CN112644501B - Vehicle control method, device and equipment and computer storage medium - Google Patents
Vehicle control method, device and equipment and computer storage medium Download PDFInfo
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- 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
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- 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
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Abstract
The invention discloses a vehicle control method, a vehicle control device, vehicle control equipment and a computer storage medium. A vehicle control method comprising: acquiring first sensing data of a plurality of first vehicle-mounted sensors under the condition that a vehicle runs; acquiring road guide information of a road section to which a vehicle is about to drive from a server, wherein the road guide information comprises at least one of environment guide information, vehicle-road cooperation information and high-precision map information; determining a driving mode of the vehicle according to the road guidance information; in the driving mode, the vehicle is controlled to travel according to the first sensing data of the plurality of first in-vehicle sensors and the road guidance information. The driving safety in the automatic driving process can be improved, and the driving range of automatic driving of the vehicle is expanded.
Description
Technical Field
The invention belongs to the field of automatic driving, and particularly relates to a vehicle control method, device, equipment and computer storage medium.
Background
Automatic driving of vehicles can alleviate burdensome driving tasks for users, and with the rapid development of information and control technologies, automatic driving technologies are gradually accepted by automobile manufacturers and users.
At present, in the automatic driving process, an automatic driving system collects traffic data in the driving process by using various vehicle-mounted sensors, processes the collected traffic data, and controls the vehicle to drive according to the processed traffic data.
However, in the actual driving process of the vehicle, for special driving conditions which are difficult to avoid, such as severe weather, rough driving road sections and the like, in order to ensure driving safety, the vehicle cannot use the automatic driving mode, and therefore, the driving range in which the vehicle can carry out automatic driving is greatly limited.
Disclosure of Invention
Embodiments of the present invention provide a vehicle control method, apparatus, device, and computer storage medium, which can improve driving safety during automatic driving and expand a driving range of automatic driving of a vehicle.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
acquiring first sensing data of a plurality of first vehicle-mounted sensors under the condition that a vehicle runs; and the number of the first and second groups,
acquiring road guidance information of a road section to which a vehicle is about to drive from a server, wherein the road guidance information comprises at least one of environment guidance information, vehicle road cooperation information and high-precision map information;
determining a driving mode of the vehicle according to the road guidance information;
in the driving mode, the vehicle is controlled to run according to the first sensing data of the plurality of first vehicle-mounted sensors and the road guidance information.
In some implementations of the first aspect, obtaining first sensed data for a first plurality of on-board sensors includes:
receiving second sensing data of a plurality of second vehicle-mounted sensors respectively;
and determining second sensing data meeting the preset sensor available threshold condition in the plurality of second sensing data according to the preset sensor available threshold corresponding to each second vehicle-mounted sensor, and obtaining first sensing data of the plurality of first vehicle-mounted sensors.
In some realizations of the first aspect, the road identification information of the position where the vehicle is located is determined according to the first sensing data of the first vehicle-mounted sensors;
when the road identification information includes the environmental condition information, the environmental condition information and first position information of the position of the vehicle are sent to the server for the server to update the environmental guidance information according to the environmental condition information and the first position information.
In some realizations of the first aspect, when the environmental condition information includes first environmental information, identifying the first environmental information to obtain third sensing data;
and sending the third sensing data and second position information of the position of the vehicle to the server so that the server can generate early warning information according to the third sensing data and the second position information.
In some realizations of the first aspect, when the road guidance information includes environment guidance information, vehicle-road coordination information, and high-precision map information, and the environment guidance information is second environment information, the method further includes:
acquiring road side information of the road section from the vehicle-road cooperation information;
comparing the roadside information with the high-precision map information;
and when the difference information exists between the road side information and the high-precision map information, sending the difference information and third position information of the position of the vehicle to the server for updating the high-precision map by the server.
In some implementations of the first aspect, determining a driving mode of the vehicle from the road guidance information includes:
when the road guidance information includes the environment guidance information and the vehicle-road cooperation information, it is determined that the driving mode of the vehicle is the first driving mode.
In some realizations of the first aspect, after controlling vehicle travel according to the first sensed data of the first plurality of on-board sensors and the road guidance information, the method further comprises:
receiving environment information which is sent by a server and comprises an identifier;
and sending out prompt information according to the identified environment information.
