CN113460092A - Method, device, equipment, storage medium and product for controlling vehicle - Google Patents
Method, device, equipment, storage medium and product for controlling vehicle Download PDFInfo
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- CN113460092A CN113460092A CN202111017673.4A CN202111017673A CN113460092A CN 113460092 A CN113460092 A CN 113460092A CN 202111017673 A CN202111017673 A CN 202111017673A CN 113460092 A CN113460092 A CN 113460092A
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
Abstract
The application provides a method, apparatus, device, storage medium and product for vehicle control. The method comprises the following steps: acquiring an environmental signal around a current vehicle, and identifying the environmental signal to obtain environmental information; responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein the voice signal comprises user driving demand information; and generating a vehicle control instruction according to the user driving demand information and the environment information in the voice signal, and executing control operation corresponding to the vehicle control instruction according to the vehicle control instruction. By adopting the method, the driving requirements of the user in different scenes can be met, the individual driving requirements of the user and the expected route of the user can be met, and the user experience can be further improved.
Description
Technical Field
The present application relates to automatic driving technologies, and in particular, to a method, an apparatus, a device, a storage medium, and a product for controlling a vehicle.
Background
Currently, the automatic driving technology is widely applied to vehicles, but most of the current automatic driving technologies adopt a fixed algorithm, and only the vehicle can be driven according to the fixed algorithm.
However, the use scenario encountered in the actual driving process is complicated, and if the vehicle is driven only according to the automatic driving technology, the individual driving requirement of the user cannot be met, and the driving route deviates from the expected route of the user.
Therefore, a vehicle control method is urgently needed, which can meet the driving requirements of the user in different scenes, meet the individual driving requirements of the user and the expected route of the user, and further improve the user experience.
Disclosure of Invention
The application provides a vehicle control method, device, equipment, storage medium and product, which can meet the driving requirements of a user in different scenes to meet the individual driving requirements of the user and the expected route of the user, and further can improve the user experience.
In one aspect, the present application provides a method of vehicle control, the method comprising:
acquiring an environmental signal around a current vehicle, and identifying the environmental signal to obtain environmental information;
responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein the voice signal comprises user driving demand information;
and generating a vehicle control instruction according to the user driving demand information and the environment information in the voice signal, and executing control operation corresponding to the vehicle control instruction according to the vehicle control instruction.
Optionally, the environmental information indicates at least two pieces of parking space information, a vehicle control instruction is generated according to the user driving demand information in the voice signal and the environmental information, and a control operation corresponding to the vehicle control instruction is executed according to the vehicle control instruction, including:
determining a parking space of the current vehicle in the at least two parking space information according to the user driving demand information;
generating the vehicle control instruction according to the parking space, wherein the vehicle control instruction is a parking signal of a vehicle;
and executing a control operation corresponding to the parking signal according to the parking signal, wherein the control operation is used for controlling the current vehicle to run to the position entrance of the parking space.
Optionally, after executing the control operation corresponding to the parking signal according to the parking signal, the method further includes:
when the current vehicle is determined to be driven to the position entrance of the parking space, switching the current vehicle from a manual control mode to an automatic driving mode;
and in the automatic driving mode, controlling the current vehicle to stop in the parking space.
Optionally, the environment information indicates at least two pieces of lane information, a vehicle control instruction is generated according to the user driving demand information in the voice signal and the environment information, and a control operation corresponding to the vehicle control instruction is executed according to the vehicle control instruction, including:
determining lane information to be driven of the current vehicle in the at least two pieces of lane information according to the user driving demand information;
generating the vehicle control instruction according to the information of the lane to be driven, wherein the vehicle control instruction is a driving signal of the current vehicle;
and executing a control operation corresponding to the driving signal according to the driving signal, wherein the control operation is used for controlling the current vehicle to drive into the lane to be driven.
Optionally, the environment information indicates vehicle information traveling ahead, a vehicle control instruction is generated according to the user driving demand information in the voice signal and the environment information, and a control operation corresponding to the vehicle control instruction is executed according to the vehicle control instruction, including:
generating the vehicle control instruction according to the user driving demand information and the vehicle information running ahead, wherein the vehicle control instruction is a vehicle following signal;
and executing a control operation corresponding to the car following signal according to the car following signal, wherein the control operation is used for controlling the current vehicle to follow the vehicle running ahead.
