CN110244719A - Automatic Pilot cognitive method, vehicle, system, equipment and storage medium - Google Patents
Automatic Pilot cognitive method, vehicle, system, equipment and storage medium Download PDFInfo
- Publication number
- CN110244719A CN110244719A CN201910481376.1A CN201910481376A CN110244719A CN 110244719 A CN110244719 A CN 110244719A CN 201910481376 A CN201910481376 A CN 201910481376A CN 110244719 A CN110244719 A CN 110244719A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- real
- perception information
- time perception
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The present invention relates to a kind of automatic Pilot cognitive method, vehicle, system, equipment and storage mediums, the real-time perception information that terminal is broadcasted by obtaining the first vehicle, wherein, real-time perception information includes the perception information to be obtained according to the environmental information of the first vehicle, and according to the second vehicle driving of real-time perception information planning.The real-time perception information planning vehicle driving that moving traffic is sent by other vehicles, vehicle is avoided only according to the perception information obtained according to the sensor for being mounted on vehicle itself to plan vehicle, lead to the phenomenon that blind area occur, improves the driving safety of autonomous driving vehicle.
Description
Technical field
The present invention relates to automobile technical fields, more particularly to a kind of automatic Pilot cognitive method, vehicle, system, set
Standby and storage medium.
Background technique
Autonomous driving vehicle is a kind of intelligent automobile that automatic Pilot is realized by computer system.Autonomous driving vehicle according to
Manually intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating, allow vehicle can be not any
Under the operation of mankind's active, automatic safe motor vehicles are operated.In vehicle travel process, autonomous driving vehicle needs pass through
Sensory perceptual system understand around traffic condition, according on travel route road and traffic condition navigate, to guarantee vehicle
Safety, normally travel.
The sensory perceptual system of existing autonomous driving vehicle generally includes various kinds of sensors (camera, infrared facility, laser thunder
Reach, millimetre-wave radar etc.) and equipment is calculated, obtain vehicle external environment information in real time by various kinds of sensors, and pass through calculating
Environmental information is converted to and can be planned and be planned by the navigation data of vehicle identification, and then to vehicle driving by equipment.
However above-mentioned sensory perceptual system is used, the effectively perceive of sensory perceptual system is only capable of perceiving vehicle periphery apart from limited
Local message, the environmental information for causing autonomous driving vehicle to perceive are limited, it is understood that there may be blind area, and then lead to autonomous driving vehicle
Driving safety it is not high.
Summary of the invention
Based on this, it is necessary to for the not high problem of the driving safety of autonomous driving vehicle, provide a kind of automatic Pilot
Cognitive method, vehicle, system, equipment and storage medium.
In a first aspect, a kind of automatic Pilot cognitive method, which comprises
The real-time perception information of the first vehicle broadcast is obtained, the real-time perception information includes according to first vehicle
The perception information that environmental information obtains；
According to second vehicle driving of real-time perception information planning.
It is described according to second vehicle driving of real-time perception information planning in one of the embodiments, comprising:
Obtain the environmental information of second vehicle and the car status information of the second vehicle；
Believed according to the vehicle-state of the real-time perception information, the environmental information of second vehicle and second vehicle
Breath plans second vehicle driving.
The real-time perception information includes according to the environmental information of first vehicle, in one of the embodiments,
The perception information that the location information of one vehicle and the car status information of the first vehicle obtain.
The real-time perception information for obtaining the broadcast of the first vehicle in one of the embodiments, the real-time perception letter
Breath includes the perception information obtained according to the environmental information of the first vehicle, comprising:
Obtain the perception information of multiple first vehicle broadcast；
According to preset condition, chooses at least one of perception information of the multiple first vehicle and believe as real-time perception
Breath；The preset condition include second vehicle at a distance from first vehicle be less than pre-determined distance threshold value, and/or, institute
The signal strength for stating received first vehicle of the second vehicle is greater than preset strength threshold value.It is described in one of the embodiments, to obtain
Before the real-time perception information for taking the first vehicle to broadcast, the method also includes:
According to the sensing data that sensor obtains, the environmental information of first vehicle is obtained；
The coordinate of each object in the environmental information of first vehicle is converted into the coordinate under preset coordinate system, obtains institute
State real-time perception information；
Broadcast the real-time perception information.
In one of the embodiments, the method also includes,
The coordinate of each object in the environmental information of second vehicle is converted into the coordinate under preset coordinate system, is obtained new
Real-time perception information；
Broadcast the new real-time perception information.
The car status information includes that location information, speed, the steering wheel of vehicle turn in one of the embodiments,
Angle, throttle and clutch state.
Second aspect, a kind of automatic driving vehicle, the vehicle include:
Module is obtained, for obtaining the real-time perception information of the first vehicle broadcast, the real-time perception information is according to institute
State the perception information that the environmental information of the first vehicle obtains；
Planning module, for according to second vehicle driving of real-time perception information planning.
The third aspect, automatic Pilot sensory perceptual system, the system comprises vehicles described at least two second aspects.
Fourth aspect, a kind of computer equipment, including memory and processor, the memory are stored with computer journey
Sequence, the processor perform the steps of when executing the computer program
The real-time perception information of the first vehicle broadcast is obtained, the real-time perception information is the ring according to first vehicle
The perception information that border information obtains；
According to second vehicle driving of real-time perception information planning.
5th aspect, a kind of computer readable storage medium are stored thereon with computer program, the computer program quilt
Processor performs the steps of when executing
The real-time perception information of the first vehicle broadcast is obtained, the real-time perception information is the ring according to first vehicle
The perception information that border information obtains；
According to second vehicle driving of real-time perception information planning.
Above-mentioned automatic Pilot cognitive method, vehicle, system, equipment and storage medium, terminal are wide by obtaining the first vehicle
The real-time perception information broadcast, wherein real-time perception information is the perception information obtained according to the environmental information of the first vehicle, and root
Perception information plans the second vehicle driving when factually.The real-time perception that moving traffic is sent by other
Informational program and decision vehicle driving, vehicle is avoided only according to the sense obtained according to the sensor for being mounted on vehicle itself
Information is known to plan vehicle, leads to the phenomenon that blind area occur, improves the driving safety of autonomous driving vehicle.
