CN110456798A - For controlling the method and device of vehicle driving - Google Patents
For controlling the method and device of vehicle driving Download PDFInfo
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Classifications
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- 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
-
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
Embodiment of the disclosure discloses the method and device for controlling vehicle driving, is related to field of cloud calculation.One specific embodiment of this method includes: the running condition information that real-time reception automatic driving vehicle is sent, and above-mentioned running condition information includes the location information of automatic driving vehicle, temporal information；In response to there is the default control instruction set of corresponding above-mentioned running condition information, above-mentioned default control instruction set is sent to above-mentioned automatic driving vehicle, otherwise, data processing is carried out to above-mentioned running condition information, obtain corresponding to the current control instruction of above-mentioned running condition information, wherein, above-mentioned default control instruction set is corresponding with the location information of above-mentioned automatic driving vehicle and temporal information；Above-mentioned current control instruction is sent to above-mentioned automatic driving vehicle.This embodiment improves the network data transmission efficiency of automatic driving vehicle, improve the travel safety to automatic driving vehicle.
Description
Technical field
Embodiment of the disclosure is related to technical field of data processing, and in particular to for controlling the method and dress of vehicle driving
It sets.
Background technique
Automatic driving vehicle carries out information transmission using robot operating system, and calculates by artificial intelligence, vision, view
Frequency camera, radar sensor, laser radar and GPS (Global Positioning System, global positioning system) positioning
Automatic driving vehicle can be travelled to automatic safe in the case where no artificially assistance for systematic collaboration cooperation.
Summary of the invention
Embodiment of the disclosure proposes the method and device for controlling vehicle driving.
In a first aspect, embodiment of the disclosure provides a kind of method for controlling vehicle driving, this method comprises: real
When receive the running condition information sent of automatic driving vehicle, above-mentioned running condition information includes the position letter of automatic driving vehicle
Breath, temporal information；In response to there is the default control instruction set of corresponding above-mentioned running condition information, above-mentioned default control is referred to
It enables set be sent to above-mentioned automatic driving vehicle, otherwise, data processing is carried out to above-mentioned running condition information, obtains corresponding to above-mentioned
The current control instruction of running condition information, wherein the position of above-mentioned default control instruction set and above-mentioned automatic driving vehicle
Information and temporal information are corresponding；Above-mentioned current control instruction is sent to above-mentioned automatic driving vehicle.
In some embodiments, the above method further include: send out above-mentioned running condition information and above-mentioned current control instruction
Give cloud；Receive the default control instruction set for the above-mentioned running condition information of correspondence that above-mentioned cloud is sent.
Second aspect, embodiment of the disclosure provides a kind of method for controlling vehicle driving, this method comprises: connecing
Receive each row at least one running condition information and corresponding above-mentioned at least one running condition information that edge device is sent
The current control instruction of status information is sailed, above-mentioned running condition information includes the location information of automatic driving vehicle, temporal information；
The location information and temporal information for including according to above-mentioned at least one running condition information determine travel routes information and time zone
Between；It is initially controlled according to the current control instruction of each running condition information in above-mentioned at least one running condition information
Instruction set；The characteristic information of corresponding above-mentioned travel routes information and time interval is obtained, features described above information is for characterizing
State traffic information of the corresponding section of travel routes information in above-mentioned time interval；According to features described above information to above-mentioned initial
Control instruction set is modified, and obtains the default control instruction set for corresponding to above-mentioned travel routes information and time interval.
In some embodiments, features described above information includes route restricted information and time restriction information, and, above-mentioned
Above-mentioned initial control instruction set is modified according to features described above information, comprising: sieved from above-mentioned initial control instruction set
Select the initial control instruction of target of corresponding above-mentioned route restricted information and time restriction information；Above-mentioned target is initially controlled and is referred to
Speed parameter and angle parameter in order are modified.
In some embodiments, the above method further include: above-mentioned default control instruction set is sent to above-mentioned edge and is set
It is standby.
The third aspect, embodiment of the disclosure provide a kind of for controlling the device of vehicle driving, which includes: row
Status information receiving unit is sailed, the running condition information that real-time reception automatic driving vehicle is sent, above-mentioned traveling shape are configured to
State information includes the location information of automatic driving vehicle, temporal information；Instruction acquisition unit, in response to there is corresponding above-mentioned traveling
The default control instruction set of status information is configured to above-mentioned default control instruction set being sent to above-mentioned automatic driving car
, otherwise, data processing is carried out to above-mentioned running condition information, the current control for obtaining corresponding to above-mentioned running condition information refers to
It enables, wherein above-mentioned default control instruction set is corresponding with the location information of above-mentioned automatic driving vehicle and temporal information；Instruction hair
Unit is sent, is configured to above-mentioned current control instruction being sent to above-mentioned automatic driving vehicle.