Optionally, the following signal includes a following distance, a current speed of the vehicle, and a speed of a vehicle traveling ahead, and according to the following signal, a control operation corresponding to the following signal is executed according to the following signal, including:
and adjusting the speed of the current vehicle according to the speed of the vehicle running ahead so that the distance between the current vehicle and the vehicle running ahead is within the following distance.
Optionally, the environment information indicates vehicle information traveling ahead, a vehicle control instruction is generated according to the user driving demand information in the voice signal and the environment information, and a control operation corresponding to the vehicle control instruction is executed according to the vehicle control instruction, including:
generating the vehicle control instruction according to the user driving demand information and the vehicle information running ahead, wherein the vehicle control instruction is an overtaking signal; wherein the user driving demand information is a voice message of overtaking;
and executing a control operation corresponding to the overtaking signal according to the overtaking signal, wherein the control operation is used for controlling the current vehicle to run beyond the front vehicle.
Optionally, the overtaking signal includes a vehicle distance, a current vehicle speed, and a speed of a vehicle traveling ahead, and the control operation corresponding to the overtaking signal is executed according to the overtaking signal, including:
and adjusting the speed of the current vehicle according to the speed of the vehicle running ahead and the distance so that the current vehicle exceeds the vehicle running ahead.
Optionally, the voice signal is initiated by a user based on the environmental information displayed by the autonomous vehicle.
In another aspect, the present application provides an apparatus for vehicle control, the apparatus comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring an environmental signal around a current vehicle, identifying the environmental signal and acquiring environmental information;
the voice signal response module is used for responding to a voice signal of a user and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein the voice signal comprises user driving demand information;
and the vehicle control instruction generating module is used for generating a vehicle control instruction according to the user driving demand information and the environment information in the voice signal and executing control operation corresponding to the vehicle control instruction according to the vehicle control instruction.
Optionally, the environmental information indicates information of at least two parking spaces, and the vehicle control instruction generating module is configured to:
determining a parking space of the current vehicle in the at least two parking space information according to the user driving demand information;
generating the vehicle control instruction according to the parking space, wherein the vehicle control instruction is a parking signal of a vehicle;
and executing a control operation corresponding to the parking signal according to the parking signal, wherein the control operation is used for controlling the current vehicle to run to the position entrance of the parking space.
Optionally, the apparatus further comprises:
the control module is used for switching the current vehicle from a manual control mode to an automatic driving mode when the current vehicle is determined to be driven to the position entrance of the parking space;
and in the automatic driving mode, controlling the current vehicle to stop in the parking space.
Optionally, the environmental information indicates at least two pieces of lane information, and the vehicle control instruction generating module is configured to:
determining lane information to be driven of the current vehicle in the at least two pieces of lane information according to the user driving demand information;
generating the vehicle control instruction according to the information of the lane to be driven, wherein the vehicle control instruction is a driving signal of the current vehicle;
and executing a control operation corresponding to the driving signal according to the driving signal, wherein the control operation is used for controlling the current vehicle to drive into the lane to be driven.
Optionally, the environmental information indicates vehicle information of a vehicle traveling ahead, and the vehicle control instruction generating module is configured to: generating the vehicle control instruction according to the user driving demand information and the vehicle information running ahead, wherein the vehicle control instruction is a vehicle following signal;
and executing a control operation corresponding to the car following signal according to the car following signal, wherein the control operation is used for controlling the current vehicle to follow the vehicle running ahead.
Optionally, the following signal includes a following distance, a current vehicle speed, and a speed of a vehicle traveling ahead, and according to the following signal, the vehicle control instruction generating module is configured to: and adjusting the speed of the current vehicle according to the speed of the vehicle running ahead so that the distance between the current vehicle and the vehicle running ahead is within the following distance.
Optionally, the environment information indicates vehicle information of forward driving, and the vehicle control instruction generating module is configured to generate the vehicle control instruction according to the user driving demand information and the vehicle information of forward driving, where the vehicle control instruction is an overtaking signal; wherein the user driving demand information is a voice message of overtaking;
and executing a control operation corresponding to the overtaking signal according to the overtaking signal, wherein the control operation is used for controlling the current vehicle to run beyond the front vehicle.
Optionally, the overtaking signal includes a vehicle distance, a speed of the current vehicle, and a speed of a vehicle traveling ahead, and the vehicle control instruction generating module is configured to adjust the speed of the current vehicle according to the speed of the vehicle traveling ahead and the vehicle distance, so that the current vehicle exceeds the vehicle traveling ahead.
Optionally, the voice signal is initiated by a user based on the environmental information displayed by the autonomous vehicle.
According to the vehicle control method, the vehicle control device, the vehicle control equipment, the vehicle control storage medium and the vehicle control product, an environment signal around a current vehicle is obtained, the environment signal is identified, and environment information is obtained; responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein the voice signal comprises user driving demand information; and generating a vehicle control instruction according to the user driving demand information and the environment information in the voice signal, and executing control operation corresponding to the vehicle control instruction according to the vehicle control instruction. Through the technical scheme, the driving requirements of the user in different scenes can be met, the individual driving requirements of the user and the expected route of the user can be met, and the user experience can be improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic flow chart diagram illustrating a method for controlling a vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart of a method for controlling a vehicle according to a second embodiment of the present application;
fig. 3 is a schematic view of parking space information provided according to the second embodiment of the present application;
FIG. 4 is a schematic flow chart diagram illustrating a method for controlling a vehicle according to a third embodiment of the present application;
FIG. 5 is a schematic diagram of lane information provided according to the third embodiment of the present application;
FIG. 6 is a schematic flow chart diagram illustrating a method for controlling a vehicle according to a fourth embodiment of the present disclosure;
FIG. 7 is a schematic diagram of vehicle information provided according to the fourth embodiment of the present application;
FIG. 8 is a schematic flow chart diagram illustrating a method for controlling a vehicle according to a fifth embodiment of the present application;
FIG. 9 is a schematic diagram of vehicle information provided in accordance with an embodiment of the present application;
fig. 10 is a schematic structural diagram of a vehicle control device according to a sixth embodiment of the present application;
fig. 11 is a block diagram of a terminal device shown in accordance with an example embodiment.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with aspects of the present application.
The terms referred to in this application are explained first:
the environment signal refers to a condition of an environment around the current vehicle, wherein the environment signal may include a shape of an object within a preset range, a position of the object within the preset range, and a positional relationship between the object within the preset range and the current vehicle.
The environmental information is a part of information contained in the environmental signal, and the environmental information in the present application may be information of at least two parking spaces, information of at least two lanes, and information of a vehicle traveling ahead.
The voice signal refers to voice feedback made by the user according to the environmental information, and the voice feedback is sent to the autonomous vehicle.
The vehicle control command is a command capable of controlling the vehicle.
The specific application scenario of the application is that the automatic driving vehicle selects at least one parking space in a parking scene, or the automatic driving vehicle selects at least one lane, or the automatic driving vehicle performs operation when the automatic driving vehicle exceeds a front vehicle.
The present application provides a method for controlling a vehicle, which aims to solve the above technical problems of the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic flowchart of a method for controlling a vehicle according to an embodiment of the present application. Specifically, the method is applied to an automatic driving vehicle, and the first embodiment comprises the following steps:
and S110, acquiring an environment signal around the current vehicle, and identifying the environment signal to obtain environment information.
In this embodiment, a sensor is installed at a preset position of a vehicle body of a current vehicle, an environmental signal is sensed by the sensor, the environmental signal is identified by a control center built in the current vehicle, and the environmental signal is processed to obtain environmental information. The number of the sensors may be one or more than two. The type of the sensor may be a laser sensor, or may be other sensors capable of sensing distance and obstacles, which is not limited herein.
S120, responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein, the voice signal comprises the driving demand information of the user.
In this embodiment, after the current vehicle receives the voice signal of the user, the automatic driving mode in which the current vehicle is located is switched to the manual control mode, so that the voice signal of the user can control the automatic driving vehicle.