Detailed description of the invention
Fig. 1 is the schematic diagram of the application environment of automatic Pilot cognitive method in one embodiment；
Fig. 2 is the flow diagram of automatic Pilot cognitive method in one embodiment；
Fig. 3 is the flow diagram of automatic Pilot cognitive method in another embodiment；
Fig. 4 is the flow diagram of automatic Pilot cognitive method in another embodiment；
Fig. 5 is the flow diagram of automatic Pilot cognitive method in another embodiment；
Fig. 6 is the flow diagram of automatic Pilot cognitive method in another embodiment；
Fig. 7 is the flow diagram of automatic Pilot cognitive method in another embodiment；
Fig. 8 is the structural schematic diagram of the automatic driving vehicle provided in one embodiment；
Fig. 9 is the structural schematic diagram of the automatic driving vehicle provided in another embodiment；
Figure 10 is the structural schematic diagram of the automatic driving vehicle provided in another embodiment；
Figure 11 is the structural schematic diagram of the automatic driving vehicle provided in another embodiment；
Figure 12 is the structural schematic diagram of the automatic driving vehicle provided in another embodiment；
Figure 13 is the internal structure chart of computer equipment in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
Automatic Pilot cognitive method provided in this embodiment, can be adapted in application environment as shown in Figure 1.Wherein,
Automatic driving vehicle 102 is communicated with perception vehicle 104 by network by network.Automatic driving vehicle 102 passes through perception
The real-time perception information that vehicle 104 is sent, planning automatic driving vehicle 102 travel.Wherein, automatic driving vehicle 102 can with but
It is not limited to the vehicle with receive capabilities, perception vehicle 104 can be, but not limited to be that installation sensor obtains ambient enviroment letter
The vehicle of breath.
It should be noted that automatic Pilot cognitive method provided by the embodiments of the present application, executing subject can be automatically
Perception vehicle termination is driven, is also possible to perceive vehicle termination, the embodiment of the present application is without limitation.The terminal can pass through
The mode of software, hardware or software and hardware combining is implemented as some or all of of automatic Pilot sensory perceptual system.
Fig. 2 is the flow diagram of automatic Pilot cognitive method in one embodiment.What is involved is by logical for the present embodiment
The real-time perception information for obtaining the broadcast of the first vehicle is crossed, and according to the specific mistake of the second vehicle driving of real-time perception information planning
Journey.As shown in Fig. 2, method includes the following steps:
S101, the real-time perception information for obtaining the broadcast of the first vehicle, real-time perception information includes the ring according to the first vehicle
The perception information that border information obtains.
Wherein, the first vehicle can be the vehicle for obtaining real-time perception information.It can be above-mentioned perception vehicle,
In, real-time perception information can be according to the various sensors being arranged on the first vehicle the perception for obtaining environmental information acquisition
Information, wherein various kinds of sensors may include camera, infrared facility, laser radar, millimetre-wave radar etc., and environmental information can
To include the objects such as road, pedestrian, vehicle, barrier.First vehicle can be a vehicle, be also possible to multiple vehicles, this
Apply for that embodiment is without limitation.
Specifically, the first vehicle gets real-time perception information, can be broadcasted real-time perception information by communication module
It goes out.It, can be preset to order in preset subscription apart from interior reception real-time perception information when specifically receiving real-time perception information
It is interior there may be the real-time perception information of a broadcast to read distance, there may also be the real-time perception information of multiple broadcast, this Shens
Please embodiment it is without limitation.It subscribes to apart from interior when preset there are when the real-time perception information broadcasted, then receiving should
Real-time perception information；If preset subscription, there are when the real-time perception information of multiple broadcast, can receive multiple simultaneously apart from interior
The real-time perception information of broadcast is also possible to that the real-time perception information of a broadcast is selected to receive according to distance.For example,
The real-time perception information broadcasted in preset subscription range there are 3, respectively real-time perception information 1,2 and of real-time perception information
Real-time perception information 3, wherein corresponding first vehicle of real-time perception information 1 is distance 1km, real-time perception information 2 corresponding the
One vehicle is distance 1.5km, and corresponding first vehicle of real-time perception information 3 is distance 0.8km, then it is nearest to select to receive distance
Real-time perception information 3.
S102, according to the second vehicle driving of real-time perception information planning.
Specifically, the second vehicle can be automatic driving vehicle, can be the automatic Pilot for being only mounted with reception device
Vehicle plans the second vehicle driving by the real-time perception information received；It is also possible to be mounted with reception device simultaneously and determines
The vehicle of position device plans the second vehicle driving by the position of the real-time perception information and self poisoning that receive；It can be with
It is the autonomous driving vehicle for being mounted with various kinds of sensors and reception device, after receiving real-time perception information by reception device, root
Perception information plans the second vehicle driving when factually, in the driving process of the second vehicle, by being mounted on the second vehicle
Various kinds of sensors obtains the environmental information of the second vehicle, and for updating real-time perception information, the embodiment of the present application does not limit this
System.It should be noted that the second vehicle can only receive real-time perception information, and according to the second vehicle of real-time perception information planning
Traveling, is also possible to during traveling, obtains environmental information by sensor on the second vehicle of installation, generate real
When perception information, and real-time perception information is broadcasted, the embodiment of the present application is without limitation.That is, the second vehicle
It can be exchanged with the first vehicle.
During specifically according to real-time perception the second vehicle driving of information planning, on the basis of above-mentioned steps,
Real-time perception information can be the coordinate unification by multiple objects in environmental information under a coordinate system, according to unified seat
Mark plans the form of the second vehicle.When receiving real-time perception information, that is, get multiple objects in location information,
And then it can plan that the second vehicle is travelled along the coordinate of road, and hide pedestrian, vehicle and barrier according to the second vehicle location position
Hinder the position of object.
