CN110244738B

CN110244738B - Vehicle running control method and device and vehicle

Info

Publication number: CN110244738B
Application number: CN201910563636.XA
Authority: CN
Inventors: 吴贤; 刘宇; 赖艺; 罗功武
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2019-06-26
Filing date: 2019-06-26
Publication date: 2022-05-13
Anticipated expiration: 2039-06-26
Also published as: CN110244738A

Abstract

The application provides a running control method and device for a vehicle, a computer device, a storage medium and a vehicle, wherein the method comprises the following steps: in the driving process, acquiring the current real-time positioning information of the vehicle and a real-time image of the external environment of the vehicle; matching the real-time image with the vehicle exterior environment image of the corresponding positioning position of each memory route stored in the memory route library according to the real-time positioning information; when the target image is matched, determining a memory route corresponding to the target image as a target route; and switching the current driving route of the vehicle to a target route, and controlling the vehicle to drive on the target route. The method can match the real-time image with the target image from the pre-stored memory route, identify the relevant position of the memory route where the vehicle runs, quickly call the memory route and control the automatic driving of the vehicle, can reduce the input or search of the automatic driving route by a user, and improve the starting efficiency of the automatic driving.

Description

Vehicle running control method and device and vehicle

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to a method for controlling travel of a vehicle, a travel control apparatus for a vehicle, a computer device, a storage medium, and a vehicle.

Background

At present, the driving quality can be improved by the aid of the assistance of a navigation system in the process of driving a vehicle by a user.

The navigation system may recommend a travel route to the user. For example, a user enters an unfamiliar destination, and the navigation system plans a drivable route and provides the route for the user to select, which may enable autopilot of the route.

However, the user needs to input a destination to the navigation system for starting the automatic driving for the familiar destination, which complicates the automatic driving starting process and causes a problem of low automatic driving efficiency.

Disclosure of Invention

In view of the above, it is necessary to provide a vehicle travel control method, a vehicle travel control device, a computer device, a storage medium, and a vehicle, which address the above technical drawbacks, particularly the technical drawback of low automatic driving efficiency.

A running control method of a vehicle, comprising the steps of:

in the driving process, acquiring the current real-time positioning information of the vehicle and a real-time image of the external environment of the vehicle;

matching the real-time image with the vehicle exterior environment image of the corresponding positioning position of each memory route stored in the memory route library according to the real-time positioning information;

when the target image is matched, determining a memory route corresponding to the target image as a target route;

and switching the current driving route of the vehicle to the target route, and controlling the vehicle to drive on the target route.

In one embodiment, the step of controlling the vehicle to travel on the target route includes:

generating a route switching query according to the target route, and sending the route switching query to a user; and when receiving the switching confirmation response of the route switching inquiry, controlling the vehicle to automatically drive according to the target route.

In one embodiment, before the step of matching the real-time image with the vehicle exterior environment image of the corresponding positioning position of each memory route stored in the memory route library according to the real-time positioning information, the method further comprises the following steps:

controlling a vehicle-mounted camera of the vehicle to scan an environment image outside the vehicle in a running process; acquiring the positioning position of the vehicle at each moment in the driving process; and associating the environment image outside the vehicle with the positioning position at the corresponding moment, forming a memory route of the driving process, and recording the memory route in the memory route library.

In one embodiment, the step of matching the real-time image with the vehicle exterior environment image of the corresponding positioning position of each memory route stored in the memory route library according to the real-time positioning information comprises the following steps:

respectively calculating the image similarity between each vehicle exterior environment image in the memory route library and the real-time image; and selecting the vehicle exterior environment image with the image similarity reaching a preset threshold value as the target image.

In one embodiment, after the step of selecting the vehicle exterior environment image with the image similarity reaching a preset threshold as the target image, the method further includes:

acquiring a positioning position corresponding to the target image from the memory route library; judging whether the real-time positioning information is in an error area of a positioning position corresponding to the target image; when the real-time positioning information is in the error area, determining that a target image is matched; and when the real-time positioning information is not in the error area, judging that the target image is not matched with the real-time positioning information.

In one embodiment, the positioning positions of the target images correspond to a plurality of memory routes;

the step of determining the memory route corresponding to the target image as the target route comprises the following steps:

when a route from the vehicle to a charging field exists in the memory routes, acquiring the real-time electric quantity of the vehicle; and when the real-time electric quantity is lower than the preset electric quantity, taking the route running to the charging field as the target route.

In one embodiment, before the step of controlling the vehicle to travel on the target route, the method further includes:

when the real-time electric quantity of the vehicle is lower than the preset electric quantity or a charging request of a user is received, setting the target route as a route for driving to a charging field;

after the step of controlling the vehicle to travel on the target route, the method further includes:

sending a parking request to a field service system of the charging field, wherein the parking request is used for enabling the field service system to allocate a parking position and return a parking route for driving to the parking position; and receiving the parking route, and controlling the vehicle to travel to the parking position according to the parking route when the vehicle travels to the charging field.

