CN113132474A - Control method, device and equipment for automatically driving vehicle - Google Patents
Control method, device and equipment for automatically driving vehicle Download PDFInfo
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Abstract
The embodiment of the application discloses a control method, a control device and control equipment for an automatic driving vehicle, which are applied to the technical field of automatic driving and used for realizing effective control on the automatic driving vehicle under the condition of reducing the generation cost of the vehicle. The method of the present application comprises: firstly, acquiring the operating parameters of a target vehicle; the operation parameters are acquired through a vehicle-mounted sensor of the target vehicle, then the operation parameters of the target vehicle are transmitted to the cloud server, so that the cloud server can calculate the operation parameters to obtain a calculation result, then the calculation result returned by the cloud server is received, and the target vehicle is automatically controlled according to the calculation result. Therefore, the calculation force is transferred from the vehicle to the cloud server, and then the automatic driving vehicle is controlled according to the calculation result of the cloud server, so that the overall production cost of the automatic driving vehicle can be reduced, and the automatic driving vehicle can be effectively controlled.
Description
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, and a device for controlling an automatic driving vehicle.
Background
With continuous progress of high and new technologies such as cloud computing, artificial intelligence, modern sensing, information fusion, communication and automatic control, the future development speed of the automatic driving vehicle is accelerated, and meanwhile, the acceptance and demand of people on the automatic driving vehicle are gradually improved.
The current automatic driving is divided into the following five levels according to the degree of automation: l1 driving support, L2 partial automation, L3 conditional automation, L4 high automation and L5 full automation. Each level of the autonomous vehicle needs to carry at least the minimum computation power corresponding to its operating system, such as L2 requiring 10 trillion operations per second (10 TPS for short), L3 requiring 60TPS, etc., but the computation power (computation resources such as machine learning, etc.) in the existing autonomous vehicle is basically concentrated on the vehicle itself, and in order to ensure low latency and high storage, the production cost of the vehicle itself is increased more and more. Therefore, how to realize effective control of an autonomous vehicle while reducing the vehicle production cost has become an urgent problem to be solved.
Disclosure of Invention
The embodiment of the application mainly aims to provide a control method, a control device and control equipment for an automatic driving vehicle, which can realize effective control on the automatic driving vehicle under the condition of reducing the generation cost of the vehicle.
The embodiment of the application provides a control method for an automatic driving vehicle, which comprises the following steps:
acquiring the operating parameters of a target vehicle; the operating parameters are acquired by an on-board sensor of the target vehicle;
transmitting the operating parameters of the target vehicle to a cloud server so that the cloud server can calculate the operating parameters to obtain a calculation result;
and receiving the calculation result returned by the cloud server, and automatically controlling the target vehicle according to the calculation result.
Optionally, the target vehicle includes an on-vehicle 5G communication system; prior to the transmitting of the operating parameters of the target vehicle to a cloud server, the method comprises:
establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the transmitting the operating parameters of the target vehicle to a cloud server includes:
and transmitting the operating parameters of the target vehicle to the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
Optionally, the method further includes:
and acquiring the operation parameters of other vehicles with preset number in a preset range around the target vehicle.
The transmitting the operation parameters of the target vehicle to a cloud server so that the cloud server can calculate the operation parameters to obtain a calculation result, comprising:
and transmitting the operating parameters of the other vehicles and the operating parameters of the target vehicle to a cloud server so that the cloud server can perform comprehensive calculation on the operating parameters of the other vehicles and the operating parameters of the target vehicle to obtain a comprehensive calculation result.
Optionally, the receiving the calculation result returned by the cloud server, and automatically controlling the target vehicle according to the calculation result includes:
and receiving the comprehensive calculation result returned by the cloud server, and automatically controlling the target vehicle and other vehicles with preset quantity in a preset range around the target vehicle according to the comprehensive calculation result.
An embodiment of the present application further provides a control device for an autonomous vehicle, including:
a first acquisition unit for acquiring an operation parameter of a target vehicle; the operating parameters are acquired by an on-board sensor of the target vehicle;
the transmission unit is used for transmitting the operating parameters of the target vehicle to a cloud server so that the cloud server can calculate the operating parameters to obtain a calculation result;
and the control unit is used for receiving the calculation result returned by the cloud server and automatically controlling the target vehicle according to the calculation result.
Optionally, the target vehicle includes an on-vehicle 5G communication system; the device further comprises:
the establishing unit is used for establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the transmission unit is specifically configured to:
and transmitting the operating parameters of the target vehicle to the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
Optionally, the apparatus further comprises:
the second acquisition unit is used for acquiring the operation parameters of a preset number of other vehicles in a preset range around the target vehicle;
the transmission unit is specifically configured to:
and transmitting the operating parameters of the other vehicles and the operating parameters of the target vehicle to a cloud server so that the cloud server can perform comprehensive calculation on the operating parameters of the other vehicles and the operating parameters of the target vehicle to obtain a comprehensive calculation result.
Optionally, the control unit is specifically configured to:
and receiving the comprehensive calculation result returned by the cloud server, and automatically controlling the target vehicle and other vehicles with preset quantity in a preset range around the target vehicle according to the comprehensive calculation result.
An embodiment of the present application further provides a control apparatus for an autonomous vehicle, including: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is configured to store one or more programs, the one or more programs including instructions, which when executed by the processor, cause the processor to perform any one implementation of the above-described method of controlling an autonomous vehicle.
The embodiment of the application also provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, and when the instructions are run on the terminal device, the terminal device is enabled to execute any implementation manner of the control method for the automatic driving vehicle.
When the automatic driving vehicle is controlled, the method comprises the steps of firstly obtaining the running parameters of a target vehicle; the operation parameters are acquired through a vehicle-mounted sensor of the target vehicle, then the operation parameters of the target vehicle are transmitted to the cloud server, so that the cloud server can calculate the operation parameters to obtain a calculation result, then the calculation result returned by the cloud server is received, and the target vehicle is automatically controlled according to the calculation result. Therefore, when the automatic driving vehicle is controlled, the calculation force is transferred from the automatic driving vehicle to the cloud server, and then the automatic driving vehicle is controlled according to the calculation result of the cloud server, so that the overall production cost of the automatic driving vehicle can be reduced, and the automatic driving vehicle can be effectively controlled.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a control method for an autonomous vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic composition diagram of a control device of an autonomous vehicle according to an embodiment of the present application.
Detailed Description
In some existing methods for controlling an autonomous vehicle, a computing resource mounted on the vehicle is generally used to process vehicle operating parameters collected by an on-board sensor, so as to automatically control the vehicle according to a processing result. However, with the improvement of the degree of automation of the vehicle, in order to ensure low latency and high storage, the computing resources required to be carried by the vehicle itself are higher and higher, and further, the generation cost of the vehicle is higher and higher. Therefore, how to realize effective control of an autonomous vehicle even when the vehicle production cost is reduced has been a problem to be solved.
In order to solve the above-mentioned drawbacks, an embodiment of the present application provides a method for controlling an autonomous vehicle, where when controlling the autonomous vehicle, first, operation parameters (such as a current operation speed, a battery storage amount, and the like) of a target vehicle are obtained; the operation parameters are acquired through a vehicle-mounted sensor of the target vehicle, then the operation parameters of the target vehicle are transmitted to the cloud server, so that the cloud server can calculate the operation parameters to obtain a calculation result, then the calculation result returned by the cloud server is received, and the target vehicle is automatically controlled according to the calculation result. Therefore, when the automatic driving vehicle is controlled, the calculation force is transferred from the automatic driving vehicle to the cloud server, and then the automatic driving vehicle is controlled according to the calculation result of the cloud server, so that the overall production cost of the automatic driving vehicle can be reduced, and the automatic driving vehicle can be effectively controlled.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
First embodiment
Referring to fig. 1, a flow chart of a control method for an autonomous vehicle according to the present embodiment is schematically illustrated, and the method includes the following steps:
s101: acquiring the operating parameters of a target vehicle; wherein the operating parameters are collected by onboard sensors of the target vehicle.
In this embodiment, any automatic driving vehicle that performs driving planning control by using this embodiment is defined as a target vehicle, and a sensor for acquiring vehicle operation parameters, such as a sensor for acquiring a vehicle driving speed, a sensor for acquiring a vehicle battery remaining capacity, a temperature sensor for acquiring an ambient temperature of the vehicle, and the like, is mounted in the target vehicle.
In order to accurately and effectively control the automatic driving process of the target vehicle while reducing the production cost of the target vehicle, the operation parameters of the target vehicle are first acquired to perform the subsequent step S102.
The operation parameters of the target vehicle are acquired by an on-board sensor of the target vehicle, and may be, for example, an ambient temperature at which the target vehicle operates and operation temperatures of various components (such as an engine, tires, and the like) of the target vehicle, which are acquired by an on-board temperature sensor; or, the rotation speed of the target vehicle tire acquired by the vehicle-mounted rotation speed sensor may be used, and the operation parameters are not illustrated here.
S102: and transmitting the operating parameters of the target vehicle to the cloud server so that the cloud server can calculate the operating parameters to obtain a calculation result.
In this embodiment, in order to accurately and effectively control the automatic driving process of the target vehicle under the condition of reducing the production cost of the target vehicle, after the operation parameters of the target vehicle are acquired in step S101, the operation parameters are not processed by the computing power stored in the vehicle, but are transmitted to the cloud server, so that the operation parameters can be analyzed and calculated by using the computing resources loaded on the cloud server, so as to obtain the corresponding calculation result and send the calculation result to the vehicle-mounted controller of the target vehicle, so as to execute the subsequent step S103.
In a possible implementation manner of the embodiment of the present application, based on rapid development of a current fifth generation mobile communication technology (5th generation mobile networks, referred to as 5G technology for short), in order to further ensure low latency and high storage of transmission of an operation parameter of a target vehicle and a corresponding calculation result thereof, a 5G communication system (the vehicle-mounted 5G communication system has a high-rate and low-latency 5G mobile communication capability) may be installed in the target vehicle in advance as an on-board controller, and a communication connection channel is established between the vehicle-mounted 5G communication system and a cloud server. On this basis, the "transmitting the operation parameters of the target vehicle to the cloud server" in step S102 may specifically include: and transmitting the operation parameters of the target vehicle to a cloud server by using a vehicle-mounted 5G communication system through a pre-established communication connection channel.
Of these, the 5G technology is the latest generation cellular mobile communication technology, and is also an extension following 4G (LTE-A, WiMax), 3G (UMTS, LTE), and 2G (gsm) systems. The performance goals of 5G are high data rates, reduced latency, energy savings, reduced cost, increased system capacity, and large-scale device connectivity.
Networking and intellectualization of the current automatic driving vehicle are also development directions and targets in the future. The networking refers to a vehicle networking technology, and includes but is not limited to a vehicle-mounted entertainment system, voice and somatosensory interaction, mobile payment and the like. While intellectualization refers to intelligent driving, driving assistance and the highest-stage unmanned technology. Networking and intellectualization rely more on high-speed network technologies, and thus 5G is the best choice for realizing high-speed network technologies on which networking and intellectualization of vehicles rely.
Therefore, in this implementation manner, in order to ensure low latency and high storage of the transmission of the operation parameters of the target vehicle and the corresponding calculation results thereof, a 5G communication system (such as an on-board 5G communication terminal or a controller) with a high-speed and low-latency 5G mobile communication capability may be installed in the target vehicle, and then the on-board 5G communication system is used to quickly transmit the operation parameters of the target vehicle to the cloud server through a pre-established 5G communication connection channel by using a 5G network. Then, the cloud server can utilize the high calculation power carried by itself to perform fast and accurate analysis and calculation on the operation parameters of the target vehicle, obtain a calculation result (such as determining the driving direction, the driving speed, and the like of the target vehicle in a future period of time), and return the calculation result to the vehicle-mounted 5G communication system to perform the subsequent step S103.
S103: and receiving a calculation result returned by the cloud server, and automatically controlling the target vehicle according to the calculation result.
In this embodiment, after the operation parameters of the target vehicle are transmitted to the cloud server in step S102, the calculation result returned by the cloud server may be further received, and the target vehicle is automatically controlled according to the calculation result. For example, after receiving a decision result that the traveling direction of the target vehicle is due north within 10 minutes in the future and the traveling speed is 60km/h returned by the cloud server, the target vehicle may be controlled to travel in the due north direction at the traveling speed of 60km/h within 10 minutes in the future according to the decision result.
Therefore, the mode that high-calculation-power application (such as a machine learning model for predicting the vehicle running speed and the vehicle running direction) is deployed on the cloud server can effectively reduce the production cost pressure of the vehicle end of the target vehicle, and meanwhile, the target vehicle can be accurately and effectively controlled according to the decision result of the cloud server. Is particularly suitable for scenes with low requirement on the speed of vehicles (such as ferry vehicles in industrial parks or campuses and the like),
in addition, in a possible implementation manner of the embodiment of the application, in order to further improve the accuracy of the calculation result obtained by the cloud server, the operation parameters of a preset number of other vehicles in a preset range around the target vehicle can be obtained. On this basis, the implementation process of the step S102 may specifically include: and transmitting the operating parameters of the other vehicles and the operating parameters of the target vehicle to the cloud server so that the cloud server can comprehensively calculate the operating parameters of the other vehicles and the operating parameters of the target vehicle to obtain a comprehensive calculation result. Furthermore, the implementation process of step S103 may specifically include: and receiving a comprehensive calculation result returned by the cloud server, and automatically controlling the target vehicle and other vehicles with preset quantity in a preset range around the target vehicle according to the comprehensive calculation result.
The values of the preset range and the preset quantity can be set according to actual conditions and empirical values, the method is not limited in the embodiment of the application, the preset range can be set to be within 10 meters, the preset quantity is set to be 10, and the like.
Specifically, in this implementation, the control of the driving behavior of the target vehicle is not only affected by the driving parameters of the target vehicle itself, but also needs to take into account the driving conditions of other surrounding vehicles, so as to obtain a more accurate decision result in order to avoid collision and other accidents with other surrounding vehicles, and first, the driving parameters (such as the current driving speed, the driving direction, the remaining battery power, and the like) of a preset number (such as 8) of other vehicles within a preset range (such as within 10 meters) around the target vehicle need to be obtained. And then, the operation parameters of the vehicles and the operation parameters of the target vehicle are jointly sent to the cloud server. Then, the cloud server can carry out comprehensive calculation on the operation parameters of other vehicles in the preset range and the operation parameters of the target vehicle to obtain a comprehensive calculation result, and the calculation result is higher in accuracy compared with a calculation result obtained only by depending on the operation parameters of the target vehicle because the influence of the operation parameters of the target vehicle and the preset number of the operation parameters of the other vehicles in the surrounding preset range is considered in the obtaining of the comprehensive calculation result. That is, the embodiment can obtain a more accurate calculation result in a wider coverage area. Further, the target vehicle and other vehicles around the target vehicle can be automatically controlled based on the more accurate calculation result.
Therefore, the over-distance sensing capability is acquired at the cloud end, and the driving planning of the target vehicle can be more reasonable.
In summary, in the control method for the autonomous driving vehicle provided by the embodiment, when the autonomous driving vehicle is controlled, the operation parameters of the target vehicle are firstly obtained; the operation parameters are acquired through a vehicle-mounted sensor of the target vehicle, then the operation parameters of the target vehicle are transmitted to the cloud server, so that the cloud server can calculate the operation parameters to obtain a calculation result, then the calculation result returned by the cloud server is received, and the target vehicle is automatically controlled according to the calculation result. Therefore, when the automatic driving vehicle is controlled, the calculation force is transferred from the automatic driving vehicle to the cloud server, and then the automatic driving vehicle is controlled according to the calculation result of the cloud server, so that the overall production cost of the automatic driving vehicle can be reduced, and the automatic driving vehicle can be effectively controlled.
Second embodiment
The present embodiment will be described with reference to the above method embodiments for a control device of an autonomous vehicle.
Referring to fig. 2, a schematic composition diagram of a control device for an autonomous vehicle according to the present embodiment includes:
a first acquisition unit 201 for acquiring an operation parameter of a target vehicle; the operating parameters are acquired by an on-board sensor of the target vehicle;
the transmission unit 202 is configured to transmit the operation parameters of the target vehicle to a cloud server, so that the cloud server can calculate the operation parameters to obtain a calculation result;
and the control unit 203 is configured to receive the calculation result returned by the cloud server, and automatically control the target vehicle according to the calculation result.
In one implementation of this embodiment, the target vehicle includes an onboard 5G communication system; the device further comprises:
the establishing unit is used for establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the transmission unit 202 is specifically configured to:
and transmitting the operating parameters of the target vehicle to the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
In an implementation manner of this embodiment, the apparatus further includes:
the second acquisition unit is used for acquiring the operation parameters of a preset number of other vehicles in a preset range around the target vehicle;
the transmission unit 202 is specifically configured to:
and transmitting the operating parameters of the other vehicles and the operating parameters of the target vehicle to a cloud server so that the cloud server can perform comprehensive calculation on the operating parameters of the other vehicles and the operating parameters of the target vehicle to obtain a comprehensive calculation result.
In an implementation manner of this embodiment, the control unit 203 is specifically configured to:
and receiving the comprehensive calculation result returned by the cloud server, and automatically controlling the target vehicle and other vehicles with preset quantity in a preset range around the target vehicle according to the comprehensive calculation result.
In summary, in the control device for an autonomous vehicle provided in this embodiment, when the autonomous vehicle is controlled, the operation parameters of the target vehicle are first obtained; the operation parameters are acquired through a vehicle-mounted sensor of the target vehicle, then the operation parameters of the target vehicle are transmitted to the cloud server, so that the cloud server can calculate the operation parameters to obtain a calculation result, then the calculation result returned by the cloud server is received, and the target vehicle is automatically controlled according to the calculation result. Therefore, when the automatic driving vehicle is controlled, the calculation force is transferred from the automatic driving vehicle to the cloud server, and then the automatic driving vehicle is controlled according to the calculation result of the cloud server, so that the overall production cost of the automatic driving vehicle can be reduced, and the automatic driving vehicle can be effectively controlled.
Further, an embodiment of the present application also provides a control apparatus for an autonomous vehicle, including: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is configured to store one or more programs, the one or more programs including instructions, which when executed by the processor, cause the processor to perform any of the implementation methods of the control method of an autonomous vehicle described above.
Further, an embodiment of the present application also provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a terminal device, the instructions cause the terminal device to execute any implementation method of the above control method for an autonomous vehicle.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A control method of an autonomous vehicle, characterized by comprising:
acquiring the operating parameters of a target vehicle; the operating parameters are acquired by an on-board sensor of the target vehicle;
transmitting the operating parameters of the target vehicle to a cloud server so that the cloud server can calculate the operating parameters to obtain a calculation result;
and receiving the calculation result returned by the cloud server, and automatically controlling the target vehicle according to the calculation result.
2. The method of claim 1, wherein the target vehicle comprises an on-board 5G communication system; prior to the transmitting of the operating parameters of the target vehicle to a cloud server, the method comprises:
establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the transmitting the operating parameters of the target vehicle to a cloud server includes:
and transmitting the operating parameters of the target vehicle to the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
3. The method of claim 1, further comprising:
and acquiring the operation parameters of other vehicles with preset number in a preset range around the target vehicle.
The transmitting the operation parameters of the target vehicle to a cloud server so that the cloud server can calculate the operation parameters to obtain a calculation result, comprising:
and transmitting the operating parameters of the other vehicles and the operating parameters of the target vehicle to a cloud server so that the cloud server can perform comprehensive calculation on the operating parameters of the other vehicles and the operating parameters of the target vehicle to obtain a comprehensive calculation result.
4. The method of claim 3, wherein the receiving the calculation results returned by the cloud server and automatically controlling the target vehicle according to the calculation results comprises:
and receiving the comprehensive calculation result returned by the cloud server, and automatically controlling the target vehicle and other vehicles with preset quantity in a preset range around the target vehicle according to the comprehensive calculation result.
5. A control apparatus of an autonomous vehicle, characterized by comprising:
a first acquisition unit for acquiring an operation parameter of a target vehicle; the operating parameters are acquired by an on-board sensor of the target vehicle;
the transmission unit is used for transmitting the operating parameters of the target vehicle to a cloud server so that the cloud server can calculate the operating parameters to obtain a calculation result;
and the control unit is used for receiving the calculation result returned by the cloud server and automatically controlling the target vehicle according to the calculation result.
6. The apparatus of claim 5, wherein the target vehicle comprises an on-board 5G communication system; the device further comprises:
the establishing unit is used for establishing a communication connection channel between the vehicle-mounted 5G communication system and the cloud server;
the transmission unit is specifically configured to:
and transmitting the operating parameters of the target vehicle to the cloud server by using the vehicle-mounted 5G communication system through the communication connection channel.
7. The apparatus of claim 5, further comprising:
the second acquisition unit is used for acquiring the operation parameters of a preset number of other vehicles in a preset range around the target vehicle;
the transmission unit is specifically configured to:
and transmitting the operating parameters of the other vehicles and the operating parameters of the target vehicle to a cloud server so that the cloud server can perform comprehensive calculation on the operating parameters of the other vehicles and the operating parameters of the target vehicle to obtain a comprehensive calculation result.
8. The apparatus according to claim 7, wherein the control unit is specifically configured to:
and receiving the comprehensive calculation result returned by the cloud server, and automatically controlling the target vehicle and other vehicles with preset quantity in a preset range around the target vehicle according to the comprehensive calculation result.
9. A control apparatus of an autonomous vehicle, characterized by comprising: a processor, a memory, a system bus;
the processor and the memory are connected through the system bus;
the memory is to store one or more programs, the one or more programs comprising instructions, which when executed by the processor, cause the processor to perform the method of any of claims 1-4.
10. A computer-readable storage medium having stored therein instructions that, when executed on a terminal device, cause the terminal device to perform the method of any one of claims 1-4.
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| CN202110399960.XA CN113132474A (en) | 2021-04-14 | 2021-04-14 | Control method, device and equipment for automatically driving vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115840383A (en) * | 2022-09-30 | 2023-03-24 | 成都赛力斯科技有限公司 | Computing power calling system and method |
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