Above-mentioned automatic Pilot cognitive method, the real-time perception information that terminal is broadcasted by obtaining the first vehicle, wherein in real time
Perception information includes the real-time perception information obtained according to the environmental information of the first vehicle, and according to real-time perception information planning
Two vehicle drivings.The real-time perception informational program and decision vehicle that moving traffic is sent by other vehicles
Traveling, the perception information that vehicle is obtained only according to the sensor for being mounted on vehicle itself is avoided to plan vehicle, is caused
There is the phenomenon that blind area, improves the driving safety of autonomous driving vehicle.
Fig. 3 is the flow diagram of automatic Pilot cognitive method in another embodiment, and what is involved is terminals for the present embodiment
How according to real-time perception information planning the second vehicle driving detailed process, as shown in figure 3, above-mentioned S102 is " according to real-time perception
A kind of possible implementation method of the second vehicle driving of information planning ", comprising the following steps:
The car status information of S201, the environmental information for obtaining the second vehicle and the second vehicle.
Wherein, the environmental information of the second vehicle may include road, pedestrian, vehicle, barrier of the second vehicle periphery etc.
Location information.Car status information can be used for the state of the second vehicle, and optionally, car status information includes the position of vehicle
Information, speed, steering wheel angle, throttle and clutch state.Wherein, the location information of vehicle can be the real-time of vehicle
Coordinate can be one group of coordinate under terrestrial coordinate system；Speed can be the real-time speed of vehicle, be also possible to average vehicle
Speed；Steering wheel angle can be absolute angle, be also possible to the relative rotation of steering wheel position when steering wheel and a upper moment；
Throttle can be throttle releasing orientation, be also possible to fueling state；Clutch state can be clutch separation state and
Clutched state.
It specifically, can be by all kinds of sensings that are mounted on the second vehicle when obtaining the environmental information of the second vehicle
Device scans ambient enviroment to obtain the environmental information of the second vehicle, various kinds of sensors include but is not limited to camera, infrared facility,
Laser radar, millimetre-wave radar；Road environment information can also be obtained by the other sensors being arranged on road, according to second
Positioning device on vehicle obtains the location information of the second vehicle, obtains the corresponding environmental information of the location information；The application is real
It is without limitation to apply example.When obtaining the car status information of the second vehicle, can be determined by being mounted on the second vehicle
Position device obtains the location information of the second vehicle, and the speed of the second vehicle can be obtained by speed detection sensor, can
To obtain steering wheel angle by gyroscope, throttle and clutch state can be obtained by pressure sensor.
S202, according to real-time perception information, the car status information of the environmental information of the second vehicle and the second vehicle, planning
Second vehicle driving.
Specifically, on the basis of the above embodiments, real-time perception information, the environmental information and second of the second vehicle are obtained
It, can be according to the vehicle of real-time perception information, the environmental information of the second vehicle and the second vehicle after the car status information of vehicle
Status information plans the second vehicle driving.It can be according to real-time perception information and the environmental information of the second vehicle and plans
Second vehicle driving；It is also possible to plan the second vehicle row according to real-time perception information and the car status information of the second vehicle
It sails；It can also be according to the car status information of real-time perception information, the environmental information of the second vehicle and the second vehicle and plan
Second vehicle driving；The embodiment of the present application is without limitation.
In the car status information with specific reference to real-time perception information, the environmental information of the second vehicle and the second vehicle, rule
It, can be by the way that the location information of object each in the environmental information of the second vehicle be transformed into together during drawing the second vehicle driving
Under one coordinate system, perception information is generated, and the second vehicle driving is planned according to the perception information, be also possible to by by the second vehicle
Environmental information in the coordinate of each object be transformed under map coordinates system, generate perception information, and pass through the vehicle of the second vehicle
Status information predicts the driving trace of the second vehicle in a short time, according to the traveling rail of perception information and the second vehicle in a short time
Mark plans vehicle driving.For example, obtaining the second vehicle driving on the road in 4 lanes, and second according to real-time perception information
The vehicle slower there are speed in front of lane where vehicle, according to the environmental information of the second vehicle obtain the second vehicle periphery without
The speed of other pedestrians, vehicle or barrier, the second vehicle obtained according to the car status information of the second vehicle is fast, then basis
The environmental information and car status information of above-mentioned real-time perception information, the second vehicle plan the second vehicle cut-ins.
Above-mentioned automatic Pilot cognitive method, by obtaining the environmental information of the second vehicle and the second vehicle that are travelling
Car status information, according to the vehicle shape of real-time perception information, the environmental information of the second vehicle travelled and the second vehicle
State information, to plan vehicle driving.So that during planning the second vehicle driving, not only according to the broadcast of the first vehicle
Real-time perception information, the car status information of environmental information and the second vehicle also according to the second vehicle travelled, to advise
The second vehicle driving is drawn, the safety of automatic driving vehicle traveling is further increased.
Optionally, real-time perception information further include according to the environmental information of the first vehicle, the location information of the first vehicle and
The perception information that the car status information of first vehicle obtains.Specifically, the car status information of the first vehicle may include
Location information, speed, steering wheel angle, throttle and the clutch state of one vehicle, can be used to indicate that the first vehicle
Current location obtain the first vehicle dynamic position it is also predicted that the motion profile of the first vehicle.The positioning of first vehicle is believed
Breath can be the more specific location information for indicating the first vehicle.On the basis of the above embodiments, real-time perception information can pass through
The various kinds of sensors scanning ambient enviroment installed on first vehicle obtains environmental information, according to the location information of the first vehicle, and
The car status information of first vehicle forms an object in environmental information, obtains using the first vehicle as one of object
Obtain real-time perception information；It is also possible to scan ambient enviroment acquisition environment letter by the various kinds of sensors installed on the first vehicle
Breath, when environmental information is converted to new perception information, and will be according to the vehicle of the location information of the first vehicle and the first vehicle
The motion profile for the first vehicle that status information obtains, is integrated into the environmental information of the first vehicle, obtained perception information,
That is real-time perception information, the embodiment of the present application to this with no restriction.
