CN109887278A - Crossing travelling-crane method, device and the terminal of vehicle - Google Patents
Crossing travelling-crane method, device and the terminal of vehicle Download PDFInfo
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- CN109887278A CN109887278A CN201910136623.4A CN201910136623A CN109887278A CN 109887278 A CN109887278 A CN 109887278A CN 201910136623 A CN201910136623 A CN 201910136623A CN 109887278 A CN109887278 A CN 109887278A
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Abstract
The present invention proposes crossing travelling-crane method, device and the terminal of a kind of vehicle, which comprises obtains the driving intention and road network information for being located at the vehicle at crossing；Obtain the state of traffic lights corresponding with driving intention；Traveling decision is generated according to the state of road network information, the state of traffic lights and barrier；It is moved according to traveling Decision Control vehicle.In complicated traffic environment, can accurately judge the driving direction and route of vehicle, avoid due to the erroneous judgement to traffic environment, caused by stagnate or occur traffic accident for a long time.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular to a kind of crossing travelling-crane method, device and the terminal of vehicle.
Background technique
In recent years, vehicle has obtained the extensive concern of domestic and international academia and industry, and Related Supporting Technologies have
Quickly development.Currently, most of commercial navigation map only provides basic, road class precision road network element information, number
Be difficult to the complex scene that effective expression vehicle is faced according to content, data precision and organizational form, it is difficult to assist vehicle into
Row real-time scene understands and decision.Vehicle is difficult to realize high-precision, efficient scene understanding and behaviour decision making.Since vehicle is to spy
The misinterpretation for determining scene causes vehicle to do the decision to make mistake.For example, causing for the case where red lights such as front vehicles queuing
Stagnation, vehicle may be traffic jam in front of false judgment, rear vehicle select left-hand rotation or right-hand rotation special lane to side
Lane change, without selecting standby mode.Alternatively, for, since obstruction causes to stagnate for a long time, vehicle can on right-hand rotation special lane
It can be able to be red light situation in front of false judgment, and select standby mode, cause vehicle in the case where front is blocked when also president
Between stagnate.
Summary of the invention
The embodiment of the present invention provides crossing travelling-crane method, device and the terminal of vehicle, in the prior art at least to solve
The above technical problem.
In a first aspect, the embodiment of the invention provides a kind of crossing travelling-crane methods of vehicle, comprising:
Obtain the driving intention and road network information for being located at the vehicle at crossing；
Obtain the state of traffic lights corresponding with the driving intention；
Traveling decision is generated according to the state of the road network information, the state of the traffic lights and barrier；
It is moved according to vehicle described in the traveling Decision Control.
In one embodiment, according to the shape of the road network information, the state of the traffic lights and barrier
State generates traveling decision, comprising:
Judge whether the vehicle is limited by the state of the traffic lights according to driving intention；
If the vehicle is limited by the state of the traffic lights, believed according to the road network information, the traffic
The state of signal lamp and the state of barrier generate traveling decision；
If the vehicle is not limited by the state of the traffic lights, according to the road network information and the barrier
The state of object is hindered to generate traveling decision.
In one embodiment, if the vehicle is limited by the state of the traffic lights, according to the road
The state of net information, the state of the traffic lights and barrier generates traveling decision, comprising:
When the state of the traffic lights is that green light lights, the stagnation of the barrier in lane where judging the vehicle
Whether the time exceeds first threshold, if exceeding, is generated according to the state of the road network information and the barrier in remaining lane
Lane change decision；
When the state of the traffic lights is that red light lights, then waiting decision is generated.
In one embodiment, if the vehicle is not limited by the state of the traffic lights, according to
The state generation traveling decision of road network information, the barrier, comprising:
Whether the dead time of the barrier in lane exceeds second threshold where judging the vehicle, if exceeding, basis
The state of the road network information and the barrier in remaining lane generates lane change decision.
Second aspect, a kind of crossing crane device of vehicle provided in an embodiment of the present invention, comprising:
Driving is intended to and road network information obtains module, for obtaining the driving intention and road network letter that are located at the vehicle at crossing
Breath；
Traffic light status obtains module, for obtaining the state of traffic lights corresponding with the driving intention；
Decision making module is travelled, for according to the road network information, the state of the traffic lights and barrier
State generate traveling decision；
Vehicle control module is moved for the vehicle according to the traveling Decision Control.