In this embodiment, the voice signal includes the user driving demand information, and the user driving demand information is different for different situations, so that the accurate recognition of the user driving demand information can be beneficial to the user to control the automatic driving vehicle through the voice signal.
S130, generating a vehicle control instruction according to the user driving demand information and the environment information in the voice signal, and executing control operation corresponding to the vehicle control instruction according to the vehicle control instruction.
In this embodiment, the vehicle control command may be an indication message or a specific execution code, and if the vehicle control command is an execution code, each execution code corresponds to a different control operation, so that the current vehicle can distinguish the vehicle control command.
In the embodiment, vehicle control instructions under different scenes are obtained through the driving demand information and the environment information of the user, and corresponding control operation is executed according to the vehicle control instructions.
According to the method, the device, the equipment, the storage medium and the product for controlling the vehicle, the environmental information is obtained by acquiring the environmental signal around the current vehicle and identifying the environmental signal; responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein the voice signal comprises user driving demand information; and generating a vehicle control instruction according to the user driving demand information and the environment information in the voice signal, and executing control operation corresponding to the vehicle control instruction according to the vehicle control instruction.
Through the technical scheme, the driving requirements of the user in different scenes can be met, the individual driving requirements of the user and the expected route of the user can be met, and the user experience can be improved.
Fig. 2 is a schematic flowchart of a method for controlling a vehicle according to a second embodiment of the present application. Specifically, the second embodiment includes the following steps:
s210, acquiring an environment signal around the current vehicle, and identifying the environment signal to obtain environment information.
In this embodiment, the environment information indicates at least two pieces of parking space information, and specifically, refer to a schematic diagram of one piece of parking space information shown in fig. 3. Further, as can be seen from fig. 3, fig. 3 shows that the information of 3 parking spaces and the current vehicle specifically include information of the parking space a, information of the parking space B, and information of the parking space C, and the information of 3 parking spaces in the drawing is indicated by the environmental information.
S220, responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein, the voice signal comprises the driving demand information of the user.
And S230, determining the parking space of the current vehicle in the at least two pieces of parking space information according to the user driving demand information.
In this embodiment, the user driving demand information selects 3 pieces of parking space information shown in fig. 3 based on the current parking space information and the personal preference of the user, and sends the selection result of the parking space information to the current vehicle. For example, if the user driving demand information indicates that the vehicle is parked in the space B, the parking space of the current vehicle is determined to be the space B.
And S240, generating the vehicle control command according to the parking space, wherein the vehicle control command is a parking signal of a vehicle.
In this embodiment, if the parking space is the B space, the current parking signal of the vehicle generated by the vehicle is to park in the B space.
And S250, executing a control operation corresponding to the parking signal according to the parking signal, wherein the control operation is used for controlling the current vehicle to run to the position entrance of the parking space.
In this embodiment, if the parking signal indicates that the vehicle is parked in the parking space B, the current vehicle is controlled to travel to the entrance of the parking space B.
Optionally, after executing the control operation corresponding to the parking signal according to the parking signal, the method further includes:
when the current vehicle is determined to be driven to the position entrance of the parking space, switching the current vehicle from a manual control mode to an automatic driving mode;
and in the automatic driving mode, controlling the current vehicle to stop in the parking space.
In this embodiment, when the current vehicle travels to the entrance of the parking space, the manual control mode is ended. And controlling the current vehicle to stop in the B parking space in the automatic driving mode.
According to the vehicle control method, at least two pieces of parking space information indicated in the environment information are acquired, selection is carried out based on the user driving requirement information, and finally corresponding control operation is executed according to the user driving requirement information. Through the technical scheme, the driving requirement of the user in a parking scene can be met, the user can park the vehicle in an expected parking space, and the user experience can be improved.
Fig. 4 is a schematic flowchart of a method for controlling a vehicle according to a third embodiment of the present application. Specifically, the third embodiment includes the following steps:
s410, acquiring an environment signal around the current vehicle, and identifying the environment signal to obtain environment information.
In this embodiment, the environment information indicates at least two pieces of lane information, and specifically, a schematic diagram of a kind of lane information shown in fig. 5 may be referred to. Further, as can be seen from fig. 5, 3 pieces of lane information and the current vehicle are shown in fig. 5, specifically including the a lane information, the B lane information and the C lane information, and the 3 pieces of lane information in the figure are indicated by the environment information.