In some embodiments, above-mentioned apparatus further include: first information transmission unit is configured to above-mentioned driving status
Information and above-mentioned current control instruction are sent to cloud；First information receiving unit is configured to receive what above-mentioned cloud was sent
The default control instruction set of corresponding above-mentioned running condition information.
Fourth aspect, embodiment of the disclosure provide a kind of for controlling the device of vehicle driving, which includes:
Two information receiving units are configured to receive at least one running condition information and corresponding above-mentioned at least one that edge device is sent
The current control instruction of each running condition information in running condition information, above-mentioned running condition information includes unmanned
The location information of vehicle, temporal information；Route time determination unit is configured to according to above-mentioned at least one running condition information
The location information and temporal information for including determine travel routes information and time interval；Initial control instruction set acquiring unit,
It is configured to be obtained according to the current control instruction of each running condition information in above-mentioned at least one running condition information just
Beginning control instruction set；Characteristic acquisition unit is configured to obtain corresponding above-mentioned travel routes information and time interval
Characteristic information, features described above information is for characterizing road conditions of the corresponding section of above-mentioned travel routes information in above-mentioned time interval
Information；Default control instruction set acquiring unit is configured to according to features described above information to above-mentioned initial control instruction set
It is modified, obtains the default control instruction set for corresponding to above-mentioned travel routes information and time interval.
In some embodiments, features described above information includes route restricted information and time restriction information, and, it is above-mentioned pre-
If control instruction set acquiring unit includes: that the initial control instruction of target determines subelement, it is configured to from above-mentioned initial control
The initial control instruction of target of corresponding above-mentioned route restricted information and time restriction information is filtered out in instruction set；Parameters revision
Subelement, be configured to in the initial control instruction of above-mentioned target speed parameter and angle parameter be modified.
In some embodiments, above-mentioned apparatus further include: the second information transmitting unit is configured to refer to above-mentioned default control
Set is enabled to be sent to above-mentioned edge device.
5th aspect, embodiment of the disclosure provide a kind of electronic equipment, comprising: one or more processors；Storage
Device is stored thereon with one or more programs, when said one or multiple programs are executed by said one or multiple processors,
So that said one or multiple processors execute above-mentioned first aspect for controlling the method or second aspect of vehicle driving
Method for controlling vehicle driving.
6th aspect, embodiment of the disclosure provide a kind of computer-readable medium, are stored thereon with computer program,
It is characterized in that, the program realizes the method or second for being used to control vehicle driving of above-mentioned first aspect when being executed by processor
The method for controlling vehicle driving of aspect.
The method and device for being used to control vehicle driving that embodiment of the disclosure provides, first real-time reception are unmanned
The running condition information that vehicle is sent；It then, will be above-mentioned when there is the default control instruction set of corresponding running condition information
Default control instruction set is sent to automatic driving vehicle, otherwise, carries out data processing to running condition information, obtains corresponding row
Sail the current control instruction of status information；Finally, current control instruction is sent to automatic driving vehicle.The application passes through edge
The data for calculating equipment processing automatic driving vehicle, improve the network data transmission efficiency of automatic driving vehicle, improve pair
The travel safety of automatic driving vehicle.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the disclosure is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that one embodiment of the disclosure can be applied to exemplary system architecture figure therein；
Fig. 2 is the flow chart according to one embodiment of the method for controlling vehicle driving of the disclosure；
Fig. 3 is the schematic diagram according to an application scenarios of the method for controlling vehicle driving of the disclosure；
Fig. 4 is the flow chart according to another embodiment of the method for controlling vehicle driving of the disclosure；
Fig. 5 is the structural schematic diagram according to one embodiment of the device for controlling vehicle driving of the disclosure；
Fig. 6 is the structural schematic diagram according to another embodiment of the device for controlling vehicle driving of the disclosure；
Fig. 7 is adapted for the electronic devices structure schematic diagram for realizing embodiment of the disclosure.
Specific embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using embodiment of the disclosure for controlling the method for vehicle driving or for controlling vehicle
The exemplary system architecture 100 of the device of traveling.
