CN113085842A

CN113085842A - Vehicle control method and device and vehicle

Info

Publication number: CN113085842A
Application number: CN202110486003.0A
Authority: CN
Inventors: 杨子; 魏鹏飞; 常松涛; 宋佳; 国佳帅
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2021-07-09
Anticipated expiration: 2041-04-30
Also published as: CN113085842B; WO2022227572A1

Abstract

The disclosure provides a vehicle control method, a vehicle control device, an electronic device, a storage medium, a program product and a vehicle, and relates to the field of artificial intelligence, in particular to the fields of automatic driving, autonomous parking and intelligent transportation. The vehicle control method comprises the following steps: in response to a vehicle service request for a vehicle service function, service components corresponding to the vehicle service function are called, execution logic between the service components is determined, and the service components are executed according to the execution logic between the service components to perform vehicle control corresponding to the vehicle service function. By introducing the service components and executing the features of each service component based on the execution logic between each service component, the reuse of the resources of each service component by the vehicle control device can be improved. Because the service components are independent from each other, the coupling is relatively low, and the accuracy and the reliability of vehicle control can be improved.

Description

Vehicle control method and device and vehicle

Technical Field

The disclosure relates to the field of artificial intelligence, in particular to the fields of automatic driving, autonomous parking and intelligent transportation, and particularly relates to a vehicle control method and device and a vehicle.

Background

In order to improve the automatic driving performance of the vehicle, the vehicle may generally provide different service functions, such as a parking service function and a parking space search service function.

With the development of the automatic driving technology, the number of service functions that a vehicle can provide is increased, for example, the vehicle can provide a parking service function, and also can provide a parking space search service function, etc., which are not listed here.

The parking service function may be understood as a parking space parking function and a parking space parking out function provided based on an automatic parking technology.

Disclosure of Invention

The present disclosure provides a vehicle control method, apparatus, and vehicle for improving accuracy and reliability of vehicle control.

According to a first aspect of the present disclosure, there is provided a vehicle control method including:

in response to a vehicle service request for a vehicle service function, invoking service components corresponding to the vehicle service function;

determining execution logic between the service components;

and executing each service assembly according to the execution logic among the service assemblies, and performing vehicle control corresponding to the vehicle service function.

According to a second aspect of the present disclosure, there is provided a vehicle control apparatus including:

the system comprises a calling unit, a processing unit and a control unit, wherein the calling unit is used for calling each service component corresponding to a vehicle service function in response to a vehicle service request aiming at the vehicle service function;

a determining unit, configured to determine execution logic between the service components;

and the execution unit is used for executing each service component according to the execution logic among the service components and carrying out vehicle control corresponding to the vehicle service function.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect.

According to a sixth aspect of the present disclosure, there is provided a vehicle including: the vehicle control apparatus according to the second aspect.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic view of a vehicle control method in the related art;

FIG. 2 is a schematic diagram according to a first embodiment of the present disclosure;

FIG. 3 is a schematic illustration of the disclosed parking service function;

FIG. 4 is a schematic diagram of the disclosed parking spot search service functionality;

FIG. 5 is a schematic diagram according to a second embodiment of the present disclosure;

FIG. 6 is a first schematic diagram illustrating logical relationships of service components provided by an embodiment of the present disclosure;

FIG. 7 is a second schematic diagram illustrating logical relationships of service components provided by an embodiment of the present disclosure;

FIG. 8 is a schematic diagram illustrating an implementation of a service component provided by an embodiment of the present disclosure;

FIG. 9 is a schematic diagram according to a third embodiment of the present disclosure;

FIG. 10 is a schematic diagram according to a fourth embodiment of the present disclosure;

FIG. 11 is a schematic diagram according to a fifth embodiment of the present disclosure;

FIG. 12 is a schematic diagram according to a sixth embodiment of the present disclosure;

FIG. 13 is a schematic diagram according to a seventh embodiment of the present disclosure;

fig. 14 is a block diagram of an electronic device for implementing a vehicle control method of an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the related art, when each vehicle service function of vehicle control is performed, an algorithm package of the vehicle service function can be called, wherein the algorithm package comprises all algorithms for completing the vehicle service function; the algorithm package is then executed to perform vehicle service functions. For example, when the parking service function needs to be completed, an algorithm package corresponding to the parking service function is determined (all algorithms for completing the parking service function, such as a lane line detection algorithm and a lane line detection algorithm, are integrated in the algorithm package), and the vehicle is controlled to execute the algorithm package, so that the parking service function is realized.

However, since all algorithms of the vehicle service function are integrated in the algorithm package, the complexity is large, the coupling is high, and the accuracy and reliability of the vehicle control may be low.

