CN110456798B - Method and device for controlling the travel of a vehicle - Google Patents
Method and device for controlling the travel of a vehicle 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
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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
- G05D1/0223—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
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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
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- 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
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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
- G05D1/0231—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
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- 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
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Abstract
The embodiment of the disclosure discloses a method and a device for controlling vehicle running, and relates to the field of cloud computing. One embodiment of the method comprises the following steps: receiving running state information sent by an unmanned vehicle in real time, wherein the running state information comprises position information and time information of the unmanned vehicle; transmitting a preset control instruction set to the unmanned vehicle in response to the existence of the preset control instruction set corresponding to the running state information, otherwise, performing data processing on the running state information to obtain a current control instruction corresponding to the running state information, wherein the preset control instruction set corresponds to the position information and the time information of the unmanned vehicle; and sending the current control instruction to the unmanned vehicle. According to the embodiment, the network data transmission efficiency of the unmanned vehicle is improved, and the driving safety of the unmanned vehicle is improved.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of data processing, in particular to a method and a device for controlling vehicle running.
Background
The unmanned vehicle adopts a robot operation system to carry out information transmission, and cooperates with a GPS (Global Positioning System ) positioning system by means of artificial intelligence, visual computation, a video camera, a radar sensor, a laser radar, so that the unmanned vehicle can automatically and safely run without human assistance.
Disclosure of Invention
The embodiment of the disclosure provides a method and a device for controlling vehicle running.
In a first aspect, embodiments of the present disclosure provide a method for controlling vehicle travel, the method comprising: receiving running state information sent by an unmanned vehicle in real time, wherein the running state information comprises position information and time information of the unmanned vehicle; transmitting a preset control instruction set to the unmanned vehicle in response to the existence of the preset control instruction set corresponding to the running state information, otherwise, performing data processing on the running state information to obtain a current control instruction corresponding to the running state information, wherein the preset control instruction set corresponds to the position information and the time information of the unmanned vehicle; and sending the current control instruction to the unmanned vehicle.
In some embodiments, the above method further comprises: the running state information and the current control instruction are sent to a cloud; and receiving a preset control instruction set corresponding to the running state information sent by the cloud.
In a second aspect, embodiments of the present disclosure provide a method for controlling vehicle travel, the method comprising: receiving at least one piece of running state information sent by edge equipment and a current control instruction corresponding to each piece of running state information in the at least one piece of running state information, wherein the running state information comprises position information and time information of an unmanned vehicle; determining travel route information and a time interval according to the position information and the time information contained in the at least one piece of travel state information; obtaining an initial control instruction set according to the current control instruction of each piece of running state information in the at least one piece of running state information; acquiring characteristic information corresponding to the driving route information and a time interval, wherein the characteristic information is used for representing road condition information of a road section corresponding to the driving route information in the time interval; and correcting the initial control instruction set according to the characteristic information to obtain a preset control instruction set corresponding to the driving route information and the time interval.
In some embodiments, the characteristic information includes route limitation information and time limitation information, and the modifying the initial control instruction set according to the characteristic information includes: screening out target initial control instructions corresponding to the route limit information and the time limit information from the initial control instruction set; and correcting the speed parameter and the angle parameter in the target initial control command.
In some embodiments, the above method further comprises: and sending the preset control instruction set to the edge equipment.
In a third aspect, embodiments of the present disclosure provide an apparatus for controlling travel of a vehicle, the apparatus comprising: a driving state information receiving unit configured to receive driving state information transmitted from the unmanned vehicle in real time, the driving state information including position information and time information of the unmanned vehicle; an instruction acquisition unit, responsive to the existence of a preset control instruction set corresponding to the running state information, configured to send the preset control instruction set to the unmanned vehicle, otherwise, perform data processing on the running state information to obtain a current control instruction corresponding to the running state information, where the preset control instruction set corresponds to position information and time information of the unmanned vehicle; and an instruction transmitting unit configured to transmit the current control instruction to the unmanned vehicle.
In some embodiments, the apparatus further comprises: the first information sending unit is configured to send the running state information and the current control instruction to the cloud; the first information receiving unit is configured to receive a preset control instruction set corresponding to the running state information sent by the cloud.