As shown in Figure 1, system architecture 100 may include automatic driving vehicle 101,102,103, edge calculations equipment 104
With cloud server 105.Edge calculations equipment 104 to automatic driving vehicle 101,102,103 and cloud server 105 it
Between provide communication link medium.Network 104 may include various connection types, such as wired, wireless communication link or light
Fiber-optic cable etc..
Automatic driving vehicle 101,102,103 is interacted by network 104 with server 105, to receive or send message etc..
Various electronic equipments can be installed on automatic driving vehicle 101,102,103, for example, pressure sensor, temperature sensor, away from
From sensor, data storage, data collector etc..Automatic driving vehicle 101,102,103 can be to be obtained with multiple samples
Take the various vehicles of unit and data training unit, including but not limited to electric car, oil electricity hybrid vehicle and internal-combustion engines vehicle
Etc..
Edge calculations equipment 104 can be hardware, be also possible to software.It, can be with when edge calculations equipment 104 is hardware
It is the various electronic equipments with edge calculations function, including but not limited to smart phone, tablet computer, portable calculating on knee
Machine and desktop computer etc..When edge calculations equipment 104 is software, above-mentioned cited electronic equipment may be mounted at
In.Multiple softwares or software module (such as providing Distributed Services) may be implemented into it, also may be implemented into single soft
Part or software module, are not specifically limited herein.
Cloud server 105 can be to provide the server of various services, such as to the row that edge calculations equipment 104 is sent
Sail the server that status information and above-mentioned current control instruction are handled.Server can be to the running condition information received
It carries out the processing such as analyzing with data such as above-mentioned current control instructions, and returns to default control instruction set to edge calculations equipment 104
It closes.
It should be noted that embodiment of the disclosure provided by by control the method for vehicle driving can be by edge based on
It calculates equipment 104 to be individually performed, or can also be executed jointly by edge calculations equipment 104 and cloud server 105.Correspondingly,
Device for controlling vehicle driving can be set in edge calculations equipment 104, also can be set in cloud server 105
In.
It should be understood that the number of automatic driving vehicle, edge calculations equipment and cloud server in Fig. 1 is only to illustrate
Property.According to needs are realized, any number of automatic driving vehicle, edge calculations equipment and cloud server can have.
With continued reference to Fig. 2, the stream of one embodiment of the method for controlling vehicle driving according to the disclosure is shown
Journey 200.This be used for control vehicle driving method the following steps are included:
Step 201, the running condition information that real-time reception automatic driving vehicle is sent.
In the present embodiment, (such as edge calculations shown in FIG. 1 are set the executing subject for controlling the method for vehicle driving
It is standby 104) traveling shape to be received from automatic driving vehicle 101,102,103 by wired connection mode or radio connection
State information.Wherein, it should be pointed out that above-mentioned radio connection can include but is not limited to 3G/4G connection, WiFi connection,
Bluetooth connection, WiMAX connection, Zigbee connection, UWB (Ultra Wideband) connection and other currently known or future
The radio connection of exploitation.
Automatic driving vehicle includes multiple sensors, and each sensor is in acquisition data.Due to the data volume of acquisition
It is very big, the network transmission of automatic driving vehicle is required very high.In practice, automatic driving vehicle may be travelled to poor signal
Location (such as can be under bridge, underground garage etc.).Once data are not uploaded to cloud in time by automatic driving vehicle, nobody
Control instruction can not just be got in time by driving vehicle.If a certain moment vehicle is in driving status, by extreme influence
The travel safety of automatic driving vehicle.
The executing subject of the present embodiment has the data-handling capacity in cloud, and can be set close to automatic driving vehicle
101,102,103 network side.In this way, the information for substantially increasing automatic driving vehicle 101,102,103 and executing subject is logical
Smooth property.The running condition information that executing subject can send automatic driving vehicle 101,102,103 is quickly handled, and is improved
The travel safety of automatic driving vehicle 101,102,103.Wherein, above-mentioned running condition information may include automatic driving car
Location information, temporal information.
Step 202, in response to there is the default control instruction set of corresponding above-mentioned running condition information, by above-mentioned default control
Instruction set processed is sent to above-mentioned automatic driving vehicle, otherwise, carries out data processing to above-mentioned running condition information, is corresponded to
The current control instruction of above-mentioned running condition information.
