CN111717222B - Vehicle control method and related equipment - Google Patents
Vehicle control method and related equipment Download PDFInfo
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- CN111717222B CN111717222B CN202010607832.5A CN202010607832A CN111717222B CN 111717222 B CN111717222 B CN 111717222B CN 202010607832 A CN202010607832 A CN 202010607832A CN 111717222 B CN111717222 B CN 111717222B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
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Abstract
The embodiment of the application discloses a vehicle control method which is used for an unmanned vehicle. The method in the embodiment of the application comprises the following steps: acquiring road information when the unmanned vehicle runs along a preset path; judging whether an unknown road crossed with the current road exists or not according to the road information; if the unknown road exists, acquiring unknown road information, and judging whether the process of acquiring the unknown road information is successful or not; if the success is achieved; the preset path is regenerated according to the current position of the unmanned vehicle. According to the scheme, the method and the device for generating the driving route of the unmanned vehicle are used for judging based on the road information obtained by the unmanned vehicle in the driving process, and when an unknown road is found, the driving route of the unmanned vehicle is regenerated according to the obtained road information. And then the driving path of the unmanned vehicle can be changed according to the road information obtained in real time, so that unnecessary travel of the unmanned vehicle in the driving process is avoided, and the driving intelligence of the unmanned vehicle is improved.
Description
Technical Field
The embodiment of the application relates to the field of traffic, in particular to a vehicle control method and related equipment
Background
The unmanned automobile is one of intelligent automobiles, is also called a wheeled mobile robot, and mainly achieves the purpose of unmanned driving by means of an automatic driving system in the automobile. The unmanned automobile senses the surroundings of the vehicle by using the vehicle-mounted sensor and controls the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by sensing, thereby enabling the vehicle to safely and reliably travel on the road.
When a travel of an existing unmanned vehicle starts, a map built in an automatic driving system is used to generate a specific preset path according to the current position and the destination position, the preset path is connected with the current position and the destination position, and the unmanned driving system generally selects a road section with a shorter path or meeting the requirements of the unmanned vehicle to form the preset path.
In the actual running process of the unmanned automobile, the automobile can acquire information such as vehicles, pedestrians and obstacles on the current road in real time, and can decelerate or execute other driving behaviors according to the corresponding information so as to complete the predetermined preset path and travel.
Disclosure of Invention
In a first aspect, an embodiment of the present application provides a vehicle control method, applied to an unmanned vehicle, including:
acquiring road information when the unmanned vehicle runs along a preset path;
judging whether an unknown road crossed with the current road exists or not according to the road information;
if the unknown road exists, acquiring unknown road information, and judging whether the process of acquiring the unknown road information is successful or not;
if the process of obtaining the unknown road information is successful; and regenerating a preset path according to the current position of the unmanned vehicle.
Based on the vehicle control method according to the first aspect of the embodiment of the present application, optionally, the method further includes:
if the process of obtaining the unknown road information is unsuccessful, driving to the intersection of the unknown road and the known road along the unknown road;
and regenerating a preset path according to the current position of the unmanned vehicle.
Based on the vehicle control method according to the first aspect of the embodiment of the present application, optionally, the method further includes:
generating the information of the unknown road according to the process of driving to the intersection of the unknown road and the known road along the unknown road;
and sending the information of the unknown road to other unmanned vehicles.
Based on the vehicle control method according to the first aspect of the embodiment of the present application, optionally, the obtaining the information of the unknown road includes:
transmitting start point information of the unknown road to other unmanned vehicles so that the other unmanned vehicles return the unknown road information.
Based on the vehicle control method according to the first aspect of the embodiment of the present application, optionally, the regenerating a preset path according to the current location of the unmanned vehicle includes:
determining a shortest path between a current location of the unmanned vehicle and a target location of the unmanned vehicle;
and determining the shortest path as the preset path.
Based on the vehicle control method according to the first aspect of the embodiment of the present application, optionally, the unknown road information includes start point information of the unknown road and end point information of the unknown road.