S420, responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein, the voice signal comprises the driving demand information of the user.
And S430, determining the lane information to be driven of the current vehicle in the at least two pieces of lane information according to the user driving demand information.
In this embodiment, the driving demand information of the user is based on the preference of the user or based on the actual road condition of the current vehicle, the 3 pieces of lane information shown in fig. 5 are selected, and the final selection result is sent to the current vehicle. For example, the driving demand information of the user is changed from the currently located B lane to the a lane, and then the lane information to be driven of the current vehicle is the a lane information.
S440, generating the vehicle control instruction according to the lane information to be driven, wherein the vehicle control instruction is a driving signal of the current vehicle.
In this embodiment, the driving signal of the current vehicle is that the current vehicle is driving in lane a.
And S450, executing a control operation corresponding to the driving signal according to the driving signal, wherein the control operation is to control the current vehicle to drive into the lane to be driven.
In this embodiment, if the lane to be driven is the lane a, the current vehicle is controlled to change from the originally driven lane B to the lane to be driven in the lane a.
According to the vehicle control method, at least two pieces of lane information indicated in the environment information are acquired, selection is carried out based on the driving requirement information of the user, and finally corresponding control operation is executed according to the driving requirement information of the user. Through the technical scheme, the driving requirement of the user in a lane changing scene can be met, the user can change the vehicle into an expected lane, and the user experience can be improved.
Fig. 6 is a flowchart illustrating a method for controlling a vehicle according to a fourth embodiment of the present application. Specifically, the fourth embodiment includes the following steps:
s610, acquiring an environment signal around the current vehicle, and identifying the environment signal to obtain environment information.
In this embodiment, the environment information indicates vehicle information traveling ahead, and specifically, a schematic diagram of vehicle information shown in fig. 7 may be referred to. Further, as can be seen from fig. 7, shown in fig. 7 are 3 vehicles, specifically including a current vehicle, a vehicle a traveling ahead, and a vehicle B traveling ahead.
S620, responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein, the voice signal comprises the driving demand information of the user.
S630, generating the vehicle control command according to the user driving demand information and the vehicle information running ahead, wherein the vehicle control command is a vehicle following signal.
In this embodiment, the user driving demand information is based on the information of the vehicle traveling ahead and the information of the current road condition, tracks the vehicle a traveling ahead shown in fig. 7, and sends the information of the vehicle traveling ahead to the current vehicle.
And S640, executing a control operation corresponding to the car following signal according to the car following signal, wherein the control operation is used for controlling the current vehicle to follow the vehicle running ahead.
In this embodiment, optionally, the following signal includes a following distance, a current speed of the vehicle, and a speed of a vehicle traveling ahead, and according to the following signal, the control operation corresponding to the following signal is executed according to the following signal, including:
and adjusting the speed of the current vehicle according to the speed of the vehicle running ahead so that the distance between the current vehicle and the vehicle running ahead is within the following distance.
In this embodiment, if the vehicle traveling ahead is a, the vehicle information of a includes the speed of the vehicle a and the speed of the current vehicle, so that the current vehicle and the vehicle traveling ahead a are within a preset distance range.
According to the vehicle control method, the information of the vehicle running ahead and indicated in the environment information is obtained, the selection is carried out based on the driving requirement information of the user, and finally the corresponding control operation is executed according to the driving requirement information of the user. Through this technical scheme, can satisfy the user and follow the driving demand under the scene of the bus, can make the user control vehicle track the vehicle that the place ahead was gone in safe distance, and then can promote user experience.
Fig. 8 is a schematic flowchart of a method for controlling a vehicle according to a fifth embodiment of the present application. Specifically, the fifth embodiment includes the following steps:
and S810, acquiring an environment signal around the current vehicle, and identifying the environment signal to obtain environment information.
In the present embodiment, the environmental information indicates information on a vehicle traveling ahead. In particular, reference may be made to a schematic diagram of vehicle information shown in fig. 9. Further, as can be seen from fig. 9, illustrated in fig. 9 are 3 vehicles, specifically including a current vehicle, a vehicle a traveling ahead, and a vehicle B traveling ahead.