In one embodiment, the parking location comprises a charging slot;

after the step of sending a parking request to the yard service system of the charging farm, the method further comprises the following steps:

receiving the information of the idle charging parking spaces returned by the field service system, and displaying the idle charging parking spaces to the user; and receiving confirmation information of selecting or confirming a target charging parking space from the idle charging parking spaces by the user, and returning the confirmation information to the field service system, so that the field service system takes the target charging parking space as the parking position and returns the parking route.

In one embodiment, the parking location includes a charging slot, the parking request further operable to cause the venue service system to unlock the charging slot and initiate charging of the vehicle by the charging slot;

after the step of controlling the vehicle to travel to the parking position according to the parking route, the method further includes:

and when the vehicle runs to the charging parking space, controlling the vehicle to park in the charging parking space and controlling the vehicle to charge.

In one embodiment, the field service system is configured to unlock the charging slot or start the charging slot to charge the vehicle after detecting the vehicle identification information of the vehicle and recognizing that the vehicle matches the charging slot.

acquiring the driving time of each memory route; judging whether the current time belongs to the time interval of the driving time or not; and when the current time belongs to a time interval of the running time corresponding to a certain memory route, taking the memory route as the target route.

A running control apparatus of a vehicle, comprising:

the acquisition module is used for acquiring the current real-time positioning information of the vehicle and the real-time image of the external environment of the vehicle in the driving process;

the matching module is used for matching the real-time image with the vehicle exterior environment image of the corresponding positioning position of each memory route stored in the memory route library according to the real-time positioning information;

the determining module is used for determining a memory route corresponding to the target image as a target route when the target image is matched;

and the switching module is used for switching the current driving route of the vehicle to the target route and controlling the vehicle to run on the target route.

A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method for controlling the driving of a vehicle according to any of the above embodiments when executing the computer program.

A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the travel control method of a vehicle described in any one of the above embodiments.

A vehicle, an in-vehicle terminal of which is configured to execute the steps of the running control method of the vehicle described in any one of the above embodiments.

According to the running control method and device of the vehicle, the computer equipment, the storage medium and the vehicle, the real-time positioning information and the real-time image are matched with the environment image outside the vehicle in the memory route library, the target image is matched, the target route is determined from the memory route library, and the vehicle is controlled to be switched to the target route for running; the real-time image corresponding target image can be matched from the pre-stored memory route, the vehicle is identified to run in the relevant position of the memory route, the memory route is called quickly and the automatic driving of the vehicle is controlled, the input or search of the automatic driving route by a user can be reduced, and the starting efficiency of the automatic driving is improved.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice.

Drawings

The above and/or additional aspects and advantages will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is an environmental diagram of an embodiment of a method for controlling the traveling of a vehicle;

FIG. 2 is a flowchart of a running control method of a vehicle in one embodiment;

FIG. 3 is an example image of a real-time image in one embodiment;

fig. 4 is a flowchart of a running control method of a vehicle to which an example is applied;

FIG. 5 is a schematic configuration diagram of a running control apparatus of a vehicle in one embodiment;

FIG. 6 is a diagram showing an internal configuration of a computer device according to an embodiment.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

As shown in fig. 1, fig. 1 is an implementation environment diagram of a vehicle driving control method provided in an embodiment, and in the implementation environment, includes an in-vehicle camera 111, an in-vehicle terminal 112, and a server 120. The vehicle-mounted camera 111 may be placed outside or inside the vehicle 100, and the vehicle-mounted terminal 112 may be a smart phone, a tablet computer, a notebook computer, etc. installed inside the vehicle, for installing a client for controlling the vehicle and having a storage function. The server 120 may be a computer device for operating a server that controls the vehicle and stores vehicle-related data. The vehicle-mounted camera 111 and the vehicle-mounted terminal 112 may be connected by bluetooth, USB (Universal Serial Bus), or other communication connection methods, and the vehicle-mounted terminal 112 is connected to the server 120 through a network.

In an embodiment, as shown in fig. 2, fig. 2 is a flowchart of a vehicle driving control method in an embodiment, where the embodiment proposes a vehicle driving control method, which may be applied in a processor of the vehicle-mounted terminal or a processor of the server in fig. 1, and specifically includes the following steps:

step S210: and in the driving process, acquiring the current real-time positioning information of the vehicle and a real-time image of the external environment of the vehicle.

In this step, in the driving process, the processor may control the vehicle-mounted camera to shoot a real-time image of an external environment of the vehicle, and the processor may detect a current position of the vehicle through a GPS (Global Positioning System) locator to acquire real-time location information of the vehicle.

Step S220: and matching the real-time image with the vehicle exterior environment image of the corresponding positioning position of each memory route stored in the memory route library according to the real-time positioning information.

The memory route library stores a plurality of memory routes of historical driving, the memory routes are used for recording the positioning position of the vehicle and the environment image outside the vehicle in the driving process, and the environment image outside the vehicle in the memory routes is stored in a correlation mode with the positioning position. When the vehicle runs at a certain positioning position, the vehicle-mounted camera can shoot a plurality of or continuous vehicle exterior environment images, and the vehicle exterior environment images correspond to the positioning position, so that the storage of the association relationship between the vehicle exterior environment images and the positioning position can be considered, namely, the vehicle exterior environment images and the positioning position are stored in an associated manner. The memory route library can be stored in a memory of the vehicle-mounted terminal or can be stored in a database of the server, and can be conveniently called by the processor.

