CN112498369B

CN112498369B - Vehicle control method, control device, processor and vehicle

Info

Publication number: CN112498369B
Application number: CN202011419176.2A
Authority: CN
Inventors: 李阳光; 刘艺成; 刘宸昊; 王子恒
Original assignee: Beijing Xiaoma Huixing Technology Co ltd
Current assignee: Beijing Xiaoma Huixing Technology Co ltd
Priority date: 2020-12-07
Filing date: 2020-12-07
Publication date: 2022-04-29
Anticipated expiration: 2040-12-07
Also published as: CN112498369A

Abstract

The application provides a control method, a control device, a processor and a vehicle of the vehicle, wherein the control method of the vehicle comprises the following steps: acquiring water accumulation road section information of a current road section, which is issued by a server side, wherein the water accumulation road section information is obtained by analyzing according to a detection result by the server side, and the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period; according to the accumulated water road section information, the vehicle is controlled to decelerate to pass through or avoid the accumulated water road section, so that the vehicle can plan a driving path to avoid the accumulated water road section, or decelerate to pass through the accumulated water road section, and the problem that the vehicle cannot avoid or decelerate to pass through the accumulated water road section in the prior art is solved.

Description

Vehicle control method, control device, processor and vehicle

Technical Field

The application relates to the technical field of automatic driving, in particular to a control method and a control device of a vehicle, a computer readable storage medium, a processor and the vehicle.

Background

If the vehicle meets the ponding road section, the vehicle is expected to be decelerated or avoided, and the vehicle is prevented from entering the ponding road section at a high speed. At present, whether a ponding road section exists in the front or not is generally judged by a driver, the judgment result is inaccurate, in addition, whether the ponding road section exists in the front or not can be generally judged when the ponding road section is close to the driver, the driver sometimes enters the ponding road section too late to control, and the driver is difficult to avoid or decelerate.

For an automatic driving vehicle, since it is difficult to judge whether there is a water accumulation road section without a driver, it is also difficult to realize avoidance on the water accumulation road section or deceleration on the water accumulation road section.

Therefore, a method for accurately detecting a section of ponding is needed.

The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.

Disclosure of Invention

The application mainly aims to provide a vehicle control method, a vehicle control device, a computer readable storage medium, a processor and a vehicle, so as to solve the problem that the vehicle cannot avoid or decelerate to pass through a ponding road section in the prior art.

According to an aspect of an embodiment of the present invention, there is provided a control method of a vehicle, including: acquiring water accumulation road section information of a current road section, which is issued by a server side, wherein the water accumulation road section information is obtained by analyzing according to a detection result by the server side, and the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period; and controlling the vehicle to slow down to pass or avoid the ponding road section according to the ponding road section information.

Optionally, before obtaining the ponding road section information issued by the server, the method further includes: detecting whether water is accumulated in the current road section or not to obtain the detection result; and sending the detection result to the server side.

Optionally, whether the current road section is ponding is detected, and a detection result is obtained, including: scanning the periphery of the vehicle by using a laser radar to obtain prepared point cloud; determining a first point cloud in the prepared point cloud, wherein the first point cloud is a point cloud splashing water; and determining whether water is accumulated in the current road section according to the size of the first point cloud to obtain the detection result.

Optionally, determining a first point cloud of the preliminary point clouds comprises: determining an obstacle point cloud in the prepared point cloud, wherein the obstacle point cloud is a point cloud of an obstacle; and deleting the obstacle point cloud in the prepared point cloud to obtain the first point cloud.

Optionally, the detecting result includes a first detecting result and a second detecting result, and determining whether the current road section is seeped according to the size of the first point cloud to obtain the detecting result, including: obtaining the first detection result when the volume of the first point cloud is larger than or equal to a preset volume, wherein the first detection result is the accumulated water in the current road section; and under the condition that the volume of the first point cloud is smaller than the preset volume, obtaining a second detection result, wherein the second detection result indicates that no water is accumulated in the current road section.

Optionally, the ponding road section information is obtained by analyzing the detection result by the server side, and the analyzing process includes: and under the condition that one detection result exists in the preset time period, the ponding road section information is consistent with the detection result.