A second aspect of the embodiments of the present application provides a vehicle control apparatus applied to an unmanned vehicle, including:
the road information acquisition unit is used for acquiring road information when the unmanned vehicle runs along a preset path;
the judging unit is used for judging whether an unknown road crossed with the current road exists according to the road information, and if the unknown road exists, the unknown road information obtaining unit is triggered;
the unknown road information acquisition unit is used for acquiring unknown road information and judging whether the unknown road information acquisition process is successful or not, and if the unknown road information acquisition process is successful, the preset path generation unit is triggered;
and the preset path generating unit is used for regenerating a preset path according to the current position of the unmanned vehicle.
Based on the vehicle control apparatus according to the second aspect of the embodiment of the present application, optionally,
the apparatus further comprises: the driving unit is used for driving to the intersection of the unknown road and the known road along the unknown road if the process of obtaining the information of the unknown road is unsuccessful;
the preset path generating unit is specifically configured to regenerate a preset path according to the current position of the unmanned vehicle.
Based on the vehicle control apparatus according to the second aspect of the embodiment of the present application, optionally,
the vehicle control apparatus further includes: the sending unit is used for generating the information of the unknown road according to the process of driving to the intersection of the unknown road and the known road along the unknown road;
and sending the information of the unknown road to other unmanned vehicles.
Based on the vehicle control apparatus according to the second aspect of the embodiment of the present application, optionally,
the unknown road information obtaining unit is specifically configured to send start point information of the unknown road to other unmanned vehicles, so that the other unmanned vehicles return the unknown road information, and determine whether the process of sending the start point information of the unknown road to the other unmanned vehicles is successful, and if the process of sending the start point information of the unknown road to the other unmanned vehicles is successful, trigger a preset path generating unit;
based on the vehicle control apparatus according to the second aspect of the embodiment of the present application, optionally,
the preset path generating unit is specifically configured to determine a shortest path between a current position of the unmanned vehicle and a target position of the unmanned vehicle;
and determining the shortest path as the preset path.
Based on the vehicle control apparatus according to the second aspect of the embodiment of the present application, optionally, the unknown road information includes start point information of the unknown road and end point information of the unknown road.
A third aspect of embodiments of the present application provides a vehicle control apparatus, including:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processing unit is configured to communicate with the memory, and execute the instruction operations in the memory on the people counting device to execute the method according to any one of the first aspect of the embodiments of the present application.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, including instructions, which, when executed on a computer, cause the computer to perform the method according to any one of the first aspects of embodiments of the present application.
A fifth aspect of embodiments of the present application provides a computer program product containing instructions, which when executed on a computer, cause the computer to perform the method according to any one of the first aspect of embodiments of the present application.
According to the technical scheme, the embodiment of the application has the following advantages: and judging based on the road information obtained by the unmanned vehicle in the driving process, acquiring specific information of the unknown road when the unknown road is found, and regenerating the driving path of the unmanned vehicle according to the acquired road information. And then the preset path of the unmanned vehicle can be changed according to the road information obtained in real time, so that unnecessary travel of the unmanned vehicle in the driving process is avoided, and the driving intelligence of the unmanned vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of an embodiment of a vehicle control method of the present application;
FIG. 2 is another schematic flow chart diagram of an embodiment of a vehicle control method of the present application;
FIG. 3 is a schematic structural diagram of an embodiment of a vehicle control apparatus according to the present application;
fig. 4 is another schematic structural diagram of the embodiment of the vehicle control device according to the present application.
Fig. 5 is another schematic structural diagram of the embodiment of the vehicle control apparatus according to the present application.
Detailed Description
The embodiment of the application provides a vehicle control method, which is used for judging road information in the driving process of an unmanned vehicle and correspondingly changing a preset path when an unknown road exists so that the driving process of the unmanned vehicle is more intelligent.
In order to make the technical solutions in the embodiments of the present application better understood, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, an embodiment of a vehicle control method of the present application includes: step 101-step 104.