The parking service function is realized based on an automatic parking technology, the automatic parking technology is a key link of an automatic driving technology, and the parking service function generated based on the automatic parking technology is developed in various technical forms. For example, the parking service function may be divided into six stages from the semi-automatic parking service function, and the six stages are respectively the semi-automatic parking service function, the full-automatic parking service function, the integrated full-automatic parking service function, the remote control automatic parking service function, the home area parking assistance service function, and the guest (independent) parking service function.

The semi-automatic parking service function is a service function capable of solving the transverse control of the vehicle, the full-automatic parking is a service function capable of solving the longitudinal control of the vehicle, the integrated full-automatic parking is a service function capable of solving the line parking space search, and meanwhile, the display interaction is improved.

The drivers with the above functions need to be in the vehicle, and starting from the remote control parking service function, the drivers can realize remote control outside the vehicle, and the process needs to be monitored by the drivers in the whole process. For example, the memory parking service function can realize automatic going to a target parking space/automatic calling out of a garage according to a learned route in subsequent use through the learning training of a driver on the route. The passenger parking service function does not need a driver to learn a training route in advance, and can be specifically realized based on a high-precision map.

Now, taking the service functions including the parking service function and the parking space search service function as an example, the principle of the vehicle control method when the vehicle provides the service function in the related art is explained as follows.

A user (e.g., a driver) may initiate a vehicle service request to a vehicle, for example, the user may initiate a parking service request to the vehicle or may initiate a parking space search service request to the vehicle.

Correspondingly, the vehicle determines that a parking service function needs to be provided according to the parking service request, then calls a parking service algorithm package corresponding to the parking service function, and executes the parking service algorithm package, so that vehicle control corresponding to the parking service function is completed.

Similarly, the vehicle determines that the parking space search service function needs to be provided according to the parking space search service request, then calls the parking space search service algorithm packet corresponding to the parking space search service function, and executes the parking space search service algorithm packet, so that vehicle control corresponding to the parking space search service function is completed.

For example, the vehicle may include functional layers of service functions that the vehicle can implement, as shown in fig. 1, such as a parking service function and a parking space search service function.

The vehicle may include an algorithm layer for performing a service function, as shown in fig. 1, the algorithm layer includes a parking service algorithm package for implementing a parking service function, and further includes a parking space search service algorithm package for implementing a parking space search service function.

Specifically, if the vehicle receives a parking service request, determining that a parking service function needs to be provided, and calling and executing an algorithm in a parking service algorithm package; and if the vehicle receives the parking space search service request, determining that a parking space search service function needs to be provided, and calling and executing an algorithm in a parking space search service algorithm.

However, on one hand, if all algorithms for completing the vehicle service function are integrated in the algorithm package for implementing the vehicle service function (for example, in the parking service algorithm package for implementing the parking service function, all algorithms for completing the parking service function are integrated, which may specifically include lane line detection algorithm, etc.), the algorithm package for implementing the vehicle service function has a large complexity and a high coupling, which may cause technical problems of low accuracy and reliability of vehicle control.

On the other hand, algorithm resources between different vehicle service functions are independent from each other, that is, algorithm resources between different vehicle service functions cannot be shared, so that the technical problems of low resource reuse and low resource utilization rate may be caused. For example, partial algorithms of the parking service function and the parking space search service function may be the same, and for example, the partial algorithms may both include lane line detection algorithms and the like, and since the algorithm packages between the parking service function and the parking space search service function are independent of each other, the algorithm packages between the parking service function and the parking space search service function cannot share common algorithm resources, thereby causing a technical problem of low resource reuse.

In order to solve at least one of the above technical problems, the present disclosure proposes: each function item is provided with an independent service component, and execution logic is arranged among the service components, so that when a vehicle service request is received, the service component corresponding to the vehicle service request can be executed based on the service component corresponding to the vehicle service request and the execution logic among the components, and vehicle control corresponding to the vehicle service function is carried out.

The present disclosure provides a vehicle control method, device, electronic device, storage medium, program product, and vehicle, and relates to the field of artificial intelligence, and in particular to the fields of automatic driving, unmanned driving, autonomous parking, and intelligent transportation, so as to achieve the technical effects of accuracy and reliability of vehicle control.

Fig. 2 is a schematic diagram according to a first embodiment of the present disclosure, and as shown in fig. 2, the present embodiment provides a vehicle control method including:

s201: in response to a vehicle service request for a vehicle service function, service components corresponding to the vehicle service function are invoked.

Wherein each service component includes instructions to implement the functional item characterized by the service component.

The execution subject of the present embodiment may be a vehicle control device, and specifically may be an in-vehicle terminal, a computer, a server, a processor, a chip, and the like provided in a vehicle, by way of example.

In combination with the above embodiments, the vehicle service function can be understood as a function that the vehicle can provide, such as a parking service function, and also such as a parking space search service function.