Executing subject can be in the default control instruction set for locally searching whether to have corresponding running condition information.Its
In, above-mentioned default control instruction set is corresponding with the location information of above-mentioned automatic driving vehicle and temporal information.That is, default control
Default control instruction in instruction set can control current running state locating for automatic driving vehicle 101,102,103
System.If there is corresponding default control instruction set, then default control instruction set can be directly sent to by executing subject
Automatic driving vehicle 101,102,103.In this way, automatic driving vehicle 101,102,103 can be referred to quick obtaining to default control
It enables, is conducive to the travel safety for improving automatic driving vehicle.If there is no corresponding default control instruction set, then execute
Main body can carry out data processing to above-mentioned running condition information by preset information processing capability, obtain corresponding to above-mentioned traveling
The current control instruction of status information.For example, can be set in executing subject automatic to automatic driving vehicle 101,102,103
The control instruction of traveling generates application.When executing subject receives the driving status that automatic driving vehicle 101,102,103 is sent
Information, but when the local Non-precondition control instruction set again of executing subject, executing subject can pass through control instruction and generate application
Generate the current control instruction of corresponding running condition information.
Step 203, above-mentioned current control instruction is sent to above-mentioned automatic driving vehicle.
After obtaining current control instruction, current control instruction can be sent to above-mentioned automatic driving vehicle by executing subject
101,102,103.Automatic driving vehicle 101,102,103 is travelled according to current control instruction.
In some optional implementations of the present embodiment, the above method can with the following steps are included:
Above-mentioned running condition information and above-mentioned current control instruction are sent to cloud by the first step.
In practice, the substantial amounts of automatic driving vehicle 101,102,103, a large amount of driving status that executing subject receives
Information location information having the same and temporal information.In this way, executing subject is made largely compute repeatedly, reduce
The utilization rate of the computing capability of executing subject.For this purpose, executing subject can be by above-mentioned running condition information and above-mentioned current control
Instruction is sent to cloud (i.e. cloud server 105) and carries out versatility processing.
Second step receives the default control instruction set for the above-mentioned running condition information of correspondence that above-mentioned cloud is sent.
It, can be right after cloud server 105 receives running condition information and the current control instruction of executing subject transmission
Running condition information and current control instruction carry out relevant data processing, to obtain corresponding default control instruction set.
In this way, reducing the data processing amount of executing subject, the speed that automatic driving vehicle 101,102,103 obtains control instruction is improved
Degree is conducive to the travel safety for improving automatic driving vehicle 101,102,103.
It is one of the application scenarios of the method according to the present embodiment for controlling vehicle driving with continued reference to Fig. 3, Fig. 3
Schematic diagram.In the application scenarios of Fig. 3, the running condition information of itself is sent to edge meter in real time by automatic driving vehicle 102
Calculate equipment 104；Edge calculations equipment 104 first looks at the local default control sent in advance with the presence or absence of cloud server 105
Instruction set.If so, edge calculations equipment 104 is then transmitted directly to automatic driving vehicle 102, so that automatic driving vehicle 102
By improving travel safety when school；If no, 104 real-time perfoming data processing of edge calculations equipment, obtains unmanned
The current control instruction of vehicle 102, and it is sent to automatic driving vehicle 102.
The driving status letter that the method provided by the above embodiment of disclosure real-time reception automatic driving vehicle first is sent
Breath；Then, when there is the default control instruction set of corresponding running condition information, above-mentioned default control instruction set is sent
To automatic driving vehicle, otherwise, data processing is carried out to running condition information, obtain the current control of corresponding running condition information
Instruction；Finally, current control instruction is sent to automatic driving vehicle.The application is handled unmanned by edge calculations equipment
The data of vehicle improve the network data transmission efficiency of automatic driving vehicle, improve the driving peace to automatic driving vehicle
Quan Xing.
With further reference to Fig. 4, it illustrates the processes 400 of another embodiment of the method for controlling vehicle driving.
This is used to control the process 400 of the method for vehicle driving, comprising the following steps:
Step 401, at least one running condition information and corresponding above-mentioned at least one traveling that edge device is sent are received
The current control instruction of each running condition information in status information.
In the present embodiment, for controlling method executing subject (such as the cloud server shown in FIG. 1 of vehicle driving
105) running condition information and right can be received from edge calculations equipment 104 by wired connection mode or radio connection
Answer the current control instruction of running condition information.
Executing subject can be established with multiple edge calculations equipment 104 and be communicated, and receive what edge calculations equipment 104 was sent
Each running condition information is current at least one running condition information and corresponding above-mentioned at least one running condition information
Control instruction.Wherein, above-mentioned running condition information includes the location information of automatic driving vehicle, temporal information.Current control refers to
Enabling is the control instruction that information generates according to transport condition of edge calculations equipment 104.
Step 402, the location information and temporal information for including according to above-mentioned at least one running condition information determine traveling
Route information and time interval.
Executing subject can include the position extracted in each running condition information from least one running condition information
Information and temporal information.Later, executing subject can determine corresponding travel routes information and time zone by the methods of statistics
Between.
Step 403, referred to according to the current control of each running condition information in above-mentioned at least one running condition information
So that arriving initial control instruction set.
For approximate running condition information, edge calculations equipment 104 can provide the same or similar current control and refer to
It enables.Executing subject can count current control instruction, obtain initial control instruction set.
Step 404, the characteristic information of corresponding above-mentioned travel routes information and time interval is obtained.
Executing subject can analyze travel routes information and time interval, obtain corresponding characteristic information.Wherein,
Features described above information is for characterizing traffic information of the corresponding section of above-mentioned travel routes information in above-mentioned time interval.Example
Such as, automatic driving vehicle 101,102,103 is specific due to having near the route in sometime section travel to a certain route
Running environment (such as can be traffic control, train passes through, classes are over for school) so that automatic driving vehicle 101,102,
103 travel in corresponding time interval in the travel routes information, join to travelings such as the speed of traveling, direction or waiting time
Number is specifically modified.The characteristic information for then corresponding to travel routes information and time interval can be traffic control, train
Pass through, school classes are over temporal information, location information etc..
Step 405, above-mentioned initial control instruction set is modified according to features described above information, obtains corresponding to above-mentioned row
Sail the default control instruction set of route information and time interval.
After getting characteristic information, executing subject can to the initial control instruction of each in initial control instruction set into
Row amendment, so that revised initial control instruction meets the requirement of characteristic information.For example, to the speed in initial control instruction
Information is limited, it is made to must not exceed the velocity amplitude of setting.Can also the corresponding time extend drive vehicle 101,102,
103 waiting time sends situations such as colliding to avoid there is driving vehicle 101,102,103 with student.Later, executing subject
Default control instruction set can be set by modified initial control instruction.That is, default control instruction set can satisfy
Vehicle 101,102,103 is driven in the traveling demand of travel routes information and time interval.In this way, realizing to control instruction
Intervene in advance, so that the traveling for driving vehicle 101,102,103 more tallies with the actual situation, is conducive to avoid happening suddenly in traveling
Situation improves the driving safety for driving vehicle 101,102,103.
In some optional implementations of the present embodiment, features described above information include can with route restricted information and when
Between restricted information, and, it is above-mentioned that above-mentioned initial control instruction set is modified according to features described above information, may include with
Lower step:
The first step filters out corresponding above-mentioned route restricted information and time restriction letter from above-mentioned initial control instruction set
The initial control instruction of the target of breath.
Wherein, route restricted information can be used for marking the route or position for driving that vehicle 101,102,103 cannot travel；
Time restriction information, which can be used for marking, to be driven vehicle 101,102,103 and cannot travel time in which.Executing subject can root
The initial control instruction of target is filtered out from initial control instruction set according to route restricted information and time restriction information.That is, mesh
Initial control instruction is marked to need modified instruction.
Second step, in the initial control instruction of above-mentioned target speed parameter and angle parameter be modified.
Executing subject can be according to route restricted information and time restriction information in the initial control instruction of above-mentioned target
Speed parameter and angle parameter are modified, to meet the needs of driving safety.
In some optional implementations of the present embodiment, the above method can also include: to refer to above-mentioned default control
Set is enabled to be sent to above-mentioned edge device.
After obtaining default control instruction set, default control instruction set can be sent to edge calculations and set by executing subject
Standby 104.In this way, edge calculations equipment 104 can be made when receiving corresponding running condition information, directly by default control
Instruction set is sent to automatic driving vehicle 101,102,103, improves the driving safety for driving vehicle 101,102,103.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, present disclose provides one kind for controlling vehicle
Traveling device one embodiment, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, which specifically may be used
To be applied in various electronic equipments.
As shown in figure 5, the present embodiment may include: that running condition information connects for controlling the device 500 of vehicle driving
Receive unit 501, instruction acquisition unit 502 and instruction sending unit 503.Wherein, running condition information receiving unit 501 is configured
At the running condition information that real-time reception automatic driving vehicle is sent, above-mentioned running condition information includes the position of automatic driving vehicle
Confidence breath, temporal information；Instruction acquisition unit 502, the default control in response to there is corresponding above-mentioned running condition information instruct
Set, is configured to above-mentioned default control instruction set being sent to above-mentioned automatic driving vehicle, otherwise, to above-mentioned driving status
Information carries out data processing, obtains the current control instruction for corresponding to above-mentioned running condition information, wherein above-mentioned default control instruction
Gather corresponding with the location information of above-mentioned automatic driving vehicle and temporal information；Instruction sending unit 503 is configured to will be above-mentioned
Current control instruction is sent to above-mentioned automatic driving vehicle.