101. And acquiring road information when the unmanned vehicle runs along a preset path.
And acquiring road information when the unmanned vehicle runs along a preset path. The unmanned vehicle as an intelligent vehicle has a closer and closer relationship with our social life, and the unmanned vehicle has more and more applications, and the use of the unmanned vehicle for distribution of articles is a representative application mode in many applications of the unmanned vehicle. When the unmanned vehicle carries out article distribution, a specific preset path is generated by using a map arranged in the automatic driving system according to the current position and the destination position, the preset path is connected with the current position and the destination position, and the unmanned system generally selects a road section with a shorter path or meeting the requirements of the unmanned vehicle to form the preset path. And driving according to the preset path. During the driving process of the unmanned vehicle according to the route, corresponding road information can be acquired, for example, specific driving environment information of the current position is acquired through an infrared distance meter, an image acquisition device, a sound acquisition device and the like, so that the safety of the driving process is ensured, the acquired road information is analyzed, and the specific road condition can be known.
102. And judging whether the current road has an unknown road crossed with the current road according to the road information.
And judging whether the current road has an unknown road crossed with the current road by the unmanned vehicle according to the road information. The specific unmanned vehicle can be analyzed according to the image data acquired by the image acquisition equipment to judge whether an unknown road crossing the current road exists or not, and can also be analyzed through GPS information to judge whether an unknown road crossing the current road exists or not. The unknown road is a road which is not referred to when the unmanned vehicle generates the preset path before the unmanned vehicle performs the route, and because the map information used when the unmanned vehicle generates the preset path is a map preset in the unmanned system, the map may have a certain difference from the actual road condition due to reasons such as untimely update and the like. Therefore, the unmanned vehicle may find an unknown road that is not recorded in the existing map during the driving process, and if the unknown road exists, step 103 is executed to obtain the unknown road information, and it is determined whether the process of obtaining the unknown road information is successful. If the unknown road does not exist, the fact that the road information recorded by the unmanned system is accurate is shown, and the unmanned system can drive to the terminal point according to the original preset path.
103. And acquiring unknown road information, and judging whether the process of acquiring the unknown road information is successful or not.
The unmanned vehicle acquires the unknown road information and judges whether the process of acquiring the unknown road information is successful. After judging that an unknown road crossing the current road exists according to the road information, in order to further determine the specific situation of the unknown road, the unmanned vehicle can acquire the specific information of the unknown road, including information of a starting point, an end point, a speed limit, a toll station and the like of the road, and the specific situation is not limited herein.
Meanwhile, since the unknown road is not recorded in the database of the unmanned vehicle, the other queried databases may not record the road information of the unknown road, and therefore, it is necessary to determine whether the process of obtaining the unknown road information is successful, specifically, since the unmanned vehicle is in the driving process, it may be determined whether the process of obtaining the road information is successful under the condition of time limitation, if no effective response is obtained within 5 seconds after the obtaining request is sent, the obtaining process is determined to be failed, after the obtaining of the road information is failed, the unmanned vehicle may continue to drive according to the original preset path in order to ensure the driving process to be smooth, and may also drive on the unknown road to obtain the specific information of the unknown road, and the specific details are not limited herein. And if the process of obtaining the unknown road information is successful, executing step 104, and regenerating a preset path according to the current position of the unmanned vehicle.
104. And regenerating a preset path according to the current position of the unmanned vehicle.
And if the process of obtaining the unknown road information is successful, regenerating a preset path according to the current position of the unmanned vehicle. Specifically, the unmanned vehicle can obtain information such as starting point information and end point information of the unknown road and whether the unmanned vehicle is allowed to drive in the road, the information is incrementally updated to a map prestored in the unmanned system, and the preset path is regenerated according to the updated map, specifically, the shortest path can be calculated according to the current position of the unmanned vehicle and the preset end point, and the shortest path is determined to be the preset path.
According to the technical scheme, the embodiment of the application has the following advantages: and judging based on the road information obtained by the unmanned vehicle in the driving process, acquiring specific information of the unknown road when the unknown road is found, and regenerating the driving path of the unmanned vehicle according to the acquired road information. And then the driving path of the unmanned vehicle can be changed according to the road information obtained in real time, so that unnecessary travel of the unmanned vehicle in the driving process is avoided, and the driving intelligence of the unmanned vehicle is improved.
Referring to fig. 2, an embodiment of a vehicle control method of the present application includes: step 201-step 209.