In a fourth aspect, embodiments of the present disclosure provide an apparatus for controlling a vehicle to travel, the apparatus comprising: a second information receiving unit configured to receive at least one piece of running state information transmitted from an edge device and a current control instruction corresponding to each piece of running state information in the at least one piece of running state information, the running state information including position information and time information of an unmanned vehicle; a route time determination unit configured to determine travel route information and a time zone based on position information and time information included in the at least one piece of travel state information; an initial control instruction set obtaining unit configured to obtain an initial control instruction set according to a current control instruction of each piece of the at least one piece of the running state information; a characteristic information obtaining unit configured to obtain characteristic information corresponding to the travel route information and a time interval, where the characteristic information is used to characterize road condition information of a road section corresponding to the travel route information in the time interval; and the preset control instruction set acquisition unit is configured to correct the initial control instruction set according to the characteristic information to obtain a preset control instruction set corresponding to the driving route information and the time interval.
In some embodiments, the characteristic information includes route restriction information and time restriction information, and the preset control instruction set obtaining unit includes: a target initial control instruction determining subunit configured to screen out a target initial control instruction corresponding to the route restriction information and the time restriction information from the initial control instruction set; and the parameter correction subunit is configured to correct the speed parameter and the angle parameter in the target initial control instruction.
In some embodiments, the apparatus further comprises: and the second information sending unit is configured to send the preset control instruction set to the edge equipment.
In a fifth aspect, embodiments of the present disclosure provide an electronic device, comprising: one or more processors; and a memory having one or more programs stored thereon, which when executed by the one or more processors, cause the one or more processors to perform the method for controlling vehicle running of the first aspect or the method for controlling vehicle running of the second aspect.
In a sixth aspect, embodiments of the present disclosure provide a computer-readable medium having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the above-described method for controlling vehicle running of the first aspect or the method for controlling vehicle running of the second aspect.
The embodiment of the disclosure provides a method and a device for controlling vehicle running, which firstly receives running state information sent by an unmanned vehicle in real time; then, when a preset control instruction set corresponding to the running state information exists, the preset control instruction set is sent to the unmanned vehicle, otherwise, the running state information is subjected to data processing to obtain a current control instruction corresponding to the running state information; and finally, sending the current control instruction to the unmanned vehicle. According to the method and the device, the data of the unmanned vehicle are processed through the edge computing equipment, so that the network data transmission efficiency of the unmanned vehicle is improved, and the driving safety of the unmanned vehicle is improved.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings:
FIG. 1 is an exemplary system architecture diagram in which an embodiment of the present disclosure may be applied;
FIG. 2 is a flow chart of one embodiment of a method for controlling vehicle travel according to the present disclosure;
FIG. 3 is a schematic illustration of one application scenario of a method for controlling vehicle travel according to the present disclosure;
FIG. 4 is a flow chart of yet another embodiment of a method for controlling vehicle travel according to the present disclosure;
FIG. 5 is a schematic structural view of one embodiment of an apparatus for controlling vehicle travel according to the present disclosure;
FIG. 6 is a schematic structural view of yet another embodiment of an apparatus for controlling vehicle travel according to the present disclosure;
fig. 7 is a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure.
Detailed Description
The present disclosure is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
FIG. 1 illustrates an exemplary system architecture 100 for a method for controlling vehicle travel or an apparatus for controlling vehicle travel to which embodiments of the present disclosure may be applied.
As shown in fig. 1, the system architecture 100 may include unmanned vehicles 101, 102, 103, an edge computing device 104, and a cloud server 105. The edge computing device 104 is used to provide a medium of communication link between the unmanned vehicles 101, 102, 103 and the cloud server 105. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
The unmanned vehicles 101, 102, 103 interact with the server 105 via the network 104 to receive or send messages or the like. Various electronic devices, such as pressure sensors, temperature sensors, distance sensors, data storage, data transceivers, etc., may be mounted on the unmanned vehicles 101, 102, 103. The unmanned vehicles 101, 102, 103 may be various vehicles having a plurality of sample acquisition units and data training units, including but not limited to electric vehicles, hybrid electric vehicles, and internal combustion engine vehicles, among others.
The edge computing device 104 may be hardware or software. When the edge computing device 104 is hardware, it may be a variety of electronic devices with edge computing capabilities, including but not limited to smartphones, tablets, laptop and desktop computers, and the like. When the edge computing device 104 is software, it may be installed in the electronic devices listed above. Which may be implemented as multiple software or software modules (e.g., to provide distributed services), or as a single software or software module, without limitation.
