CN109774712A - The method, apparatus and vehicle of vehicle control - Google Patents
The method, apparatus and vehicle of vehicle control Download PDFInfo
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- CN109774712A CN109774712A CN201811544991.4A CN201811544991A CN109774712A CN 109774712 A CN109774712 A CN 109774712A CN 201811544991 A CN201811544991 A CN 201811544991A CN 109774712 A CN109774712 A CN 109774712A
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Abstract
This disclosure relates to the method, apparatus and vehicle of a kind of vehicle control, this method includes obtaining environment sensing information；Broadcast the first location information where the environment sensing information and first vehicle, so that the second vehicle is after receiving the environment sensing information and the first location information, the environmental information of second vehicle periphery is determined according to the second location information of the environment sensing information, the first location information and second vehicle, and is travelled according to the corresponding driving status of the environmental information.
Description
Technical field
This disclosure relates to field of vehicle control, and in particular, to a kind of method, apparatus and vehicle of vehicle control.
Background technique
Currently, technology is by ADAS (Advanced Driver Assistance System, advanced driving assistance system)
It is used in daily life, ADAS can use vehicle-mounted all kinds of sensors, in vehicle traveling process
In incude the environment of surrounding at any time, collect data, carry out static state, the identification of dynamic object, detecting and tracking, and navigation
Instrument map datum carries out the operation and analysis of system, and actively judgement and precautionary measures are made before driver's subjective response, and
The danger for reminding driver that may occur effectively increases the comfort of vehicle drive to have the function that prevention and auxiliary
And safety.
But a large amount of sensor collection data that ADAS technology depends on vehicle to be equipped with, the use of sensor increase vehicle
Manufacturing cost, lead to that the vehicle manufacture for being equipped with ADAS is at high cost and quantity is few, and the vehicle of sensor is not configured in other
It is not available this technology, affects the comfortableness and security of vehicle driving.
Summary of the invention
To overcome the problems in correlation technique, the disclosure provides the method, apparatus and vehicle of a kind of vehicle control.
According to the first aspect of the embodiments of the present disclosure, a kind of method of vehicle control is provided, the first vehicle, packet are applied to
It includes: obtaining environment sensing information；The first location information where the environment sensing information and first vehicle is broadcasted, so as to
Second vehicle is after receiving the environment sensing information and the first location information, according to the environment sensing information, institute
The second location information for stating first location information and second vehicle determines the environmental information of second vehicle periphery, and presses
According to the corresponding driving status traveling of the environmental information.
Optionally, the acquisition environment sensing information, comprising: the environment sensing information is obtained by environmental sensor.
Optionally, the first location information broadcasted where the environment sensing information and first vehicle, comprising:
It compiles the environment sensing information and the first location information obtains echo signal；By dedicated short-range communication technology DSRC or
Person's cellular data car networking communicates C-V2X and broadcasts the echo signal.
According to the second aspect of an embodiment of the present disclosure, a kind of method of vehicle control is provided, the second vehicle, packet are applied to
It includes: receiving the environment sensing information and first location information of the broadcast of the first vehicle；According to the environment sensing information, described first
The second location information of location information and the second vehicle determines the environmental information of second vehicle periphery；Believed according to the environment
Breath determines the driving status of second vehicle, and travels according to the driving status.
Optionally, the second position according to the environment sensing information, the first location information and the second vehicle
Information determines the environmental information of second vehicle periphery, comprising: according to the first location information and the second confidence
It ceases and determines relative position；Depending on that relative position, the environment sensing information is coordinately transformed, obtains second vehicle
Environmental information around.
Optionally, it is described according to the environmental information adjust the second vehicle driving status, make second vehicle according to
The corresponding driving status of the environmental information drives, comprising: generates control instruction according to the environmental information；According to the control
Instruction controls second vehicle and drives according to the corresponding driving status of the target environment information.
Optionally, the environment sensing information and first location information for receiving the broadcast of the first vehicle, comprising: by dedicated
Short-range communication technology DSRC or cellular data car networking communication C-V2X are received by the environment sensing information and first described
The echo signal that confidence breath compiling generates；Echo signal is reduced to the environment sensing information and the first location information.
According to the third aspect of an embodiment of the present disclosure, a kind of device of vehicle control is provided, the first vehicle, packet are applied to
It includes: module is obtained, for obtaining environment sensing information；Broadcast module, for broadcasting the environment sensing information and described first
First location information where vehicle, so that the second vehicle is receiving the environment sensing information and the first location information
Afterwards, according to the determination of the second location information of the environment sensing information, the first location information and second vehicle
The environmental information of second vehicle periphery, and travelled according to the corresponding driving status of the environmental information.
Optionally, the acquisition module, for obtaining the environment sensing information by environmental sensor.
Optionally, the broadcast module obtains mesh for compiling the environment sensing information and the first location information
Mark signal；C-V2X, which is communicated, by dedicated short-range communication technology DSRC or cellular data car networking broadcasts the echo signal.
According to a fourth aspect of embodiments of the present disclosure, a kind of device of vehicle control is provided, the second vehicle, packet are applied to
It includes: receiving module, for receiving the environment sensing information and first location information of the broadcast of the first vehicle；Determining module is used for root
The second vehicle week is determined according to the second location information of the environment sensing information, the first location information and the second vehicle
The environmental information enclosed；Execution module, for determining the driving status of second vehicle according to the environmental information, and according to institute
State driving status traveling.
Optionally, the determining module, comprising: first determines submodule, for according to the first location information and institute
It states second location information and determines relative position；Second determines submodule, is used for depending on that relative position, to the environment sensing
Information is coordinately transformed, and obtains the environmental information of second vehicle periphery.
Optionally, the execution module is used to generate control instruction according to the environmental information；According to the control instruction
Second vehicle is controlled to drive according to the corresponding driving status of the target environment information.
Optionally, the receiving module, for logical by dedicated short-range communication technology DSRC or cellular data car networking
It interrogates C-V2X and receives the echo signal generated by the environment sensing information and first location information compiling；By echo signal
It is reduced to the environment sensing information and the first location information.
According to a fifth aspect of the embodiments of the present disclosure, a kind of vehicle is provided, the third aspect including the embodiment of the present disclosure or
Device described in fourth aspect.
Through the above technical solutions, the environment sense that the vehicle for being configured with environmental sensor can be made to collect environmental sensor
Know that information is shared with other vehicles, so that other vehicles can use the driving status that the environment sensing information adjusts itself,
To increase the comfortableness and security of vehicle driving.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is the flow chart according to a kind of method of vehicle control shown in one exemplary embodiment of the disclosure.
Fig. 2 is a kind of flow chart of the method for vehicle control shown according to disclosure another exemplary embodiment.
Fig. 3 is the vehicle location schematic diagram shown according to one exemplary embodiment of the disclosure.
Fig. 4 is a kind of flow chart of the method for vehicle control shown according to disclosure another exemplary embodiment.
Fig. 5 is the device block diagram according to a kind of vehicle control shown in one exemplary embodiment of the disclosure.
Fig. 6 is a kind of device block diagram of vehicle control shown according to disclosure another exemplary embodiment.
Fig. 7 is a kind of device block diagram of vehicle control shown according to disclosure another exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Fig. 1 is according to a kind of flow chart of the method for vehicle control shown in one exemplary embodiment of the disclosure, such as Fig. 1 institute
Show, this method is applied to the first vehicle, includes the following steps.
S101, environment sensing information is obtained.
In this step, the environment sensing information can be obtained by environmental sensor.
Environmental sensor may include image acquisition device, infrared detecting set, pressure sensor, laser radar and ultrasonic wave thunder
Up to etc., light, heat, sound, pressure or other for monitoring the variable of vehicle-state can be detected.