Fig. 4 is the flow diagram of automatic Pilot cognitive method in another embodiment, and what is involved is terminals for the present embodiment
How the real-time perception information detailed process of first vehicle broadcast is obtained, as shown in figure 4, above-mentioned S101 " it is wide to obtain the first vehicle
A kind of possible implementation method of the real-time perception information broadcast ", comprising the following steps:
S301, the perception information for obtaining multiple first vehicle broadcast.
S302, according to preset condition, choose at least one of perception information of multiple first vehicles and be used as real-time perception
Information；Preset condition include the second vehicle at a distance from the first vehicle be less than pre-determined distance threshold value, and/or, the second vehicle receive
The first vehicle signal strength be greater than preset strength threshold value.
Specifically, when receiving the perception information of multiple broadcast, it is also possible to select at least one according to preset condition
As real-time perception information.Wherein, preset condition includes that the second vehicle is less than pre-determined distance threshold at a distance from the first vehicle
Value, and/or, the signal strength of received first vehicle of the second vehicle is greater than preset strength threshold value.For example, in preset subscription model
Enclose the interior perception information broadcasted there are 3, respectively perception information 1, perception information 2 and perception information 3, wherein perception information 1
The distance between corresponding second vehicle and the first vehicle are 0.9km, and the signal that the second vehicle receives real-time perception information 1 is strong
Degree is -81dBm, and corresponding second vehicle of perception information 2 is 1.5km at a distance from the first vehicle, and the second vehicle receives in real time
The signal strength of perception information 2 is -95dBm, and corresponding second vehicle of perception information 3 is 0.8km at a distance from the first vehicle, the
The signal strength that two vehicles receive real-time perception information 3 is -69dBm, preset condition be the second vehicle and the first vehicle away from
From being less than 1km, and, the signal strength of received first vehicle of the second vehicle is greater than -80dBm, then according to preset condition, selection sense
Know that information 3 is used as real-time perception information.
Above-mentioned automatic Pilot cognitive method, by obtaining the perception information of multiple first vehicle broadcast, and according to default item
Part chooses at least one of perception information of multiple first vehicles and is used as real-time perception information；Preset condition includes the second vehicle
It is less than pre-determined distance threshold value at a distance from the first vehicle, and/or, the signal strength of received first vehicle of the second vehicle is greater than
Preset strength threshold value avoids and receives multiple perception informations in preset subscription range, and leads to not the feelings handled in time
Condition improves the safety according to the second vehicle of real-time perception information planning.
On the basis of the above embodiments, before the real-time perception information for obtaining the broadcast of the first vehicle, can also pass through
The environmental information for the first vehicle that receiving sensor scans, to obtain real-time perception information, and real-time perception information is wide
Broadcast is gone, and is described in detail below by Fig. 5 and embodiment illustrated in fig. 6.
Fig. 5 is the flow diagram of automatic Pilot cognitive method in another embodiment, and the present embodiment design is terminal
How according to the environmental information of the first vehicle, real-time perception information is obtained, and broadcast the detailed process of real-time perception information, such as schemed
Shown in 5, this method is further comprising the steps of:
S401, the sensing data obtained according to sensor, obtain the environmental information of the first vehicle.
Wherein, sensor can be the camera being arranged on the first vehicle, infrared facility, laser radar, millimeter wave thunder
Up to etc., it scans to obtain the sensing data including object each in the first vehicle-periphery by sensor, to the sensor
Data carry out perception processing, obtain the environmental information of the first vehicle.Sensing data can be obtained by a sensor to obtain
The environmental information for obtaining the first vehicle is also possible to obtain sensing data by multiple sensors to obtain the environment of the first vehicle
Information, the embodiment of the present application are without limitation.For example, laser radar scanning ambient enviroment, the laser thunder of acquisition can be passed through
Up to sensing data, perception processing is carried out to the laser radar sensor data, obtains the environmental information of above-mentioned first vehicle.?
The ambient enviroment that the first vehicle can be shot by camera, obtains camera sensing device data, to the laser radar sensor
Data carry out perception processing, obtain camera perception information, while by laser radar scanning ambient enviroment, acquisition swashs
Optical radar sensing data carries out perception processing to the laser radar sensor data, obtains laser radar perception information, in turn
According to camera perception information and laser radar perception information, the environmental information of above-mentioned first vehicle is obtained.The embodiment of the present application
It is without limitation.
After the sensing data obtained according to sensor, the environmental information for obtaining the first vehicle, it can be first
The environmental information of vehicle is sent to the communication module being arranged on the first vehicle, issues automatic Pilot perception dress by communication module
It sets, automatic Pilot sensing device can receive the environmental information of the first vehicle by way of wireless telecommunications.Wherein it is possible to one
First vehicle can correspond to an automatic Pilot sensing device, be also possible to the corresponding automatic Pilot perception of multiple first vehicles
Device, the embodiment of the present application are without limitation.
S402, the coordinate of object each in the environmental information of the first vehicle is converted into the coordinate under preset coordinate system, obtained
Real-time perception information.
Specifically, on the basis of the above embodiments, it can be generated real-time according to the environmental information of the first vehicle of acquisition
Perception information.It can be on each first vehicle obtain environmental information after, generate a real-time perception information, be also possible to
Multiple first vehicles obtain multiple environmental informations, by the coordinate unification of objects multiple in multiple environmental informations a to coordinate system
In, a real-time perception information is generated, the embodiment of the present application is without limitation.
S403, broadcast real-time perception information.
Specifically, on the basis of the above embodiments, it obtains in real-time perception information, it can be by way of broadcast, extensively
Broadcast real-time perception information.Real-time perception information can be broadcasted by default frequency range, correspondingly, wide receiving the first vehicle
When the real-time perception information broadcast, the real-time sense in the first vehicle of default UHF band reception broadcast of broadcast real-time perception information can be
Know information.For example, the first vehicle passes through the multi-band broadcast real-time perception information of 100-105MHz, real-time perception information is being received
When, pass through the UHF band reception of the 100-105MHz real-time perception information.