In some realizations of the second aspect, an embodiment of the invention provides a vehicle control device, characterized in that the device includes:
the acquisition module is used for acquiring first sensing data of a plurality of first vehicle-mounted sensors; and the number of the first and second groups,
the acquisition module is further used for acquiring road guidance information of a road section to which the vehicle is about to drive from the server, wherein the road guidance information comprises at least one of environment guidance information, vehicle road cooperation information and high-precision map information;
the processing module is used for determining the driving mode of the vehicle according to the road guidance information;
and the control module is used for controlling the vehicle to run according to the first sensing data of the plurality of first vehicle-mounted sensors and the road guidance information in the driving mode.
In a third aspect, the present invention provides a vehicle control apparatus comprising: a processor and a memory storing computer program instructions; the processor, when executing the computer program instructions, implements the vehicle control method described in the first aspect or any of the realizable manners of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the vehicle control method of the first aspect or any of the realizable manners of the first aspect.
Embodiments of the present invention provide a vehicle control method, in which, when a vehicle is traveling, in addition to first sensed data sensed by a plurality of first on-board sensors mounted on the vehicle, in order to avoid limiting a driving range of autonomous driving of the vehicle due to a current unavoidable special driving situation, an on-board terminal may acquire road guidance information of a road section into which the vehicle is about to travel from a server. Since the road guidance information includes at least one of environment guidance information, vehicle-road cooperation information, and high-precision map information, the vehicle-mounted terminal may determine a driving mode of the vehicle corresponding to the road guidance information, and simultaneously, in the corresponding driving mode, control the vehicle to travel according to the first sensing data of the plurality of first vehicle-mounted sensors and the road guidance information, which may effectively improve safety of automatic driving, and achieve expansion of a driving range of automatic driving of the vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method for controlling a vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.
Automatic driving of vehicles can alleviate burdensome driving tasks for users, and with the rapid development of information and control technologies, automatic driving technologies are gradually accepted by automobile manufacturers and users.
At present, in the automatic driving process, an automatic driving system collects traffic data in the driving process by using various vehicle-mounted sensors, processes the collected traffic data, and controls the vehicle to drive according to the processed traffic data.
However, in the actual driving process of the vehicle, for special driving conditions which are difficult to avoid, such as severe weather, rough driving road sections and the like, in order to ensure driving safety, the vehicle cannot use the automatic driving mode, and therefore, the driving range in which the vehicle can carry out automatic driving is greatly limited.
For special conditions which are inevitably difficult to process, such as severe fog weather, heavy rain weather and the like, various vehicle-mounted sensors are affected to different degrees, so that the sensing data of the vehicle-mounted sensors are deviated, even accurate detection cannot be realized, and the safety and the reliability of automatic driving are seriously affected.
In view of one or more of the above problems, embodiments of the present invention provide a vehicle control method that obtains first sensed data sensed by a plurality of first vehicle-mounted sensors mounted on a vehicle and acquires road guidance information of a section where the vehicle is about to travel from a server, so as to avoid limiting a driving range of autonomous driving of the vehicle due to a special driving situation that is currently difficult to avoid. And then the vehicle-mounted terminal can control the vehicle to run by combining the first sensing data of the plurality of first vehicle-mounted sensors and the road guidance information according to the driving mode of the vehicle corresponding to the road guidance information, so that the safety of automatic driving is effectively improved, and the driving range of automatic driving of the vehicle is expanded.
A vehicle control method according to an embodiment of the present invention will be described below with reference to the drawings.
Fig. 1 is a flowchart illustrating a vehicle control method according to an embodiment of the present invention. As shown in fig. 1, the method may include S110-S130:
s110, acquiring first sensing data of a plurality of first vehicle-mounted sensors, and acquiring road guide information of a road section which is about to be driven by a vehicle from a server.
The vehicle control system may acquire first sensing data of a plurality of first in-vehicle sensors while the vehicle is traveling; and the vehicle control system may further acquire road guidance information of a section where the vehicle is about to travel from the server, wherein the road guidance information may include at least one of environment guidance information, vehicle-road cooperation information, and high-precision map information.
In some embodiments, a plurality of on-board sensors mounted on the vehicle, such as: the vehicle-mounted sensor can be a camera, a radar ranging sensor, a laser positioning sensor and the like.
Through a plurality of vehicle-mounted sensors mounted on the vehicle, the vehicle control system can acquire the external environment, atmospheric data, road surface conditions and the like during the running of the vehicle, and can recognize various possible special weather conditions or special road surface conditions.