201. And acquiring road information when the unmanned vehicle runs along a preset path.
The method comprises the steps that the unmanned vehicle acquires road information when the unmanned vehicle runs along a preset path, and the specific road information can be image information acquired by an infrared camera arranged on the unmanned vehicle. The infrared camera is used as one of image acquisition equipment, has the advantages of high image acquisition definition, wide acquisition range, multiple use scenes and the like, and is widely applied to the field of unmanned vehicles. It is understood that the acquisition of the specific road information may also be obtained by other types of image capturing devices, which may be determined according to the actual situation, and is not limited herein.
202. And judging whether the current road has an unknown road crossed with the current road according to the road information.
And judging whether the current road has an unknown road crossed with the current road by the unmanned vehicle according to the road information. And the unmanned vehicle analyzes according to the image data acquired by the infrared camera. And judging whether an unknown road crossed with the current road exists or not. Specifically, the unmanned vehicle can analyze the image data acquired by the infrared camera, determine whether a road crossing the current road of the unmanned vehicle exists according to the image, compare the intersection position with a map system in the unmanned system if the road exists, determine whether information of the intersection is recorded in the map system, if the intersection exists, indicate that the intersection is a known road, and if the intersection does not exist, indicate that the intersection is an unknown road. Specifically, reference may be made to step 102 in the embodiment corresponding to fig. 1, which is not described herein again.
203. And acquiring unknown road information, and judging whether the process of acquiring the unknown road information is successful or not.
The unmanned vehicle acquires the unknown road information and judges whether the process of acquiring the unknown road information is successful. Specifically, the process of acquiring unknown road information may include: transmitting start point information of the unknown road to other unmanned vehicles so that the other unmanned vehicles return the unknown road information. The intersection information of the unknown road and the straight road is sent to other unmanned vehicles through the local area network for mutual interaction between the unmanned vehicles, so that the other unmanned vehicles can return the information of the unknown road, the data interaction is carried out through the local area network for mutual interaction between the unmanned vehicles, the stability and the reliability of data transmission can be guaranteed, other inaccurate information is prevented from being acquired, and the safety of the vehicles in the driving process is improved. The important part of the unknown road information is the starting point information and the end point information of the unknown road information, namely the specific place of the road from the intersection, the unmanned vehicle judges whether the acquisition process is successful, if the acquisition is successful, the step 204 is executed, and the shortest path between the current position of the unmanned vehicle and the target position of the unmanned vehicle is determined. If the acquisition is not successful, step 206 is executed to drive along the unknown road to the intersection of the unknown road and the known road.
204. Determining a shortest path between a current location of the unmanned vehicle and a target location of the unmanned vehicle.
And if the process of obtaining the unknown road information is successful, determining the shortest path between the current position of the unmanned vehicle and the target position of the unmanned vehicle. Specifically, the unmanned vehicle may update the map system in an incremental update manner, determine a path combination existing between the current position and the target position according to the updated map system, and determine the shortest path requiring the shortest travel distance in the path combination.
205. And determining the shortest path as the preset path.
The unmanned vehicle determines the shortest path as the preset path. The unmanned vehicle modifies the preset path, determines the newly generated shortest path as the preset path, and drives according to the preset path, so that the fuel consumption in the driving process is reduced, and the unmanned efficiency is improved. It is understood that the newly generated preset path may be the same as the old path, i.e., the driving route of the unmanned vehicle is not changed, and is not limited herein.
206. And driving along the unknown road to the intersection of the unknown road and the known road.
And if the process of obtaining the unknown road information is unsuccessful, the unmanned vehicle drives to the intersection of the unknown road and the known road along the unknown road. In order to ensure the accuracy of a map system, when the process of acquiring the unknown road information by the unmanned vehicle is unsuccessful, the unmanned vehicle can drive to the intersection of the unknown road and the known road along the unknown road, so that the road information of the unknown road is collected, and other unmanned vehicles can use the data conveniently. It can be understood that there may be no intersection between the unknown road and other known roads, that is, the unknown road is a broken road or a road that is not completely built, and if the unknown road is a broken road, the unmanned vehicle may return to the original intersection along the original road and continue to travel based on the original preset path. Meanwhile, there may be a crossing of an unknown road with another unknown road, so that the unmanned vehicle may select the unknown road facing the target location to continue driving, and mark other unknown roads, so as to facilitate a subsequent data acquisition process for the road, which may be determined according to actual conditions, and is not limited herein.