In this step, compare and analyze real-time image and car exterior environment image, the similarity of analysis real-time image and car exterior environment image to and the correlation degree of analysis real-time locating information and car exterior environment image, can match the image that is close to or the same with real-time image in the environment image of car exterior in view of the above. The real-time image and the image of the environment outside the vehicle may record building features, road surface identification features, greening feature, road facility features, etc., for example, the similarity between the real-time image and the image of the environment outside the vehicle may be represented by one or more of buildings, road surface scenes, and greening trees similar in the image, fig. 3 is an example image of the real-time image in one embodiment, and the real-time image as shown in fig. 3 may include buildings, pedestrian bridges, street lamps, road signs, lane dividing lines, lane indication marks, tree bushes, etc.

If the vehicle exterior environment image compared with the real-time image meets the similarity or the correlation degree of the requirement, the matching result can represent that the matching is successful, and the processor can take the vehicle exterior environment image which is successfully matched as the target image.

In addition, in this step, a positioning position corresponding to the real-time positioning information may be searched for in each memory route stored in the memory route library, and the corresponding positioning position may be the same as or similar to the real-time positioning corresponding to the real-time positioning information. Matching is carried out from the vehicle exterior environment image of the corresponding positioning position, the range of the matched image can be reduced, the matching time is shortened, and the matching speed is improved.

Step S230: and when the target image is matched, determining the memory route corresponding to the target image as the target route.

In this step, the memory route where the target image is located is determined, and the memory route is used as the target route, that is, the memory route with a relatively high correlation with the real-time image can be matched from the memory route library.

Step S240: and switching the current driving route of the vehicle to a target route, and controlling the vehicle to drive on the target route.

In this step, the target route belongs to a memory route of the historical driving of the vehicle, and after the processor determines the target route, the current driving route of the vehicle can be switched to the target route, so that the vehicle is controlled to drive on the target route. The vehicle can be quickly switched into a memory route of historical driving, and the vehicle can start to call automatic driving or continue automatic driving after the memory route is switched into.

The driving control method of the vehicle comprises the steps of matching a real-time positioning information and a real-time image with an external environment image in a memory route library, matching a target image and determining a target route from the memory route library, and controlling the vehicle to be switched to the target route for driving; the real-time image corresponding target image can be matched from the pre-stored memory route, the vehicle is identified to run in the relevant position of the memory route, the memory route is called quickly and the automatic driving of the vehicle is controlled, the input or search of the automatic driving route by a user can be reduced, and the starting efficiency of the automatic driving is improved.

For the vehicle-mounted camera, the vehicle-mounted camera can be arranged on the roof of the vehicle, the vehicle-mounted camera on the roof has a wide visual angle, the front vehicle can reduce the sight line blocking the vehicle-mounted camera, the vehicle-mounted camera on the roof can shoot the far external environment of the vehicle, the external environment of the vehicle can be effectively displayed, and the interference of the vehicles coming and going to the real-time image in the subsequent matching process is reduced. The shooting direction of the vehicle-mounted camera can be changeable, panoramic shooting can be carried out on the external environment of the vehicle at the moment, the external environment of the vehicle can be recorded more comprehensively by the real-time picture of the panoramic shooting, and when the real-time picture of the follow-up panoramic shooting is used for matching, the external environment picture which can be matched at all angles can be obtained, the accuracy of the picture is high, and the matching accuracy can be improved. The vehicle-mounted camera can also be a vehicle event data recorder installed in the vehicle, and the cost of a hardware device can be reduced. The vehicle-mounted camera can comprise a plurality of camera devices installed on the vehicle, the real-time image of the external environment of the vehicle shot by the vehicle-mounted camera can be a group of images comprising a plurality of pictures, the running control method of the vehicle can match the plurality of images respectively in the follow-up process, and the matching requirement is improved, so that the matching accuracy is improved.

In one embodiment, before the step of matching 220 the real-time image with the vehicle exterior environment image of the corresponding position of each memory route stored in the memory route library according to the real-time positioning information, the method may further include:

step S251: and controlling a vehicle-mounted camera of the vehicle to scan the environment image outside the vehicle in the running process.

In the step, the vehicle-mounted camera can shoot the vehicle exterior environment image at each moment in a fixed time, complete the vehicle exterior environment scanning in the driving process and upload the vehicle exterior environment image to the processor.

Step S252: and acquiring the positioning position of the vehicle at each moment in the driving process.

In the step, the processor detects the real-time positioning of the vehicle through the GPS positioner and collects the positioning position of the vehicle at each moment in the driving process.

Step S253: and associating the external environment image with the positioning position at the corresponding moment, generating a memory route of the driving process, and recording the memory route in a memory route library.

In the step, the processor associates the vehicle exterior environment image and the positioning position in the driving process at the same time, all the vehicle exterior environment images, the positioning position and the association relation between the vehicle exterior environment image and the positioning position in the driving process can form a memory route of the driving process, and the memory route can be stored in a memory route library.