Above-mentioned automatic Pilot cognitive method, the logical sensing data obtained according to sensor, the ring of the first vehicle of acquisition
Border information, and the coordinate of object each in the environmental information of the first vehicle is converted into the coordinate under preset coordinate system, it obtains real-time
Perception information, and then real-time perception information is broadcasted, allow moving traffic according to the real-time perception information meter of broadcast
Draw and decision vehicle driving, avoid vehicle only according to perception information of the sensor to ambient enviroment for being mounted on vehicle itself
It plans vehicle, leads to the phenomenon that blind area occur, further increase the driving safety of autonomous driving vehicle.
In one embodiment, when terminal can also obtain the second vehicle according to the sensor being arranged on the second vehicle
Environmental information, and real-time perception information is updated according to the environmental information of the second vehicle, and updated real-time perception information is wide
It broadcasts.It is described in detail below by Fig. 6.
Fig. 6 is the flow diagram of automatic Pilot cognitive method in another embodiment, and what is involved is terminals for the present embodiment
How according to the environmental information of the second vehicle, real-time perception information is updated, and broadcast the detailed process of real-time perception information, such as schemed
Shown in 6, this method is further comprising the steps of:
S501, the location information for obtaining the second vehicle, according to the location information of second vehicle, by the ring of the second vehicle
The coordinate of each object is converted to the coordinate under preset coordinate system in the information of border, obtains new real-time perception information.
Specifically, the location information of the second vehicle can be the real-time position information of the second vehicle, can pass through installation
Positioning device on the second vehicle obtains.On the basis of the above embodiments, can be according to the location information of the second vehicle, it will
The coordinate of each object is converted to the coordinate under preset coordinate system in the environmental information of second vehicle, updates real-time perception information, obtains
Obtain real-time perception information newly.It, which can be, is converted to same coordinate for the coordinate of each object in the environmental information of the second vehicle
Coordinate under system updates real-time perception information, to obtain new real-time perception information；It is also possible to believe the environment of the second vehicle
The coordinate unification of each object is converted to the coordinate under the same coordinate system in the coordinate and real-time perception information of each object in breath,
Obtain new real-time perception information.For example, initial real-time perception information is according to the sense in the preset coordinate system of environmental information
Know information, by the way that the coordinate of object each in the environmental information of the second vehicle is converted to coordinate in preset coordinate system, obtains new
Real-time perception information.
The new real-time perception information of S502, broadcast.
Above-mentioned automatic Pilot cognitive method, it is default by being converted to the coordinate of object each in the environmental information of the second vehicle
Coordinate under coordinate system obtains new real-time perception information, and broadcasts new real-time perception information.So that real-time perception information is not
It is only to be obtained according to the environmental information of vehicle used for positioning, updates this in real time also according to moving traffic environmental information
Perception information, so that real-time perception information is more accurate, so that more being pacified according to real-time perception information planning vehicle driving
Entirely, the driving safety of autonomous driving vehicle is further improved.
On the basis of the above embodiments, may exist third vehicle, third vehicle can be used as the first vehicle and second
First vehicle acquisition real-time perception information is broadcast to the second vehicle by the relay vehicle between vehicle.Come below by Fig. 7 detailed
Description.Fig. 7 be another embodiment in automatic Pilot cognitive method flow diagram, the present embodiment what is involved is terminal how
The detailed process that real-time perception information is broadcasted by third vehicle, as shown in fig. 7, this method is further comprising the steps of:
S601, real-time perception information is sent to third vehicle.
Specifically, third vehicle can be automatic driving vehicle, be also possible to the vehicle of pilot steering, the embodiment of the present application
It is without limitation.Meanwhile third vehicle can be a vehicle, be also possible to more vehicles, the embodiment of the present application to this not
It is limited.Communication device can be set thereon, can receive the real-time perception information of terminal transmission.Specifically will be real-time
Perception information can be after terminal obtains real-time perception information, is directly sent in broadcast area by way of broadcast
All third vehicles are also possible to for real-time perception information being sent to apart from nearest third vehicle, and the embodiment of the present application is to this
With no restrictions.
S602, real-time perception information is broadcasted by third vehicle.
It specifically, on the basis of the above embodiments, then can be by more since third vehicle may include more vehicles
The mode of a third vehicle cascade broadcast, broadcast them real-time perception information.For example, distance between the first vehicle and the second vehicle
Farther out, there are 3 third vehicles, respectively third vehicle 1, third vehicle 2 and third vehicle between the first vehicle and the second vehicle
3, then real-time perception information can be sent to third vehicle 1 by the first vehicle, and then be believed the real-time perception by third vehicle 1
Breath is broadcast to third vehicle 2, and when third vehicle 2 receives above-mentioned real-time perception information, real-time perception information is broadcast to third
Vehicle 3, and then be broadcasted real-time perception information by third vehicle 3.
It should be understood that although each step in the flow chart of Fig. 2-7 is successively shown according to the instruction of arrow,
These steps are not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
Execution there is no stringent sequences to limit, these steps can execute in other order.Moreover, at least one in Fig. 2-7
Part steps may include that perhaps these sub-steps of multiple stages or stage are not necessarily in synchronization to multiple sub-steps
Completion is executed, but can be executed at different times, the execution sequence in these sub-steps or stage is also not necessarily successively
It carries out.
Fig. 8 is the structural schematic diagram for the automatic driving vehicle that one embodiment provides.As shown in figure 8, the automatic Pilot vehicle
, comprising: obtain module 10 and planning module 20, in which:
Module 10 is obtained, for obtaining the real-time perception information of the first vehicle broadcast, the real-time perception information includes root
The perception information obtained according to the environmental information of first vehicle；
Planning module 20, for according to second vehicle driving of real-time perception information planning.
Automatic driving vehicle provided by the embodiments of the present application can execute above method embodiment, realization principle and skill
Art effect is similar, and details are not described herein.