The cloud server 105 may be a server that provides various services, such as a server that processes travel state information and the current control instructions sent from the edge computing device 104. The server may analyze the received driving state information and the data such as the current control instruction, and return a preset control instruction set to the edge computing device 104.
It should be noted that, the method for controlling vehicle driving provided by the embodiment of the present disclosure may be performed by the edge computing device 104 alone, or may also be performed by the edge computing device 104 and the cloud server 105 together. Accordingly, the means for controlling the vehicle running may be provided in the edge computing device 104 or may be provided in the cloud server 105.
It should be understood that the number of unmanned vehicles, edge computing devices, and cloud servers in fig. 1 are merely illustrative. There may be any number of unmanned vehicles, edge computing devices, and cloud servers, as desired for implementation.
With continued reference to fig. 2, a flow 200 of one embodiment of a method for controlling vehicle travel according to the present disclosure is shown. The method for controlling the running of the vehicle includes the steps of:
step 201, running state information sent by the unmanned vehicle is received in real time.
In the present embodiment, an execution subject of the method for controlling the running of the vehicle (for example, the edge computing device 104 shown in fig. 1) may receive the running state information from the unmanned vehicles 101, 102, 103 by wired connection or wireless connection. It should be noted that the wireless connection may include, but is not limited to, 3G/4G connection, wiFi connection, bluetooth connection, wiMAX connection, zigbee connection, UWB (Ultra Wideband) connection, and other now known or future developed wireless connection methods.
Unmanned vehicles include a variety of sensors, each of which is collecting data. Because the acquired data volume is very large, the network transmission requirement on the unmanned vehicle is very high. In practice, an unmanned vehicle may travel to a location where the signal is poor (e.g., may be under a bridge, underground garage, etc.). Once the unmanned vehicle does not upload the data to the cloud in time, the unmanned vehicle cannot acquire the control instruction in time. If the vehicle is in a driving state at a certain moment, the driving safety of the unmanned vehicle is greatly affected.
The execution body of the embodiment has the data processing capability of the cloud end, and may be disposed on the network side near the unmanned vehicles 101, 102, 103. In this way, the information smoothness of the unmanned vehicles 101, 102, 103 and the execution subject is greatly improved. The execution body can quickly process the running state information sent by the unmanned vehicles 101, 102 and 103, so that the running safety of the unmanned vehicles 101, 102 and 103 is improved. The driving state information may include position information and time information of the unmanned vehicle.
Step 202, in response to the existence of a preset control instruction set corresponding to the running state information, transmitting the preset control instruction set to the unmanned vehicle, otherwise, performing data processing on the running state information to obtain a current control instruction corresponding to the running state information.
The executing body can locally search whether a preset control instruction set corresponding to the running state information exists. The preset control instruction set corresponds to the position information and the time information of the unmanned vehicle. That is, the preset control instructions in the preset control instruction set may control the current running state in which the unmanned vehicles 101, 102, 103 are located. If there is a corresponding set of preset control instructions, the executing body may directly send the set of preset control instructions to the unmanned vehicles 101, 102, 103. In this way, the unmanned vehicles 101, 102 and 103 can quickly acquire the preset control instruction, which is beneficial to improving the driving safety of the unmanned vehicles. If the corresponding preset control instruction set does not exist, the execution main body can perform data processing on the running state information through preset information processing capability to obtain a current control instruction corresponding to the running state information. For example, a control instruction generation application for automatically running the unmanned vehicles 101, 102, 103 may be provided in the execution main body. When the executing body receives the running state information sent by the unmanned vehicles 101, 102 and 103, but the executing body does not have a preset control instruction set locally, the executing body can generate a current control instruction corresponding to the running state information through the control instruction generation application.
And step 203, transmitting the current control instruction to the unmanned vehicle.
After obtaining the current control instruction, the executing body may send the current control instruction to the unmanned vehicles 101, 102, 103. The unmanned vehicles 101, 102, 103 travel according to the current control instruction.
In some optional implementations of this embodiment, the method may further include the steps of:
and the first step is to send the running state information and the current control instruction to the cloud.