Accordingly, a vehicle service request may be understood as a request indicating a vehicle service function to be performed, such as a vehicle service request requesting the vehicle control device to perform a parking service function, or a vehicle service request requesting the vehicle control device to perform a parking space search service function, etc.

Illustratively, the vehicle service request may be user initiated; the vehicle may be automatically triggered based on a vehicle running environment, wherein the vehicle running environment includes a vehicle running speed, a vehicle running direction and the like.

Illustratively, one vehicle service function corresponds to a plurality of service components, and each service component includes instructions to implement a function item.

That is, a service component characterizes a function item, and the service component includes instructions for implementing the function item, and a plurality of function items are combined to obtain a vehicle service function. That is, a vehicle service function may be divided into a plurality of function items, each function item may be a service component, the service component includes an instruction, and the plurality of function items may collectively perform a vehicle service function.

In one example, as shown in fig. 3 (fig. 3 is a schematic diagram of the parking service function), each service component includes: the parking lot control system comprises a lane line detection service assembly, a parking space detection service assembly, a steering wheel control service assembly and a vehicle body control service assembly.

If the vehicle service request is a vehicle service request for the parking service function, the vehicle control device may determine, according to the vehicle service request for the parking service function, that each service component corresponding to the parking service function includes: the parking lot control system comprises a lane line detection service assembly, a parking space detection service assembly and a steering wheel control service assembly.

The functional item of the lane line detection service component representation is a lane line detection service function, the functional item of the parking space detection service component representation is a parking space detection service function, and the functional item of the steering wheel control service component representation is a steering wheel control service function.

The lane line detection service assembly comprises an instruction for realizing a lane line detection service function, the parking space detection service assembly comprises an instruction for realizing a parking space detection service function, and the steering wheel control service assembly comprises an instruction for realizing a steering wheel control service function.

In another example, as shown in fig. 4 (fig. 4 is a schematic diagram of a parking space search service function of the present disclosure), each service component includes: the parking lot control system comprises a lane line detection service assembly, a parking space detection service assembly, a steering wheel control service assembly and a vehicle body control service assembly.

If the vehicle service request is a vehicle service request for the parking space search service function, the vehicle control device may determine, according to the vehicle service request for the parking space search service function, that each service component corresponding to the parking space search service function includes: lane line detection service assembly and parking space detection service assembly.

Similarly, the functional item represented by the lane line detection service component is the lane line detection service function, and the functional item represented by the parking space detection service component is the parking space detection service function.

The lane line detection service assembly comprises an instruction for realizing a lane line detection service function, and the parking space detection service assembly comprises an instruction for realizing a parking space detection service function.

S202: execution logic between the service components is determined.

In one example, as can be seen from the above analysis and fig. 3, this step can be understood as: and determining execution logic among the lane line detection service component, the parking space detection service component and the steering wheel control service component.

Wherein, the execution logic between the service components can be understood as the sequence of executing the service components. That is, this step can be understood as: determining the sequence of executing the lane line detection service component, the parking space detection service component and the steering wheel control service component.

In another example, as can be seen from the above analysis and fig. 4, the steps can be understood as: and determining execution logic between the lane line detection service component and the parking space detection service component.

Wherein, the execution logic between the service components can be understood as the sequence of executing the service components. That is, this step can be understood as: and determining the sequence of executing the lane line detection service assembly and the parking space detection service assembly.

S203: and executing the service components according to the execution logic among the service components so as to complete vehicle control corresponding to the vehicle service function.

In one example, as can be seen from the above analysis and fig. 3, if the execution logic between the lane line detection service component, the parking space detection service component, and the steering wheel control service component is: the lane line detection service assembly and the parking space detection service assembly are executed firstly and are executed in parallel, and the steering wheel control service assembly is executed later, so that the steps can be understood as follows: the vehicle control device executes the lane line detection service component and the parking space detection service component in parallel (specifically, executes the instruction in the lane line detection service component and the instruction in the parking space detection service component in parallel), and then executes the steering wheel control service component (specifically, executes the instruction in the steering wheel control service component).

In one example, as can be seen from the above analysis and fig. 4, if the execution logic between the lane line detection service component and the parking space detection service component is: the lane line detection service component and the parking space detection service component are executed firstly and are executed in parallel, and then the steps can be understood as follows: the vehicle control device executes the lane line detection service component and the parking space detection service component in parallel (specifically, executes the instruction in the lane line detection service component and the instruction in the parking space detection service component in parallel).