In some optional implementations of the present embodiment, the above-mentioned device 500 for controlling vehicle driving can be with
It include: first information transmission unit (not shown) and first information receiving unit (not shown).Wherein, the first information
Transmission unit is configured to above-mentioned running condition information and above-mentioned current control instruction being sent to cloud；The first information receives single
Member is configured to receive the default control instruction set for the above-mentioned running condition information of correspondence that above-mentioned cloud is sent.
With further reference to Fig. 6, as the realization to method shown in above-mentioned each figure, present disclose provides one kind for controlling vehicle
Traveling device one embodiment, the Installation practice is corresponding with embodiment of the method shown in Fig. 4, which specifically may be used
To be applied in various electronic equipments.
As shown in fig. 6, the device 600 for controlling vehicle driving of the present embodiment may include: that the second information receives list
Member 601, route time determination unit 602, initial control instruction set acquiring unit 603, characteristic acquisition unit 604 and pre-
If control instruction set acquiring unit 605.Wherein, the second information receiving unit 601 is configured to receive what edge device was sent
Each running condition information is current at least one running condition information and corresponding above-mentioned at least one running condition information
Control instruction, above-mentioned running condition information include the location information of automatic driving vehicle, temporal information；Route time determination unit
602 location informations and temporal information for being configured to include according to above-mentioned at least one running condition information determine that travel route is believed
Breath and time interval；Initial control instruction set acquiring unit 603 is configured to according to above-mentioned at least one running condition information
The current control instruction of middle each running condition information obtains initial control instruction set；604 quilt of characteristic acquisition unit
It is configured to obtain the characteristic information of corresponding above-mentioned travel routes information and time interval, features described above information is for characterizing above-mentioned row
Sail traffic information of the corresponding section of route information in above-mentioned time interval；605 quilt of default control instruction set acquiring unit
It is configured to be modified above-mentioned initial control instruction set according to features described above information, obtains corresponding to above-mentioned travel routes information
With the default control instruction set of time interval.
In some optional implementations of the present embodiment, features described above information includes route restricted information and time limit
Information processed, and, above-mentioned default control instruction set acquiring unit 605 may include: that the initial control instruction of target determines that son is single
First (not shown) and parameters revision subelement (not shown).Wherein, the initial control instruction of target determines subelement quilt
It is configured to filter out the target of corresponding above-mentioned route restricted information and time restriction information from above-mentioned initial control instruction set
Initial control instruction；Parameters revision subelement is configured to the speed parameter and angle ginseng in the initial control instruction of above-mentioned target
Number is modified.
In some optional implementations of the present embodiment, the above-mentioned device 600 for controlling vehicle driving can be with
Include: the second information transmitting unit (not shown), is configured above-mentioned default control instruction set being sent to above-mentioned edge
Equipment.
The present embodiment additionally provides a kind of electronic equipment, comprising: one or more processors；Memory is stored thereon with
One or more programs, when said one or multiple programs are executed by said one or multiple processors, so that said one
Or multiple processors execute the above-mentioned method for controlling vehicle driving.
The present embodiment additionally provides a kind of computer-readable medium, is stored thereon with computer program, and the program is processed
Device realizes the above-mentioned method for controlling vehicle driving when executing.
Below with reference to Fig. 7, it illustrates the electronic equipments for being suitable for being used to realize embodiment of the disclosure (for example, in Fig. 1
Edge calculations equipment 104) computer system 700 structural schematic diagram.Electronic equipment shown in Fig. 7 is only an example,
Should not function to embodiment of the disclosure and use scope bring any restrictions.
As shown in fig. 7, electronic equipment 700 may include processing unit (such as central processing unit, graphics processor etc.)
701, random access can be loaded into according to the program being stored in read-only memory (ROM) 702 or from storage device 708
Program in memory (RAM) 703 and execute various movements appropriate and processing.In RAM 703, it is also stored with electronic equipment
Various programs and data needed for 700 operations.Processing unit 701, ROM 702 and RAM 703 pass through the phase each other of bus 704
Even.Input/output (I/O) interface 705 is also connected to bus 704.