Optionally, the ponding road section information is obtained by analyzing the detection result by the server side, and the analyzing process includes: under the condition that a plurality of detection results are obtained in the preset time period and the water accumulation frequency is greater than or equal to a preset value, the water accumulation section information is water accumulation, and the water accumulation frequency is the ratio of the occurrence frequency of the first detection result in the preset time period to the time length of the preset time period; and under the condition that a plurality of detection results are obtained in the preset time period and the ponding frequency is smaller than the preset value, the ponding road section information is non-ponding.

Optionally, according to ponding highway section information control the vehicle slows down and passes or dodges the ponding highway section includes: under the condition that the water accumulation road section information is water accumulation, adjusting the running track of the vehicle to enable the vehicle to avoid the current road section; and under the condition that the information of the ponding road sections of other optional road sections is ponding or the other optional road sections cannot pass through, controlling the vehicle to decelerate to pass through the current road section.

Optionally, the ponding road section information includes lane information, position information, and ponding area information.

According to another aspect of the embodiments of the present invention, there is also provided a control method of a vehicle, including: acquiring water accumulation road section information of a current road section, which is issued by a server side, wherein the water accumulation road section information is obtained by analyzing according to a detection result by the server side, and the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period; under the condition that the water accumulation road section information is water accumulation, adjusting the running track of the vehicle to enable the vehicle to avoid the current road section; and under the condition that the information of the ponding road sections of other optional road sections is ponding or the other optional road sections cannot pass through, controlling the vehicle to decelerate to pass through the current road section.

Optionally, the ponding road section information is obtained by analyzing, by the server side, a plurality of detection results, and the analyzing process includes: when the water accumulation frequency is greater than or equal to a preset value, the water accumulation section information is water accumulation, and the water accumulation frequency is the ratio of the occurrence frequency of the first detection result in the preset time to the preset time; and under the condition that the ponding frequency is smaller than the preset value, the ponding road section information is non-ponding.

According to still another aspect of the embodiments of the present invention, there is also provided a control apparatus of a vehicle, including: the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring ponding road section information of a current road section issued by a server side, the ponding road section information is obtained by analyzing a detection result by the server side according to the detection result, and the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period; and the first control unit is used for controlling the vehicle to slow down to pass through or avoid the ponding road section according to the ponding road section information.

According to still another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program executes any one of the methods.

According to still another aspect of the embodiments of the present invention, there is further provided a processor, configured to execute a program, where the program executes any one of the methods.

According to still another aspect of the embodiments of the present invention, there is also provided a vehicle including: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods.

In the embodiment of the present invention, in the method for controlling a vehicle, first, ponding road section information of a current road section issued by a server is obtained, where the ponding road section information is obtained by analyzing, by the server, a detection result obtained by detecting, by at least one vehicle passing through the current road section within a predetermined time period, the current road section, and then, the vehicle is controlled to slow down or avoid the ponding road section according to the ponding road section information, so that the vehicle can plan a driving path to avoid the ponding road section or slow down to pass through the ponding road section, and a problem that the vehicle cannot avoid or slow down to pass through the ponding road section in the prior art is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:

FIG. 1 shows a flow chart of a control method of a vehicle according to an embodiment of the present application;

FIG. 2 shows a flow chart of a control method of a vehicle according to another embodiment of the present application;

FIG. 3 shows a schematic diagram of a control device of a vehicle according to an embodiment of the present application;

fig. 4 shows a schematic diagram of a control device of a vehicle according to another embodiment of the present application.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but 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.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, 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.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.

As mentioned in the background of the invention, in order to solve the above-mentioned problems in the prior art that a vehicle cannot avoid or decelerate through a ponded road section, in an exemplary embodiment of the present application, a control method, a control device, a computer-readable storage medium, a processor and a vehicle for a vehicle are provided.

According to an embodiment of the present application, a control method of a vehicle is provided.

Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:

step S101, acquiring water accumulation road section information of a current road section, wherein the water accumulation road section information is issued by a server side and is obtained by analyzing a detection result by the server side according to the detection result, and the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period;

and S102, controlling the vehicle to slow down to pass through or avoid the ponding road section according to the ponding road section information.