S820, responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein, the voice signal comprises the driving demand information of the user.
In this embodiment, optionally, the voice signal is initiated by a user based on the environmental information displayed by the autonomous vehicle.
And S830, generating the vehicle control command according to the user driving demand information and the vehicle information running ahead, wherein the vehicle control command is a passing signal.
In this embodiment, the driving demand information of the user is a voice message of passing.
And S840, executing a control operation corresponding to the overtaking signal according to the overtaking signal, wherein the control operation is to control the current vehicle to run beyond the front.
In this embodiment, optionally, the overtaking signal includes a vehicle distance, a current vehicle speed, and a speed of a vehicle traveling ahead, and the executing a control operation corresponding to the overtaking signal according to the overtaking signal includes: and adjusting the speed of the current vehicle according to the speed of the vehicle running ahead and the distance so that the current vehicle exceeds the vehicle running ahead.
In this embodiment, if the vehicle traveling ahead is a, the vehicle information of a includes the speed, the inter-vehicle distance, and the speed of the current vehicle of a, and the current vehicle is controlled to pass the vehicle of a.
According to the vehicle control method, the information of the vehicle running ahead and indicated in the environment information is obtained, the selection is carried out based on the driving requirement information of the user, and finally the corresponding control operation is executed according to the driving requirement information of the user. Through the technical scheme, the driving requirement of a user in the overtaking scene can be met, the user can control the vehicle to exceed the vehicle running in front, and the user experience can be improved.
Fig. 10 is a schematic structural diagram of a vehicle control device according to a sixth embodiment of the present application. Specifically, the sixth embodiment includes:
the obtaining module 1010 is configured to obtain an environmental signal around a current vehicle, and identify the environmental signal to obtain environmental information;
a voice signal response module 1020, configured to respond to a voice signal of a user, and switch the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein the voice signal comprises user driving demand information;
and a vehicle control instruction generating module 1030, configured to generate a vehicle control instruction according to the user driving demand information in the voice signal and the environment information, and execute a control operation corresponding to the vehicle control instruction according to the vehicle control instruction.
In this embodiment, optionally, the environment information indicates at least two pieces of parking space information, and the vehicle control instruction generating module 1030 is configured to determine, according to the user driving demand information, a parking space of the current vehicle in the at least two pieces of parking space information;
generating the vehicle control instruction according to the parking space, wherein the vehicle control instruction is a parking signal of a vehicle;
and executing a control operation corresponding to the parking signal according to the parking signal, wherein the control operation is used for controlling the current vehicle to run to the position entrance of the parking space.
In this embodiment, optionally, the apparatus further includes:
the control module 1040 is configured to, when it is determined that the current vehicle drives to the entrance of the parking space, switch the current vehicle from a manual control mode to an automatic driving mode;
and in the automatic driving mode, controlling the current vehicle to stop in the parking space.
Optionally, the environment information indicates at least two lane information, and the vehicle control instruction generating module 1030 is configured to: determining lane information to be driven of the current vehicle in the at least two pieces of lane information according to the user driving demand information;
generating the vehicle control instruction according to the information of the lane to be driven, wherein the vehicle control instruction is a driving signal of the current vehicle;
and executing a control operation corresponding to the driving signal according to the driving signal, wherein the control operation is used for controlling the current vehicle to drive into the lane to be driven.
Optionally, the environment information indicates vehicle information of a vehicle traveling ahead, and the vehicle control instruction generating module 1030 is configured to: generating the vehicle control instruction according to the user driving demand information and the vehicle information running ahead, wherein the vehicle control instruction is a vehicle following signal;
and executing a control operation corresponding to the car following signal according to the car following signal, wherein the control operation is used for controlling the current vehicle to follow the vehicle running ahead.
Optionally, the following signal includes a following distance, a speed of the current vehicle, and a speed of a vehicle driving ahead, and the vehicle control instruction generating module 1030 is configured to adjust the speed of the current vehicle according to the speed of the vehicle driving ahead, so that a distance between the current vehicle and the vehicle driving ahead is within the following distance.