The driving control method of the vehicle can record the memory route of historical driving so as to be used for subsequent matching and searching the memory route.

In one embodiment, for the matching of the real-time images, the step of matching the real-time images with the vehicle exterior environment images of the corresponding positioning positions of the respective memory routes stored in the memory route library in step S220 according to the real-time positioning information may include:

step S221: and respectively calculating the image similarity between each vehicle exterior environment image and the real-time image in the memory route library.

In this step, the image similarity between the vehicle exterior environment image and the real-time image is calculated. For example, the image similarity can be based on the principle of local invariant features to perform feature matching on the images, and the similarity between the images is calculated according to the matching condition; the characteristics in the vehicle exterior environment image and the real-time image can be recognized firstly, the characteristics are selected and matched, and the translation, rotation and brightness of the image do not influence the recognition and matching of local characteristics in the image.

In addition, before matching, each vehicle exterior environment image corresponding to the real-time positioning information in the memory route library can be extracted, the extracted vehicle exterior environment images are matched, and the matching range is narrowed.

Step S222: and selecting the vehicle exterior environment image with the image similarity reaching a preset threshold value as a target image.

In the step, if the vehicle exterior environment image with the image similarity reaching the preset threshold exists, the matching is successful.

If the matched images of the environment outside the vehicle do not reach the preset threshold value, the matching is not successful, the target image cannot be obtained, and the processor performs image matching according to the next real-time image and the real-time positioning information.

According to the driving control method of the vehicle, the images can be matched according to the image similarity, and when the image similarity reaches the preset threshold value, the matching is successful and the target image is obtained.

In addition, if a plurality of external environment images reach a preset threshold value, a plurality of target images can be obtained, and a target route can be selected subsequently according to the memory routes corresponding to the target images.

In an embodiment, after the step of acquiring the target image, that is, after the step of selecting the vehicle exterior environment image with the image similarity reaching the preset threshold as the target image in step S222, the method may further include:

a1: and acquiring the positioning position corresponding to the target image from the memory route library.

In this step, the target image and the positioning position associated with the target image can be searched from the vehicle exterior environment image and the positioning position stored in association with the memory route library.

A2: and judging whether the real-time positioning information is in an error area of the positioning position corresponding to the target image.

In this step, the correlation degree of the vehicle exterior environment image and the real-time image can be analyzed according to the real-time positioning information, and whether the vehicle exterior environment image and the real-time image are images shot at the same position or in a similar area or not can be judged.

A3: and when the real-time positioning information is in the error area, judging that the target image is matched.

A4: and when the real-time positioning information is not in the error area, judging that the target image is not matched with the real-time positioning information.

If the position of the real-time positioning is the same as or similar to that of the target image, the target route can be cut in at the same position subsequently; if the external environment image and the real-time image are not images shot at the same position or in a similar area, the position of the real-time positioning is not similar to that of the target image, the vehicle cannot cut into the route corresponding to the target image from the real-time positioning in real time, and the route corresponding to the target image is not matched with the real-time positioning information at the moment.

The driving control method of the vehicle can further perform accurate matching according to the real-time positioning information, and improves the accuracy of the matched target route, thereby improving the accuracy and efficiency of automatic driving.

In one embodiment, when the user travels to a position where a plurality of memory routes overlap, the position may be able to go to a plurality of different destinations, and the positioning position of the matched target image corresponds to the plurality of memory routes.

The step of determining the memory route corresponding to the target image as the target route in step S230 may include:

step B1: and judging whether a route from the driving to the charging field exists in the memorized routes.

In this step, the destination of each memory route is extracted, whether a charging field exists in the destination is judged, and the memory route with the destination of the charging field is the route for driving to the charging field. The vehicle can be a motor vehicle taking a vehicle-mounted power supply as power, and comprises an electric vehicle; the charging field may be used to charge the vehicle.

Step B2: and when the route from the vehicle to the charging field exists in the memory route, acquiring the real-time electric quantity of the vehicle.

In this step, a route for driving to the charging field exists in the memory route, which means that in the real-time positioning position, the user faces a driving choice for driving to the charging field, and the processor can further read the real-time electric quantity of the vehicle.

Step B3: and when the real-time electric quantity is lower than the preset electric quantity, taking the route running to the charging field as a target route.

According to the driving control method of the vehicle, when the real-time electric quantity is lower than the preset electric quantity, the vehicle needs to be charged, the possibility that the user controls the vehicle to drive to the charging field is high, the route driving to the charging field can be used as the target route, the use habit of the user on the vehicle is met, and the user experience degree is improved.

s261: and when the real-time electric quantity of the vehicle is lower than the preset electric quantity or a charging request of a user is received, setting the target route as a route for driving to the charging field.

In the step, the real-time electric quantity of the vehicle is detected, and when the real-time electric quantity of the vehicle is lower than the preset electric quantity, the vehicle is required to be charged; when receiving a charging request from a user, it reflects that the user's demand is to charge a vehicle, and thus it is possible to travel to a charging field that can satisfy the charging demand by setting a target route.

s262: the method includes transmitting a parking request to a venue service system of the charging venue, the parking request being used to cause the venue service system to assign a parking location and return a parking route for driving to the parking location.