207. And regenerating a preset path according to the current position of the unmanned vehicle.
The unmanned vehicle regenerates the preset path according to the current position of the unmanned vehicle, and the specific generation process refers to the above steps 204 to 205, determines the shortest path between the current position and the target position, and drives according to the shortest path, so as to complete the whole driving process. It can be understood that the generation manner of the preset path is not limited to only determining the shortest path between the current location and the target location, but also may be a suitable preset path obtained by comprehensively analyzing specific factors of the road, such as the road speed limit, the toll station condition, the traffic jam condition, and the like, and the specific generation manner may be determined according to the actual situation, and is not limited herein.
208. And generating the information of the unknown road.
And generating corresponding information of the unknown road by the unmanned vehicle according to the process of driving to the intersection of the unknown road and the known road along the unknown road. Specifically, the information of the unknown road may include information of a start point and an end point of the road, and information of other speed limits, vehicle type limits, toll stations, and the like, and is not limited herein. It is understood that there is no logical relationship between step 208 and step 207, and therefore step 208 can be executed after step 206 is completed, which is not limited herein.
209. And sending the information of the unknown road to other unmanned vehicles.
The unmanned vehicle sends information of unknown roads to other unmanned vehicles. In order to ensure the accuracy of the driving process of other unmanned vehicles, the acquired information of the unknown road can be forwarded to other unmanned vehicles through a broadcast protocol in a local area network for mutual interaction between the unmanned vehicles, so that the other unmanned vehicles can be correspondingly updated and used according to the road information. It is understood that there is no logical relationship in terms of time sequence between step 209 and step 207, and therefore step 209 may be executed after step 208 is completed, which is not limited herein.
Referring to fig. 3, an embodiment of a vehicle control apparatus applied to the field of unmanned vehicles according to the present application includes:
a road information obtaining unit 301, configured to obtain road information when the unmanned vehicle travels along a preset path;
a judging unit 302, configured to judge whether an unknown road that intersects with a current road exists according to the road information, and if the unknown road exists, trigger an unknown road information obtaining unit 303;
an unknown road information obtaining unit 303, configured to obtain unknown road information, and determine whether the process of obtaining the unknown road information is successful, and if the process of obtaining the unknown road information is successful, trigger a preset path generating unit 304;
a preset path generating unit 304, configured to regenerate a preset path according to a current location of the unmanned vehicle.
In this embodiment, the flow executed by each unit in the vehicle control device is similar to the method flow described in the embodiment corresponding to fig. 1, and is not described again here.
Referring to fig. 4, an embodiment of a vehicle control apparatus applied to the field of unmanned vehicles according to the present application includes: a road information obtaining unit 401, a judging unit 402, an unknown road information obtaining unit 403, and a preset path generating unit 404, where the road information obtaining unit 401, the judging unit 402, the unknown road information obtaining unit 403, and the preset path generating unit 404 have similar functions to those of the above-mentioned units in the embodiment corresponding to fig. 3, and are not described herein again.
Optionally, the vehicle control apparatus further includes: a driving unit 405, configured to drive along the unknown road to a junction between the unknown road and a known road if the process of obtaining the unknown road information is unsuccessful;
the preset path generating unit 404 is specifically configured to regenerate a preset path according to the current position of the unmanned vehicle.
Optionally, the vehicle control apparatus further includes: a sending unit 406, configured to generate information of the unknown road according to the process from the driving along the unknown road to the intersection of the unknown road and the known road;
and sending the information of the unknown road to other unmanned vehicles.
Optionally, the unknown road information obtaining unit is specifically configured to send the starting point information of the unknown road to another unmanned vehicle, so that the other unmanned vehicle returns the unknown road information, and determine whether the process of sending the starting point information of the unknown road to the other unmanned vehicle is successful, so that the process of sending the information of the unknown road by the other unmanned vehicle is successful, and if the process of sending the starting point information of the unknown road to the other unmanned vehicle is successful, trigger the preset path generating unit 404;
optionally, the preset path generating unit 404 is specifically configured to determine a shortest path between the current position of the unmanned vehicle and the target position of the unmanned vehicle;
and determining the shortest path as the preset path.