Optionally, the environment information indicates vehicle information of a vehicle driving ahead, and the vehicle control instruction generating module 1030 is configured to generate the vehicle control instruction according to the user driving demand information and the vehicle information of the vehicle driving ahead, where the vehicle control instruction is an overtaking signal; wherein the user driving demand information is a voice message of overtaking;
and executing a control operation corresponding to the overtaking signal according to the overtaking signal, wherein the control operation is used for controlling the current vehicle to run beyond the front vehicle.
Optionally, the overtaking signal includes a vehicle distance, a speed of the current vehicle, and a speed of a vehicle traveling ahead, and the vehicle control instruction generating module 1030 is configured to adjust the speed of the current vehicle according to the speed of the vehicle traveling ahead and the vehicle distance, so that the current vehicle exceeds the vehicle traveling ahead.
Optionally, the voice signal is initiated by a user based on the environmental information displayed by the autonomous vehicle.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the above-described apparatus may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Fig. 11 is a block diagram illustrating a terminal device, which may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, etc., according to an exemplary embodiment.
The apparatus 1100 may include one or more of the following components: processing component 1102, memory 1104, power component 1106, multimedia component 1108, audio component 1110, input/output (I/O) interface(s) 1112, sensor component 1114, and communications component 1116.
The processing component 1102 generally controls the overall operation of the device 1100, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 1102 may include one or more processors 1120 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 1102 may include one or more modules that facilitate interaction between the processing component 1102 and other components. For example, the processing component 1102 may include a multimedia module to facilitate interaction between the multimedia component 1108 and the processing component 1102.
The memory 1104 is configured to store various types of data to support operations at the apparatus 1100. Examples of such data include instructions for any application or method operating on device 1100, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 1104 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
A power component 1106 provides power to the various components of the device 1100. The power components 1106 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 1100.
The multimedia component 1108 includes a screen that provides an output interface between the device 1100 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 1108 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 1100 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 1110 is configured to output and/or input audio signals. For example, the audio component 1110 includes a Microphone (MIC) configured to receive external audio signals when the apparatus 1100 is in operating modes, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 1104 or transmitted via the communication component 1116. In some embodiments, the audio assembly 1110 further includes a speaker for outputting audio signals.
The I/O interface 1112 provides an interface between the processing component 1102 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 1114 includes one or more sensors for providing various aspects of state assessment for the apparatus 1100. For example, the sensor assembly 1114 may detect an open/closed state of the apparatus 1100, the relative positioning of components, such as a display and keypad of the apparatus 1100, the sensor assembly 1114 may also detect a change in position of the apparatus 1100 or a component of the apparatus 1100, the presence or absence of user contact with the apparatus 1100, orientation or acceleration/deceleration of the apparatus 1100, and a change in temperature of the apparatus 1100. The sensor assembly 1114 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 1114 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 1114 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 1116 is configured to facilitate wired or wireless communication between the apparatus 1100 and other devices. The apparatus 1100 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1116 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1116 also includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the apparatus 1100 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 1104 comprising instructions, executable by the processor 1120 of the apparatus 1100 to perform the method described above is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
A non-transitory computer readable storage medium, in which instructions, when executed by a processor of a terminal device, enable the terminal device to perform the above-described method of labeling a weld location.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (13)
1. A method of vehicle control, the method being applied to an autonomous vehicle, the method comprising:
acquiring an environmental signal around a current vehicle, and identifying the environmental signal to obtain environmental information;
responding to a voice signal of a user, and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein the voice signal comprises user driving demand information;
and generating a vehicle control instruction according to the user driving demand information and the environment information in the voice signal, and executing control operation corresponding to the vehicle control instruction according to the vehicle control instruction.
2. The method of claim 1, wherein the environmental information indicates at least two pieces of parking space information, a vehicle control command is generated according to the user driving demand information in the voice signal and the environmental information, and a control operation corresponding to the vehicle control command is executed according to the vehicle control command, and the method comprises:
determining a parking space of the current vehicle in the at least two parking space information according to the user driving demand information;
generating the vehicle control instruction according to the parking space, wherein the vehicle control instruction is a parking signal of a vehicle;
and executing a control operation corresponding to the parking signal according to the parking signal, wherein the control operation is used for controlling the current vehicle to run to the position entrance of the parking space.