As can be seen from the principle of the vehicle control method shown in fig. 1, fig. 3, and fig. 4, in the related art, one vehicle service function corresponds to one algorithm package, the instruction resources between the vehicle service functions cannot be shared, and the coupling inside the algorithm package is severe, which may cause the technical problems of resource consumption and low accuracy of vehicle control, but in this embodiment, by introducing: as can be seen from fig. 3 and 4, the parking service function and the parking space search service function can share the lane line detection service component and the parking space detection service component, and because the service components are independent from each other and have relatively low coupling, the technical effects of improving the accuracy and reliability of vehicle control can be achieved.

Fig. 5 is a schematic diagram according to a second embodiment of the present disclosure, and as shown in fig. 5, the present embodiment provides a vehicle control method including:

s501: in response to a vehicle service request for a vehicle service function, service sub-functions corresponding to the vehicle service function are determined.

Wherein each service subfunction constitutes a complete function of the vehicle service function.

For example, the description of the vehicle service request may refer to the description of the first embodiment, and will not be repeated herein.

S502: and determining a service component corresponding to each service subfunction according to each service subfunction.

Wherein, each service component corresponding to each service subfunction constitutes a complete execution process of the service subfunction.

In this embodiment, on the basis of the first embodiment, the feature of the service subfunction is further introduced. On one hand, one vehicle service function corresponds to a plurality of service subfunctions, namely, one vehicle service function is realized by a plurality of service subfunctions; on the other hand, one service sub-function corresponds to a plurality of service components, that is, one service sub-function is implemented by a plurality of service components.

For example, as can be seen in fig. 6, the vehicle control device may be understood as a three-layer structure, and the first layer may be understood as a functional layer, i.e., the functional layer includes a vehicle service function therein; the second layer can be understood as a service layer, namely the service layer comprises service subfunctions; the third layer may be understood as a component layer, i.e. a component layer comprising service components.

The functional layer may include a plurality of vehicle service functions, as shown in fig. 6, and includes a vehicle service function 1, a vehicle service function 2, and up to a vehicle service function N, where N is a positive integer greater than or equal to 2.

The service layer includes a plurality of service subfunctions, as shown in fig. 6, the service layer includes a service subfunction 1, a service subfunction 2, and up to a service subfunction M, where M is a positive integer greater than or equal to 2.

The component layer includes a plurality of service components, as shown in fig. 6, the component layer includes a service component 1, a service component 2, and up to a service component K, where K is a positive integer greater than or equal to 2.

It should be understood that N, M and K have no necessarily sequential relationship in size.

In some embodiments, as shown in FIG. 7, among the functional layers, the vehicle service functions may include: a cruise service function, a parking space service function, and a space search service function.

In the service layer, each service sub-function may include: a perception service subfunction, a location service subfunction, an environmental modeling service subfunction, a decision planning service subfunction, a vehicle control service subfunction, and a map construction service subfunction.

The service sub-functions in the service layer may be obtained by analyzing the vehicle service functions in the functional layer by the vehicle control device. For example, for any vehicle service function, the vehicle control device analyzes the any vehicle service function, and determines a smaller granularity for obtaining the any vehicle service function, thereby obtaining each service subfunction for completing the any vehicle service function.

For example, the positioning service sub-function may provide six-axis information of an IMU (Inertial Measurement Unit, which may also be referred to as an Inertial Measurement sensor) so that the vehicle control device or the automatic driving control device performs a fusion positioning algorithm to improve positioning accuracy.

In the component layer, as shown in fig. 7, each service component corresponding to the sensing sub-service includes: the system comprises a parking space detection service assembly, a lane line detection service assembly, a traffic sign identification service assembly, a traffic sign detection service assembly, a pedestrian detection service assembly, a vehicle detection service assembly, a ground lock detection service assembly and a car arrester detection service assembly; each service component corresponding to the vehicle control sub-service comprises: the gear control service assembly, the steering wheel control service assembly, the drive control service assembly, the brake control service assembly and the vehicle body service assembly.

Similarly, each service component in the component layer can be obtained by analyzing each service subfunction in the service layer for the vehicle control device. For example, for any service subfunction, the vehicle control device parses the any service subfunction, determines a smaller granularity for obtaining the any service subfunction, and thereby obtains each service subfunction for completing the any service subfunction.

The Lane line detection service component can provide Lane line information in a preset range (for example, in a range of 6 meters) in front of the vehicle, and can also provide a high-speed driving assistance function (HWA), such as Lane Keeping Assistance (LKA) and the like, for perception fusion and forward-looking camera blind area compensation.

It should be understood that the above examples are for illustrative purposes only, and that the vehicle control device may include vehicle service functions, service sub-functions, and service components, and should not be construed as limiting the vehicle service functions, service sub-functions, and service components.

It should be noted that, in this embodiment, by determining each service subfunction corresponding to the vehicle service function and determining the service component corresponding to each service subfunction, which is equivalent to splitting the vehicle service function into a plurality of service subfunctions, and each service subfunction has a plurality of corresponding service components, each service subfunction can be implemented independently, the pressure of an algorithm package for developing the vehicle service function can be reduced, and the problem of low accuracy of vehicle control due to too strong coupling of each service subfunction in the vehicle service function can be avoided, so that the technical effects of accuracy and reliability of vehicle control are improved, and the driving experience of a user is improved.

In some embodiments, a mapping between a vehicle service function and a service sub-function may be constructed, and a mapping between a service sub-function and a service component may be constructed, so as to accomplish vehicle control corresponding to the vehicle service function based on the two constructed mappings.

In other embodiments, the correspondence between the vehicle service function and each service component may also be constructed based on the correspondence between the vehicle service function and the service sub-function and the correspondence between the service sub-function and the service component, so as to complete vehicle control corresponding to the vehicle service function based on the constructed correspondence between the vehicle service function and each service component.

In other embodiments, a corresponding relationship between the vehicle service function and each service component may also be constructed based on a corresponding relationship between the vehicle service function and the service sub-function and a corresponding relationship between the service sub-function and each service component, and a call link between the vehicle service function and each service component may also be constructed based on a corresponding relationship between the vehicle service function and each service component, so as to complete vehicle control corresponding to the vehicle service function based on the call link.

S503: execution logic between the service components is determined.

Exemplarily, the description about S503 may refer to the description about S202, and is not repeated here.

In some embodiments, service components belonging to the same service sub-function have an order of execution; the execution sequence is a parallel execution sequence, or the execution sequence is a sequential execution sequence.

Exemplarily, in combination with the above embodiments, the parking space detection service component and the lane line detection service component belong to a sensor sub-service, and in some embodiments, the parking space detection service component and the lane line detection service component are in a parallel execution order, that is, the execution parking space detection service component and the execution lane line detection service component are not interfered with each other and are independent of each other; in other embodiments, the parking space detection service component and the lane line detection service component are executed in sequence, for example, the parking space detection service component is executed first, and then the lane line detection service component is executed, or the lane line detection service component is executed first, and then the parking space detection service component is executed.

S504: and executing each service component according to the execution logic among the service components so as to complete vehicle control corresponding to the vehicle service function.

In some embodiments, the service components include a first service component and a second service component, and in the execution logic between the service components, the priority of the first service component is higher than that of the second service component, S504 may include the following steps:

the first step is as follows: and executing the first service component to obtain an execution result.

The second step is as follows: and executing the second service component according to the execution result.

It should be understood that the first service component and the second service component described in the present embodiment cannot be understood as a limitation on the number of service components, nor a limitation on the contents of service components.

In an example, in conjunction with fig. 6 and the above-described embodiment, if the first service component includes: fig. 8 shows a principle that the vehicle control device executes each service module, where the parking space detection service module and the lane line detection service module, and the second service module includes a steering wheel control service module.

As shown in fig. 8, the vehicle control device executes the parking space detection service module and the lane line detection service module in parallel, and then executes the steering wheel control service module.

In another example, if the service components include: the parking space detection system comprises a parking space detection service assembly, a lane line detection service assembly, a pedestrian detection service assembly, a ground lock detection, a gear control assembly, a brake control assembly and a steering wheel control service assembly.

And in the parking space detection service assembly, the lane line detection service assembly, the pedestrian detection service assembly, the gear control assembly and the steering wheel control service assembly, the parking space detection service assembly, the lane line detection service assembly and the pedestrian detection service assembly are first service assemblies, and the gear control assembly and the steering wheel control service assembly are second service assemblies.

In the pedestrian detection service assembly and the brake control assembly, the pedestrian detection service assembly is a first service assembly, and the brake control assembly is a second service assembly.

In the parking space detection service assembly, the lane line detection service assembly, the pedestrian detection service assembly and the ground lock detection, each service assembly is a service assembly executed in parallel.

Accordingly, the vehicle control device performs the parking space detection service assembly, the lane line detection service assembly, the pedestrian detection service assembly, the ground lock detection in parallel, performs the gear control assembly and the steering wheel control service assembly after performing the parking space detection service assembly, the lane line detection service assembly, and the pedestrian detection service assembly, and performs the brake control assembly after performing the pedestrian detection service assembly.

It should be noted that, in this embodiment, the first service component and the second service component are respectively executed according to the execution logic between the service components, and the execution of different service components is completed based on the execution logic, so that the accuracy and reliability of executing each service component can be improved, and the technical effect of the accuracy and reliability of controlling the vehicle can be further achieved.

In some embodiments, the second step may include: and determining parameters for executing the second service component according to the execution result, and executing the second service component according to the parameters for executing the second service component.

Illustratively, in connection with the above example, if the first service component includes: the vehicle control device can determine parameters for executing the steering wheel control service assembly according to the execution result of the parking space detection service assembly and the execution result of the lane line detection service assembly, and execute the steering wheel control service assembly based on the determined parameters.

It should be noted that, in this embodiment, for each service component having a sequential execution logic, an execution result of a service component executed before (i.e., a service component with a higher priority) may be determined in combination with an execution logic between service components, and a service component executed after (i.e., a service component with a lower priority) may be executed based on the execution result of the service component executed before (i.e., a service component with a lower priority), so that execution between service components may have high conformity and relevance, and mutual influence and cooperation between service components with different priorities are fully considered, thereby achieving a technical effect of improving reliability and accuracy of vehicle control.

In some embodiments, determining the parameter for executing the second service component according to the execution result may be implemented by any one of the following embodiments.

In one example, the vehicle control device may obtain a preset execution parameter of the second service component, and adjust the preset execution parameter according to the execution result to obtain a parameter for executing the second service component.

In another example, the vehicle control apparatus may acquire a preset execution parameter of the second service component, and replace the preset execution parameter with a parameter for executing the second service component.

In still another example, the vehicle control apparatus may determine a field position of a preset execution parameter of the second service component, and fill the field position with a parameter for executing the second service component.

That is, in this embodiment, different policies may be used to determine the parameters for executing the second service component, for example, by adjusting the policy of the preset execution parameter, for example, by an alternative policy, for example, by a filling policy, and by using different policies to determine the parameters for executing the second service component, the technical effect of flexibility and diversity in determining the parameters for executing the second service component may be improved.

Fig. 9 is a schematic diagram according to a third embodiment of the present disclosure, and as shown in fig. 9, the present embodiment provides a vehicle control method including:

s901: in response to a vehicle service request for a vehicle service function, service components corresponding to the vehicle service function are invoked.

Illustratively, each service component includes instructions to implement the functional items characterized by the service component.

S902: execution logic between the service components is determined.

S903: and executing each service component according to the execution logic among the service components, and performing vehicle control corresponding to the vehicle service function.

For example, regarding the principles of S901 to S903, reference may be made to the principle of the first embodiment, and also to the principle of the second embodiment, which is not described herein again.

S904: and acquiring a service component updating request, and updating the service component corresponding to the service component updating request.

The service component updating request is used for indicating that the service component is updated.

It is worth mentioning that in the present embodiment, independent update can be performed for the service component.

As can be seen from the above analysis, in the related art, the algorithm package for implementing the vehicle service function is an algorithm package for a parking service function, and if a certain vehicle service function needs to be updated, the algorithm package for the vehicle service function needs to be updated as a whole.

However, in this embodiment, the vehicle service function includes a plurality of service subfunctions, each service subfunction includes a plurality of service components, and in the update stage, a single service component can be updated based on a requirement without updating the whole algorithm package, thereby achieving the technical effects of improving the update efficiency and saving the update cost.

In some embodiments, the service component update request carries an identifier of a service component to be updated, and accordingly, performing update processing on the service component corresponding to the service component update request may include: and determining the service component corresponding to the identifier from the service components, and updating the service component corresponding to the identifier.

For example, the vehicle control device may assign an identifier to each service component in advance, so that when a service component update request is received, the identifier of the service component to be updated is read from the service component update request, and the service component to be updated is determined from the service components based on the identifier, so as to perform update processing on the determined service component to be updated.

It is worth to say that, in this embodiment, by determining the service component to be updated based on the identifier, the efficiency of determining the service component to be updated can be improved, so that the update with stronger pertinence is improved, and the technical effects of accuracy and reliability of the update are improved.

Fig. 10 is a schematic diagram according to a fourth embodiment of the present disclosure, and as shown in fig. 10, the present embodiment provides a vehicle control method including:

s1001: in response to a vehicle service request for the detected service function, service components corresponding to the vehicle service function are invoked.

S1002: execution logic between the service components is determined.

S1003: and executing each service assembly according to the execution logic among the service assemblies to obtain a detection result, and determining the driving strategy of the vehicle according to the detection result.

S1004: and controlling the vehicle to execute the driving strategy.

It should be noted that, in this embodiment, by determining the driving strategy based on the detection result, the driving strategy can be made to have higher conformity with the driving environment of the vehicle, so that the determined driving strategy can have stronger driving pertinence, and further, when the driving strategy is executed by the vehicle, the technical effects of accuracy, reliability and safety of vehicle driving can be improved.

For example, regarding the principles of S1001 to S1003, the principle of the first embodiment may be referred to, and the principle of the second embodiment may also be referred to, which is not described herein again.

In some embodiments, this embodiment may also be combined with the embodiment of performing update processing on each service component in the third embodiment to obtain a new embodiment, which is not described herein again.