Optionally, the unknown link information includes start point information of the unknown link and end point information of the unknown link.
Fig. 5 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application, where the server 500 may include one or more Central Processing Units (CPUs) 501 and a memory 505, and one or more applications or data are stored in the memory 505.
In this embodiment, the specific functional module division in the central processing unit 501 may be similar to the functional module division of the units such as the road information obtaining unit 301, the determining unit 302, the unknown road information obtaining unit 303, the preset path generating unit 304, and the like described in fig. 3, and is not described herein again.
The server 500 may also include one or more power supplies 502, one or more wired or wireless network interfaces 503, one or more input-output interfaces 504, and/or one or more operating systems, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.
The central processing unit 501 may perform the operations performed by the vehicle control method in the embodiment shown in fig. 1, and details thereof are not repeated herein.
Embodiments of the present application also provide a computer storage medium for storing computer software instructions for use as described above, including a program designed for executing a method for controlling a vehicle.
The vehicle control method may be as described in the foregoing fig. 1.
The embodiment of the present application further provides a computer program product, which includes computer software instructions that can be loaded by a processor to implement the flow of the vehicle control method in any one of fig. 1 and fig. 2.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
Claims (10)
1. A vehicle control method, applied to an unmanned vehicle, comprising:
acquiring road information when the unmanned vehicle runs along a preset path;
judging whether an unknown road crossed with the current road exists according to the road information, wherein the unknown road is a road which is not referred to when the unmanned vehicle generates a preset path;
if the unknown road exists, acquiring unknown road information, and judging whether the process of acquiring the unknown road information is successful or not;
if the process of obtaining the unknown road information is successful; and regenerating a preset path according to the current position of the unmanned vehicle.
2. The vehicle control method according to claim 1, characterized by further comprising:
if the process of obtaining the unknown road information is unsuccessful, driving to the intersection of the unknown road and the known road along the unknown road;
and regenerating a preset path according to the current position of the unmanned vehicle.
3. The vehicle control method according to claim 2, characterized by further comprising:
generating the information of the unknown road according to the process of driving to the intersection of the unknown road and the known road along the unknown road;
and sending the information of the unknown road to other unmanned vehicles.
4. The vehicle control method according to claim 1, wherein the acquiring of the information of the unknown road includes:
transmitting start point information of the unknown road to other unmanned vehicles so that the other unmanned vehicles return the unknown road information.
5. The vehicle control method according to claim 1, wherein the regenerating of the preset path according to the current location of the unmanned vehicle includes:
determining a shortest path between a current location of the unmanned vehicle and a target location of the unmanned vehicle;
and determining the shortest path as the preset path.
6. The vehicle control method according to claim 1, characterized in that the unknown link information includes start point information of the unknown link and end point information of the unknown link.
7. A vehicle control apparatus, characterized by being applied to an unmanned vehicle, comprising:
the road information acquisition unit is used for acquiring road information when the unmanned vehicle runs along a preset path;
the judging unit is used for judging whether an unknown road crossed with the current road exists according to the road information, wherein the unknown road is a road which is not referred to when the unmanned vehicle generates a preset path; if the unknown road exists, triggering an unknown road information acquisition unit;
the unknown road information acquisition unit is used for acquiring unknown road information and judging whether the unknown road information acquisition process is successful or not, and if the unknown road information acquisition process is successful, the preset path generation unit is triggered;
and the preset path generating unit is used for regenerating a preset path according to the current position of the unmanned vehicle.
8. A vehicle control apparatus characterized by comprising:
the system comprises a central processing unit, a memory, an input/output interface, a wired or wireless network interface and a power supply;
the memory is a transient memory or a persistent memory;
the central processor is configured to communicate with the memory, the instructions in the memory operating to perform the method of any of claims 1-6 on the vehicle control device.
9. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of any of claims 1-6.
10. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-6.
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