In practice, the number of unmanned vehicles 101, 102, 103 is enormous, and a large amount of travel state information received by the execution subject has the same position information and time information. Thus, the execution subject performs a large number of repeated calculations, and the utilization rate of the calculation capability of the execution subject is reduced. For this reason, the executing body may send the driving status information and the current control instruction to the cloud (i.e. the cloud server 105) for performing the universality process.
And a second step of receiving a preset control instruction set corresponding to the running state information sent by the cloud.
After receiving the running state information and the current control instruction sent by the execution main body, the cloud server 105 can perform related data processing on the running state information and the current control instruction, so as to obtain a corresponding preset control instruction set. In this way, the data processing amount of the execution subject is reduced, the speed of the unmanned vehicles 101, 102, 103 acquiring the control instruction is increased, and the driving safety of the unmanned vehicles 101, 102, 103 is improved.
With continued reference to fig. 3, fig. 3 is a schematic diagram of an application scenario of the method for controlling vehicle travel according to the present embodiment. In the application scenario of fig. 3, the unmanned vehicle 102 sends its own driving state information to the edge computing device 104 in real time; the edge computing device 104 first checks whether there is a preset control instruction set sent in advance by the cloud server 105 locally. If so, the edge computing device 104 directly sends the edge computing device to the unmanned vehicle 102, so that the driving safety of the unmanned vehicle 102 is improved when the unmanned vehicle passes through the school; if not, the edge computing device 104 performs data processing in real time, obtains the current control instruction of the unmanned vehicle 102, and sends the current control instruction to the unmanned vehicle 102.
The method provided by the embodiment of the disclosure firstly receives running state information sent by the unmanned vehicle in real time; then, when a preset control instruction set corresponding to the running state information exists, the preset control instruction set is sent to the unmanned vehicle, otherwise, the running state information is subjected to data processing to obtain a current control instruction corresponding to the running state information; and finally, sending the current control instruction to the unmanned vehicle. According to the method and the device, the data of the unmanned vehicle are processed through the edge computing equipment, so that the network data transmission efficiency of the unmanned vehicle is improved, and the driving safety of the unmanned vehicle is improved.
With further reference to fig. 4, a flow 400 of yet another embodiment of a method for controlling vehicle travel is shown. The flow 400 of the method for controlling vehicle travel includes the steps of:
step 401, receiving at least one piece of running state information sent by an edge device and a current control instruction corresponding to each piece of running state information in the at least one piece of running state information.
In the present embodiment, a method execution body (e.g., the cloud server 105 shown in fig. 1) for controlling the running of the vehicle may receive the running state information and the current control instruction of the corresponding running state information from the edge computing device 104 through a wired connection or a wireless connection.
The executing body may establish communication with the plurality of edge computing devices 104 and receive at least one piece of running state information transmitted from the edge computing device 104 and a current control instruction corresponding to each piece of the at least one piece of running state information. The driving state information includes position information and time information of the unmanned vehicle. The current control instruction is a control instruction generated by the edge computing device 104 according to the running state information.
Step 402, determining the driving route information and the time interval according to the position information and the time information contained in the at least one piece of driving state information.
The execution subject may include position information and time information extracted from each piece of travel state information from at least one piece of travel state information. After that, the execution subject can determine the corresponding travel route information and time zone by means of statistics or the like.
Step 403, obtaining an initial control instruction set according to the current control instruction of each piece of running state information in the at least one piece of running state information.
For approximate driving state information, the edge computing device 104 may give the same or similar current control instructions. The execution body may count the current control instruction to obtain an initial control instruction set.
Step 404, obtaining the characteristic information corresponding to the driving route information and the time interval.
The execution subject can analyze the driving route information and the time interval to obtain corresponding characteristic information. The characteristic information is used for representing road condition information of a road section corresponding to the driving route information in the time interval. For example, when the unmanned vehicles 101, 102, 103 travel to a certain route in a certain time zone, the unmanned vehicles 101, 102, 103 make specific modifications to travel parameters such as the speed, direction, waiting time of travel when traveling in the travel route information in the corresponding time zone due to a specific travel environment (for example, traffic control, passing of trains, school giving-away, etc.) in the vicinity of the route. The characteristic information corresponding to the travel route information and the time zone may be traffic control, train passing, school time information, location information, etc.
And step 405, correcting the initial control instruction set according to the characteristic information to obtain a preset control instruction set corresponding to the driving route information and the time interval.