Fig. 11 is a schematic diagram according to a fifth embodiment of the present disclosure, and as shown in fig. 11, the present embodiment provides a vehicle control apparatus 1100 including:

an invoking unit 1101 configured to invoke each service component corresponding to the vehicle service function in response to a vehicle service request for the vehicle service function.

A determining unit 1102, configured to determine execution logic between the service components.

An execution unit 1103 is configured to execute each service component according to execution logic between the service components, and perform vehicle control corresponding to a vehicle service function.

Fig. 12 is a schematic diagram according to a sixth embodiment of the present disclosure, and as shown in fig. 12, the present embodiment provides a vehicle control apparatus 1200 including:

an invoking unit 1201, configured to invoke each service component corresponding to the vehicle service function in response to the vehicle service request for the vehicle service function.

As can be seen in fig. 12, in some embodiments, the invoking unit 1201 may include:

a first determining at unit 12011 is for determining service sub-functions corresponding to the vehicle service function.

Illustratively, each service sub-function constitutes a complete function of the vehicle service function.

A second determining subunit 12012, configured to determine, according to each service sub-function, a service component corresponding to each service sub-function.

Illustratively, the service components corresponding to each service sub-function constitute the complete execution of the service sub-function.

In some embodiments, different service components corresponding to the same service sub-function have an execution order, and the execution order is a parallel execution order or a sequential execution order.

A determining unit 1202, configured to determine execution logic between service components.

The execution unit 1203 is configured to execute each service component according to an execution logic between each service component, and execute vehicle control corresponding to a vehicle service function.

As may be appreciated in conjunction with FIG. 12, in some embodiments, a first service component and a second service component are included in a service component; the execution unit 1203 includes:

the first execution subunit 12031 is configured to execute the first service component according to the execution logic between the service components, and obtain an execution result.

The second execution subunit 12032 is configured to execute the second service component according to the execution result.

In some embodiments, the second execution subunit 12032 may include:

and the determining module is used for determining the parameters for executing the second service component according to the execution result.

In some embodiments, the determining module is configured to obtain a preset execution parameter of the second service component, and adjust the preset execution parameter according to an execution result to obtain a parameter for executing the second service component. Or,

the determining module is used for acquiring the preset execution parameters of the second service assembly and replacing the preset execution parameters with the parameters for executing the second service assembly. Or,

the determining module is used for determining a field position of a preset execution parameter of a second service component and filling the field position with the parameter for executing the second service component.

And the execution module is used for executing the second service assembly according to the parameters for executing the second service assembly.

An obtaining unit 1204 is configured to obtain the service component update request.

Illustratively, the service component update request is used to indicate that the service component is updated.

An updating unit 1205 is configured to perform update processing on the service component corresponding to the service component update request.

Fig. 13 is a schematic diagram according to a seventh embodiment of the present disclosure, and as shown in fig. 13, the present embodiment provides a vehicle control apparatus 1300 including:

an invoking unit 1301, configured to invoke each service component corresponding to the vehicle service function in response to the vehicle service request for the vehicle service function.

A determining unit 1302, configured to determine execution logic between service components.

And an executing unit 1303, configured to execute each service component according to an execution logic between the service components, and execute vehicle control corresponding to a vehicle service function.

As can be seen from fig. 13, if the vehicle service function is the detection service function, the executing unit 1303 includes:

a third executing subunit 13031, configured to execute each service component according to the execution logic between each service component, to obtain a detection result.

A fourth determining subunit 13032, configured to determine a driving strategy of the vehicle according to the detection result.

And a control subunit 13033 for controlling the vehicle to execute the driving strategy.

The present disclosure also provides an electronic device and a readable storage medium according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.

FIG. 14 shows a schematic block diagram of an example electronic device 1400 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 14, the electronic device 1400 includes a computing unit 1401 that can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)1402 or a computer program loaded from a storage unit 1408 into a Random Access Memory (RAM) 1403. In the RAM 1403, various programs and data required for the operation of the device 1400 can also be stored. The calculation unit 1401, the ROM 1402, and the RAM 1403 are connected to each other via a bus 1404. An input/output (I/O) interface 1405 is also connected to bus 1404.

Various components in device 1400 connect to I/O interface 1405, including: an input unit 1406 such as a keyboard, a mouse, or the like; an output unit 1407 such as various types of displays, speakers, and the like; a storage unit 1408 such as a magnetic disk, optical disk, or the like; and a communication unit 1409 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 1409 allows the device 1400 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The computing unit 1401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 1401 executes the respective methods and processes described above, such as the vehicle control method. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 1408. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 1400 via ROM 1402 and/or communication unit 1409. When the computer program is loaded into the RAM 1403 and executed by the computing unit 1401, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 1401 may be configured to perform the vehicle control method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program instructions for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program instructions may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program instructions, which execute via the processor or controller, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. The program instructions may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.