In S110, the vehicle control system may further obtain the road guidance information of the road section to be driven by the vehicle from the server. Wherein the road guidance information may include at least one of environment guidance information, vehicle road cooperation information, and high-precision map information.
After the first sensing data and the road guide information are obtained, S120 may be performed next.
And S120, determining the driving mode of the vehicle according to the road guidance information.
The vehicle control system may acquire the road guidance information from the server in real time.
In some embodiments, the location where the vehicle is traveling may be in an area not covered by the high precision map due to the high cost of production of the high precision map. In addition, a vehicle-road coordination system may not be deployed for a part of road segments, wherein the vehicle-road coordination system may include a road-side device, and the road-side device may be, for example, a road-side device
As a specific example, when the position where the vehicle travels is in an area covered by only the vehicle-road coordination system, the road guidance information may include at least the environment guidance information and the vehicle-road coordination information.
If the environment guidance information is the first environment information, that is, the weather environment of the road section where the current vehicle is located may reduce the sensing precision and accuracy of the on-board sensor on the running vehicle, and restrict the use of the on-board sensor, where the first environment information may be severe weather, specifically, severe weather such as heavy fog weather, heavy rain weather, and the like.
In some specific examples, for example, in a fog day, a haze day, a rainy and snowy day, and the like, the visibility is low, so that some vehicle-mounted sensors such as a camera and a laser radar cannot provide high-precision information, and other traffic signs such as traffic lights and the like are difficult to detect in time; when snow cover exists on the road surface, a large amount of accumulated water and mud cover exist on the road surface, the lane line is difficult to identify, and the like. Therefore, the driving mode of the vehicle may be determined as the first driving mode, i.e., the vehicle-road-coordinated automatic driving mode, according to the environment guidance information and the vehicle-road coordination information included in the road guidance information. The automatic driving range of the vehicle limited by the absence of a high-precision map is effectively avoided.
If the environmental guidance information is the second environmental information, that is, the weather environment of the road section where the vehicle is currently located does not affect the sensing precision and accuracy of the vehicle-mounted sensor on the running vehicle, the vehicle-mounted sensor can obtain the sensing data with high precision and high accuracy, and since the road section where the vehicle is located is only covered with the road coordination system and does not have a high-precision map, the driving mode of the vehicle can be determined as the first driving mode, that is, the road coordination automatic driving mode according to the road guidance information. In the embodiment of the invention, the limitation of the automatic driving range of the vehicle due to the absence of a high-precision map is effectively avoided, and the limitation of the automatic driving range of the vehicle due to environmental restriction is also avoided.
As a specific example, when the position where the vehicle travels is in an area covered by the high-precision map and the vehicle-road cooperation system, the road guidance information may include at least environment guidance information, vehicle-road cooperation information, and high-precision map information. According to the road guidance information, if the environment guidance information is the first environment information, the driving mode of the vehicle may be determined as the first driving mode, that is, the vehicle-road cooperative automatic driving mode. If the environmental guidance information is the second environmental information, the driving mode of the vehicle may be determined as the second driving mode, i.e., the hybrid automatic driving mode, based on the road guidance information.
As a specific example, when the position where the vehicle travels is in an area of only a high-precision map, the road guidance information may include at least environment guidance information and high-precision map information. According to the road guidance information, if the environment guidance information is the first environment information, the driving mode of the vehicle can be determined to be the third driving mode, namely the manual intervention automatic driving mode, so that driving safety is guaranteed. According to the road guidance information, if the environment guidance information is the second environment information, the driving mode of the vehicle may be determined as the fourth driving mode, i.e., the normal automatic driving mode.
After the driving mode of the vehicle is determined, S130 may be performed.
And S130, controlling the vehicle to run according to the first sensing data of the plurality of first vehicle-mounted sensors and the road guidance information in the driving mode.
In the embodiment of the invention, in addition to the first sensed data sensed by the plurality of first vehicle-mounted sensors mounted on the vehicle in the case of the vehicle running, in order to avoid limiting the driving range of the automatic driving of the vehicle due to the special driving situation which is currently difficult to avoid, the vehicle-mounted terminal may acquire the road guidance information of the section into which the vehicle is about to travel from the server. Since the road guidance information includes at least one of environment guidance information, vehicle-road cooperation information, and high-precision map information, the vehicle-mounted terminal may determine a driving mode of the vehicle corresponding to the road guidance information, and simultaneously, in the corresponding driving mode, control the vehicle to travel according to the first sensing data of the plurality of first vehicle-mounted sensors and the road guidance information, which may effectively improve safety of automatic driving, and achieve expansion of a driving range of automatic driving of the vehicle.
In some embodiments, after determining a driving mode of the vehicle, when the vehicle is controlled to run according to the first sensing data of the plurality of first on-board sensors and the road guidance information in the driving mode, the road guidance information of the road section where the current vehicle is located may be continuously queried at preset time intervals, and when the road guidance information of the road section where the current vehicle is located obtained by querying is different from the road guidance information used in the current driving mode, that is, the query result satisfies a switching condition of the driving mode, the driving mode may be switched, and the vehicle is controlled to run by using the switched driving mode; when the road guidance information of the road section where the current vehicle is located is obtained through inquiry and is the same as the road guidance information used by the current driving mode, namely the inquiry result does not meet the switching condition of the driving mode, the current driving mode can be kept, and the road guidance information is continuously inquired according to the preset time interval until the vehicle reaches the destination. According to the embodiment of the invention, on the one hand, on the basis of environmental data analysis, the switching logic of the driving mode is introduced, so that the safety of automatic driving can be effectively improved. On the other hand, in severe weather or in an area without high-precision map coverage, the automatic driving vehicle has the sensing capability exceeding the visual range by introducing the vehicle-road cooperative data, the running range of the automatic driving vehicle is expanded, and the dependence of the vehicle on a vehicle-mounted sensor and a high-precision map is reduced.
In some embodiments, the vehicle control system may automatically identify weather conditions and various natural disasters that have occurred or special obstacles encountered in conjunction with sensed data obtained by the onboard sensors. In order to improve the reliability of the vehicle control system in controlling the vehicle to run according to the sensor sensing data, the vehicle control system may isolate the sensing data of the partial vehicle-mounted sensors, that is, does not use the sensing data with poor reliability of the sensing data as the basis for controlling the vehicle to run.
Therefore, in embodiment S110 of the present invention, acquiring the first sensing data of the first vehicle-mounted sensors may include the following steps: firstly, respectively receiving second sensing data of a plurality of second vehicle-mounted sensors; then, according to the preset sensor available threshold corresponding to each second vehicle-mounted sensor, second sensing data meeting the preset sensor available threshold condition in the plurality of second sensing data are determined, and first sensing data of the plurality of first vehicle-mounted sensors are obtained.
For example, the threshold value available for the preset sensor is to judge the accuracy or precision of the sensed data.
As a specific example, after the vehicle control system identifies whether a road blockage caused by a natural disaster such as a debris flow or a landslide occurs on the road surface ahead or not, or another dangerous condition such as a large amount of water accumulated under a bridge or in a low-lying area caused by heavy rain occurs in combination with the sensing data acquired by the vehicle-mounted sensors, the usability of the vehicle-mounted sensors (second vehicle-mounted sensors) may be determined first, that is, the second sensing data acquired by each second vehicle-mounted sensor may be scored for accuracy or precision. For example, when the visibility of the current external environment is low and data such as an image acquired by the second vehicle-mounted sensor is blurred, the degree of blurring of the image may be scored, and if the score is smaller than a preset sensor available threshold, the second sensing data may be considered to be unavailable.
In some embodiments, the vehicle control system may delete or the like the second sensing data that is not available from the second on-board sensor to save a buffer space of the vehicle control system.
In some embodiments, if the score is greater than or equal to the preset sensor availability threshold, the second sensing data may be considered available and used as the first sensing data for the vehicle control system to control the vehicle to run according to the first sensing data. The usability of the sensing data is judged, the sensing data obtained by the sensor with poor data reliability is isolated in time, the error of the sensing data with poor reliability on the automatic driving system to control the vehicle is avoided, and the safety and reliability of automatic driving of the vehicle are improved.
It can be understood that after the availability determination of the second vehicle-mounted sensor is performed, if the obtained first sensing data provided by the first vehicle-mounted sensor cannot meet the automatic driving requirement or the first sensing data is not obtained, the vehicle control system may send warning information to remind a person on the vehicle and switch the current driving mode to another navigation mode, for example, when the road guidance information includes high-precision map information, the vehicle control system may switch to a high-precision map auxiliary manual driving mode; for another example, when the road guidance information includes the vehicle-road cooperation information, the mode may be switched to the vehicle-road cooperation information assisted manual driving mode.
In some embodiments, the road guidance information may include at least environment guidance information, vehicle-road coordination information, and high-precision map information when a position where the vehicle travels is in an area covered by the high-precision map and the vehicle-road coordination system. If the environmental guidance information is the second environmental information, the driving mode of the vehicle may be determined as the second driving mode, i.e., the hybrid automatic driving mode. Under the environment, the positioning accuracy of the vehicle and the sensing capability of the vehicle-mounted sensor are in relatively good states, and meanwhile, in the second driving mode, the vehicle control system can acquire road side information of a road section from the vehicle-road cooperation information, wherein the road section is the road section where the vehicle runs at present. Next, the vehicle control system may compare the roadside information with the high-accuracy map information, and when there is difference information between the roadside information and the high-accuracy map information, send the difference information and third position information of a position where the vehicle is located to the server for the server to update the high-accuracy map.
In the embodiment of the invention, the automatic driving vehicle is accessed and uses the vehicle-road cooperative information to obtain information except the self perception capability of the vehicle, and the first sensing data and the vehicle-road cooperative information are combined to be used, so that more accurate positioning of static objects on the road and acquisition of attribute information of the static objects are realized, wherein the static objects comprise street lamps, traffic lights, speed limit indicating signs and the like. Furthermore, when the difference information exists between the road side information and the high-precision map information, the difference information and the third position information of the position of the vehicle are sent to the server so that the server can update the high-precision map, and other vehicles can conveniently obtain reliable auxiliary information during driving. It is worth mentioning that effective auxiliary information can be provided for other vehicles of the automatic driving system provided with the low-precision sensor, the identification and avoidance capability of the automatic driving system to static objects is effectively improved, effective data information is provided for the automatic driving vehicle provided with the low-precision sensor to realize higher-quality automatic driving under the existing hardware configuration, and the application range of automatic driving of the vehicle is expanded.
In some embodiments, the vehicle control system may determine road identification information of a location where the vehicle is located, based on the first sensed data of the first plurality of on-board sensors; when the road identification information includes the environmental condition information, the environmental condition information and first position information of the position of the vehicle are sent to the server for the server to update the environmental guidance information according to the environmental condition information and the first position information. By uploading the environmental information to the server, the real-time performance and the accuracy of the environmental information of different positions can be effectively improved.
In some embodiments, in order to improve timeliness of disaster early warning, when the environmental condition information includes the first environmental information, the first environmental information is identified, and third sensing data is obtained; and then, sending the third sensing data and second position information of the position of the vehicle to the server, so that the server generates early warning information according to the third sensing data and the second position information. That is, it is determined that a severe weather condition exists at the current driving position of the vehicle according to the first sensing data, the vehicle control system determines an early warning level of the current environmental condition by analyzing the first sensing data, for example, it is exemplarily determined that a landslide occurs on a road ahead, and if the current rainfall is large, the given early warning level is high, and then identifies the first environmental information, so as to obtain the third sensing data.
After the third sensing data is sent to the server, the server can process the third sensing data according to the identification to acquire early warning information, and further can send the early warning information to other vehicles to provide reference for the other vehicles to select the optimal travel path.
In some embodiments, the vehicle control system may receive environmental information including an identification sent by a server; according to the identified environmental information, a prompt message can be sent. For example, the prompt message may be to remind the passenger in the vehicle whether to take over the vehicle or not, and whether to switch the driving mode to the auxiliary manual driving mode or not. For example, the auxiliary manual driving mode may be a high-precision map auxiliary manual driving mode or a vehicle-road cooperation information auxiliary manual driving mode, and is not particularly limited herein.
It can be understood that, in order to further improve the accuracy of the environmental information, for the environmental information that is difficult to determine the current disaster situation, the server side may send out prompt information to remind the online personnel to confirm in time, so as to improve the timeliness and correctness of the disaster early warning.
In some embodiments, the vehicle control system may further evaluate the driving safety, comfort, vehicle loss, and the like of the distance according to the road condition information, the driving mode switching frequency, the driving distance, and the like, and send the evaluation result to the server, and the server may perform statistical analysis on the collected driving conditions of the plurality of vehicles to realize evaluation on the driving condition of a certain road segment. The method provides reference for other vehicles to be driven in, assists the vehicles in path optimization, and can provide effective guidance for road maintenance and travel safety.
Fig. 2 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention, and as shown in fig. 2, the vehicle control device 200 may include: an acquisition module 210, a processing module 220, and a control module 230.
An obtaining module 210, configured to obtain first sensing data of a plurality of first vehicle-mounted sensors; and (c) a second step of,
the obtaining module 210 is further configured to obtain road guidance information of a road section to which a vehicle is about to drive from a server, where the road guidance information includes at least one of environment guidance information, vehicle-road cooperation information, and high-precision map information;
a processing module 220 for determining a driving mode of the vehicle according to the road guidance information;
and a control module 230 for controlling the vehicle to travel according to the first sensing data of the plurality of first on-board sensors and the road guidance information in the driving mode.
In some embodiments, the vehicle control apparatus further includes a receiving module for receiving second sensing data of a plurality of second on-vehicle sensors, respectively; the obtaining module 210 is further configured to determine, according to a preset sensor available threshold corresponding to each second vehicle-mounted sensor, second sensing data that meets a preset sensor available threshold condition in the plurality of second sensing data, and obtain first sensing data of the plurality of first vehicle-mounted sensors.
In some embodiments, the obtaining module 210 is further configured to determine road identification information of a location where the vehicle is located according to the first sensing data of the first plurality of on-board sensors.
In some embodiments, the vehicle control apparatus further comprises a transmitting module. The sending module is used for sending the environmental condition information and first position information of the position of the vehicle to the server when the road identification information comprises the environmental condition information, so that the server can update the environmental guidance information according to the environmental condition information and the first position information.
In some embodiments, the processing module 220 is further configured to identify the first environmental information when the environmental condition information includes the first environmental information, and obtain third sensing data;
the sending module is further used for sending the third sensing data and second position information of the position of the vehicle to the server so that the server can generate early warning information according to the third sensing data and the second position information.
In some embodiments, the obtaining module 210 is further configured to obtain roadside information of the road segment from the vehicle-road cooperation information when the road guidance information includes environment guidance information, vehicle-road cooperation information, and high-precision map information, and the environment guidance information is second environment information;
the processing module 220 is further configured to compare the roadside information with the high-precision map information;
the sending module is further used for sending the difference information and third position information of the position of the vehicle to the server when the difference information exists between the road side information and the high-precision map information, so that the server can update the high-precision map.
In some embodiments, the control module 230 is further configured to determine the driving mode of the vehicle as the first driving mode when the road guidance information includes the environmental guidance information and the vehicle-road coordination information.
In some embodiments, the receiving module is further configured to receive environment information including an identifier sent by the server; and sending out prompt information according to the identified environmental information.
It is understood that the vehicle control device 200 according to the embodiment of the present invention may correspond to an execution main body of the vehicle control method provided in the embodiment of the present invention, and specific details of operations and/or functions of each module/unit of the vehicle control device 200 may be referred to the description of the corresponding part in the vehicle control method provided in the embodiment of the present invention, and are not described herein again for brevity.
In the vehicle control device according to the embodiment of the invention, when the vehicle is running, in addition to the first sensed data sensed by the plurality of first vehicle-mounted sensors mounted on the vehicle, in order to avoid limiting the driving range of the automatic driving of the vehicle due to the current special driving situation which is difficult to avoid, the vehicle-mounted terminal may acquire the road guidance information of the road section into which the vehicle is about to run from the server. Since the road guidance information includes at least one of environment guidance information, vehicle-road cooperation information, and high-precision map information, the vehicle-mounted terminal may determine a driving mode of the vehicle corresponding to the road guidance information, and simultaneously, in the corresponding driving mode, control the vehicle to travel according to the first sensing data of the plurality of first vehicle-mounted sensors and the road guidance information, which may effectively improve safety of automatic driving, and achieve expansion of a driving range of automatic driving of the vehicle.
Fig. 3 is a schematic diagram of a hardware structure of a vehicle control device according to an embodiment of the present invention.
As shown in fig. 3, the vehicle control device 300 in the present embodiment includes an input device 301, an input interface 302, a central processor 303, a memory 304, an output interface 305, and an output device 306. The input interface 302, the central processing unit 303, the memory 304, and the output interface 305 are connected to each other via a bus 310, and the input device 301 and the output device 306 are connected to the bus 310 via the input interface 302 and the output interface 305, respectively, and further connected to other components of the vehicle control device 300.
