CN113306548A - Vehicle control method, vehicle control device, nonvolatile storage medium and processor - Google Patents
Vehicle control method, vehicle control device, nonvolatile storage medium and processor Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses a vehicle control method, a vehicle control device, a nonvolatile storage medium and a processor. Wherein, the method comprises the following steps: acquiring a first position of a target object; determining a target area based on the first position, wherein the first position is located within an area range of the target area; acquiring data of a target area, wherein the data of the target area comprises at least one of the following data: laser radar echo data of a target area and image data of the target area; judging whether the first position allows parking according to the data of the target area; and controlling the vehicle to be parked at the first position in the case that the parking is allowed at the first position. The invention solves the technical problem that whether the target object can be parked or not is difficult to accurately judge.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a vehicle control method, a vehicle control device, a nonvolatile storage medium and a processor.
Background
In the application scene of the vehicle, how to determine that a safe, reasonable and legal parking place is always a pain point in urban traffic, if the parking place is unsafe, unreasonable or illegal, the vehicle is not favorable for connecting passengers to get on or off the vehicle, or unnecessary risks are caused, and the vehicle body getting-on and getting-off tests of the passengers are influenced. At present, the parking place selection of the vehicle is determined according to the personal experience of a driver, and in the automatic driving scene of the vehicle, no driver makes a decision, so that the unmanned vehicle is difficult to reasonably and automatically park and plug in passengers.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a vehicle control method and device, a nonvolatile storage medium and a processor, which are used for at least solving the technical problem that whether a target object can be parked at a position is difficult to accurately judge.
According to an aspect of an embodiment of the present invention, there is provided a vehicle control method including: acquiring a first position of a target object; determining a target area based on the first position, wherein the first position is located within an area range of the target area; acquiring data of the target area, wherein the data of the target area comprises at least one of the following data: laser radar echo data of the target area, and image data of the target area; judging whether the first position allows parking according to the data of the target area; and controlling the vehicle to be parked at the first position in the case that the parking is allowed at the first position.
Optionally, when the data of the target area includes the lidar return data of the target area and the image data of the target area, determining whether the first position allows parking according to the data of the target area, including: determining a first judgment result of the first position according to the laser radar echo data of the target area; determining a second judgment result of the first position according to the image data of the target area; and determining that the parking is allowed at the first position under the condition that the parking is allowed in both the first judgment result and the second judgment result.
Optionally, determining a first determination result of the first position according to the lidar echo data in the target area includes: obtaining a point cloud picture of the target area according to the laser radar echo data of the target area; processing the point cloud image of the target area to obtain information of the obstacle at the first position, wherein the information of the obstacle includes: a contour of the obstacle, a type of the obstacle, motion information of the obstacle; and judging whether the first position allows parking according to the information of the obstacles to obtain a first judgment result.
Optionally, determining a second determination result of the first position according to the image data of the target area includes: recognizing the image data of the target area by adopting a traffic image recognition model to obtain the traffic position type of the first position, wherein the traffic image recognition model is obtained by training a neural network model based on the traffic image data; judging whether the first position allows parking according to the traffic position type of the first position and a first preset condition to obtain a second judgment result, wherein the first preset condition comprises at least one of the following conditions: traffic rules, preset traffic habit requirements.
Optionally, the method further includes: under the condition that the parking is not allowed at the first position, judging whether a second position allows parking according to the data of the target area, wherein the second position is any position in the target area; and controlling the vehicle to stop at the second position under the condition that the second position allows the vehicle to stop.
Optionally, in the case that there are at least two second positions allowing parking, further comprising: determining an optimal second position from the second positions according to a second preset condition, wherein the second preset condition comprises at least one of the following conditions: distance from the vehicle, degree of convenience of parking the vehicle; controlling the vehicle to stop at the optimal second position.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle control method including: displaying a target object on a human-computer interaction interface, and displaying a first position where the target object is located; displaying a judgment result of whether the first position allows parking on the human-computer interaction interface, wherein the judgment result is determined by the following method: judging to obtain the judgment result according to data of a target area, wherein the area range of the target area comprises the first position, and the data of the target area comprises at least one of the following: laser radar echo data of the target area, and image data of the target area; and receiving a parking instruction at the human-computer interaction interface under the condition that the parking is allowed according to the judgment result, wherein the parking instruction controls the vehicle to park at the first position.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle control apparatus including: the acquisition module is used for acquiring a first position of a target object; a determining module, configured to determine a target area based on the first location, where the first location is located within an area range of the target area; an acquisition module, configured to acquire data of the target area, where the data of the target area includes at least one of: laser radar echo data of the target area, and image data of the target area; the judging module is used for judging whether the first position allows parking according to the data of the target area; and the control module is used for controlling the vehicle to be parked at the first position under the condition that the parking is allowed at the first position.
According to another aspect of the embodiments of the present invention, there is also provided a non-volatile storage medium including a stored program, wherein when the program runs, a device in which the non-volatile storage medium is controlled to execute any one of the vehicle control methods described above.
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program is run to execute any one of the vehicle control methods described above.
In the embodiment of the invention, a mode of acquiring the first position of a target object is adopted, and a target area comprising the first position is determined based on the first position; acquiring data of a target area, wherein the data of the target area comprises at least one of the following data: laser radar echo data of a target area and image data of the target area; according to the data of the target area, whether the first position allows parking is judged, and under the condition that the first position allows parking, the vehicle is controlled to park at the first position, so that the purposes of judging whether the first position can park and stopping the vehicle at the first position are achieved, the technical effect of accurately judging whether the position of the target object can park is achieved, and the technical problem that whether the position of the target object can park is difficult to accurately judge is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flowchart illustrating a first method for controlling a vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a second method for controlling a vehicle according to an embodiment of the invention;
fig. 3 is a block diagram showing a first configuration of a vehicle control apparatus according to an embodiment of the present invention;
fig. 4 is a block diagram of a second vehicle control device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method embodiment of vehicle control, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
In the application scene of the vehicle, how to determine that a safe, reasonable and legal parking place is always a pain point in urban traffic, if the parking place is unsafe, the vehicle is not beneficial to a connected passenger to get on or off the vehicle; a safe parking place may also face other problems and fail to park, for example, the current location of the passenger is a prohibited parking area in the legal regulations, which may lead to violation of the traffic regulations if the passenger is parked directly in front of the passenger. In the related art, the decision of the parking position is usually made by the driver, however, in the application scenario of unmanned driving, since there is no driver in the vehicle or the driver is not responsible for the decision, there is an urgent need for a vehicle control method for accurately determining whether the target position can be parked and stopping the vehicle at the position where the vehicle can be parked.
Fig. 1 is a schematic flow chart of a first vehicle control method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S101, a first position of the target object is obtained. Alternatively, the target object may be a passenger waiting to get on at the roadside, or may be a get-off point where a passenger who has a need to get off the vehicle enters. As an alternative embodiment, the passenger may send the getting-on demand and the getting-off demand of the passenger to the vehicle by communicating with a control system of the vehicle, and after the vehicle obtains the getting-on demand of the passenger, the passenger waiting to get on the roadside and the position where the passenger is located, that is, the first position, are determined by positioning identification or image identification.
Step S102, a target area is determined based on a first position, wherein the first position is located in an area range of the target area. In this step, the first position is located within a region of the target region, wherein the target region may be a regular region with the first position as a center, such as a circular or rectangular region, or may be a region including the first position and other markers near the road. Alternatively, the target area may cover an area of 50 meters each in the front-rear extending direction of the road centering on the first position, and include therein a marker such as a bus stop or the like in the area.
Step S103, collecting data of a target area, wherein the data of the target area comprises at least one of the following data: laser radar echo data of a target area, and image data of the target area. Optionally, the lidar echo data may be an echo signal reflected by a probe signal emitted by a lidar of the vehicle after contacting an obstacle; the image data can be obtained by shooting the target area by a visual camera.
And step S104, judging whether the first position allows parking according to the data of the target area. The situation of the target area is comprehensively analyzed according to the target area data, and whether the first position is suitable for parking or not can be judged more reasonably and accurately as far as possible.
And step S105, controlling the vehicle to be parked at the first position under the condition that the parking is allowed at the first position.
In the above step, a mode of obtaining a first position of the target object is adopted, and a target area including the first position is determined based on the first position; acquiring data of a target area, wherein the data of the target area comprises at least one of the following data: laser radar echo data of a target area and image data of the target area; according to the data of the target area, whether the first position allows parking is judged, and under the condition that the first position allows parking, the vehicle is controlled to park at the first position, so that the purposes of judging whether the first position can park and stopping the vehicle at the first position are achieved, the technical effect of accurately judging whether the position of the target object can park is achieved, and the technical problem that whether the position of the target object can park is difficult to accurately judge is solved.