3. The method of claim 2, further comprising, after performing the control operation corresponding to the parking signal according to the parking signal:
when the current vehicle is determined to be driven to the position entrance of the parking space, switching the current vehicle from a manual control mode to an automatic driving mode;
and in the automatic driving mode, controlling the current vehicle to stop in the parking space.
4. The method according to claim 1, wherein the environment information indicates at least two lane information, a vehicle control instruction is generated according to the user driving demand information in the voice signal and the environment information, and a control operation corresponding to the vehicle control instruction is performed according to the vehicle control instruction, including:
determining lane information to be driven of the current vehicle in the at least two pieces of lane information according to the user driving demand information;
generating the vehicle control instruction according to the information of the lane to be driven, wherein the vehicle control instruction is a driving signal of the current vehicle;
and executing a control operation corresponding to the driving signal according to the driving signal, wherein the control operation is used for controlling the current vehicle to drive into the lane to be driven.
5. The method according to claim 1, wherein the environmental information indicates vehicle information traveling ahead, a vehicle control instruction is generated from the user driving demand information in the voice signal and the environmental information, and a control operation corresponding to the vehicle control instruction is performed according to the vehicle control instruction, including:
generating the vehicle control instruction according to the user driving demand information and the vehicle information running ahead, wherein the vehicle control instruction is a vehicle following signal;
and executing a control operation corresponding to the car following signal according to the car following signal, wherein the control operation is used for controlling the current vehicle to follow the vehicle running ahead.
6. The method according to claim 5, wherein the following signal includes a following distance, a speed of a current vehicle, and a speed of a vehicle traveling ahead, and according to the following signal, a control operation corresponding to the following signal is performed according to the following signal, including:
and adjusting the speed of the current vehicle according to the speed of the vehicle running ahead so that the distance between the current vehicle and the vehicle running ahead is within the following distance.
7. The method according to claim 1, wherein the environmental information indicates vehicle information traveling ahead, a vehicle control instruction is generated from the user driving demand information in the voice signal and the environmental information, and a control operation corresponding to the vehicle control instruction is performed according to the vehicle control instruction, including:
generating the vehicle control instruction according to the user driving demand information and the vehicle information running ahead, wherein the vehicle control instruction is an overtaking signal; wherein the user driving demand information is a voice message of overtaking;
and executing a control operation corresponding to the overtaking signal according to the overtaking signal, wherein the control operation is used for controlling the current vehicle to run beyond the front vehicle.
8. The method of claim 7, wherein the passing signal includes a vehicle distance, a speed of a current vehicle, and a speed of a vehicle traveling ahead, and performing a control operation corresponding to the passing signal according to the passing signal includes:
and adjusting the speed of the current vehicle according to the speed of the vehicle running ahead and the distance so that the current vehicle exceeds the vehicle running ahead.
9. The method of any of claims 1-8, wherein the voice signal is user initiated based on the environmental information displayed by the autonomous vehicle.
10. An apparatus for vehicle control, characterized in that the apparatus comprises:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring an environmental signal around a current vehicle, identifying the environmental signal and acquiring environmental information;
the voice signal response module is used for responding to a voice signal of a user and switching the current vehicle from an automatic driving mode to a manual control mode according to the voice signal; wherein the voice signal comprises user driving demand information;
and the vehicle control instruction generating module is used for generating a vehicle control instruction according to the user driving demand information and the environment information in the voice signal and executing control operation corresponding to the vehicle control instruction according to the vehicle control instruction.
11. An apparatus for vehicle control, characterized by comprising: a memory, a processor;
the memory to store the processor-executable instructions;
the processor is configured to perform the method of any of claims 1 to 9.
12. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, are configured to implement the method of any one of claims 1 to 9.
13. A computer program product, characterized in that it comprises a computer program which, when being executed by a processor, carries out the method of any one of claims 1-9.
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| CN202111017673.4A CN113460092A (en) | 2021-09-01 | 2021-09-01 | Method, device, equipment, storage medium and product for controlling vehicle |
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Application publication date: 20211001 |