Fig. 9 is the structural schematic diagram for the automatic driving vehicle that another embodiment provides.In above-mentioned embodiment illustrated in fig. 8
On the basis of, planning module 20 includes: acquiring unit 201 and planning unit 202, in which:
Acquiring unit 201, for obtaining the environmental information of second vehicle and the car status information of the second vehicle；
Planning unit 202, for according to the real-time perception information, the environmental information of second vehicle and the second vehicle
Car status information, plan second vehicle driving.
In one embodiment, the real-time perception information further includes according to the environmental information of first vehicle, first
The perception information that the location information of vehicle and the car status information of the first vehicle obtain.
In one embodiment, module 10 is obtained to be specifically used for obtaining the perception information of multiple first vehicle broadcast；According to
Preset condition, one chosen in the perception information of the multiple first vehicle are used as real-time perception information；The preset condition
Including minimum at a distance from the first vehicle.
Automatic driving vehicle provided by the embodiments of the present application can execute above method embodiment, realization principle and skill
Art effect is similar, and details are not described herein.
Figure 10 is the structural schematic diagram for the automatic driving vehicle that another embodiment provides.It is real shown in above-mentioned Fig. 8 or Fig. 9
On the basis of applying example, automatic driving vehicle further include: receiving module 30, conversion module 40 and broadcast module 50, in which:
Receiving module 30, the sensing data for being obtained according to sensor obtain the environmental information of first vehicle；
Conversion module 40, for the coordinate of each object in the environmental information of first vehicle to be converted to preset coordinate system
Under coordinate, obtain the real-time perception information；
Broadcast module 50, for broadcasting the real-time perception information.
It should be noted that Figure 10 is shown on the basis of embodiment shown in Fig. 9, Figure 10 be can also be in Fig. 8 institute
On the basis of the embodiment shown, the embodiment of the present application is without limitation.
Automatic driving vehicle provided by the embodiments of the present application can execute above method embodiment, realization principle and skill
Art effect is similar, and details are not described herein.
Figure 11 is the structural schematic diagram for the automatic driving vehicle that another embodiment provides.In any one of above-mentioned Fig. 8-Figure 10
On the basis of illustrated embodiment, automatic driving vehicle further include: update module 60, in which:
Update module 60, for obtaining the location information of the second vehicle, according to the location information of second vehicle, by institute
The coordinate for stating each object in the environmental information of the second vehicle is converted to coordinate under preset coordinate system, obtains new real-time perception letter
Breath；
Broadcast module 50 is also used to broadcast the new real-time perception information.
In one embodiment, the car status information includes location information, speed, steering wheel angle, the oil of vehicle
Door state and clutch state.
It should be noted that Figure 11 is shown on the basis of embodiment illustrated in fig. 10, Figure 11 can also be in Fig. 8 or
On the basis of embodiment shown in Fig. 9, the embodiment of the present application is without limitation.
Automatic driving vehicle provided by the embodiments of the present application can execute above method embodiment, realization principle and skill
Art effect is similar, and details are not described herein.
Figure 12 is the structural schematic diagram for the automatic driving vehicle that another embodiment provides.In any one of above-mentioned Fig. 8-Figure 11
On the basis of illustrated embodiment, automatic driving vehicle further include: forwarding module 70, in which:
Forwarding module 70 is specifically used for the real-time perception information being sent to third vehicle；It is wide by the third vehicle
Broadcast the real-time perception information.
Specific about a kind of automatic driving vehicle limits the limit that may refer to above for automatic Pilot cognitive method
Fixed, details are not described herein.Modules in above-mentioned automatic driving vehicle can be fully or partially through software, hardware and combinations thereof
To realize.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment, can also be with soft
Part form is stored in the memory in computer equipment, executes the corresponding behaviour of the above modules in order to which processor calls
Make.
In one embodiment, a kind of automatic Pilot sensory perceptual system is provided, which includes at least two above-mentioned Fig. 8-
Vehicle shown in any one of 12 embodiments.
It specifically, may include 2 vehicles as shown in any one of Fig. 8-12 embodiment in automatic Pilot sensory perceptual system,
It may include multiple vehicles, the embodiment of the present application is without limitation.Wherein it is possible to which having a vehicle is the first vehicle, it is used for
Real-time perception information is broadcasted, there may also be multiple first vehicles, broadcast real-time perception information in different places.Further
Ground, the second vehicle can be one, be also possible to multiple, and the embodiment of the present application is without limitation.When the second vehicle obtains week
After enclosing environmental information, real-time perception information can be updated according to ambient condition information, obtain new real-time perception information, and wide
Broadcast new real-time perception information.
Above-mentioned automatic Pilot sensory perceptual system, its advantages are similar with any of the above-described automatic Pilot perception vehicle, herein
It repeats no more.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure
Figure can be as shown in figure 13.The computer equipment includes the processor connected by system bus, memory, network interface, shows
Display screen and input unit.Wherein, the processor of the computer equipment calculates and plans ability for providing.The computer equipment
Memory includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer
Program.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The meter
The network interface for calculating machine equipment is used to communicate with external terminal by network connection.When the computer equipment is executed by processor
To realize a kind of automatic Pilot cognitive method.The display screen of the computer equipment can be liquid crystal display or electric ink is aobvious
Display screen, the input unit of the computer equipment can be the touch layer covered on display screen, be also possible to computer equipment shell
Key, trace ball or the Trackpad of upper setting can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Figure 13, only part relevant to disclosure scheme
The block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to disclosure scheme, and specific computer is set
Standby may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor perform the steps of when executing computer program
The real-time perception information of the first vehicle broadcast is obtained, the real-time perception information includes the environment according to the first vehicle
The perception information that information obtains；
According to second vehicle driving of real-time perception information planning.
In one embodiment, the ring for obtaining the second vehicle is also performed the steps of when processor executes computer program
The car status information of border information and the second vehicle；According to the real-time perception information, the environmental information of second vehicle and
The car status information of second vehicle plans second vehicle driving.
In one embodiment, the real-time perception information further includes according to the environmental information of first vehicle, first
The perception information that the location information of vehicle and the car status information of the first vehicle obtain.