As an alternative embodiment, in a case that the data of the target area includes the laser radar echo data of the target area and the image data of the target area, determining whether the first position allows parking according to the data of the target area includes: determining a first judgment result of a first position according to laser radar echo data of a target area; determining a second judgment result of the first position according to the image data of the target area; and determining that the first position allows parking when the first judgment result and the second judgment result both allow parking.
As an alternative embodiment, determining the first determination result of the first position according to the lidar return data of the target area includes: obtaining a point cloud picture of a target area according to laser radar echo data of the target area; processing the point cloud image of the target area to obtain information of the obstacle at the first position, wherein the information of the obstacle comprises: the outline of the obstacle, the type of the obstacle, and the movement information of the obstacle; and judging whether the first position allows parking according to the information of the obstacles to obtain a first judgment result.
As an alternative embodiment, determining the second determination result of the first position according to the image data of the target area includes: identifying image data of a target area by adopting a traffic image identification model to obtain a traffic position type of a first position, wherein a neural network model is trained on the basis of the traffic image data to obtain the traffic image identification model; judging whether the first position allows parking according to the traffic position type of the first position and a first preset condition to obtain a second judgment result, wherein the first preset condition comprises at least one of the following conditions: traffic rules, preset traffic habit requirements.
In the above optional embodiment, whether the first position allows parking or not is judged according to the laser radar echo data and the image data, so that the accuracy of the judgment result can be improved, and the judgment error caused by a single data type is avoided. The method comprises the steps of obtaining a point cloud picture of a target area through laser radar echo data, establishing information such as the outline of the target area and the type, outline and movement speed of obstacles in the range of the target area, and further using the information to assist in judging whether a first position can be physically parked or not and whether a passenger is safely docked or not at the first position. The image information of the target area can be obtained through the analysis processing of the image data, for example, when a sign for prohibiting parking in the current road section exists in the target area, the sign can be obtained through recognition from the image data of the target area, and then the road section where the first position is located is judged not to be allowed to park, and the result can be fed back to the vehicle control system.
In addition, in addition to the stop prohibition sign, it is also possible to determine whether or not the target area meets the traffic regulation or the preset traffic habit requirements by analyzing and processing the image data. For example, the traffic regulation specifies that parking is not permitted at a predetermined distance near a bus stop, and therefore, when the bus stop is detected by the image recognition technology at a place within the predetermined distance from the first position in the target area, the first position may be determined as a position where parking is not permitted, that is, the second determination result is that parking is not permitted. The preset traffic habits can be habits or rules except for laws and regulations set by convention in the driving area of the vehicle in advance, and then the habits or rules are input into the vehicle control system to serve as judgment basis for judging whether the position of the passenger is suitable for parking.
As an alternative embodiment, in the case that the parking is not allowed at the first position, judging whether the parking is allowed at the second position according to the data of the target area, wherein the second position is any position in the target area; and controlling the vehicle to stop at the second position under the condition that the second position allows the vehicle to stop. In the case where the parking is not permitted at the first position, it is possible to select a second position in the target area in the vicinity of the first position and determine whether or not the parking is permitted at the second position, thereby achieving a technical effect of selecting a position suitable for parking for the vehicle.
As an alternative embodiment, in the case that there are at least two second positions allowing parking, an optimal second position may be determined from the second positions according to a second preset condition, wherein the second preset condition includes at least one of: the distance from the vehicle and the parking convenience degree of the vehicle; and controlling the vehicle to stop at the optimal second position.
By means of the second preset condition, the optimal second position most suitable for the passenger to be docked can be determined among the plurality of second positions allowing parking in the target area. Optionally, the second preset condition may further include a distance from the first position, and if the position spatially closest to the first position is determined as the optimal second position, the moving distance of the passenger may be reduced, so that the passenger obtains a more friendly getting-on/off experience.
Fig. 2 is a schematic flow chart of a second vehicle control method according to an embodiment of the present invention, and as shown in fig. 2, the method includes the following steps:
step S201, displaying a target object on a human-computer interaction interface and displaying a first position of the target object;
step S202, displaying a judgment result of whether the first position allows parking on a human-computer interaction interface, wherein the judgment result is determined in the following way: judging according to the data of the target area to obtain a judgment result, wherein the area range of the target area comprises a first position, and the data of the target area comprises at least one of the following: laser radar echo data of a target area and image data of the target area;
and step S203, receiving a parking instruction on the human-computer interaction interface under the condition that the parking is allowed according to the judgment result, wherein the parking instruction controls the vehicle to park at the first position.