After the feature information is obtained, the execution main body can correct each initial control instruction in the initial control instruction set, so that the corrected initial control instructions meet the requirement of the feature information. For example, the speed information in the initial control command is limited so as not to exceed the set speed value. The waiting time of the driving vehicles 101, 102, 103 can be prolonged at corresponding time to avoid the situation that the driving vehicles 101, 102, 103 collide with students. Then, the execution body may set the modified initial control instruction as a preset control instruction set. That is, the preset control instruction set can satisfy the travel requirements of the driving vehicles 101, 102, 103 for the travel route information and the time zone. In this way, the early intervention of the control instruction is realized, so that the running of the driving vehicles 101, 102 and 103 is more in line with the actual situation, the emergency situation in the running process is avoided, and the running safety of the driving vehicles 101, 102 and 103 is improved.
In some optional implementations of this embodiment, the feature information includes route restriction information and time restriction information, and the modifying the initial control instruction set according to the feature information may include the following steps:
first, selecting a target initial control instruction corresponding to the route limit information and the time limit information from the initial control instruction set.
Wherein the route restriction information may be used to mark a route or a position where the driving vehicle 101, 102, 103 cannot travel; the time limitation information may be used to mark at which times the driving vehicle 101, 102, 103 is not able to travel. The execution subject may screen out the target initial control instruction from the initial control instruction set according to the route restriction information and the time restriction information. That is, the target initial control command is a command requiring correction.
And secondly, correcting the speed parameter and the angle parameter in the target initial control instruction.
The executing body can correct the speed parameter and the angle parameter in the target initial control instruction according to the route limit information and the time limit information so as to meet the requirement of driving safety.
In some optional implementations of this embodiment, the method may further include: and sending the preset control instruction set to the edge equipment.
After obtaining the preset control instruction set, the execution body may send the preset control instruction set to the edge computing device 104. In this way, when the edge computing device 104 receives the corresponding driving state information, the preset control instruction set is directly sent to the unmanned vehicles 101, 102 and 103, so that the driving safety of the driving vehicles 101, 102 and 103 is improved.
With further reference to fig. 5, as an implementation of the method shown in the above figures, the present disclosure provides an embodiment of an apparatus for controlling vehicle travel, which corresponds to the method embodiment shown in fig. 2, and which is particularly applicable to various electronic devices.
As shown in fig. 5, the apparatus 500 for controlling vehicle running of the present embodiment may include: a travel state information receiving unit 501, an instruction acquiring unit 502, and an instruction transmitting unit 503. Wherein the driving state information receiving unit 501 is configured to receive driving state information sent by the unmanned vehicle in real time, wherein the driving state information comprises position information and time information of the unmanned vehicle; an instruction obtaining unit 502, responsive to the existence of a preset control instruction set corresponding to the running state information, configured to send the preset control instruction set to the unmanned vehicle, otherwise, perform data processing on the running state information to obtain a current control instruction corresponding to the running state information, where the preset control instruction set corresponds to position information and time information of the unmanned vehicle; the instruction transmitting unit 503 is configured to transmit the current control instruction to the unmanned vehicle.
In some optional implementations of this embodiment, the apparatus 500 for controlling vehicle driving may further include: a first information transmitting unit (not shown in the figure) and a first information receiving unit (not shown in the figure). The first information sending unit is configured to send the running state information and the current control instruction to the cloud; the first information receiving unit is configured to receive a preset control instruction set corresponding to the running state information sent by the cloud.
With further reference to fig. 6, as an implementation of the method shown in the above figures, the present disclosure provides an embodiment of an apparatus for controlling vehicle travel, which corresponds to the method embodiment shown in fig. 4, and which is particularly applicable to various electronic devices.
As shown in fig. 6, the apparatus 600 for controlling vehicle running of the present embodiment may include: a second information receiving unit 601, a route time determining unit 602, an initial control instruction set acquiring unit 603, a feature information acquiring unit 604, and a preset control instruction set acquiring unit 605. Wherein the second information receiving unit 601 is configured to receive at least one piece of driving state information sent by an edge device and a current control instruction corresponding to each piece of driving state information in the at least one piece of driving state information, where the driving state information includes position information and time information of an unmanned vehicle; the route time determination unit 602 is configured to determine travel route information and a time zone from the position information and the time information contained in the at least one piece of travel state information; the initial control instruction set obtaining unit 603 is configured to obtain an initial control instruction set according to a current control instruction of each piece of the above-mentioned at least one piece of running state information; the characteristic information obtaining unit 604 is configured to obtain characteristic information corresponding to the driving route information and a time interval, where the characteristic information is used to characterize road condition information of a road segment corresponding to the driving route information in the time interval; the preset control instruction set obtaining unit 605 is configured to modify the initial control instruction set according to the characteristic information, so as to obtain a preset control instruction set corresponding to the driving route information and the time interval.