According to another aspect of the disclosed embodiment, there is also provided a vehicle including the vehicle control apparatus as described in any of the above embodiments.

In some embodiments, the vehicle may further include a sensor connected to the vehicle control device, wherein the sensor is configured to collect the sensing data and transmit the sensing data to the vehicle control device, and the vehicle control device may control the vehicle to run based on the sensing data.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure may be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions provided by this disclosure can be achieved, and are not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A vehicle control method comprising:

determining execution logic between the service components;

2. The method of claim 1, wherein invoking service components corresponding to the vehicle service function comprises:

determining each service subfunction corresponding to the vehicle service function;

determining a service component corresponding to each of the service subfunctions.

3. The method of claim 2, wherein different service components corresponding to the same service sub-function have an execution order, the execution order being a parallel execution order or a sequential execution order.

4. The method of claim 1, wherein the service component comprises a first service component and a second service component;

executing each service assembly according to the execution logic among the service assemblies, wherein the execution logic comprises the following steps:

executing the first service assembly to obtain an execution result;

and executing the second service assembly according to the execution result.

5. The method of claim 4, wherein executing the second service component in accordance with the execution result comprises:

determining parameters for executing the second service component according to the execution result;

executing the second service component according to the parameters for executing the second service component.

6. The method of claim 5, wherein determining parameters for executing the second service component according to the execution result comprises any one of:

acquiring a preset execution parameter of the second service assembly, and adjusting the preset execution parameter according to the execution result to obtain the parameter for executing the second service assembly;

acquiring a preset execution parameter of the second service assembly, and replacing the preset execution parameter with the parameter for executing the second service assembly;

determining a field position of a preset execution parameter of the second service component, and filling the field position with the parameter for executing the second service component.

7. The method of any of claims 1 to 6, further comprising:

and acquiring a service component updating request, and updating the service component corresponding to the service component updating request.

8. The method of claim 7, wherein the service component update request carries an identifier of a service component to be updated;

updating the service component corresponding to the service component updating request, wherein the updating process comprises the following steps:

and determining the service component corresponding to the identifier from all the service components, and updating the service component corresponding to the identifier.

9. The method of any one of claims 1 to 8, wherein executing each of the service components in accordance with execution logic therebetween for vehicle control corresponding to the vehicle service function comprises:

under the condition that the vehicle service function is a detection service function, executing each service component according to execution logic among the service components to obtain a detection result;

determining a driving strategy of the vehicle according to the detection result;

and controlling the vehicle to execute the driving strategy.

10. A vehicle control apparatus comprising:

11. The apparatus of claim 10, wherein the invoking unit comprises:

a first determining unit, configured to determine service subfunctions corresponding to the vehicle service function;

and the second determining subunit is used for determining the service component corresponding to each service subfunction.

12. The apparatus of claim 11, wherein different service components corresponding to the same service sub-function have an execution order, and the execution order is a parallel execution order or a sequential execution order.

13. The apparatus of claim 10, wherein the service components comprise a first service component and a second service component; the execution unit includes:

the first execution subunit is used for executing the first service component to obtain an execution result;

and the second execution subunit is used for executing the second service component according to the execution result.

14. The apparatus of claim 13, wherein the second execution subunit comprises:

a determining module, configured to determine a parameter for executing the second service component according to the execution result;

15. The apparatus according to claim 14, wherein the determining module is configured to obtain a preset execution parameter of the second service component, and adjust the preset execution parameter according to the execution result to obtain the parameter for executing the second service component; or,

the determining module is configured to obtain a preset execution parameter of the second service component, and replace the preset execution parameter with the parameter for executing the second service component; or,

the determining module is configured to determine a field position of a preset execution parameter of the second service component, and fill the field position with the parameter for executing the second service component.

16. The apparatus of any of claims 10 to 15, further comprising:

an acquisition unit configured to acquire a service component update request;

and the updating unit is used for updating the service assembly corresponding to the service assembly updating request.

17. The apparatus of claim 16, wherein the service component update request carries an identifier of a service component to be updated; the update unit includes:

a third determining subunit, configured to determine, from the service components, a service component corresponding to the identifier;

and the updating subunit is used for updating the service component corresponding to the identifier.

18. The apparatus of any of claims 10 to 17, wherein the execution unit comprises:

the third execution subunit is used for executing each service component according to the execution logic among the service components under the condition that the vehicle service function is a detection service function, so as to obtain a detection result;

the fourth determining subunit is used for determining the driving strategy of the vehicle according to the detection result;

and the control subunit is used for controlling the vehicle to execute the running strategy.

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.

21. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.

22. A vehicle, comprising: the vehicle control apparatus according to any one of claims 10 to 18.