In this step, the parking request may be used to request entry into the charging yard and request parking, and the yard service system may provide and allocate a currently vacant parking location according to the parking request, and determine a parking route along which the vehicle travels to the parking location.

S263: and receiving a parking route, and controlling the vehicle to travel to a parking position according to the parking route when the vehicle travels to the charging field.

In this step, after the processor receives the parking route, the parking route may be enabled when the vehicle travels to the charging field, and the vehicle travels to an idle parking position under control.

According to the driving control method of the vehicle, the vehicle can be controlled to enter the charging field after the vehicle drives to the charging field, the vehicle can be automatically driven to the charging field, the distance of the vehicle driven by a user is reduced, meanwhile, the time spent by the vehicle for searching the parking position can be reduced by distributing the idle parking position, and the driving efficiency is improved.

In one embodiment, the parking location includes a charging slot; after the step of sending a parking request to a field service system of the charging field, the method further comprises the following steps:

s264: and receiving the information of the idle charging parking spaces returned by the field service system, and displaying the idle charging parking spaces to the user.

The processor can display the current idle charging parking space for the user according to the idle charging parking space information, so that the user can check the available charging parking space.

S265: and receiving confirmation information of selecting or confirming the target charging parking space from the idle charging parking spaces by the user, and returning the confirmation information to the field service system, so that the field service system takes the target charging parking space as a parking position and returns to a parking route.

And the user selects a target charging parking space in the idle charging parking space, confirms that the vehicle is controlled to be parked in the target charging parking space, generates and returns confirmation information to the processor, wherein the confirmation information comprises the information of the target charging parking space. The processor transmits the confirmation information to the field service system, the field service system determines a parking position and a parking route according to the target charging parking space of the confirmation information, and returns the parking route to the processor, so that the processor can control the vehicle to run to the target charging parking space according to the parking route.

In one embodiment, the parking location includes a charging slot, and the parking request is further used to cause the venue service system to unlock the charging slot and initiate charging of the vehicle by the charging slot.

A charging device or a charging interface is arranged in the charging parking space or near the charging parking space, and the vehicle can be charged when parked in the charging parking space.

After the step of controlling the vehicle to travel to the parking position according to the parking route, the method further comprises the following steps:

The driving control method of the vehicle can control the vehicle to automatically park and start automatic charging, and improves the efficiency of starting charging. On the other hand, the automatic parking before charging can avoid the damage or damage of the charging device caused by the collision of the user during the manual parking, and the charging safety is improved.

In one embodiment, the field service system is used for unlocking the charging parking space or starting the charging parking space to charge the vehicle after detecting the vehicle identification information of the vehicle and identifying that the vehicle is matched with the charging parking space.

The parking limit of the charging parking space can be released by unlocking the charging parking space, or a parking space lock of the charging parking space is unlocked; the charging device of the charging parking space can be started to charge the vehicle.

According to the driving control method of the vehicle, when the vehicle drives in the charging field, the field service system can detect the identification information of the vehicle, when the vehicle reaches the charging parking space, after the vehicle is identified to correspond to the charging parking space, the parking space lock device of the charging parking space can be unlocked, or the vehicle is controlled to automatically park in the charging parking space, the charging device of the charging parking space is started and the vehicle is charged, the identification of the vehicle before parking and charging is increased, the phenomenon that the vehicle is parked in disorder and is randomly placed can be reduced, and the damage or the service life reduction of the vehicle caused by unmatched charging of the vehicle is avoided.

In one application example, a user intends to travel to a charging field to charge a vehicle, and when the vehicle travels to a past memorized route for traveling to the charging field, the user may be actively recommended and asked whether to switch to automatic driving to the charging field and charge the vehicle according to the memorized route. When the real-time electric quantity of the vehicle is detected to be lower than the preset electric quantity or a charging request of a user is received, the vehicle needs to drive to a charging field for charging, and the processor can send a parking charging instruction to a field service system of the charging field. The field service system can return optional idle charging parking spaces according to the parking charging instruction, so that a user can select or confirm a target charging parking space for controlling the parking of the vehicle. The processor returns confirmation information after the user selects or confirms the target charging parking space to the site service system, the site service system receives the confirmation information and then indicates that the user confirms to go to the target charging parking space for charging, and the site service system returns a parking route used for driving to the target charging parking space for the vehicle to drive to the target charging parking space. When the vehicle runs to the target charging parking space, the site service system can identify the vehicle identification information of the vehicle, judge whether the vehicle corresponds to the target charging parking space, unlock the charging parking space if the vehicle corresponds to the target charging parking space, and start the vehicle to charge after the vehicle is parked in the charging parking space.

In the application example, after the user confirms the charging field and charges the vehicle, the vehicle can be automatically driven to the charging field, parked in the charging parking space and automatically started to charge, so that the continuity of vehicle control from the driving of the vehicle to the charging of the vehicle can be improved, and the charging efficiency of the vehicle is improved.

In one embodiment, the location of the target image corresponds to a plurality of memory routes. The user may be faced with multiple driving options to different destinations.

step C1: and acquiring the driving time of each memorized route.

The memory route can also record the driving time for driving the memory route, and in the step, the processor can search and call the driving time of each memory route. The time interval consisting of the starting time and the ending time of the vehicle running the memory route can be used as the running time.

Step C2: and judging whether the current time belongs to the time interval of the driving time.

Step C3: and when the current time belongs to a time interval of the running time corresponding to a certain memory route, taking the memory route as a target route.

The user can have certain vehicle use habits and travel habits in the running process, and in the step, a memory route which is more in line with the habits of the user is selected as a target route.

According to the driving control method of the vehicle, the selection of the target route can accord with the traveling habits and the vehicle using habits of the user, and the user experience can be improved.

For example, when the user starts at home and travels to a certain intersection, the processor recognizes the real-time image of the intersection, matches a route for traveling to the company (traveling time in the morning) and a route for traveling to a parking lot of a residential district of the home (traveling time in the evening), determines whether the traveling time of the memorized route is close to the current time, the route for traveling to the company can be taken as the target route at the morning time at the current time, and the route for traveling to the parking lot of the residential district can be taken as the target route at the evening time at the current time.

In one embodiment, the step of controlling the vehicle to travel on the target route in step S240 may include:

step S241: and generating a route switching inquiry according to the target route, and sending the route switching inquiry to the user.

In this step, the route switching inquiry may be used to show the target route to the user, and may also request route switching from the user.

Step S242: and controlling the vehicle to automatically drive according to the target route when receiving the switching confirmation response of the route switching inquiry.

After receiving the switching confirmation response of the route switching inquiry, that is, after the user confirms switching to the target route, the switching confirmation response may be returned to the processor.

According to the driving control method of the vehicle, a route switching inquiry can be sent to the user, and after the user confirms the switching response, the vehicle can be taken over and controlled to automatically drive, so that the user authorization of automatic driving is ensured, and the safety of automatic driving is guaranteed.

In one embodiment, the step of generating the route switching query according to the target route in step 241 may include:

step S2411: extracting the end point of the target route; step S2412: a route switching query is generated to indicate whether to proceed to a destination by autonomous driving.

The destination information may be extracted from the target route, and the destination information may be a name derived from the target route or may be determined according to a location where the target route ends. According to the driving control method of the vehicle, the route switching inquiry can also be used for prompting the destination of the target route to the user, so that the user can conveniently identify the target route.

For example, if the target route is a route for traveling to a charging field, and a location position of an end point, which is located in the charging field, is found from the target route, a route switching inquiry for indicating whether or not to travel to the charging field by autonomous driving may be generated.

In one application example, as shown in fig. 4, fig. 4 is a flowchart of a running control method of a vehicle of one application example. In the present application example, a memorized route is recorded by the in-vehicle terminal in the history traveling, and the memorized route is stored in the memorized route library. The memory route may include an image of an environment outside the vehicle during traveling and the positional information of the vehicle, and the image of the environment outside the vehicle and the positional information may be stored in association with each other. The method comprises the steps that a user calls a route memory operation of a vehicle-mounted terminal in the driving process, the vehicle-mounted terminal controls a vehicle-mounted camera to scan the environment outside a vehicle and shoot images of the environment outside the vehicle at regular time in the driving process of the vehicle, a GPS (global positioning system) locator positions the vehicle in real time, and the vehicle-mounted terminal collects positioning position information at regular time. The vehicle-mounted terminal stores the vehicle exterior environment image and the positioning position information in an associated manner, can generate a memory route, and stores the memory route in a memory route library.

When a user drives to a certain position next time, the vehicle-mounted camera can shoot a real-time image of the environment outside the vehicle at the current position, and the GPS detects the current position and obtains real-time positioning information.

And the vehicle-mounted terminal matches a target route from the memory route library according to the real-time image and the real-time positioning information. And calling the vehicle exterior environment image at the position corresponding to the real-time positioning information from the memory route library, respectively carrying out image similarity calculation on the part of the vehicle exterior environment image and the real-time image, judging whether the image similarity of the parking space environment image reaches a preset threshold value, and taking the parking space environment image reaching the preset threshold value as a target image.

And acquiring a memory route recorded with the target image, and taking the memory route as a target route. The in-vehicle terminal inquires of the user whether to travel the target route using the automatic driving control function. And after receiving the user confirmation information, the vehicle-mounted terminal starts the automatic driving control of the vehicle, calls the target route and controls the vehicle to run the target route.

When the target image comprises a plurality of target images, a plurality of memory routes can be used as the target routes, the vehicle-mounted terminal can enable the user to select the route needing to be driven from the plurality of items of target routes, and the target route which is relatively related to the current driving condition can be recommended to the user. Before recommending the target route to the user, the vehicle-mounted terminal can analyze the target route which is relatively related to the current driving condition according to the state of the vehicle or the habit of the user. For example, the current electric quantity of the vehicle is low, the target route comprises a route going to the charging field, the vehicle-mounted vehicle can preferentially recommend the target route going to the charging field to the user, and the user is inquired whether to automatically drive to the charging field; searching the historical driving times of each item marked route, and recommending a target route with more historical driving times to a user; and judging whether the current time is close to the running time of the target route, for example, the current time is 2019, 5, month, 22, day 18:05, the day is wednesday, the target route has a route with the generation time of 18:01-18:55 on monday, and the generation time is close to the current time, so that the target route with the generation time can be recommended to the user. When the user needs to go to a destination which is reached before and a route before driving, the vehicle-mounted terminal can identify a target route which is needed by the user according to the history record and assist the user in using automatic driving on the target route.

The driving control method of the vehicle comprises the steps of matching a real-time positioning information and a real-time image with an external environment image in a memory route library, matching a target image and determining a target route from the memory route library, and controlling the vehicle to be switched to the target route for driving; the real-time image corresponding target image can be matched from the pre-stored memory route, the vehicle is identified to run in the relevant position of the memory route, the memory route is called quickly and the automatic driving of the vehicle is controlled, the input or search of the automatic driving route by a user can be reduced, and the starting efficiency of the automatic driving is improved. And the target route inquired for the user can be matched with the habit of using the vehicle of the user, and the user experience is improved.

In an embodiment, as shown in fig. 5, fig. 5 is a schematic structural diagram of a vehicle driving control device in an embodiment, and the embodiment provides a vehicle driving control device, which may specifically include an obtaining module 510, a matching module 520, a determining module 530, and a switching module 540, where:

the obtaining module 510 is configured to obtain current real-time positioning information of a vehicle and a real-time image of an external environment of the vehicle during driving.

In the driving process, the obtaining module 510 may control the vehicle-mounted camera to capture a real-time image of an external environment of the vehicle, and the processor may detect a current position of the vehicle through a GPS (Global Positioning System) locator to obtain real-time location information of the vehicle.

And the matching module 520 is used for matching the real-time image with the vehicle exterior environment image of the corresponding positioning position of each memory route stored in the memory route library according to the real-time positioning information.

The memory route library stores a plurality of memory routes of historical driving, the memory routes are used for recording the positioning position of the vehicle and the environment image outside the vehicle in the driving process, and the environment image outside the vehicle in the memory routes is stored in a correlation mode with the positioning position. When the vehicle runs at a certain positioning position, the vehicle-mounted camera can shoot a plurality of or continuous vehicle exterior environment images, and the vehicle exterior environment images correspond to the positioning position, so that the storage of the association relationship between the vehicle exterior environment images and the positioning position can be considered, namely, the vehicle exterior environment images and the positioning position are stored in an associated manner. The memory route library may be stored in the matching module 520 or in a database coupled to the matching module 520.

The matching module 520 can compare and analyze the real-time image with the vehicle exterior environment image, analyze the similarity between the real-time image and the vehicle exterior environment image, and analyze the correlation degree between the real-time positioning information and the vehicle exterior environment image, thereby matching the image close to or the same as the real-time image from the vehicle exterior environment image. The real-time image and the vehicle exterior environment image can record building features, road pavement marking features, green object features, road facility features and the like, for example, the similarity of the real-time image and the vehicle exterior environment image can be represented by one or more of buildings, road scenes and green trees which are similar in the image.

In addition, the matching module 520 may also search for a location position corresponding to the real-time location information in each memory route stored in the memory route library, where the corresponding location position may be the same as or similar to the real-time location corresponding to the real-time location information. Matching is carried out from the vehicle exterior environment image of the corresponding positioning position, the range of the matched image can be reduced, the matching time is shortened, and the matching speed is improved.

And a determining module 530, configured to determine, when the target image is matched, the memory route corresponding to the target image as the target route.

The determining module 530 may determine the memory route where the target image is located, and take the memory route as the target route, that is, a memory route having a greater correlation with the real-time image may be matched from the memory route library.

And the switching module 540 is configured to switch the current driving route of the vehicle to the target route, and control the vehicle to drive on the target route.

The target route belongs to a memory route of historical driving of the vehicle, and after the switching module 540 determines the target route, the current driving route of the vehicle can be switched to the target route, so that the vehicle is controlled to drive on the target route. The vehicle can be quickly switched into a memory route of historical driving, and the vehicle can start to call automatic driving or continue automatic driving after the memory route is switched into.

The running control device of the vehicle is matched with the external environment image in the memory route library according to the real-time positioning information and the real-time image, matches a target image and determines a target route from the memory route library, and controls the vehicle to be switched to the target route for running; the real-time image corresponding target image can be matched from the pre-stored memory route, the vehicle is identified to run in the relevant position of the memory route, the memory route is called quickly and the automatic driving of the vehicle is controlled, the input or search of the automatic driving route by a user can be reduced, and the starting efficiency of the automatic driving is improved.

For specific limitations of the vehicle travel control device, reference may be made to the above limitations of the vehicle travel control method, which are not described in detail herein. Each module in the travel control device of the vehicle described above may be entirely or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

As shown in fig. 6, fig. 6 is a schematic diagram of an internal structure of a computer device in one embodiment. The computer device includes a processor, a non-volatile storage medium, a memory, and a network interface connected by a system bus. Wherein the non-volatile storage medium of the computer device stores an operating system, a database, and a computer program that, when executed by the processor, causes the processor to implement a method of controlling travel of a vehicle. The processor of the computer device is used for providing calculation and control capability and supporting the operation of the whole computer device. The memory of the computer device may have stored therein a computer program which, when executed by the processor, causes the processor to execute a method of controlling travel of a vehicle. The network interface of the computer device is used for connecting and communicating with the terminal. Those skilled in the art will appreciate that the architecture shown in fig. 6 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is proposed, which comprises a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method for controlling the driving of a vehicle as described in any of the above embodiments when executing the computer program.

In one embodiment, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the travel control method of a vehicle as in any of the above embodiments.

In one embodiment, a vehicle is provided, the vehicle-mounted terminal of which is configured to execute the steps of the running control method of the vehicle as in any one of the above embodiments.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims

1. A running control method of a vehicle, characterized by comprising the steps of:

matching the real-time image with the vehicle exterior environment image of the corresponding positioning position of each memory route stored in the memory route library according to the real-time positioning information, and comprises the following steps: respectively calculating the image similarity between each vehicle exterior environment image in the memory route library and the real-time image; selecting the vehicle exterior environment image with the image similarity reaching a preset threshold value as a target image;

2. The running control method of a vehicle according to claim 1, wherein the step of controlling the vehicle to run on the target route includes:

generating a route switching query according to the target route, and sending the route switching query to a user;

and when receiving the switching confirmation response of the route switching inquiry, controlling the vehicle to automatically drive according to the target route.

3. The vehicle driving control method according to claim 1, further comprising, before the step of matching the real-time image with the vehicle exterior environment image of the corresponding location position of each memory route stored in the memory route library based on the real-time location information, the step of:

controlling a vehicle-mounted camera of the vehicle to scan an environment image outside the vehicle in a running process;

acquiring the positioning position of the vehicle at each moment in the driving process;

and associating the environment image outside the vehicle with the positioning position at the corresponding moment, forming a memory route of the driving process, and recording the memory route in the memory route library.

4. The running control method of a vehicle according to claim 1, further comprising, after the step of selecting, as the target image, an image of the environment outside the vehicle whose image similarity reaches a preset threshold value:

acquiring a positioning position corresponding to the target image from the memory route library;

judging whether the real-time positioning information is in an error area of a positioning position corresponding to the target image;

when the real-time positioning information is in the error area, determining that a target image is matched;

and when the real-time positioning information is not in the error area, judging that the target image is not matched with the real-time positioning information.

5. The running control method of a vehicle according to claim 1, wherein the positioning position of the target image corresponds to a plurality of memory routes;

when a route from the vehicle to a charging field exists in the memory routes, acquiring the real-time electric quantity of the vehicle;

and when the real-time electric quantity is lower than the preset electric quantity, taking the route running to the charging field as the target route.

6. The running control method of a vehicle according to claim 1, characterized by further comprising, before the step of controlling the vehicle to run on the target route:

sending a parking request to a field service system of the charging field, wherein the parking request is used for enabling the field service system to allocate a parking position and return a parking route for driving to the parking position;

and receiving the parking route, and controlling the vehicle to travel to the parking position according to the parking route when the vehicle travels to the charging field.

7. The running control method of a vehicle according to claim 6, wherein the parking location includes a charging slot;

receiving the information of the idle charging parking spaces returned by the field service system, and displaying the idle charging parking spaces to the user;

and receiving confirmation information of selecting or confirming a target charging parking space from the idle charging parking spaces by the user, and returning the confirmation information to the field service system, so that the field service system takes the target charging parking space as the parking position and returns the parking route.

8. The vehicle driving control method according to claim 6, wherein the parking location includes a charging slot, and the parking request is further used for causing the venue service system to unlock the charging slot and to initiate charging of the vehicle by the charging slot;

9. The method as claimed in claim 8, wherein the field service system is configured to unlock the charging slot or start the charging slot to charge the vehicle after detecting the vehicle identification information of the vehicle and recognizing that the vehicle matches the charging slot.

10. The running control method of a vehicle according to claim 1, wherein the positioning position of the target image corresponds to a plurality of memory routes;

acquiring the driving time of each memory route;

judging whether the current time belongs to the time interval of the driving time or not;

and when the current time belongs to a time interval of the running time corresponding to a certain memory route, taking the memory route as the target route.

11. A running control apparatus for a vehicle, characterized by comprising:

the matching module is used for matching the real-time images with the vehicle exterior environment images of the corresponding positioning positions of the memory routes stored in the memory route library according to the real-time positioning information, and comprises: respectively calculating the image similarity between each vehicle exterior environment image in the memory route library and the real-time image; selecting the vehicle exterior environment image with the image similarity reaching a preset threshold value as a target image;

12. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of a method for controlling the travel of a vehicle according to any one of claims 1 to 10 are implemented when the computer program is executed by the processor.

13. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, is characterized by carrying out the steps of a method for controlling the driving of a vehicle according to any one of claims 1 to 10.

14. A vehicle characterized in that an in-vehicle terminal of the vehicle is configured to execute the steps of the running control method of the vehicle according to any one of claims 1 to 10.