For example, can by image acquisition device collect vehicle traveling lane lane line position, by radar detection with
Whether the distance of front and back vehicle has pedestrian by infrared detecting set detection front and at a distance from pedestrian, is sentenced by pressure sensor
Whether disconnected vehicle has met with collision etc..Wherein, lane line position, front-and-rear vehicle distance with a distance from, pedestrian, whether the information such as collide
As environment sensing information.In addition to this, environment sensing information can also include the driving trace of illuminance information, surrounding vehicles
Information, the grade information in ramp, traffic mark information, signal information etc..
S102, first location information where the environment sensing information and first vehicle is broadcasted, so that the second vehicle exists
After receiving the environment sensing information and the first location information, according to the environment sensing information, the first location information and it is somebody's turn to do
The second location information of second vehicle determines the environmental information of second vehicle periphery, and according to the corresponding traveling of the environmental information
State traveling.
Wherein, the first location information and second location information can be obtained by positioning system, the first vehicle by this
One location information is sent to the second vehicle, so as to the second vehicle combine the first location information and second location information, obtain with
The relative position of first vehicle, and the environmental information of the second vehicle periphery is determined depending on the relative position.
In this step, the environment sensing information can be compiled and the first location information obtains echo signal, and passed through
DSRC (Dedicated Short Range Communication, dedicated short-range communication) technology or C-V2X (Cellular
Vehicle-to-Everything, mobile car networking) the technologies broadcast echo signal.
In this way, the environment sensing information and the first location information can be by all first vehicle broadcast coverages
Second vehicle receives, so that the second vehicle determines the environmental information of the second vehicle periphery, and is adjusted and is travelled according to the environmental information
State.
It, can be with it is worth noting that after the first vehicle gets the environment sensing information by the environmental sensor
The driving status of itself is adjusted according to the environment sensing information.
By this method, the environment sensing that the vehicle for being configured with environmental sensor can be made to collect environmental sensor is believed
Breath is shared with other vehicles, so that other vehicles can use the driving status that the environment sensing information adjusts itself, thus
Increase the comfortableness and security of vehicle driving.
Fig. 2 is according to a kind of flow chart of the method for vehicle control shown in one exemplary embodiment of the disclosure, such as Fig. 2 institute
Show, this method is applied to the second vehicle, includes the following steps.
S201, the environment sensing information and first location information for receiving the broadcast of the first vehicle.
Wherein, which can be obtained by the environmental sensor of the first vehicle.The environmental sensor can wrap
Include image acquisition device, infrared detecting set, pressure sensor, laser radar and ultrasonic radar etc., can detect light, heat, sound,
Pressure is other for monitoring the variable of vehicle-state.
For example, can receive the position of the lane line in the vehicle driving lane obtained by the first vehicle by image acquisition device
It sets, through radar detection at a distance from the vehicle of front and back, whether has pedestrian and with pedestrian's by the front that infrared detecting set detects
Whether distance has met with collision etc. by the vehicle that pressure sensor judges.Wherein, lane line position, front-and-rear vehicle distance are from, pedestrian
Distance, the information such as whether collide are environment sensing information.In addition to this, the environment biography by the first vehicle can also be received
Illuminance information, the driving trace information of surrounding vehicles, the grade information in ramp, traffic mark information, signal of sensor acquisition
Other environment sensing information such as lamp information.
Meanwhile the first location information of the first vehicle is received, which can be obtained by positioning system.
In one possible implementation, DSRC (Dedicated Short Range can be passed through
Communication, dedicated short-range communication) and technology or C-V2X (Cellular Vehicle-to-Everything, it is mobile
Car networking) technology receive the first vehicle broadcast compiling after environment sensing information and first location information, by parsing after obtain
Obtain the environment sensing information and the first location information.
S202, it is determined and is somebody's turn to do according to the second location information of the environment sensing information, the first location information and the second vehicle
The environmental information of second vehicle periphery.