In general, following device can connect to I/O interface 705: including such as touch screen, touch tablet, keyboard, mouse, taking the photograph
As the input unit 706 of head, microphone, accelerometer, gyroscope etc.；Including such as liquid crystal display (LCD), loudspeaker, vibration
The output device 707 of dynamic device etc.；Storage device 708 including such as tape, hard disk etc.；And communication device 709.Communication device
709, which can permit electronic equipment 700, is wirelessly or non-wirelessly communicated with other equipment to exchange data.Although Fig. 7 shows tool
There is the electronic equipment 700 of various devices, it should be understood that being not required for implementing or having all devices shown.It can be with
Alternatively implement or have more or fewer devices.Each box shown in Fig. 7 can represent a device, can also root
According to needing to represent multiple devices.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communication device 709, or from storage device 708
It is mounted, or is mounted from ROM 702.When the computer program is executed by processing unit 701, the implementation of the disclosure is executed
The above-mentioned function of being limited in the method for example.
It is situated between it should be noted that the above-mentioned computer-readable medium of embodiment of the disclosure can be computer-readable signal
Matter or computer readable storage medium either the two any combination.Computer readable storage medium for example can be with
System, device or the device of --- but being not limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or it is any more than
Combination.The more specific example of computer readable storage medium can include but is not limited to: have one or more conducting wires
Electrical connection, portable computer diskette, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type are programmable
Read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic are deposited
Memory device or above-mentioned any appropriate combination.In embodiment of the disclosure, computer readable storage medium, which can be, appoints
What include or the tangible medium of storage program that the program can be commanded execution system, device or device use or and its
It is used in combination.And in embodiment of the disclosure, computer-readable signal media may include in a base band or as carrier wave
The data-signal that a part is propagated, wherein carrying computer-readable program code.The data-signal of this propagation can be adopted
With diversified forms, including but not limited to electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal is situated between
Matter can also be any computer-readable medium other than computer readable storage medium, which can be with
It sends, propagate or transmits for by the use of instruction execution system, device or device or program in connection.Meter
The program code for including on calculation machine readable medium can transmit with any suitable medium, including but not limited to: electric wire, optical cable,
RF (radio frequency) etc. or above-mentioned any appropriate combination.
Above-mentioned computer-readable medium can be included in above-mentioned electronic equipment；It is also possible to individualism, and not
It is fitted into the electronic equipment.Above-mentioned computer-readable medium carries one or more program, when said one or more
When a program is executed by the electronic equipment, so that the electronic equipment: the driving status letter that real-time reception automatic driving vehicle is sent
Breath, above-mentioned running condition information includes the location information of automatic driving vehicle, temporal information；In response to there is corresponding above-mentioned traveling
Above-mentioned default control instruction set is sent to above-mentioned automatic driving vehicle by the default control instruction set of status information, otherwise,
Data processing is carried out to above-mentioned running condition information, obtains the current control instruction for corresponding to above-mentioned running condition information, wherein on
It is corresponding with the location information of above-mentioned automatic driving vehicle and temporal information to state default control instruction set；Above-mentioned current control is referred to
Order is sent to above-mentioned automatic driving vehicle.
The behaviour for executing embodiment of the disclosure can be write with one or more programming languages or combinations thereof
The computer program code of work, above procedure design language include object oriented program language-such as Java,
Smalltalk, C++ further include conventional procedural programming language-such as " C " language or similar program design language
Speech.Program code can be executed fully on the user computer, partly be executed on the user computer, as an independence
Software package execute, part on the user computer part execute on the remote computer or completely in remote computer or
It is executed on server.In situations involving remote computers, remote computer can pass through the network of any kind --- packet
It includes local area network (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as benefit
It is connected with ISP by internet).
Flow chart and block diagram in attached drawing illustrate system, method and the computer of the various embodiments according to the disclosure
The architecture, function and operation in the cards of program product.In this regard, each box in flowchart or block diagram can be with
A part of a module, program segment or code is represented, a part of the module, program segment or code includes one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in unit involved in embodiment of the disclosure can be realized by way of software, can also be passed through
The mode of hardware is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor
Including running condition information receiving unit, instruction acquisition unit and instruction sending unit.Wherein, the title of these units is at certain
In the case of do not constitute restriction to the unit itself, for example, instruction sending unit is also described as " for that will instruct hair
Give the unit of automatic driving vehicle ".