Example 2
According to an embodiment of the present invention, there is also provided a first vehicle control device for implementing the first vehicle control method, and fig. 3 is a block diagram of a first vehicle control device according to an embodiment of the present invention, and as shown in fig. 3, the first vehicle control device 30 includes: the first vehicle control device 30 includes an acquisition module 31, a determination module 32, an acquisition module 33, a determination module 34, and a control module 35.
The acquiring module 31 is configured to acquire a first position where the target object is located;
a determining module 32, connected to the acquiring module 31, for determining a target area based on a first position, where the first position is located within an area range of the target area;
an acquiring module 33, connected to the determining module 32, for acquiring data of the target area, where the data of the target area includes at least one of the following: laser radar echo data of a target area and image data of the target area;
a judging module 34, connected to the collecting module 33, for judging whether the first position allows parking according to the data of the target area;
and a control module 35, connected to the judging module 34, for controlling the vehicle to be parked at the first position in case the parking is allowed at the first position.
It should be noted here that the acquiring module 31, the determining module 32, the collecting module 33, the determining module 34, and the controlling module 35 correspond to steps S101 to S105 in embodiment 1, and the multiple modules are the same as the corresponding steps in the implementation example and the application scenario, but are not limited to the disclosure in embodiment 1.
Example 3
According to an embodiment of the present invention, there is further provided a second vehicle control device for implementing the second vehicle control method, fig. 4 is a block diagram of the second vehicle control device according to the embodiment of the present invention, and as shown in fig. 4, the second vehicle control device 40 includes: the first display module 41, the second display module 42, and the receiving module 43 are explained below with respect to the second vehicle control device 40.
The first display module 41 is used for displaying the target object on the human-computer interaction interface and displaying a first position where the target object is located;
a second display module 42, connected to the first display module 41, for displaying a judgment result of whether the parking is allowed at the first position on the human-computer interaction interface, wherein the judgment result is determined by: judging according to the data of the target area to obtain a judgment result, wherein the area range of the target area comprises a first position, and the data of the target area comprises at least one of the following: laser radar echo data of a target area and image data of the target area;
and a receiving module 43, connected to the second display module 42, for receiving a parking instruction on the human-computer interface when the determination result is that the vehicle is allowed to park, wherein the parking instruction controls the vehicle to park at the first position.
It should be noted here that the first display module 41, the second display module 42 and the receiving module 43 correspond to steps S201 to S203 in embodiment 1, and the modules are the same as the corresponding steps in the implementation example and application scenario, but are not limited to the disclosure in embodiment 1.
Example 4
An embodiment of the present invention may provide a computer device, and optionally, in this embodiment, the computer device may be located in at least one network device of a plurality of network devices of a computer network. The computer device includes a memory and a processor.
The memory may be configured to store software programs and modules, such as program instructions/modules corresponding to the data processing method and apparatus in the embodiments of the present invention, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory, so as to implement the data processing method. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory located remotely from the processor, and these remote memories may be connected to the computer terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The processor can call the information and application program stored in the memory through the transmission device to execute the following steps: acquiring a first position of a target object; determining a target area based on the first position, wherein the first position is located within an area range of the target area; acquiring data of a target area, wherein the data of the target area comprises at least one of the following data: laser radar echo data of a target area and image data of the target area; judging whether the first position allows parking according to the data of the target area; and controlling the vehicle to be parked at the first position in the case that the parking is allowed at the first position.
Optionally, the processor may further execute the program code of the following steps: judging whether the first position allows parking according to the data of the target area under the condition that the data of the target area comprises laser radar echo data of the target area and image data of the target area, wherein the judging comprises the following steps: determining a first judgment result of a first position according to laser radar echo data of a target area; determining a second judgment result of the first position according to the image data of the target area; and determining that the first position allows parking when the first judgment result and the second judgment result both allow parking.
Optionally, the processor may further execute the program code of the following steps: determining a first judgment result of a first position according to laser radar echo data of a target area, wherein the first judgment result comprises the following steps: obtaining a point cloud picture of a target area according to laser radar echo data of the target area; processing the point cloud image of the target area to obtain information of the obstacle at the first position, wherein the information of the obstacle comprises: the outline of the obstacle, the type of the obstacle, and the movement information of the obstacle; and judging whether the first position allows parking according to the information of the obstacles to obtain a first judgment result.