In this step, the first vehicle and the second vehicle can be determined in conjunction with first location information and second location information
Relative position can obtain the environmental information of the second vehicle periphery by the relative position and environment sensing information.
For example, as shown in figure 3, by taking the position of the geometric center of vehicle represents the position of vehicle as an example, the first vehicle away from
Position of 1.5 meters from lane is to be parallel to the angle traveling in lane, angle side of second vehicle 10 ° of the right back of the first vehicle
To 6.12 meters travel at a distance, driving direction is identical with the first vehicle, and the first vehicle has been obtained by environmental sensor " apart from a left side
The environment sensing information in 1.5 meters of lane ", and first location information has been obtained by positioning system, and be sent to the second vehicle；The
It, can be in conjunction with the second that itself positioning system obtain after two vehicles receive the first location information and environment sensing information
Confidence breath is calculated and is obtained with the relative position of the first vehicle as " the first vehicle is located at the angle direction of 10 ° of the left of the second vehicle
6.12 meters of distant places ", and by coordinate transform, the environment of " the second vehicle is 2.58 meters at a distance from left-lane line " is calculated
Information.Equally by taking Fig. 3 as an example, the first vehicle right back 45° angle direction has other vehicles with the relative velocity of 1m/s toward
It being travelled between one vehicle and the second vehicle, the environmental sensor of the first vehicle has perceived the close direction of the vehicle and speed,
And the environment sensing information and first location information are sent to the second vehicle, the second vehicle is calculated by coordinate transform
Right front has other vehicles to try to cut in, and the travel speed of the available vehicle, so that the second vehicle can make in time
Reply.
S203, the driving status that second vehicle is determined according to the environmental information, and travelled according to the driving status.
In this step, it is determined that after the environmental information, can use the drive automatically controller on the second vehicle
Or the environmental information is converted to corresponding control instruction, the driving of the second vehicle by the Decision Controls such as auto-pilot controller device
Control equipment executes the control instruction, and second vehicle can be made to travel according to driving status corresponding with environmental information.
For example, when the second vehicle determines that environmental information is that the second vehicle is 0.3 meter with lane center linear distance and is leaning on
When nearly center line, it can determine that the second vehicle should be according to the driving status row in the direction with centerline parallel or separate center line
It sails, the control instruction that generation deflects wheel to the right by the Decision Control device of the second vehicle, the steering system of second vehicle
The control instruction is executed, vehicle can be made to travel with the driving status far from left center line, press through center line to avoid vehicle.
For another example, when the second vehicle determines that environmental information is to have pedestrian at 20 meters of the second vehicle front, second can be determined
Vehicle should Reduced Speed Now, the Decision Control device of the second vehicle will generate the control instruction for reducing car speed, this second
The gearbox and engine of vehicle execute the control instruction, vehicle deceleration can be made to travel, and generate and touch with pedestrian to avoid vehicle
It hits.
By this method, the environment sensing that the vehicle for being configured with environmental sensor can be made to collect environmental sensor is believed
Breath is shared with other vehicles, so that other vehicles can use the driving status that the environment sensing information adjusts itself, thus
Increase the comfortableness and security of vehicle driving.
Fig. 4 is according to a kind of flow chart of the method for vehicle control shown in one exemplary embodiment of the disclosure, such as Fig. 4 institute
Show, this method includes the following steps.
S401, the first vehicle obtain the first location information of environment sensing information and the first vehicle.
In this step, it can obtain the environment sensing information by environmental sensor, and obtain the by positioning system
One location information.
Environmental sensor may include image acquisition device, infrared detecting set, pressure sensor, laser radar and ultrasonic wave thunder
Up to etc., light, heat, sound, pressure or other for monitoring the variable of vehicle-state can be detected.
For example, can by image acquisition device collect vehicle traveling lane lane line position, by radar detection with
Whether the distance of front and back vehicle has pedestrian by infrared detecting set detection front and at a distance from pedestrian, is sentenced by pressure sensor
Whether disconnected vehicle has met with collision etc..Wherein, lane line position, front-and-rear vehicle distance with a distance from, pedestrian, whether the information such as collide
As environment sensing information.In addition to this, environment sensing information can also include the driving trace of illuminance information, surrounding vehicles
Information, the grade information in ramp, traffic mark information, signal information etc..
S402, the first vehicle broadcast the environment sensing information and the first location information.
In this step, the environment sensing information can be compiled and the first location information obtains echo signal, and passed through
DSRC (Dedicated Short Range Communication, dedicated short-range communication) technology or C-V2X (Cellular
Vehicle-to-Everything, mobile car networking) the technologies broadcast echo signal.
In this way, the environment sensing information and the first location information can be by all first vehicle broadcast coverages
Second vehicle receives, so that the second vehicle determines the environmental information of the second vehicle periphery, and is adjusted and is travelled according to the environmental information
State.
It, can be with it is worth noting that after the first vehicle gets the environment sensing information by the environmental sensor
The driving status of itself is adjusted according to the environment sensing information.
S403, the second vehicle receive the environment sensing information and first location information of the first vehicle broadcast.
In this step, DSRC (Dedicated Short Range Communication, dedicated short distance can be passed through
Communication) technology or C-V2X (Cellular Vehicle-to-Everything, mobile car networking) technology receives first vehicle
Environment sensing information and first location information after the compiling of broadcast, by parsing after obtain the environment sensing information and this first
Location information.
S404, the second vehicle obtain the second location information of the second vehicle.
In this step, the second vehicle can obtain the second location information by positioning system.
S405, the second vehicle are determined according to the environment sensing information, the first location information and the second location information and are somebody's turn to do
The environmental information of second vehicle periphery.
In this step, the first vehicle and the second vehicle can be determined in conjunction with first location information and second location information
Relative position can obtain the environmental information of the second vehicle periphery by the relative position and environment sensing information.
For example, as shown in figure 3, by taking the position of the geometric center of vehicle represents the position of vehicle as an example, the first vehicle away from
Position of 1.5 meters from lane is to be parallel to the angle traveling in lane, angle side of second vehicle 10 ° of the right back of the first vehicle
To 6.12 meters travel at a distance, driving direction is identical with the first vehicle, and the first vehicle has been obtained by environmental sensor " apart from a left side
The environment sensing information in 1.5 meters of lane ", and first location information has been obtained by positioning system, and be sent to the second vehicle；The
It, can be in conjunction with the second that itself positioning system obtain after two vehicles receive the first location information and environment sensing information
Confidence breath is calculated and is obtained with the relative position of the first vehicle as " the first vehicle is located at the angle direction of 10 ° of the left of the second vehicle
6.12 meters of distant places ", and by coordinate transform, the environment of " the second vehicle is 2.58 meters at a distance from left-lane line " is calculated
Information.Equally by taking Fig. 3 as an example, the first vehicle right back 45° angle direction has other vehicles with the relative velocity of 1m/s toward
It being travelled between one vehicle and the second vehicle, the environmental sensor of the first vehicle has perceived the close direction of the vehicle and speed,
And the environment sensing information and first location information are sent to the second vehicle, the second vehicle is calculated by coordinate transform
Right front has other vehicles to try to cut in, and the travel speed of the available vehicle, so that the second vehicle can make in time
Reply.
S406, the second vehicle determine the driving status of second vehicle according to the environmental information, and according to the driving status
Traveling.
In this step, it is determined that after the environmental information, can use the drive automatically controller on the second vehicle
Or the environmental information is converted to corresponding control instruction, the driving of the second vehicle by the Decision Controls such as auto-pilot controller device
Control equipment executes the control instruction, and second vehicle can be made to travel according to driving status corresponding with environmental information.
For example, when the second vehicle determines that environmental information is that the second vehicle is 0.3 meter with lane center linear distance and is leaning on
When nearly center line, it can determine that the second vehicle should be according to the driving status row in the direction with centerline parallel or separate center line
It sails, the control instruction that generation deflects wheel to the right by the Decision Control device of the second vehicle, the steering system of second vehicle
The control instruction is executed, vehicle can be made to travel with the driving status far from left center line, press through center line to avoid vehicle.
For another example, when the second vehicle determines that environmental information is to have pedestrian at 20 meters of the second vehicle front, second can be determined
Vehicle should Reduced Speed Now, the Decision Control device of the second vehicle will generate the control instruction for reducing car speed, this second
The gearbox and engine of vehicle execute the control instruction, vehicle deceleration can be made to travel, and generate and touch with pedestrian to avoid vehicle
It hits.
By this method, the environment sensing that the vehicle for being configured with environmental sensor can be made to collect environmental sensor is believed
Breath is shared with other vehicles, so that other vehicles can use the driving status that the environment sensing information adjusts itself, thus
Increase the comfortableness and security of vehicle driving.
Fig. 5 is 500 block diagram of device according to a kind of vehicle control shown in one exemplary embodiment of the disclosure, such as Fig. 5 institute
Show, which is applied to the first vehicle, including obtains module 510 and broadcast module 520.
The acquisition module 510 is for obtaining environment sensing information.
The broadcast module 520 is used to broadcast the first location information where the environment sensing information and first vehicle, with
Just the second vehicle is after receiving the environment sensing information and the first location information, according to the environment sensing information, this first
The second location information of location information and second vehicle determines the environmental information of second vehicle periphery, and believes according to the environment
Cease corresponding driving status traveling.
Optionally, acquisition module 510, for obtaining the environment sensing information by environmental sensor.
Optionally, the broadcast module 520 obtains target letter for compiling the environment sensing information and the first location information
Number；C-V2X, which is communicated, by dedicated short-range communication technology DSRC or cellular data car networking broadcasts the echo signal.
By this device, the environment sensing that the vehicle for being configured with environmental sensor can be made to collect environmental sensor is believed
Breath is shared with other vehicles, so that other vehicles can use the driving status that the environment sensing information adjusts itself, thus
Increase the comfortableness and security of vehicle driving.
Fig. 6 is 600 block diagram of device according to a kind of vehicle control shown in one exemplary embodiment of the disclosure, such as Fig. 6 institute
Show, which is applied to the second vehicle, including receiving module 610, determining module 620 and execution module 630.
The receiving module 610, for receiving the environment sensing information and first location information of the broadcast of the first vehicle.
The determining module 620, for the second according to the environment sensing information, the first location information and the second vehicle
Confidence ceases the environmental information for determining second vehicle periphery.
The execution module 630, for determining the driving status of second vehicle according to the environmental information, and according to the traveling
State traveling.
Optionally, as shown in fig. 7, the determining module 620 includes:
First determines submodule 621, for determining relative position according to the first location information and the second location information.
Second determines submodule 622, for depending on the relative position, being coordinately transformed, obtaining to the environment sensing information
To the environmental information of second vehicle periphery.
Optionally, which is used to be referred to for generating control instruction according to the environmental information and according to the control
It enables and controls second vehicle according to the corresponding driving status driving of the target environment information.
Optionally, which is used for logical by dedicated short-range communication technology DSRC or cellular data car networking
News C-V2X receives the echo signal generated by the environment sensing information and first location information compiling and restores echo signal
For the environment sensing information and the first location information.
By this device, the environment sensing that the vehicle for being configured with environmental sensor can be made to collect environmental sensor is believed
Breath is shared with other vehicles, so that other vehicles can use the driving status that the environment sensing information adjusts itself, thus
Increase the comfortableness and security of vehicle driving.