In some optional implementations of the present embodiment, the characteristic information includes route limitation information and time limitation information, and the preset control instruction set obtaining unit 605 may include: a target initial control instruction determination subunit (not shown) and a parameter correction subunit (not shown). The target initial control instruction determining subunit is configured to screen out target initial control instructions corresponding to the route limit information and the time limit information from the initial control instruction set; the parameter correction subunit is configured to correct the speed parameter and the angle parameter in the target initial control instruction.
In some optional implementations of this embodiment, the apparatus 600 for controlling vehicle driving may further include: a second information transmitting unit (not shown in the figure) configured to transmit the preset control instruction set to the edge device.
The embodiment also provides an electronic device, including: one or more processors; and a memory having one or more programs stored thereon, which when executed by the one or more processors, cause the one or more processors to perform the method for controlling vehicle travel.
The present embodiment also provides a computer-readable medium having stored thereon a computer program which, when executed by a processor, implements the above-described method for controlling vehicle travel.
Referring now to FIG. 7, there is illustrated a schematic diagram of a computer system 700 suitable for use with an electronic device (e.g., edge computing device 104 of FIG. 1) for implementing embodiments of the present disclosure. The electronic device shown in fig. 7 is only one example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.
As shown in fig. 7, the electronic device 700 may include a processing means (e.g., a central processor, a graphics processor, etc.) 701, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage means 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
In general, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 700 to communicate wirelessly or by wire with other devices to exchange data. While fig. 7 shows an electronic device 700 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 7 may represent one device or a plurality of devices as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication device 709, or installed from storage 708, or installed from ROM 702. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 701.
It should be noted that, the above-mentioned computer readable medium according to the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the above-mentioned two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In an embodiment of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. Whereas in embodiments of the present disclosure, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: receiving running state information sent by an unmanned vehicle in real time, wherein the running state information comprises position information and time information of the unmanned vehicle; transmitting a preset control instruction set to the unmanned vehicle in response to the existence of the preset control instruction set corresponding to the running state information, otherwise, performing data processing on the running state information to obtain a current control instruction corresponding to the running state information, wherein the preset control instruction set corresponds to the position information and the time information of the unmanned vehicle; and sending the current control instruction to the unmanned vehicle.
Computer program code for carrying out operations of embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments described in the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a travel state information receiving unit, an instruction acquiring unit, and an instruction transmitting unit. The names of these units do not constitute a limitation on the unit itself in some cases, and for example, the instruction transmitting unit may also be described as "a unit for transmitting an instruction to an unmanned vehicle".
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention referred to in this disclosure is not limited to the specific combination of features described above, but encompasses other embodiments in which features described above or their equivalents may be combined in any way without departing from the spirit of the invention. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Claims (12)
1. A method for controlling vehicle travel, applied to an edge computing device, comprising:
receiving running state information sent by an unmanned vehicle in real time, wherein the running state information comprises position information and time information of the unmanned vehicle;
transmitting a preset control instruction set to the unmanned vehicle in response to the existence of the preset control instruction set corresponding to the running state information, otherwise, performing data processing on the running state information to obtain a current control instruction corresponding to the running state information, wherein the preset control instruction set corresponds to the position information and the time information of the unmanned vehicle, and the preset control instruction set is obtained by counting the same or similar current control instructions which are transmitted by the edge computing equipment and are made based on the same or similar running state information by a cloud;
and sending the current control instruction to the unmanned vehicle.
2. The method of claim 1, wherein the method further comprises:
the driving state information and the current control instruction are sent to a cloud;
and receiving a preset control instruction set corresponding to the running state information sent by the cloud.