Above description is only the preferred embodiment of the disclosure and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the disclosure, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed in the disclosure
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (12)
1. a kind of method for controlling vehicle driving, comprising:
The running condition information that real-time reception automatic driving vehicle is sent, the running condition information include automatic driving vehicle
Location information, temporal information；
In response to there is the default control instruction set of the corresponding running condition information, the default control instruction set is sent out
The automatic driving vehicle is given, otherwise, data processing is carried out to the running condition information, obtains corresponding to the driving status
The current control instruction of information, wherein the location information of the default control instruction set and the automatic driving vehicle and when
Between information it is corresponding；
The current control instruction is sent to the automatic driving vehicle.
2. according to the method described in claim 1, wherein, the method also includes:
The running condition information and the current control instruction are sent to cloud；
Receive the default control instruction set for the correspondence running condition information that the cloud is sent.
3. a kind of method for controlling vehicle driving, comprising:
It receives every at least one running condition information and corresponding at least one running condition information that edge device is sent
The current control instruction of one running condition information, the running condition information include automatic driving vehicle location information, when
Between information；
The location information and temporal information for including according at least one running condition information determine travel routes information and when
Between section；
It is initially controlled according to the current control instruction of each running condition information at least one running condition information
Instruction set processed；
The characteristic information of the corresponding travel routes information and time interval is obtained, the characteristic information is for characterizing the traveling
Traffic information of the corresponding section of route information in the time interval；
The initial control instruction set is modified according to the characteristic information, obtain corresponding to the travel routes information and
The default control instruction set of time interval.
4. according to the method described in claim 3, wherein, the characteristic information includes route restricted information and time restriction letter
Breath, and
It is described that the initial control instruction set is modified according to the characteristic information, comprising:
At the beginning of the target for filtering out the corresponding route restricted information and time restriction information from the initial control instruction set
Beginning control instruction；
To in the initial control instruction of the target speed parameter and angle parameter be modified.
5. according to the method described in claim 3, wherein, the method also includes:
The default control instruction set is sent to the edge device.
6. a kind of for controlling the device of vehicle driving, comprising:
Running condition information receiving unit is configured to the running condition information that real-time reception automatic driving vehicle is sent, described
Running condition information includes the location information of automatic driving vehicle, temporal information；
Instruction acquisition unit, in response to there is the default control instruction set of the corresponding running condition information, be configured to by
The default control instruction set is sent to the automatic driving vehicle, otherwise, carries out at data to the running condition information
Reason, obtain the current control instruction for corresponding to the running condition information, wherein the default control instruction set and it is described nobody
Location information and the temporal information for driving vehicle are corresponding；
Instruction sending unit is configured to the current control instruction being sent to the automatic driving vehicle.
7. device according to claim 6, wherein described device further include:
First information transmission unit is configured to the running condition information and the current control instruction being sent to cloud；
First information receiving unit is configured to receive the default control for the correspondence running condition information that the cloud is sent
Instruction set.
8. a kind of for controlling the device of vehicle driving, comprising:
Second information receiving unit is configured to receive described at least one running condition information and correspondence that edge device is sent
The current control instruction of each running condition information, the running condition information include nothing at least one running condition information
People drives the location information of vehicle, temporal information；
Route time determination unit is configured to the location information for including according at least one running condition information and time
Information determines travel routes information and time interval；
Initial control instruction set acquiring unit, is configured to be travelled according to each at least one running condition information
The current control instruction of status information obtains initial control instruction set；
Characteristic acquisition unit is configured to obtain the characteristic information of the corresponding travel routes information and time interval, institute
Characteristic information is stated for characterizing traffic information of the corresponding section of the travel routes information in the time interval；
Default control instruction set acquiring unit, be configured to according to the characteristic information to the initial control instruction set into
Row amendment, obtains the default control instruction set for corresponding to the travel routes information and time interval.
9. device according to claim 8, wherein the characteristic information includes route restricted information and time restriction letter
Breath, and
The default control instruction set acquiring unit includes:
The initial control instruction of target determines subelement, is configured to filter out from the initial control instruction set described in correspondence
The initial control instruction of the target of route restricted information and time restriction information；
Parameters revision subelement, be configured to in the initial control instruction of the target speed parameter and angle parameter repair
Just.
10. device according to claim 8, wherein described device further include:
Second information transmitting unit is configured the default control instruction set being sent to the edge device.
11. a kind of electronic equipment, comprising:
One or more processors；
Memory is stored thereon with one or more programs,
When one or more of programs are executed by one or more of processors, so that one or more of processors
Any method in any method or claim 3 to 5 in perform claim requirement 1 to 2.
12. a kind of computer-readable medium, is stored thereon with computer program, which is characterized in that the program is executed by processor
Method as described in Shi Shixian is any in the method or claim 3 to 5 as described in any in claim 1 to 2.
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