The embodiment of the present disclosure also provides a kind of vehicle, device 500 or above-mentioned vehicle control including above-mentioned vehicle control
Device 600.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of method of vehicle control, which is characterized in that be applied to the first vehicle, comprising:
Obtain environment sensing information；
The first location information where the environment sensing information and first vehicle is broadcasted, so that the second vehicle is receiving
After the environment sensing information and the first location information, according to the environment sensing information, the first location information and
The second location information of second vehicle determines the environmental information of second vehicle periphery, and according to the environmental information pair
The driving status traveling answered.
2. the method according to claim 1, wherein the acquisition environment sensing information, comprising: passed by environment
Sensor obtains the environment sensing information.
3. the method according to claim 1, wherein the broadcast environment sensing information and first vehicle
First location information where, comprising:
It compiles the environment sensing information and the first location information obtains echo signal；
C-V2X, which is communicated, by dedicated short-range communication technology DSRC or cellular data car networking broadcasts the echo signal.
4. a kind of method of vehicle control, which is characterized in that be applied to the second vehicle, comprising:
Receive the environment sensing information and first location information of the broadcast of the first vehicle；
Described second is determined according to the second location information of the environment sensing information, the first location information and the second vehicle
The environmental information of vehicle periphery；
The driving status of second vehicle is determined according to the environmental information, and is travelled according to the driving status.
5. according to the method described in claim 4, it is characterized in that, it is described according to the environment sensing information, it is first described
The second location information of confidence breath and the second vehicle determines the environmental information of second vehicle periphery, comprising:
Relative position is determined according to the first location information and the second location information；
Depending on that relative position, the environment sensing information is coordinately transformed, obtains the ring of second vehicle periphery
Border information.
6. according to the method described in claim 4, it is characterized in that, the row for adjusting the second vehicle according to the environmental information
State is sailed, drives second vehicle according to the corresponding driving status of the environmental information, comprising:
Control instruction is generated according to the environmental information；
Second vehicle is controlled according to the control instruction to drive according to the corresponding driving status of the target environment information.
7. according to the method described in claim 4, it is characterized in that, it is described receive the first vehicle broadcast environment sensing information and
First location information, comprising:
C-V2X is communicated by dedicated short-range communication technology DSRC or cellular data car networking to receive by the environment sensing information
The echo signal generated with first location information compiling；
Echo signal is reduced to the environment sensing information and the first location information.
8. a kind of device of vehicle control, which is characterized in that be applied to the first vehicle, comprising:
Module is obtained, for obtaining environment sensing information；
Broadcast module, for broadcasting the first location information where the environment sensing information and first vehicle, so as to
Two vehicles are after receiving the environment sensing information and the first location information, according to the environment sensing information, described
First location information and the second location information of second vehicle determine the environmental information of second vehicle periphery, and according to
The corresponding driving status traveling of the environmental information.
9. a kind of device of vehicle control, which is characterized in that be applied to the second vehicle, comprising:
Receiving module, for receiving the environment sensing information and first location information of the broadcast of the first vehicle；
Determining module, for the second confidence according to the environment sensing information, the first location information and the second vehicle
Breath determines the environmental information of second vehicle periphery；
Execution module, for determining the driving status of second vehicle according to the environmental information, and according to the traveling shape
State traveling.
10. a kind of vehicle, which is characterized in that including device described in claim 8 or 9.
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| CN201811544991.4A CN109774712A (en) | 2018-12-17 | 2018-12-17 | The method, apparatus and vehicle of vehicle control |
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| CN201811544991.4A CN109774712A (en) | 2018-12-17 | 2018-12-17 | The method, apparatus and vehicle of vehicle control |
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| CN110412595A (en) * | 2019-06-04 | 2019-11-05 | 深圳市速腾聚创科技有限公司 | Roadbed cognitive method, system, vehicle, equipment and storage medium |
| CN113112801A (en) * | 2021-04-12 | 2021-07-13 | 智道网联科技(北京)有限公司 | Traffic incident processing method and device based on intelligent traffic |
| CN114932947A (en) * | 2022-05-30 | 2022-08-23 | 中国第一汽车股份有限公司 | Vehicle steering control system and method |
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