3. A method for controlling vehicle travel, comprising:
receiving at least one piece of running state information and a current control instruction corresponding to each piece of running state information sent by edge computing equipment, wherein the running state information comprises position information and time information of an unmanned vehicle;
determining travel route information and a time interval according to the position information and the time information contained in the at least one piece of travel state information;
obtaining an initial control instruction set according to the current control instruction of each piece of running state information in the at least one piece of running state information, wherein the initial control instruction set comprises: counting the same or similar current control instructions sent by the edge computing equipment and made based on the same or similar running state information to obtain the initial control instruction set;
acquiring characteristic information corresponding to the driving route information and a time interval, wherein the characteristic information is used for representing road condition information of a road section corresponding to the driving route information in the time interval;
and correcting the initial control instruction set according to the characteristic information to obtain a preset control instruction set corresponding to the driving route information and the time interval.
4. The method of claim 3, wherein the characteristic information includes route restriction information and time restriction information, and
the correcting the initial control instruction set according to the characteristic information comprises the following steps:
screening out target initial control instructions corresponding to the route limit information and the time limit information from the initial control instruction set;
and correcting the speed parameter and the angle parameter in the target initial control instruction.
5. A method according to claim 3, wherein the method further comprises:
and sending the preset control instruction set to the edge computing equipment.
6. An apparatus for controlling vehicle travel, applied to an edge computing device, comprising:
a driving state information receiving unit configured to receive driving state information transmitted from the unmanned vehicle in real time, the driving state information including position information and time information of the unmanned vehicle;
an instruction acquisition unit, responsive to the existence of a preset control instruction set corresponding to the running state information, configured to send the preset control instruction set to the unmanned vehicle, otherwise, perform data processing on the running state information to obtain a current control instruction corresponding to the running state information, where the preset control instruction set corresponds to the position information and the time information of the unmanned vehicle, and the preset control instruction set is obtained by counting the same or similar current control instruction sent by the edge computing device and made based on the same or similar running state information by a cloud;
an instruction transmitting unit configured to transmit the current control instruction to the unmanned vehicle.
7. The apparatus of claim 6, wherein the apparatus further comprises:
the first information sending unit is configured to send the running state information and the current control instruction to the cloud;
the first information receiving unit is configured to receive a preset control instruction set corresponding to the running state information sent by the cloud.
8. An apparatus for controlling travel of a vehicle, comprising:
a second information receiving unit configured to receive at least one piece of running state information transmitted from the edge computing device and a current control instruction corresponding to each piece of running state information in the at least one piece of running state information, the running state information including position information and time information of the unmanned vehicle;
a route time determination unit configured to determine travel route information and a time zone from position information and time information contained in the at least one piece of travel state information;
an initial control instruction set obtaining unit configured to obtain an initial control instruction set according to a current control instruction of each piece of the at least one piece of the running state information, including: counting the same or similar current control instructions sent by the edge computing equipment and made based on the same or similar running state information to obtain the initial control instruction set;
the characteristic information acquisition unit is configured to acquire characteristic information corresponding to the driving route information and a time interval, wherein the characteristic information is used for representing road condition information of a road section corresponding to the driving route information in the time interval;
and the preset control instruction set acquisition unit is configured to correct the initial control instruction set according to the characteristic information to obtain a preset control instruction set corresponding to the driving route information and the time interval.
9. The apparatus of claim 8, wherein the characteristic information comprises route restriction information and time restriction information, and
the preset control instruction set acquisition unit includes:
a target initial control instruction determining subunit configured to screen out a target initial control instruction corresponding to the route restriction information and the time restriction information from the initial control instruction set;
and the parameter correction subunit is configured to correct the speed parameter and the angle parameter in the target initial control instruction.
10. The apparatus of claim 8, wherein the apparatus further comprises:
and the second information sending unit is configured to send the preset control instruction set to the edge computing device.
11. An electronic device, comprising:
one or more processors;
a memory having one or more programs stored thereon,
the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method of any of claims 1-2 or the method of any of claims 3-5.
12. A computer readable medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the method of any one of claims 1 to 2 or the method of any one of claims 3 to 5.
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| CN111833479B (en) * | 2020-04-21 | 2022-08-02 | 新奇点智能科技集团有限公司 | Automobile warning method and device and automobile warning relieving method and device |
| CN114244834B (en) * | 2021-11-02 | 2023-11-21 | 北京汽车研究总院有限公司 | Vehicle-mounted edge computing system and method of vehicle |
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