Specifically, the input device 301 receives input information from the outside and transmits the input information to the central processor 303 through the input interface 302; central processor 303 processes the input information based on computer-executable instructions stored in memory 304 to generate output information, temporarily or permanently stores the output information in memory 304, and then transmits the output information to output device 306 through output interface 305; the output device 306 outputs the output information to the outside of the vehicle control device 300 for use by the user.
That is, the vehicle control apparatus shown in fig. 3 may also be implemented to include: a memory storing computer-executable instructions; and a processor which, when executing computer executable instructions, may implement a vehicle control method provided in connection with embodiments of the invention.
In one embodiment, the vehicle control apparatus 300 shown in fig. 3 includes: a memory 304 for storing programs; and a processor 303 for executing the program stored in the memory to execute the vehicle control method provided by the embodiment of the invention.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium has computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement a vehicle control method provided by an embodiment of the invention.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps, after comprehending the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments can be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor Memory devices, read-Only memories (ROMs), flash memories, erasable Read-Only memories (EROMs), floppy disks, compact disk Read-Only memories (CD-ROMs), optical disks, hard disks, optical fiber media, radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware for performing the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As described above, only the specific embodiments of the present invention are provided, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the module and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (9)
1. A vehicle control method, characterized by comprising:
acquiring first sensing data of a plurality of first vehicle-mounted sensors under the condition that a vehicle runs; and the number of the first and second groups,
acquiring road guide information of a road section which is about to be driven by the vehicle from a server, wherein the road guide information comprises at least one of environment guide information, vehicle-road cooperation information and high-precision map information;
determining a driving mode of the vehicle according to the road guidance information;
controlling the vehicle to travel according to the first sensing data of the plurality of first on-vehicle sensors and the road guidance information in the driving mode;
the determining the driving mode of the vehicle according to the road guidance information includes:
determining that the driving mode of the vehicle is a vehicle-road cooperative automatic driving mode under the condition that the road guidance information comprises environment guidance information and vehicle-road cooperative information, and the environment guidance information comprises first environment information or second environment information;
determining that the driving mode of the vehicle is a vehicle-road cooperative automatic driving mode under the condition that the road guidance information comprises environment guidance information, vehicle-road cooperative information and high-precision map information and the environment guidance information comprises first environment information;
determining that the driving mode of the vehicle is a hybrid automatic driving mode under the condition that the road guidance information comprises environment guidance information, vehicle-road cooperation information and high-precision map information and the environment guidance information comprises second environment information;
determining that a driving mode of a vehicle is a manual intervention automatic driving mode under the condition that the road guidance information includes environment guidance information and high-precision map information and the environment guidance information includes first environment information;
determining that the driving mode of the vehicle is a conventional automatic driving mode under the condition that the road guidance information includes environment guidance information and high-precision map information and the environment guidance information includes second environment information;
the acquiring first sensing data of a first plurality of on-board sensors includes:
receiving second sensing data of a plurality of second vehicle-mounted sensors respectively;
according to a preset sensor available threshold corresponding to each second vehicle-mounted sensor, second sensing data meeting the preset sensor available threshold condition in the plurality of second sensing data are determined, and first sensing data of the plurality of first vehicle-mounted sensors are obtained, wherein the preset sensor available threshold is used for isolating sensing data with poor reliability.
2. The method of claim 1, further comprising:
determining road identification information of the position of the vehicle according to the first sensing data of the plurality of first vehicle-mounted sensors;
when the road identification information comprises environmental condition information, sending the environmental condition information and first position information of the position of the vehicle to the server, so that the server can update the environmental guidance information according to the environmental condition information and the first position information.
3. The method of claim 2, further comprising:
when the environmental condition information comprises first environmental information, identifying the first environmental information to obtain third sensing data;
and sending the third sensing data and second position information of the position of the vehicle to the server so that the server can generate early warning information according to the third sensing data and the second position information.
4. The method according to claim 1, wherein when the road guidance information includes the environment guidance information, the vehicle-road coordination information, and the high-precision map information, and the environment guidance information is second environment information, the method further comprises:
obtaining road side information of the road section from the vehicle-road cooperation information;
comparing the roadside information with the high-precision map information;
and when difference information exists between the roadside information and the high-precision map information, sending the difference information and third position information of the position of the vehicle to the server so that the server can update the high-precision map.