In one embodiment, the traveling decision making module includes:
Judging unit, for according to the driving be intended to judge the vehicle whether by the traffic lights state
Limitation；
First decision making unit, if being limited for the vehicle by the state of the traffic lights, according to institute
The state for stating road network information, the state of the traffic lights and barrier generates traveling decision；
Second decision making unit, if not limited by the state of the traffic lights for the vehicle, basis
The state of the road network information and the barrier generates traveling decision.
In one embodiment, the first decision making unit includes:
First decision making subelement, for judging the vehicle when the state of the traffic lights is that green light lights
Whether the dead time of the barrier in lane exceeds first threshold where, if exceeding, according to the road network information and remains
The state of the barrier in remaining lane generates lane change decision；
Second decision making subelement, for when the state of the traffic lights is that red light lights, then generating waiting
Decision.
In one embodiment, the second decision making unit includes:
Whether the dead time of third decision making subelement, the barrier for lane where judging the vehicle exceeds
Second threshold generates lane change decision according to the state of the road network information and the barrier in remaining lane if exceeding.
The third aspect, the embodiment of the invention provides a kind of crossing of vehicle driving terminals, and the function can be by hard
Part is realized, corresponding software realization can also be executed by hardware.The hardware or software include one or more and above-mentioned function
It can corresponding module.
It is described including processor and memory in the structure of the crossing driving terminal of vehicle in a possible design
Memory is used to store the journey for supporting the crossing driving terminal of vehicle to execute the crossing travelling-crane method of vehicle in above-mentioned first aspect
Sequence, the processor is configured to for executing the program stored in the memory.The crossing driving terminal of the vehicle is also
It may include communication interface, the crossing driving terminal and other equipment or communication for vehicle.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage mediums, for storing the crossing of vehicle
Computer software instructions used in crane device comprising the crossing travelling-crane method for executing vehicle in above-mentioned first aspect is
Program involved in the crossing crane device of vehicle.
A technical solution in above-mentioned technical proposal has the following advantages that or the utility model has the advantages that due to combining vehicle on road
Driving intention, the state of corresponding traffic lights of mouth, have also combined four factors of the state of road network information and barrier
Traveling decision is generated, in complicated traffic environment, the driving direction and route of vehicle can be accurately judged, avoids to friendship
The erroneous judgement of logical environment causes to stagnate or occur traffic accident for a long time.
Above-mentioned general introduction is merely to illustrate that the purpose of book, it is not intended to be limited in any way.Except foregoing description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the present invention is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings depict only according to the present invention
Disclosed some embodiments, and should not serve to limit the scope of the present invention.
Fig. 1 is a kind of crossing travelling-crane method flow chart of vehicle provided in an embodiment of the present invention；
Fig. 2 is the crossing travelling-crane method flow chart of another vehicle provided in an embodiment of the present invention；
Fig. 3 is a kind of crossing crane device block diagram of vehicle provided in an embodiment of the present invention；
Fig. 4 is the crossing crane device block diagram of another vehicle provided in an embodiment of the present invention；
Fig. 5 is a kind of crossing driving terminal schematic diagram of vehicle provided in an embodiment of the present invention.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
Embodiment one
In a specific embodiment, as shown in Figure 1, providing a kind of crossing travelling-crane method of vehicle, comprising:
Step S10: the driving intention and road network information for being located at the vehicle at crossing are obtained.
Step S20: the state of traffic lights corresponding with driving intention is obtained.
Step S30: traveling decision is generated according to the state of road network information, the state of traffic lights and barrier.
Step S40: it is moved according to traveling Decision Control vehicle.
In a kind of example, the driving intention of vehicle may include that vehicle is moved on along lane, and vehicle turns in lane
It turns right or turns left into another lane etc. in crook.Road network information can be obtained by electronic map, road network information may include
The topological relation in lane and the Road in every lane, center line and stop line etc..It is corresponding to can detecte driving intention
The state of traffic lights, for example, detection is arranged in current lane two when automatic driving vehicle is moved on along current lane
The state of traffic lights of the side for limiting the vehicle driving in current lane.For another example, vehicle is turned right or is turned left into another
When one lane, the state of the traffic lights into the inlet in another lane is arranged in detection.It can be in each lane
The state of barrier is detected, and barrier includes passer-by, vehicle and roadblock etc..For example, can detecte out pedestrian,
The motion state of vehicle and the position of roadblock etc..
There are a plurality of types of crossings in road network.Such as: right-angled intersection, T-shaped road junction, L-type crossing, Y type crossing
Deng.Traffic environment at various crossings is complicated, can be with according to the state of road network information, the state of traffic lights and barrier
Generate traveling decision of the vehicle at crossing.For example, moved if being intended to vehicle according to the driving of vehicle in current lane,
It either moves and whether is limited by traffic lights in the next lane that will enter.If being limited by traffic lights,
And traffic lights, when being red light phase, preliminary judgement should wait for parking, and automatic driving vehicle enters standby mode.If parking
Duration has exceeded the waiting threshold value of red light phase, is further judged as currently it is traffic congestion state.Around automatic driving vehicle is transferred
Road network information, and detect the state of barrier in lane where automatic driving vehicle itself and the obstacle in other lanes
Object state can be generated the decision of lane change as final traveling decision, be conducive to make current traffic environment and accurately sentence
It is disconnected.Also, suitable traveling decision is made according to complicated traffic environment, improves driving efficiency, avoids traffic accident hair
It is raw, save running time.
In one embodiment, as shown in Fig. 2, step S30 includes:
Step S301: it is intended to judge whether vehicle is limited by the state of traffic lights according to driving.
Step S302: if vehicle is limited by the state of traffic lights, according to road network information, the shape of traffic lights
State and the state of barrier generate traveling decision.
Step S303: if vehicle is not limited by the state of traffic lights, according to road network information and barrier
State generates traveling decision.
In a kind of example, the state of traffic lights and driving are intended to have corresponding relationship.For example, the friendship for allowing to keep straight on
The state of ventilating signal lamp is green light phase, and driving is intended that vehicle and keeps straight on from current lane across intersection.For another example, allow right
The state of the traffic lights turned is green light phase, and driving, which is intended that vehicle and turns right from current lane, enters next lane.For another example,
The state for allowing the traffic lights to turn left is red light phase, and driving is intended that vehicle and turns left to enter next vehicle from current lane
Road when then green light being waited to light, then is transferred to next lane.
It is provided with direction, the direction of right-hand rotation and the direction traffic lights of left-hand rotation for allowing to keep straight on, then it represents that vehicle exists
Under driving with straight trip, right-hand rotation and left-hand rotation is intended to, vehicle is limited by traffic lights.Shape of the vehicle by traffic lights
When the limitation of state, the state of traffic lights is obtained first.For example, red light phase expression forbids vehicle to advance, amber light state table
Show that vehicle suspends, green light phase indicates that vehicle is allowed to pass through.Obtain current lane, current lane two sides lane or will enter
Next lane in barrier state, obtain the road network informations such as lane topological relation based on current lane.Finally, according to
The state of the road network information, the state of the traffic lights and barrier generates traveling decision.For example, if green light shape
Under state, the time of front obstacle blocking has been more than certain threshold value, and side lane and clear, then can be generated into other
The traveling decision in side lane improves driving efficiency, saves the time, avoid obstruction.
And it is not provided with direction, the direction of right-hand rotation and the direction traffic lights of left-hand rotation for allowing to keep straight on, then it represents that vehicle
Have straight trip, turn right and turn left driving be intended under, vehicle is not limited by traffic lights.The vehicle is not handed over
The limitation of the state of ventilating signal lamp may not need the state for obtaining traffic lights, according to road network information and the shape of barrier
State generates traveling decision.For example, being detected in lower a road section wherein if vehicle needs are turned right when entering lower a road section
Barrier is less in one lane, then generates the traveling decision turned right into this lane.
It should be pointed out that the traveling decision including but not limited to mentioned in above embodiment, according to current traffic
The generation of environment generation adaptability travels decision, in the protection scope of present embodiment.
In one embodiment, step S302 includes:
When the state of traffic lights is that green light lights, whether the dead time of the barrier in lane where judging vehicle
Beyond first threshold, if exceeding, lane change decision is generated according to the state of road network information and the barrier in remaining lane.
When the state of traffic lights is that red light lights, then waiting decision is generated.
In a kind of example, if traffic lights are green light phases, judged according to the dead time of front obstacle
Whether traffic jam is occurred.In case of blocking, is then generated and become according to the state of road network information and the barrier in remaining lane
Road decision.Wherein, the first threshold of dead time can generate corresponding jam level according to congestion length of time.For example, if
First threshold range was greater than 5 minutes less than 10 minutes, was slight congestion；First threshold range is greater than 10 minutes less than 20 points
Clock is medium congestion；First threshold range is greater than 20 minutes less than one hours, is severe congestion.
If traffic lights are red light phases, control automatic driving vehicle and enter standby mode, believed according to road network
Stop line in breath determines the parking position of automatic driving vehicle.
In one embodiment, step S303 includes:
Whether the dead time of the barrier in lane exceeds second threshold where judging vehicle, if exceeding, according to road network
The state of the barrier in information and remaining lane generates lane change decision.
In the case where limiting vehicle behavior without traffic lights in a kind of example, it is easier to which get congestion problem.Institute
Can use in the lane where vehicle, positioned at the dead time of the vehicle of vehicle front, or be located at vehicle beside vehicle
Dead time, to judge jam level.Wherein, the second threshold of dead time can be identical as first threshold, can also be different,
It is adaptively adjusted according to the actual situation.The second threshold of dead time can also generate phase according to congestion length of time
The jam level answered, with by first threshold generate corresponding jam level in the way of it is similar, details are not described herein.
Embodiment two
In a kind of specific embodiment, as shown in figure 3, providing a kind of crossing crane device of vehicle, comprising:
Driving is intended to and road network information obtains module 10, for obtaining the driving intention and road network that are located at the vehicle at crossing
Information；
Traffic light status obtains module 20, is intended to the states of corresponding traffic lights for obtaining and driving a vehicle；
Decision making module 30 is travelled, for according to the state of road network information, traffic lights and the state of barrier
Generate traveling decision；
Vehicle control module 40, for being moved according to traveling Decision Control vehicle.
In one embodiment, as shown in figure 4, traveling decision making module 30 includes:
Judging unit 301 judges whether the vehicle is limited by the state of traffic lights for being intended to according to driving；
First decision making unit 302 is believed if being limited for vehicle by the state of traffic lights according to road network
The state of breath, the state of traffic lights and barrier generates traveling decision；
Second decision making unit 303 is believed if not limited by the state of traffic lights for vehicle according to road network
The state of breath and barrier generates traveling decision.
In one embodiment, the first decision making unit 302 includes:
When first decision making subelement for the state when traffic lights is that green light lights, vehicle where vehicle is judged
Whether the dead time of the barrier in road exceeds first threshold, if exceeding, according to road network information and the obstacle in remaining lane
The state of object generates lane change decision；
When second decision making subelement for the state when traffic lights is that red light lights, then waiting decision is generated.
In one embodiment, the second decision making unit 303 includes:
Whether the dead time of third decision making subelement, the barrier for lane where judging vehicle exceeds second
Threshold value generates lane change decision according to the state of road network information and the barrier in remaining lane if exceeding.
Embodiment three
The embodiment of the invention provides a kind of crossing of vehicle driving terminals, as shown in Figure 5, comprising:
Memory 400 and processor 500 are stored with the computer journey that can be run on processor 500 in memory 400
Sequence.Processor 500 realizes the crossing travelling-crane method of the vehicle in above-described embodiment when executing the computer program.Memory
400 and processor 500 quantity can for one or more.
Communication interface 600 is communicated for memory 400 and processor 500 with outside.
Memory 400 may include high speed RAM memory, it is also possible to further include nonvolatile memory (non-
Volatile memory), a for example, at least magnetic disk storage.
If memory 400, processor 500 and the independent realization of communication interface 600, memory 400, processor 500
And communication interface 600 can be connected with each other by bus and complete mutual communication.The bus can be industrial standard
Architecture (ISA, Industry Standard Architecture) bus, external equipment interconnection (PCI, Peripheral
Component) bus or extended industry-standard architecture (EISA, Extended Industry Standard
Component) bus etc..The bus can be divided into address bus, data/address bus, control bus etc..For convenient for expression, Fig. 5
In only indicated with a thick line, it is not intended that an only bus or a type of bus.
Optionally, in specific implementation, if memory 400, processor 500 and communication interface 600 are integrated in one piece
On chip, then memory 400, processor 500 and communication interface 600 can complete mutual communication by internal interface.
Example IV
A kind of computer readable storage medium is stored with computer program, realization when described program is executed by processor
Embodiment one include it is any as described in vehicle crossing travelling-crane method.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable read-only memory
(CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other suitable Jie
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in its various change or replacement,
These should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to range.
Claims (10)
1. a kind of crossing travelling-crane method of vehicle characterized by comprising
Obtain the driving intention and road network information for being located at the vehicle at crossing；
Obtain the state of traffic lights corresponding with the driving intention；
Traveling decision is generated according to the state of the road network information, the state of the traffic lights and barrier；
It is moved according to vehicle described in the traveling Decision Control.
2. the method according to claim 1, wherein according to the road network information, the shape of the traffic lights
State and the state of barrier generate traveling decision, comprising:
Judge whether the vehicle is limited by the state of the traffic lights according to driving intention；
If the vehicle is limited by the state of the traffic lights, according to the road network information, the traffic lights
State and barrier state generate traveling decision；
If the vehicle is not limited by the state of the traffic lights, according to the road network information and the barrier
State generate traveling decision.
3. according to the method described in claim 2, it is characterized in that, if the vehicle by the state of the traffic lights limit
System then generates traveling decision according to the state of the road network information, the state of the traffic lights and barrier, comprising:
When the state of the traffic lights is that green light lights, the dead time of the barrier in lane where judging the vehicle
Whether exceed first threshold, if exceeding, lane change is generated according to the state of the road network information and the barrier in remaining lane
Decision；
When the state of the traffic lights is that red light lights, then waiting decision is generated.
4. according to the method described in claim 2, it is characterized in that, if the vehicle is not by the state of the traffic lights
Limitation then generates traveling decision according to the state of the road network information, the barrier, comprising:
Whether the dead time of the barrier in lane exceeds second threshold where judging the vehicle, if exceeding, according to
The state of road network information and the barrier in remaining lane generates lane change decision.
5. a kind of crossing crane device of vehicle characterized by comprising
Driving is intended to and road network information obtains module, for obtaining the driving intention and road network information that are located at the vehicle at crossing；
Traffic light status obtains module, for obtaining the state of traffic lights corresponding with the driving intention；
Decision making module is travelled, for the shape according to the road network information, the state of the traffic lights and barrier
State generates traveling decision；
Vehicle control module is moved for the vehicle according to the traveling Decision Control.
6. device according to claim 5, which is characterized in that the traveling decision making module includes:
Judging unit, for according to it is described driving be intended to judge the vehicle whether by the traffic lights state limit
System；
First decision making unit, if being limited for the vehicle by the state of the traffic lights, according to the road
The state of net information, the state of the traffic lights and barrier generates traveling decision；
Second decision making unit, if not limited by the state of the traffic lights for the vehicle, according to
The state of road network information and the barrier generates traveling decision.
7. device according to claim 5, which is characterized in that the first decision making unit includes:
First decision making subelement, for judging the vehicle institute when the state of the traffic lights is that green light lights
Whether exceed first threshold in the dead time of the barrier in lane, if exceeding, according to the road network information and remaining vehicle
The state of the barrier in road generates lane change decision；
Second decision making subelement, for when the state of the traffic lights is that red light lights, then generating waiting decision.
8. device according to claim 5, which is characterized in that the second decision making unit includes:
Whether the dead time of third decision making subelement, the barrier for lane where judging the vehicle exceeds second
Threshold value generates lane change decision according to the state of the road network information and the barrier in remaining lane if exceeding.
The terminal 9. a kind of crossing of vehicle is driven a vehicle characterized by comprising
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the method as described in any in claim 1-4.
10. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
The method as described in any in claim 1-4 is realized when row.
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| CN110597247A (en) * | 2019-08-22 | 2019-12-20 | 广州智湾科技有限公司 | Multi-vehicle obstacle avoidance path planning method |
| CN111289003A (en) * | 2020-02-06 | 2020-06-16 | 广州小马智行科技有限公司 | Path planning method, device, system, storage medium and processor |
| CN112198877A (en) * | 2020-09-30 | 2021-01-08 | 广东唯仁医疗科技有限公司 | Control method and system of unmanned vehicle based on 5G network |
| CN112639813A (en) * | 2020-02-21 | 2021-04-09 | 华为技术有限公司 | Automatic driving control method, information processing method, device and system |
| CN112885126A (en) * | 2019-11-30 | 2021-06-01 | 华为技术有限公司 | Driving prompting method and related device |
| CN113327446A (en) * | 2020-02-28 | 2021-08-31 | 大唐高鸿数据网络技术股份有限公司 | Information transmission processing method and device, processing equipment, vehicle-mounted unit and vehicle |
| CN113781818A (en) * | 2020-06-08 | 2021-12-10 | 北京京东乾石科技有限公司 | Method and device for planning vehicle driving information |
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| CN112639813A (en) * | 2020-02-21 | 2021-04-09 | 华为技术有限公司 | Automatic driving control method, information processing method, device and system |
| CN113327446A (en) * | 2020-02-28 | 2021-08-31 | 大唐高鸿数据网络技术股份有限公司 | Information transmission processing method and device, processing equipment, vehicle-mounted unit and vehicle |
| CN113781818A (en) * | 2020-06-08 | 2021-12-10 | 北京京东乾石科技有限公司 | Method and device for planning vehicle driving information |
| CN112198877A (en) * | 2020-09-30 | 2021-01-08 | 广东唯仁医疗科技有限公司 | Control method and system of unmanned vehicle based on 5G network |
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Application publication date: 20190614 |