Optionally, the processor may further execute the program code of the following steps: determining a second determination result of the first position according to the image data of the target area, including: identifying image data of a target area by adopting a traffic image identification model to obtain a traffic position type of a first position, wherein a neural network model is trained on the basis of the traffic image data to obtain the traffic image identification model; judging whether the first position allows parking according to the traffic position type of the first position and a first preset condition to obtain a second judgment result, wherein the first preset condition comprises at least one of the following conditions: traffic rules, preset traffic habit requirements.
Optionally, the processor may further execute the program code of the following steps: under the condition that the parking is not allowed at the first position, judging whether the parking is allowed at the second position according to the data of the target area, wherein the second position is any position in the target area; and controlling the vehicle to stop at the second position under the condition that the second position allows the vehicle to stop.
Optionally, the processor may further execute the program code of the following steps: in the case that there are at least two second positions allowing parking, further comprising: determining an optimal second position from the second positions according to a second preset condition, wherein the second preset condition comprises at least one of the following conditions: the distance from the vehicle and the parking convenience degree of the vehicle; and controlling the vehicle to stop at the optimal second position.
The processor can call the information and application program stored in the memory through the transmission device to execute the following steps: displaying a target object on a human-computer interaction interface and displaying a first position of the target object; displaying a judgment result of whether the first position allows parking on the man-machine interaction interface, wherein the judgment result is determined in the following way: judging according to the data of the target area to obtain a judgment result, wherein the area range of the target area comprises a first position, and the data of the target area comprises at least one of the following: laser radar echo data of a target area and image data of the target area; and receiving a parking instruction at the human-computer interaction interface under the condition that the parking is allowed according to the judgment result, wherein the parking instruction controls the vehicle to park at the first position.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
Example 5
Embodiments of the present invention also provide a non-volatile storage medium. Alternatively, in this embodiment, the nonvolatile storage medium may be used to store the program code executed by the vehicle control method provided in embodiment 1.
Optionally, in this embodiment, the nonvolatile storage medium may be located in any one of computer terminals in a computer terminal group in a computer network, or in any one of mobile terminals in a mobile terminal group.
Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: acquiring a first position of a target object; determining a target area based on the first position, wherein the first position is located within an area range of the target area; acquiring data of a target area, wherein the data of the target area comprises at least one of the following data: laser radar echo data of a target area and image data of the target area; judging whether the first position allows parking according to the data of the target area; and controlling the vehicle to be parked at the first position in the case that the parking is allowed at the first position.
Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: judging whether the first position allows parking according to the data of the target area under the condition that the data of the target area comprises laser radar echo data of the target area and image data of the target area, wherein the judging comprises the following steps: determining a first judgment result of a first position according to laser radar echo data of a target area; determining a second judgment result of the first position according to the image data of the target area; and determining that the first position allows parking when the first judgment result and the second judgment result both allow parking.
Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: determining a first judgment result of a first position according to laser radar echo data of a target area, wherein the first judgment result comprises the following steps: obtaining a point cloud picture of a target area according to laser radar echo data of the target area; processing the point cloud image of the target area to obtain information of the obstacle at the first position, wherein the information of the obstacle comprises: the outline of the obstacle, the type of the obstacle, and the movement information of the obstacle; and judging whether the first position allows parking according to the information of the obstacles to obtain a first judgment result.
Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: determining a second determination result of the first position according to the image data of the target area, including: identifying image data of a target area by adopting a traffic image identification model to obtain a traffic position type of a first position, wherein a neural network model is trained on the basis of the traffic image data to obtain the traffic image identification model; judging whether the first position allows parking according to the traffic position type of the first position and a first preset condition to obtain a second judgment result, wherein the first preset condition comprises at least one of the following conditions: traffic rules, preset traffic habit requirements.
Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: under the condition that the parking is not allowed at the first position, judging whether the parking is allowed at the second position according to the data of the target area, wherein the second position is any position in the target area; and controlling the vehicle to stop at the second position under the condition that the second position allows the vehicle to stop.
Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for performing the following steps: in the case that there are at least two second positions allowing parking, further comprising: determining an optimal second position from the second positions according to a second preset condition, wherein the second preset condition comprises at least one of the following conditions: the distance from the vehicle and the parking convenience degree of the vehicle; and controlling the vehicle to stop at the optimal second position.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring a first position of a target object;
determining a target area based on the first position, wherein the first position is located within an area range of the target area;
acquiring data of the target area, wherein the data of the target area comprises at least one of the following data: laser radar echo data of the target area, and image data of the target area;
judging whether the first position allows parking according to the data of the target area;
and controlling the vehicle to be parked at the first position in the case that the parking is allowed at the first position.
2. The method of claim 1, wherein in the case that the data of the target area includes lidar return data of the target area and image data of the target area, determining whether the first position allows parking based on the data of the target area comprises:
determining a first judgment result of the first position according to the laser radar echo data of the target area;
determining a second judgment result of the first position according to the image data of the target area;
and determining that the parking is allowed at the first position under the condition that the parking is allowed in both the first judgment result and the second judgment result.
3. The method of claim 2, wherein determining a first determination of the first location based on lidar return data for the target region comprises:
obtaining a point cloud picture of the target area according to the laser radar echo data of the target area;
processing the point cloud image of the target area to obtain information of the obstacle at the first position, wherein the information of the obstacle includes: a contour of the obstacle, a type of the obstacle, motion information of the obstacle;
and judging whether the first position allows parking according to the information of the obstacles to obtain a first judgment result.
4. The method of claim 2, wherein determining a second determination of the first location from the image data of the target region comprises:
recognizing the image data of the target area by adopting a traffic image recognition model to obtain the traffic position type of the first position, wherein the traffic image recognition model is obtained by training a neural network model based on the traffic image data;
judging whether the first position allows parking according to the traffic position type of the first position and a first preset condition to obtain a second judgment result, wherein the first preset condition comprises at least one of the following conditions: traffic rules, preset traffic habit requirements.
5. The vehicle control method according to claim 2, characterized by further comprising:
under the condition that the parking is not allowed at the first position, judging whether a second position allows parking according to the data of the target area, wherein the second position is any position in the target area;
and controlling the vehicle to stop at the second position under the condition that the second position allows the vehicle to stop.
6. The vehicle control method according to claim 5, characterized by, in the case where there are at least two second positions where parking is permitted, further comprising:
determining an optimal second position from the second positions according to a second preset condition, wherein the second preset condition comprises at least one of the following conditions: distance from the vehicle, degree of convenience of parking the vehicle;
controlling the vehicle to stop at the optimal second position.
7. A vehicle control method characterized by comprising:
displaying a target object on a human-computer interaction interface, and displaying a first position where the target object is located;
displaying a judgment result of whether the first position allows parking on the human-computer interaction interface, wherein the judgment result is determined by the following method: judging to obtain the judgment result according to data of a target area, wherein the area range of the target area comprises the first position, and the data of the target area comprises at least one of the following: laser radar echo data of the target area, and image data of the target area;
and receiving a parking instruction at the human-computer interaction interface under the condition that the parking is allowed according to the judgment result, wherein the parking instruction controls the vehicle to park at the first position.
8. A vehicle control apparatus characterized by comprising:
the acquisition module is used for acquiring a first position of a target object;
a determining module, configured to determine a target area based on the first location, where the first location is located within an area range of the target area;
an acquisition module, configured to acquire data of the target area, where the data of the target area includes at least one of: laser radar echo data of the target area, and image data of the target area;
the judging module is used for judging whether the first position allows parking according to the data of the target area;
and the control module is used for controlling the vehicle to be parked at the first position under the condition that the parking is allowed at the first position.
9. A nonvolatile storage medium characterized by comprising a stored program, wherein a device on which the nonvolatile storage medium is installed is controlled to execute the vehicle control method according to any one of claims 1 to 7 when the program is executed.
10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the vehicle control method according to any one of claims 1 to 7 when running.
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| CN202110542065.9A CN113306548A (en) | 2021-05-18 | 2021-05-18 | Vehicle control method, vehicle control device, nonvolatile storage medium and processor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110542065.9A CN113306548A (en) | 2021-05-18 | 2021-05-18 | Vehicle control method, vehicle control device, nonvolatile storage medium and processor |
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| CN113306548A true CN113306548A (en) | 2021-08-27 |
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| CN202110542065.9A Pending CN113306548A (en) | 2021-05-18 | 2021-05-18 | Vehicle control method, vehicle control device, nonvolatile storage medium and processor |
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