5. The method of claim 1, wherein determining the driving mode of the vehicle based on the road guidance information comprises:
and when the road guidance information comprises environment guidance information and vehicle-road cooperation information, determining that the driving mode of the vehicle is a first driving mode.
6. The method of claim 1, wherein after the controlling the vehicle to travel according to the first sensed data of the first plurality of on-board sensors and the road guidance information, the method further comprises:
receiving environment information which is sent by a server and comprises an identifier;
and sending out prompt information according to the identified environment information.
7. A vehicle control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring first sensing data of a plurality of first vehicle-mounted sensors; and the number of the first and second groups,
the acquisition module is further used for acquiring road guidance information of a road section to which the vehicle is about to drive from a server, wherein the road guidance information comprises at least one of environment guidance information, vehicle road cooperation information and high-precision map information;
the processing module is used for determining the driving mode of the vehicle according to the road guidance information;
a control module for controlling the vehicle to travel according to the first sensing data of the plurality of first on-board sensors and the road guidance information in the driving mode;
the processing module is specifically configured to:
determining that the driving mode of the vehicle is a vehicle-road cooperative automatic driving mode under the condition that the road guidance information comprises environment guidance information and vehicle-road cooperative information, and the environment guidance information comprises first environment information or second environment information;
determining that the driving mode of the vehicle is a vehicle-road cooperative automatic driving mode under the condition that the road guidance information comprises environment guidance information, vehicle-road cooperative information and high-precision map information and the environment guidance information comprises first environment information;
determining that the driving mode of the vehicle is a hybrid automatic driving mode under the condition that the road guidance information comprises environment guidance information, vehicle-road cooperation information and high-precision map information, and the environment guidance information comprises second environment information;
determining that a driving mode of a vehicle is a manual intervention automatic driving mode under the condition that the road guidance information includes environment guidance information and high-precision map information and the environment guidance information includes first environment information;
determining that the driving mode of the vehicle is a conventional automatic driving mode under the condition that the road guidance information includes environment guidance information and high-precision map information and the environment guidance information includes second environment information;
the device also comprises a receiving module;
the receiving module is used for respectively receiving second sensing data of a plurality of second vehicle-mounted sensors;
the obtaining module is further configured to determine, according to a preset sensor available threshold corresponding to each second vehicle-mounted sensor, second sensing data meeting a preset sensor available threshold condition in the plurality of second sensing data, and obtain first sensing data of the plurality of first vehicle-mounted sensors, where the preset sensor available threshold is used to isolate sensing data with poor reliability.
8. A vehicle control apparatus, characterized in that the apparatus comprises: a processor, and a memory storing computer program instructions;
the processor reads and executes the computer program instructions to implement the vehicle control method of any one of claims 1-6.
9. A computer storage medium having computer program instructions stored thereon which, when executed by a processor, implement a vehicle control method as claimed in any one of claims 1 to 6.
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| US10831190B2 (en) * | 2017-08-22 | 2020-11-10 | Huawei Technologies Co., Ltd. | System, method, and processor-readable medium for autonomous vehicle reliability assessment |
| CN110544389A (en) * | 2018-05-28 | 2019-12-06 | 上海汽车集团股份有限公司 | automatic driving control method, device and system |
| CN109709593A (en) * | 2018-12-28 | 2019-05-03 | 国汽(北京)智能网联汽车研究院有限公司 | Join automobile mounted terminal platform based on " cloud-end " tightly coupled intelligent network |
| WO2020133451A1 (en) * | 2018-12-29 | 2020-07-02 | 驭势科技（北京）有限公司 | Vehicle information sharing system and method, and self-driving vehicle |
| US11535255B2 (en) * | 2019-02-28 | 2022-12-27 | Toyota Motor North America, Inc. | Micro-weather reporting |
| CN110083163A (en) * | 2019-05-20 | 2019-08-02 | 三亚学院 | A kind of 5G C-V2X bus or train route cloud cooperation perceptive method and system for autonomous driving vehicle |
| CN110264720B (en) * | 2019-06-28 | 2023-01-06 | 腾讯科技（深圳）有限公司 | Driving mode prompting method, device, equipment and storage medium |
| CN111367292A (en) * | 2020-03-20 | 2020-07-03 | 特路（北京）科技有限公司 | Intelligent road system for automatically driving automobile |
| CN111524362B (en) * | 2020-05-19 | 2022-04-26 | 河北德冠隆电子科技有限公司 | Vehicle safety driving guarantee system and method based on multi-data fusion |
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