In one embodiment, it is also performed the steps of when processor executes computer program and obtains multiple first vehicles
The perception information of broadcast；According to preset condition, one in the perception information of the multiple first vehicle is chosen as sense in real time
Know information；The preset condition includes minimum at a distance from the first vehicle.
In one embodiment, it is also performed the steps of when processor executes computer program according to sensor acquisition
Sensing data obtains the environmental information of first vehicle；By the coordinate of each object in the environmental information of first vehicle
The coordinate under preset coordinate system is converted to, the real-time perception information is obtained；Broadcast the real-time perception information.
In one embodiment, it is also performed the steps of when processor executes computer program and obtains determining for the second vehicle
Position information converts the coordinate of each object in the environmental information of second vehicle according to the location information of second vehicle
For the coordinate under preset coordinate system, new real-time perception information is obtained；Broadcast the new real-time perception information.
In one embodiment, the car status information includes location information, speed, steering wheel angle, the oil of vehicle
Door state and clutch state.
In one embodiment, it is also performed the steps of when processor executes computer program and believes the real-time perception
Breath is sent to third vehicle；The real-time perception information is broadcasted by the third vehicle.
Computer equipment provided in this embodiment, implementing principle and technical effect are similar with above method embodiment,
This is repeated no more.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
The real-time perception information of the first vehicle broadcast is obtained, the real-time perception information includes the environment according to the first vehicle
The perception information that information obtains；
According to second vehicle driving of real-time perception information planning.
In one embodiment, it is also performed the steps of when computer program is executed by processor and obtains the second vehicle
The car status information of environmental information and the second vehicle；According to the real-time perception information, the environmental information of second vehicle
With the car status information of second vehicle, second vehicle driving is planned.
In one embodiment, the real-time perception information further includes according to the environmental information of first vehicle, first
The perception information that the location information of vehicle and the car status information of the first vehicle obtain.
In one embodiment, it is also performed the steps of when computer program is executed by processor and obtains multiple first vehicles
Broadcast perception information；According to preset condition, one in the perception information of the multiple first vehicle is chosen as real-time
Perception information；The preset condition includes minimum at a distance from the first vehicle.
In one embodiment, it also performs the steps of when computer program is executed by processor and is obtained according to sensor
Sensing data, obtain the environmental information of first vehicle；By the seat of each object in the environmental information of first vehicle
Mark is converted to the coordinate under preset coordinate system, obtains the real-time perception information；Broadcast the real-time perception information.
In one embodiment, it is also performed the steps of when computer program is executed by processor and obtains the second vehicle
Location information turns the coordinate of each object in the environmental information of second vehicle according to the location information of second vehicle
The coordinate being changed under preset coordinate system obtains new real-time perception information；Broadcast the new real-time perception information.
In one embodiment, the car status information includes location information, speed, steering wheel angle, the oil of vehicle
Door state and clutch state.
In one embodiment, it is also performed the steps of when computer program is executed by processor by the real-time perception
Information is sent to third vehicle；The real-time perception information is broadcasted by the third vehicle.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided by the disclosure,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of automatic Pilot cognitive method, which is characterized in that the described method includes:
The real-time perception information of the first vehicle broadcast is obtained, the real-time perception information includes the environmental information according to the first vehicle
Obtained perception information；
According to second vehicle driving of real-time perception information planning.
2. method according to claim 1, which is characterized in that described according to the second vehicle of real-time perception information planning row
It sails, comprising:
Obtain the environmental information of the second vehicle and the car status information of the second vehicle；
According to the real-time perception information, the car status information of the environmental information of second vehicle and second vehicle,
Plan second vehicle driving.
3. method according to claim 1 or claim 2, which is characterized in that the real-time perception information further includes first vehicle
Location information and first vehicle car status information.
4. method according to claim 1 or claim 2, the real-time perception information for obtaining the broadcast of the first vehicle, the real-time sense
Know that information includes the perception information obtained according to the environmental information of the first vehicle, comprising:
Obtain the perception information of multiple first vehicle broadcast；
According to preset condition, chooses at least one of perception information of the multiple first vehicle and be used as real-time perception information；
The preset condition includes that second vehicle is less than pre-determined distance threshold value at a distance from first vehicle, and/or, described the
The signal strength of received first vehicle of two vehicles is greater than preset strength threshold value.
5. method according to claim 1 or claim 2, which is characterized in that the real-time perception information for obtaining the broadcast of the first vehicle
Before, the method also includes:
According to the sensing data that sensor obtains, the environmental information of first vehicle is obtained；
The coordinate of each object in the environmental information of first vehicle is converted into the coordinate under preset coordinate system, obtains the reality
When perception information；
Broadcast the real-time perception information.
6. method according to claim 5, which is characterized in that the method also includes,
The location information for obtaining the second vehicle believes the environment of second vehicle according to the location information of second vehicle
The coordinate of each object is converted to the coordinate under preset coordinate system in breath, obtains new real-time perception information；
Broadcast the new real-time perception information.
7. method according to claim 2, which is characterized in that the car status information includes the location information of vehicle, vehicle
Speed, steering wheel angle, throttle and clutch state.
8. method according to claim 1 or claim 2, which is characterized in that the method also includes:
The real-time perception information is sent to third vehicle；
The real-time perception information is broadcasted by the third vehicle.
9. a kind of automatic driving vehicle, which is characterized in that the vehicle includes:
Module is obtained, for obtaining the real-time perception information of the first vehicle broadcast, the real-time perception information includes according to
The perception information that the environmental information of first vehicle obtains；
Planning module, for according to second vehicle driving of real-time perception information planning.
10. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In when the processor executes the computer program the step of any one of realization claim 1-7 the method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481376.1A CN110244719A (en) | 2019-06-04 | 2019-06-04 | Automatic Pilot cognitive method, vehicle, system, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481376.1A CN110244719A (en) | 2019-06-04 | 2019-06-04 | Automatic Pilot cognitive method, vehicle, system, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110244719A true CN110244719A (en) | 2019-09-17 |
Family
ID=67885947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910481376.1A Pending CN110244719A (en) | 2019-06-04 | 2019-06-04 | Automatic Pilot cognitive method, vehicle, system, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110244719A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111006681A (en) * | 2019-12-25 | 2020-04-14 | 星觅(上海)科技有限公司 | Auxiliary navigation method, device, equipment and medium |
| CN112912810A (en) * | 2021-01-27 | 2021-06-04 | 华为技术有限公司 | Control method and device |
| CN113587951A (en) * | 2021-09-30 | 2021-11-02 | 国汽智控(北京)科技有限公司 | Path planning method, device, system, server, storage medium and product |
| CN114761761A (en) * | 2020-03-16 | 2022-07-15 | 华为技术有限公司 | Information acquisition method and device |
| WO2023274029A1 (en) * | 2021-06-28 | 2023-01-05 | 维沃移动通信有限公司 | Communication and sensing method, apparatus, and network device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105976631A (en) * | 2015-11-06 | 2016-09-28 | 乐卡汽车智能科技（北京）有限公司 | Vehicle data processing method and vehicle terminal |
| KR20170096075A (en) * | 2016-02-15 | 2017-08-23 | 한국전자통신연구원 | Apparatus and method for self-driving of vehicle in linking area |
| WO2017149451A2 (en) * | 2016-02-29 | 2017-09-08 | Verity Studios Ag | Systems and methods for charging, transporting, and operating flying machines |
| CN108182817A (en) * | 2018-01-11 | 2018-06-19 | 北京图森未来科技有限公司 | Automatic Pilot auxiliary system, trackside end auxiliary system and vehicle-mounted end auxiliary system |
| CN108417087A (en) * | 2018-02-27 | 2018-08-17 | 浙江吉利汽车研究院有限公司 | A kind of vehicle safety traffic system and method |
| CN108698594A (en) * | 2016-02-29 | 2018-10-23 | 华为技术有限公司 | The method and apparatus of automatic Pilot |
-
2019
- 2019-06-04 CN CN201910481376.1A patent/CN110244719A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105976631A (en) * | 2015-11-06 | 2016-09-28 | 乐卡汽车智能科技（北京）有限公司 | Vehicle data processing method and vehicle terminal |
| KR20170096075A (en) * | 2016-02-15 | 2017-08-23 | 한국전자통신연구원 | Apparatus and method for self-driving of vehicle in linking area |
| WO2017149451A2 (en) * | 2016-02-29 | 2017-09-08 | Verity Studios Ag | Systems and methods for charging, transporting, and operating flying machines |
| CN108698594A (en) * | 2016-02-29 | 2018-10-23 | 华为技术有限公司 | The method and apparatus of automatic Pilot |
| CN108182817A (en) * | 2018-01-11 | 2018-06-19 | 北京图森未来科技有限公司 | Automatic Pilot auxiliary system, trackside end auxiliary system and vehicle-mounted end auxiliary system |
| CN108417087A (en) * | 2018-02-27 | 2018-08-17 | 浙江吉利汽车研究院有限公司 | A kind of vehicle safety traffic system and method |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111006681A (en) * | 2019-12-25 | 2020-04-14 | 星觅(上海)科技有限公司 | Auxiliary navigation method, device, equipment and medium |
| CN114761761A (en) * | 2020-03-16 | 2022-07-15 | 华为技术有限公司 | Information acquisition method and device |
| CN114761761B (en) * | 2020-03-16 | 2023-08-22 | 华为技术有限公司 | Information acquisition method and device |
| CN112912810A (en) * | 2021-01-27 | 2021-06-04 | 华为技术有限公司 | Control method and device |
| WO2023274029A1 (en) * | 2021-06-28 | 2023-01-05 | 维沃移动通信有限公司 | Communication and sensing method, apparatus, and network device |
| CN113587951A (en) * | 2021-09-30 | 2021-11-02 | 国汽智控(北京)科技有限公司 | Path planning method, device, system, server, storage medium and product |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110244719A (en) | Automatic Pilot cognitive method, vehicle, system, equipment and storage medium | |
| US10349011B2 (en) | System and method for improved obstacle awareness in using a V2X communications system | |
| CN109389832B (en) | System and method for improving obstacle awareness using a V2X communication system | |
| US10514697B2 (en) | Vehicle remote assistance mode | |
| CN108062094B (en) | Autonomous system and method for realizing vehicle driving track planning based on processor | |
| US10613547B2 (en) | System and method for improved obstacle awareness in using a V2X communications system | |
| US10062290B2 (en) | Convoy vehicle look-ahead | |
| US11378980B2 (en) | Cellular device location discovery systems and methods for autonomous vehicles | |
| US20180136660A1 (en) | Automated Co-Pilot Control For Autonomous Vehicles | |
| US20180315314A1 (en) | Automated vehicle route traversal | |
| CN110412595A (en) | Roadbed cognitive method, system, vehicle, equipment and storage medium | |
| US10816356B2 (en) | Autonomous feature optimization for a connected vehicle based on a navigation route | |
| CN114255606B (en) | Auxiliary driving reminding method, auxiliary driving reminding device and auxiliary driving reminding device for map and map | |
| CN111169479A (en) | Cruise control method, device and system, vehicle and storage medium | |
| WO2019225268A1 (en) | Travel plan generation device, travel plan generation method, and control program | |
| US11548443B2 (en) | Display system, display method, and program for indicating a peripheral situation of a vehicle | |
| CN112498349A (en) | Maneuver plan for emergency lane changes | |
| CN110377027A (en) | Unmanned cognitive method, system, device and storage medium | |
| JP7043242B2 (en) | Programs, information processing equipment, and delivery management systems | |
| CN110942665A (en) | Vehicle positioning method, vehicle-mounted equipment and storage medium | |
| CN112824150A (en) | System and method for communicating anticipated vehicle maneuvers | |
| CN114091626B (en) | True value detection method, device, equipment and storage medium | |
| CN110027558B (en) | Relaxed turn boundary for autonomous vehicles | |
| US11203344B2 (en) | Courteous trajectory planning for automated vehicles | |
| CN116194348A (en) | Automatic bus-substituting parking method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |