the next station, so that stations can be prevented from being omitted by the unmanned vehicle, and the reliability of the operation of the unmanned vehicle is improved.
In addition, the vehicle-mounted terminal may also determine which of two stations on the station topological line with the shortest distance to the current position is used as the next station by using other embodiments, which is not specifically limited in this embodiment.
And step S204, controlling the vehicle to travel to the next station from the current position.
After the next station is determined, the vehicle-mounted terminal can generate a planned route from the current position to the next station according to the current position and the position of the next station, and the vehicle is controlled to drive from the current position to the next station along the planned route.
And step S205, controlling the vehicle to run along the running route from the next station.
After the vehicle arrives at the next station in the driving process, the vehicle-mounted terminal controls the vehicle to continue to drive along the driving route from the current station so as to complete the operation task of the unmanned vehicle.
According to the method and the device, the vehicle-mounted terminal determines the station topological line with the shortest distance from the current position according to the current position of the vehicle, the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, and one station on the station topological line with the shortest distance from the current position is taken as the next station, so that the next station can be automatically determined without manual intervention, and a station closer to the current position can be determined as the next station, so that the unmanned vehicle can be further controlled to drive to the next station and continue to automatically drive along the driving route, the unmanned vehicle can autonomously recover station operation, the operation is more intelligent, and the operation reliability of the unmanned vehicle is improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle control device according to a third embodiment of the present invention. The vehicle control device provided by the embodiment of the invention can execute the processing flow provided by the embodiment of the vehicle control method. As shown in fig. 3, the vehicle control device 30 includes: a data acquisition module 301, a first determination module 302 and a second determination module 303.
Specifically, the data obtaining module 301 is configured to obtain a current position of the vehicle, a position of each station on the driving route, and a sequence of each station.
The first determining module 302 is configured to determine a station topological line with the shortest distance from the current position according to the position of each station on the driving route and the sequence of each station, where the station topological line is a line segment connecting any two adjacent stations.
The second determining module 303 is configured to use a station on the topological line of the station with the shortest distance to the current location as a next station.
The apparatus provided in the embodiment of the present invention may be specifically configured to execute the method embodiment provided in the first embodiment, and specific functions are not described herein again.
According to the method and the device, the vehicle-mounted terminal determines the station topological line with the shortest distance from the current position according to the current position of the vehicle, the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, and one station on the station topological line with the shortest distance from the current position is taken as the next station, so that the next station can be automatically determined without manual intervention, and a station closer to the current position can be determined as the next station, so that the unmanned vehicle can be further controlled to drive to the next station and continue to automatically drive along the driving route, the unmanned vehicle can autonomously recover station operation, the operation is more intelligent, and the operation reliability of the unmanned vehicle is improved.
Example four
Fig. 4 is a schematic structural diagram of a vehicle control device according to a fourth embodiment of the present invention. In addition to the third embodiment, in the present embodiment, as shown in fig. 4, the vehicle control device 30 further includes: a travel control module 304.
The travel control module 304 is configured to:
controlling the vehicle to travel from the current position to the next station; and controlling the vehicle to run along the running route from the next station.
Optionally, the first determining module is further configured to:
calculating all station topological lines of the driving route according to the positions of all stations on the driving route and the sequence of all stations, wherein the station topological lines are line segments connecting any two adjacent stations; calculating the distance from the current position to each station topological line; and comparing the distance between the current position and each site topological line, and determining the site topological line with the shortest distance to the current position.
Optionally, the second determining module is further configured to:
taking the station topological line with the shortest distance to the current position as a target topological line, and determining the projection position of the current position on the target topological line; calculating the distance between two stations on the target topological line and the projection position; and taking the station with the minimum distance from the projection position on the target topological line as the next station.
Optionally, the second determining module is further configured to:
taking the station topological line with the shortest distance to the current position as a target topological line, and calculating the distance between two stations on the target topological line and the current position; and taking the station with the minimum distance from the current position on the target topological line as the next station.
Optionally, the second determining module is further configured to:
according to the sequence of two sites on a site topological line with the shortest distance from the current position, taking the site arranged behind the two sites as the next site; or, according to the sequence of two stations on the topological line of the station with the shortest distance to the current position, the station arranged in front of the two stations is taken as the next station.
The apparatus provided in the embodiment of the present invention may be specifically configured to execute the method embodiment provided in the second embodiment, and specific functions are not described herein again.
According to the method and the device, the vehicle-mounted terminal determines the station topological line with the shortest distance from the current position according to the current position of the vehicle, the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, and one station on the station topological line with the shortest distance from the current position is taken as the next station, so that the next station can be automatically determined without manual intervention, and a station closer to the current position can be determined as the next station, so that the unmanned vehicle can be further controlled to drive to the next station and continue to automatically drive along the driving route, the unmanned vehicle can autonomously recover station operation, the operation is more intelligent, and the operation reliability of the unmanned vehicle is improved.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a vehicle control apparatus according to a fifth embodiment of the present invention. As shown in fig. 5, the vehicle control apparatus 50 includes: a processor 501, a memory 502, and computer programs stored on the memory 502 and executable by the processor 501.
The processor 501, when executing a computer program stored on the memory 502, implements the vehicle control method provided by any of the method embodiments described above.
The vehicle control device in this embodiment may be an on-board terminal on the unmanned vehicle, or a control device for remotely controlling the driving of the unmanned vehicle, or may also be another device capable of controlling the driving of the unmanned vehicle, and this embodiment is not limited in particular here.
According to the method and the device, the vehicle-mounted terminal determines the station topological line with the shortest distance from the current position according to the current position of the vehicle, the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, and one station on the station topological line with the shortest distance from the current position is taken as the next station, so that the next station can be automatically determined without manual intervention, and a station closer to the current position can be determined as the next station, so that the unmanned vehicle can be further controlled to drive to the next station and continue to automatically drive along the driving route, the unmanned vehicle can autonomously recover station operation, the operation is more intelligent, and the operation reliability of the unmanned vehicle is improved.
In addition, the embodiment of the invention also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the vehicle control method provided by any one of the method embodiments.
In the embodiments provided in the present invention, 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, the division of the units is only one logical division, and other divisions may be realized in practice, 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.
The 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 invention 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 invention. 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.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (15)
1. A vehicle control method characterized by comprising:
acquiring the current position of a vehicle, the position of each station on a driving route and the sequence of each station;
determining a station topological line with the shortest distance to the current position according to the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, and the distance is the distance from the current position to any point on the station topological line;
and taking one station on the topological line of the station with the shortest distance to the current position as a next station.
2. The method according to claim 1, wherein after the step of taking the station on the topological line of the station with the shortest distance to the current position as a next station, the method further comprises:
controlling the vehicle to travel from the current location to the next station;
controlling the vehicle to travel along the travel route from the next station.
3. The method according to claim 1, wherein the determining a station topological line with the shortest distance from the current position according to the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, includes:
calculating all station topological lines of the driving route according to the positions of all stations on the driving route and the sequence of all stations, wherein the station topological lines are line segments connecting any two adjacent stations;
calculating the distance from the current position to each topological line of the sites;
and comparing the distance between the current position and each site topological line, and determining the site topological line with the shortest distance to the current position.
4. The method according to any one of claims 1 to 3, wherein the step of regarding the station on the topological line of the station with the shortest distance to the current position as the next station comprises:
taking the station topological line with the shortest distance to the current position as a target topological line, and determining the projection position of the current position on the target topological line;
calculating the distance between two stations on the target topological line and the projection position;
and taking the station with the minimum distance from the target topological line to the projection position as the next station.
5. The method according to any one of claims 1 to 3, wherein the step of regarding the station on the topological line of the station with the shortest distance to the current position as the next station comprises:
taking a station topological line with the shortest distance to the current position as a target topological line, and calculating the distance between two stations on the target topological line and the current position;
and taking the station with the minimum distance from the current position on the target topological line as the next station.
6. The method according to any one of claims 1 to 3, wherein the step of regarding the station on the topological line of the station with the shortest distance to the current position as the next station comprises:
and taking the station ranked behind the two stations as the next station according to the sequence of the two stations on the topological line of the station with the shortest distance to the current position.
7. The method according to any one of claims 1 to 3, wherein the step of regarding the station on the topological line of the station with the shortest distance to the current position as the next station comprises:
and taking the station which is arranged in front of the two stations as the next station according to the sequence of the two stations on the topological line of the station with the shortest distance to the current position.
8. A vehicle control apparatus characterized by comprising:
the data acquisition module is used for acquiring the current position of the vehicle, the positions of all stations on a driving route and the sequence of all stations;
the first determining module is used for determining a station topological line with the shortest distance from the current position according to the position of each station on the driving route and the sequence of each station, wherein the station topological line is a line segment connecting any two adjacent stations, and the distance is the distance from the current position to any point on the station topological line;
and the second determining module is used for taking one station on the station topological line with the shortest distance to the current position as the next station.
9. The apparatus of claim 8, further comprising: a travel control module to:
controlling the vehicle to travel from the current location to the next station;
controlling the vehicle to travel along the travel route from the next station.
10. The apparatus of claim 8, wherein the first determining module is further configured to:
calculating all station topological lines of the driving route according to the positions of all stations on the driving route and the sequence of all stations, wherein the station topological lines are line segments connecting any two adjacent stations;
calculating the distance from the current position to each topological line of the sites;
and comparing the distance between the current position and each site topological line, and determining the site topological line with the shortest distance to the current position.
11. The apparatus of any of claims 8-10, wherein the second determining module is further configured to:
taking the station topological line with the shortest distance to the current position as a target topological line, and determining the projection position of the current position on the target topological line;
calculating the distance between two stations on the target topological line and the projection position;
and taking the station with the minimum distance from the target topological line to the projection position as the next station.
12. The apparatus of any of claims 8-10, wherein the second determining module is further configured to:
taking a station topological line with the shortest distance to the current position as a target topological line, and calculating the distance between two stations on the target topological line and the current position;
and taking the station with the minimum distance from the current position on the target topological line as the next station.
13. The apparatus of any of claims 8-10, wherein the second determining module is further configured to:
according to the sequence of two stations on the station topological line with the shortest distance to the current position, taking the station arranged behind the two stations as the next station;
alternatively, the first and second electrodes may be,
and taking the station which is arranged in front of the two stations as the next station according to the sequence of the two stations on the topological line of the station with the shortest distance to the current position.
14. A vehicle control apparatus characterized by comprising:
a memory, a processor, and a computer program stored on the memory and executable on the processor,
the processor, when executing the computer program, implements the method of any of claims 1-7.
15. A computer-readable storage medium, in which a computer program is stored,
the computer program, when executed by a processor, implementing the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811544719.6A CN109767638B (en) | 2018-12-17 | 2018-12-17 | Vehicle control method, device, equipment and computer readable storage medium |
Applications Claiming Priority (1)
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| CN112085959B (en) * | 2019-06-13 | 2022-04-12 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle driving control method and device |
| CN110991817B (en) * | 2019-11-14 | 2021-06-18 | 广东科学技术职业学院 | Route planning method and device and server |
| CN111860880A (en) * | 2020-06-01 | 2020-10-30 | 北京骑胜科技有限公司 | Path determining method and device, electronic equipment and storage medium |
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