In the control method of the vehicle, firstly, ponding road section information of a current road section issued by a server side is obtained, the ponding road section information is obtained by analyzing a detection result by the server side according to the detection result, the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period, and then the vehicle is controlled to decelerate to pass through or avoid the ponding road section according to the ponding road section information, so that the vehicle can plan a driving path to avoid the ponding road section or decelerate to pass through the ponding road section, and the problem that the vehicle cannot avoid or decelerate to pass through the ponding road section in the prior art is solved.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

In an embodiment of the application, before obtaining the ponding road section information issued by the server, the method further includes: detecting whether water is accumulated in the current road section or not to obtain the detection result; and sending the detection result to the server side. Specifically, the vehicle automatically detects whether water is accumulated in the current road section through any road section, and uploads a detection result to the server side, so that the server side can analyze the detection result to obtain water accumulation road section information of the current road section.

In an embodiment of this application, whether detect current highway section ponding, obtain the testing result, include: scanning the periphery of the vehicle by using a laser radar to obtain prepared point cloud; determining a first point cloud in the prepared point cloud, wherein the first point cloud is a point cloud splashing water; and determining whether the current road section is accumulated with water according to the size of the first point cloud to obtain the detection result. Specifically, when the vehicle passes through the current road section, the periphery of the vehicle is scanned through the laser radar to obtain the prepared point cloud, the first point cloud in the prepared point cloud is identified, namely the point cloud splashing water splash is identified, so that whether water is accumulated on the current road section or not is determined according to the size of the first point cloud, other obstacles are prevented from being identified as water splash, and the identification error is reduced.

It should be noted that, in the method, the laser radar may be used to scan the periphery of the vehicle to determine whether water is accumulated in the current road section, and the laser radar may also be used to scan other vehicles in the current road section to determine whether water is accumulated in the current road section, so that a person skilled in the art can select the vehicle according to actual conditions, thereby improving flexibility.

In an embodiment of the present application, determining the first point cloud in the prepared point clouds includes: determining an obstacle point cloud in the prepared point cloud, wherein the obstacle point cloud is the point cloud of an obstacle; and deleting the obstacle point cloud in the prepared point cloud to obtain the first point cloud. Specifically, the obstacle point cloud and the splash point cloud are distinguished according to the reflection value or the shape information, so that the obstacle point cloud in the prepared point cloud is removed, the first point cloud, namely the splash point cloud, is obtained, the classification algorithm is a deep learning algorithm, training is carried out through a large amount of data, and the classification accuracy of the deep learning algorithm is improved.

In an embodiment of the application, the detecting result includes a first detecting result and a second detecting result, and determining whether the current road section is seeped according to a size of the first point cloud to obtain the detecting result, including: obtaining the first detection result when the volume of the first point cloud is greater than or equal to a predetermined volume, wherein the first detection result is the accumulated water in the current road section; and obtaining the second detection result under the condition that the volume of the first point cloud is smaller than the preset volume, wherein the second detection result is that no water is accumulated in the current road section. Specifically, if the volume of the first point cloud is greater than or equal to the predetermined volume, it can be determined that water is accumulated in the current road section, and other obstacles are prevented from being identified as spray, so that the error of spray identification is further reduced, and if the volume of the first point cloud is smaller than the predetermined volume, the influence of too little splashed spray on vehicles and pedestrians can be ignored, and the vehicles do not need to avoid or slow down.

In an embodiment of the application, the accumulated water section information is obtained by analyzing, by the server, according to the detection result, and the analyzing includes: and in the case that one detection result exists in the preset time period, the ponding road section information is consistent with the detection result. Specifically, because the ponding condition of the road section is dynamically changed, the detection result in the preset time period has timeliness, the preset time period can be 8h, 24h and the like, and under the condition that one detection result exists in the preset time period, the detection result can be directly determined to be the ponding road section information of the current road section.

In an embodiment of the application, the accumulated water section information is obtained by analyzing, by the server side, a plurality of detection results, and the analyzing includes: when a plurality of detection results are obtained in the preset time period and the water accumulation frequency is greater than or equal to a preset value, the water accumulation section information is water accumulation, and the water accumulation frequency is a ratio of the occurrence frequency of the first detection result in the preset time period to the time length of the preset time period; and under the condition that a plurality of detection results exist in the preset time period and the ponding frequency is smaller than the preset value, the ponding road section information is non-ponding. Specifically, because the ponding condition of the road section is dynamically changed, the detection result in the preset time period has timeliness, the preset time period can be 8h, 24h and the like, when a plurality of detection results exist in the preset time period, whether the current road section is ponded cannot be directly determined, the frequency of the first detection result in the preset time period is greater than or equal to a preset value, namely the ponding frequency is greater than or equal to the preset value, the current road ponding can be determined, namely the ponding road section information of the current road is ponding, and otherwise the ponding road section information of the current road is non-ponding.

It should be noted that, when the information of the water accumulation section of the current road is non-water accumulation and the actual situation is water accumulation, the vehicle uploads a first detection result through the current section until the water accumulation frequency is greater than or equal to a predetermined value, the information of the water accumulation section of the current road is modified into water accumulation, and when the information of the water accumulation section of the current road is water accumulation and the actual situation is non-water accumulation, the vehicle uploads a second detection result through the current section until the water accumulation frequency is less than the predetermined value, and the information of the water accumulation section of the current road is modified into non-water accumulation.

In an embodiment of the application, according to above-mentioned ponding highway section information control above-mentioned vehicle slows down and passes or dodges above-mentioned ponding highway section, include: under the condition that the water accumulation road section information is water accumulation, adjusting the driving track of the vehicle to enable the vehicle to avoid the current road section; and under the condition that the information of the water accumulation road sections of other optional road sections is water accumulation or the other optional road sections cannot pass through, controlling the vehicle to decelerate to pass through the current road section. Specifically, when the water accumulation road section information is water accumulation, the running track of the vehicle is preferably selected and adjusted to avoid the current road section, and when the water accumulation road section information of other optional road sections is water accumulation or the other optional road sections cannot pass, that is, the current road section cannot be avoided, the vehicle is controlled to decelerate to pass through the current road section, so that the influence on the vehicle and the pedestrian is reduced.

In an embodiment of the application, the ponding road section information includes lane information, position information, and ponding area information. Specifically, the vehicle plans a proper driving track according to the information of the lane where the ponding is located, the position information of the ponding and the ponding area information, so as to avoid the ponding road section.

Fig. 2 is a flowchart of a control method of a vehicle according to another embodiment of the present application. As shown in fig. 2, the method comprises the steps of:

step S201, acquiring ponding road section information of a current road section, which is issued by a server side, wherein the ponding road section information is obtained by analyzing a detection result by the server side according to the detection result, and the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period;

step S202, when the water accumulation road section information is water accumulation, adjusting the driving track of the vehicle to enable the vehicle to avoid the current road section;

and step S203, controlling the vehicle to decelerate to pass through the current road section under the condition that the water accumulation road section information of other optional road sections is water accumulation or the other optional road sections cannot pass through.

In the control method of the vehicle, firstly, ponding road section information of a current road section issued by a server side is obtained, the ponding road section information is obtained by analyzing according to a detection result by the server side, the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period, then, under the condition that the ponding road section information is ponding, the running track of the vehicle is adjusted, so that the vehicle avoids the current road section, and finally, under the condition that the ponding road section information of other optional road sections is ponding or the other optional road sections cannot pass through, the vehicle is controlled to decelerate to pass through the current road section, so that the influence on the vehicle and pedestrians is reduced, and the problem that the vehicle cannot avoid or decelerate to pass through the ponding road section in the prior art is solved.

The embodiment of the present application further provides a control device of a vehicle, and it should be noted that the control device of the vehicle according to the embodiment of the present application may be used to execute the control method for the vehicle according to the embodiment of the present application. The following describes a control device for a vehicle according to an embodiment of the present application.

Fig. 3 is a schematic diagram of a control apparatus of a vehicle according to an embodiment of the present application. As shown in fig. 3, the apparatus includes:

a first obtaining unit 10, configured to obtain water accumulation section information of a current section issued by a server, where the water accumulation section information is obtained by analyzing, by the server, a detection result obtained by detecting, by at least one vehicle passing through the current section within a predetermined time period, the current section;

and a first control unit 20, configured to control the vehicle to slow down or avoid the ponding road section according to the ponding road section information.

In the control device of the vehicle, an acquisition unit acquires ponding road section information of a current road section issued by a server side, the ponding road section information is obtained by analyzing a detection result by the server side, the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period, and a control unit controls the vehicle to slow down to pass through or avoid the ponding road section according to the ponding road section information, so that the vehicle can plan a driving path to avoid the ponding road section or slow down to pass through the ponding road section, and the problem that the vehicle cannot avoid or slow down to pass through the ponding road section in the prior art is solved.

The control device of the vehicle comprises a processor and a memory, wherein the first acquisition unit, the first control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problem that vehicles cannot avoid or decelerate to pass through a ponding road section in the prior art is solved by adjusting kernel parameters.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

In an embodiment of the application, the apparatus further includes a first detecting unit, where the first detecting unit includes a first detecting subunit and a first sending subunit, where the first detecting subunit is configured to detect whether the current road section is ponded before acquiring the ponding road section information issued by the server, so as to obtain the detection result; the first sending subunit is configured to send the detection result to the server. Specifically, the vehicle automatically detects whether water is accumulated in the current road section through any road section, and uploads a detection result to the server side, so that the server side can analyze the detection result to obtain water accumulation road section information of the current road section.

In an embodiment of the application, the first detecting subunit includes a first collecting module, a first determining module, and a second determining module, where the collecting module is configured to scan the periphery of the vehicle with a laser radar to obtain a prepared point cloud; the first determining module is used for determining a first point cloud in the prepared point cloud, wherein the first point cloud is a point cloud of splashed water flowers; the second determining module is used for determining whether the current road section is seeped according to the size of the first point cloud to obtain the detection result. Specifically, when the vehicle passes through the current road section, the periphery of the vehicle is scanned through the laser radar to obtain the prepared point cloud, the first point cloud in the prepared point cloud is identified, namely the point cloud splashing water splash is identified, so that whether water is accumulated on the current road section or not is determined according to the size of the first point cloud, other obstacles are prevented from being identified as water splash, and the identification error is reduced.

It should be noted that, the device may employ the laser radar to scan the periphery of the vehicle to determine whether water is accumulated in the current road section, and the method may further employ the laser radar to scan other vehicles in the current road section to determine whether water is accumulated in the current road section, so that a person skilled in the art can select the vehicle according to actual conditions, thereby improving flexibility.

In an embodiment of the application, the first determining module includes a first determining submodule and a first processing submodule, where the first determining submodule is configured to determine an obstacle point cloud in the prepared point cloud, and the obstacle point cloud is a point cloud of an obstacle; the first processing submodule is used for deleting the obstacle point cloud in the prepared point cloud to obtain the first point cloud. Specifically, the obstacle point cloud and the splash point cloud are distinguished according to the reflection value or the shape information, so that the obstacle point cloud in the prepared point cloud is removed, the first point cloud, namely the splash point cloud, is obtained, the classification algorithm is a deep learning algorithm, training is carried out through a large amount of data, and the classification accuracy of the deep learning algorithm is improved.

In an embodiment of the application, the detection result includes a first detection result and a second detection result, the second determining module includes the second determining submodule and the third determining submodule, wherein the second determining submodule is configured to obtain the first detection result when the volume of the first point cloud is greater than or equal to a predetermined volume, and the first detection result is the current road section water; the third determining submodule is configured to obtain the second detection result when the volume of the first point cloud is smaller than the predetermined volume, where the second detection result indicates that the current road section has no accumulated water. Specifically, if the volume of the first point cloud is greater than or equal to the predetermined volume, it can be determined that water is accumulated in the current road section, and other obstacles are prevented from being identified as spray, so that the error of spray identification is further reduced, and if the volume of the first point cloud is smaller than the predetermined volume, the influence of too little splashed spray on vehicles and pedestrians can be ignored, and the vehicles do not need to avoid or slow down.

In an embodiment of the application, the first control unit includes a first control module and a second control module, where the first control module is configured to adjust a driving track of the vehicle so that the vehicle avoids the current road section when the information of the water accumulation road section is water accumulation; the second control module is used for controlling the vehicle to decelerate to pass through the current road section under the condition that the information of the water accumulation road sections of other optional road sections is water accumulation or the other optional road sections cannot pass through. Specifically, when the water accumulation road section information is water accumulation, the running track of the vehicle is preferably selected and adjusted to avoid the current road section, and when the water accumulation road section information of other optional road sections is water accumulation or the other optional road sections cannot pass, that is, the current road section cannot be avoided, the vehicle is controlled to decelerate to pass through the current road section, so that the influence on the vehicle and the pedestrian is reduced.

Fig. 4 is a flowchart of a control method of a vehicle according to another embodiment of the present application. As shown in fig. 4, the apparatus includes:

a second obtaining unit 30, configured to obtain water accumulation section information of a current section, which is issued by a server, where the water accumulation section information is obtained through analysis by the server according to a detection result, and the detection result is obtained through detection of the current section by at least one vehicle passing through the current section within a predetermined time period;

a second control unit 40 configured to adjust a travel track of the vehicle so that the vehicle avoids the current road section when the water accumulation road section information indicates water accumulation;

and a third control unit 50, configured to control the vehicle to decelerate through the current road section when the information of the water accumulation road section of the other selectable road section is water accumulation or the other selectable road section cannot pass through.

In the control device of the vehicle, the second obtaining unit obtains the ponding road section information of the current road section issued by the server side, the accumulated water section information is obtained by analyzing according to a detection result by the server side, the detection result is obtained by detecting the current section by at least one vehicle passing through the current section within a preset time period, the third control unit adjusts the driving track of the vehicle under the condition that the accumulated water section information is accumulated water, so that the vehicle avoids the current road section, the fourth control unit controls the vehicle to decelerate to pass through the current road section under the condition that the information of the water accumulation road section of other optional road sections is water accumulation or the other optional road sections cannot pass through, the influence on vehicles and pedestrians is reduced, and the problem that vehicles cannot avoid or decelerate through a ponding road section in the prior art is solved.

The control device of the vehicle comprises a processor and a memory, wherein the second acquisition unit, the second control unit, the third control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

In an embodiment of the application, the apparatus further includes a second detecting unit, where the second detecting unit includes a second detecting subunit and a second sending subunit, where the second detecting subunit is configured to detect whether the current road section is ponded before acquiring the ponding road section information issued by the server, so as to obtain the detection result; the second sending subunit is configured to send the detection result to the server. Specifically, the vehicle automatically detects whether water is accumulated in the current road section through any road section, and uploads a detection result to the server side, so that the server side can analyze the detection result to obtain water accumulation road section information of the current road section.

In an embodiment of the application, the second detecting subunit includes a second collecting module, a third determining module, and a fourth determining module, where the second collecting module is configured to scan the periphery of the vehicle with a laser radar to obtain a prepared point cloud; the third determining module is used for determining a first point cloud in the prepared point cloud, wherein the first point cloud is a point cloud of splashed water flowers; the fourth determining module is used for determining whether the current road section is seeped according to the size of the first point cloud to obtain the detection result. Specifically, when the vehicle passes through the current road section, the periphery of the vehicle is scanned through the laser radar to obtain the prepared point cloud, the first point cloud in the prepared point cloud is identified, namely the point cloud splashing water splash is identified, so that whether water is accumulated on the current road section or not is determined according to the size of the first point cloud, other obstacles are prevented from being identified as water splash, and the identification error is reduced.

In an embodiment of the application, the third determining module includes a fourth determining submodule and a second processing submodule, where the fourth determining submodule is configured to determine an obstacle point cloud in the prepared point cloud, and the obstacle point cloud is a point cloud of an obstacle; the second processing submodule is used for deleting the obstacle point cloud in the prepared point cloud to obtain the first point cloud. Specifically, the obstacle point cloud and the splash point cloud are distinguished according to the reflection value or the shape information, so that the obstacle point cloud in the prepared point cloud is removed, the first point cloud, namely the splash point cloud, is obtained, the classification algorithm is a deep learning algorithm, training is carried out through a large amount of data, and the classification accuracy of the deep learning algorithm is improved.

In an embodiment of the application, the detection result includes a first detection result and a second detection result, and the fourth determining module includes the fifth determining submodule and the sixth determining submodule, where the fifth determining submodule is configured to obtain the first detection result when the volume of the first point cloud is greater than or equal to a predetermined volume, and the first detection result is the current road section water; the sixth determining submodule is configured to obtain the second detection result when the volume of the first point cloud is smaller than the predetermined volume, where the second detection result indicates that the current road section has no accumulated water. Specifically, if the volume of the first point cloud is greater than or equal to the predetermined volume, it can be determined that water is accumulated in the current road section, and other obstacles are prevented from being identified as spray, so that the error of spray identification is further reduced, and if the volume of the first point cloud is smaller than the predetermined volume, the influence of too little splashed spray on vehicles and pedestrians can be ignored, and the vehicles do not need to avoid or slow down.

An embodiment of the present application further provides a vehicle, including: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the above methods.

An embodiment of the present invention provides a computer-readable storage medium on which a program is stored, the program implementing the above-described control method when executed by a processor.

The embodiment of the invention provides a processor, which is used for running a program, wherein the control method is executed when the program runs.

The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein when the processor executes the program, at least the following steps are realized:

Or the processor executes the program to realize at least the following steps:

The device herein may be a server, a PC, a PAD, a mobile phone, etc.

The present application further provides a computer program product adapted to perform a program of initializing at least the following method steps when executed on a data processing device:

Or the processor executes the program to realize at least the following steps:

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be 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, units or modules, and may be in an electrical 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 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 invention 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 may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium and includes several 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 invention. And the aforementioned computer-readable storage media comprise: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

From the above description, it can be seen that the above-described embodiments of the present application achieve the following technical effects:

1) according to the method for controlling the vehicle, firstly, ponding road section information of a current road section issued by a server side is obtained, the ponding road section information is obtained by analyzing a detection result by the server side, the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period, and then the vehicle is controlled to decelerate to pass through or to avoid the ponding road section according to the ponding road section information, so that the vehicle can plan a driving path to avoid the ponding road section or decelerate to pass through the ponding road section, and the problem that the vehicle cannot avoid or decelerate to pass through the ponding road section in the prior art is solved.

2) The method comprises the steps of firstly, acquiring ponding road section information of a current road section, which is issued by a server side, and obtained by analyzing a detection result by the server side according to the detection result, wherein the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period, then, adjusting the running track of the vehicle under the condition that the ponding road section information is ponding, so that the vehicle avoids the current road section, and finally, controlling the vehicle to decelerate through the current road section under the condition that the ponding road section information of other optional road sections is ponding or the other optional road sections cannot pass through, so as to reduce the influence on the vehicle and pedestrians, and solve the problem that the vehicle cannot avoid or decelerate through the ponding road section in the prior art.

3) In the control device of the vehicle, the obtaining unit obtains ponding road section information of a current road section issued by the server side, the ponding road section information is obtained by analyzing the detection result by the server side, the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period, and the control unit controls the vehicle to slow down to pass through or avoid the ponding road section according to the ponding road section information, so that the vehicle can plan a running path to avoid the ponding road section or slow down to pass through the ponding road section, and the problem that the vehicle cannot avoid or slow down to pass through the ponding road section in the prior art is solved.

4) In the vehicle control device, a second acquisition unit acquires the ponding road section information of the current road section issued by the server side, the accumulated water section information is obtained by analyzing according to a detection result by the server side, the detection result is obtained by detecting the current section by at least one vehicle passing through the current section within a preset time period, the third control unit adjusts the driving track of the vehicle under the condition that the accumulated water section information is accumulated water, so that the vehicle avoids the current road section, the fourth control unit controls the vehicle to decelerate to pass through the current road section under the condition that the information of the water accumulation road section of other optional road sections is water accumulation or the other optional road sections cannot pass through, the influence on vehicles and pedestrians is reduced, and the problem that vehicles cannot avoid or decelerate through a ponding road section in the prior art is solved.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

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

acquiring water accumulation road section information of a current road section, which is issued by a server side, wherein the water accumulation road section information is obtained by analyzing according to a detection result by the server side, and the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period;

controlling the vehicle to slow down to pass through or avoid the ponding road section according to the ponding road section information, wherein before the ponding road section information issued by the server side is acquired, the method further comprises the following steps: detecting whether water is accumulated in the current road section or not to obtain the detection result; and sending the detection result to the server side, detecting whether water is accumulated in the current road section or not, and obtaining the detection result, wherein the detection result comprises the following steps: scanning the periphery of the vehicle by using a laser radar to obtain prepared point cloud; determining a first point cloud in the prepared point cloud, wherein the first point cloud is a point cloud splashing water; and determining whether water is accumulated in the current road section according to the size of the first point cloud to obtain the detection result.

2. The method of claim 1, wherein determining a first point cloud of the preliminary point clouds comprises:

determining an obstacle point cloud in the prepared point cloud, wherein the obstacle point cloud is a point cloud of an obstacle;

and deleting the obstacle point cloud in the prepared point cloud to obtain the first point cloud.

3. The method of claim 1, wherein the detection results comprise a first detection result and a second detection result, and determining whether water is accumulated in the current road section according to the size of the first point cloud to obtain the detection results comprises:

obtaining the first detection result when the volume of the first point cloud is larger than or equal to a preset volume, wherein the first detection result is the accumulated water in the current road section;

and under the condition that the volume of the first point cloud is smaller than the preset volume, obtaining a second detection result, wherein the second detection result indicates that no water is accumulated in the current road section.

4. The method according to claim 3, wherein the water accumulation section information is obtained by the server side through analysis according to the detection result, and the analysis process comprises: and under the condition that one detection result exists in the preset time period, the ponding road section information is consistent with the detection result.

5. The method according to claim 3, wherein the water accumulation section information is obtained by the server side through analysis according to the detection result, and the analysis process comprises:

under the condition that a plurality of detection results are obtained in the preset time period and the water accumulation frequency is greater than or equal to a preset value, the water accumulation section information is water accumulation, and the water accumulation frequency is the ratio of the occurrence frequency of the first detection result in the preset time period to the time length of the preset time period;

and under the condition that a plurality of detection results are obtained in the preset time period and the ponding frequency is smaller than the preset value, the ponding road section information is non-ponding.

6. The method of claim 1, wherein controlling the vehicle to slow through or avoid the water accumulation section based on the water accumulation section information comprises:

under the condition that the water accumulation road section information is water accumulation, adjusting the running track of the vehicle to enable the vehicle to avoid the current road section;

and under the condition that the information of the ponding road sections of other optional road sections is ponding or the other optional road sections cannot pass through, controlling the vehicle to decelerate to pass through the current road section.

7. The method of claim 1, wherein the water accumulation section information includes lane information, location information, and water accumulation area information.

8. A control method of a vehicle, characterized by comprising:

and under the condition that the ponding road section information of other optional road sections is ponding or the other optional road sections cannot pass, controlling the vehicle to decelerate to pass through the current road section, wherein before the ponding road section information issued by the server side is acquired, the method further comprises the following steps: detecting whether water is accumulated in the current road section or not to obtain the detection result; and sending the detection result to the server side, detecting whether water is accumulated in the current road section or not, and obtaining the detection result, wherein the detection result comprises the following steps: scanning the periphery of the vehicle by using a laser radar to obtain prepared point cloud; determining a first point cloud in the prepared point cloud, wherein the first point cloud is a point cloud splashing water; and determining whether water is accumulated in the current road section according to the size of the first point cloud to obtain the detection result.

9. A control apparatus of a vehicle, characterized by comprising:

the system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring ponding road section information of a current road section issued by a server side, the ponding road section information is obtained by analyzing a detection result by the server side according to the detection result, and the detection result is obtained by detecting the current road section by at least one vehicle passing through the current road section within a preset time period;

the device also comprises a first detection unit, wherein the first detection unit comprises a first detection subunit and a first sending subunit, the first detection subunit is used for detecting whether water is accumulated in the current road section before acquiring the water accumulation road section information issued by the server side, and the detection result is obtained; the first sending subunit is used for sending the detection result to the server, and the first detecting subunit comprises a first acquisition module, a first determination module and a second determination module, wherein the acquisition module is used for scanning the periphery of the vehicle by using a laser radar to obtain a prepared point cloud; the first determining module is used for determining a first point cloud in the prepared point cloud, wherein the first point cloud is a point cloud of splash water; the second determining module is used for determining whether the current road section is seeped according to the size of the first point cloud to obtain the detection result.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 8.

11. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 8.

12. A vehicle, characterized by comprising: one or more processors, memory, a display device, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-8.