CN113763704A - Vehicle control method, device, computer readable storage medium and processor - Google Patents
Vehicle control method, device, computer readable storage medium and processor Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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Abstract
The invention discloses a vehicle control method, a vehicle control device, a computer readable storage medium and a processor. Wherein, the method comprises the following steps: the method comprises the steps of obtaining driving route information of a plurality of first vehicles, wherein the driving route information comprises expected entrances and expected exits of the vehicles at a target intersection and the time when the vehicles reach the target intersection; determining a plurality of second vehicles passing through the target intersection in the target time window according to the driving route information of the plurality of first vehicles, wherein the first vehicles comprise the second vehicles; generating a plurality of driving route plans of the plurality of second vehicles passing through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles; and respectively sending the driving route plans to the corresponding second vehicles. The invention solves the technical problem of low vehicle passing efficiency caused by complex intersection traffic conditions.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a vehicle control method, a vehicle control device, a computer readable storage medium and a processor.
Background
When the vehicles pass through the traffic intersection, because the vehicles in all directions are intersected, the vehicles can also have various choices such as left turning, straight going, right turning and the like, and if the order of the passing intersection is not planned, the problems of traffic jam and the like can be caused certainly. In the related technology, the mode of traffic lights for directing the traffic at the intersection is adopted, the intersection passing time windows of vehicles with different steering requirements are distinguished, and the passing efficiency is improved. However, the way that the vehicle passes through the intersection is still too rigid, the state of the traffic flow is varied, the method cannot well cope with the road conditions of the traffic intersection under different conditions, the passing efficiency of the vehicle is not high, and the waste of road traffic resources is easily caused.
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, a vehicle control device, a computer readable storage medium and a processor, which are used for at least solving the technical problem of low vehicle passing efficiency caused by complex intersection traffic conditions.
According to an aspect of an embodiment of the present invention, there is provided a vehicle control method including: the method comprises the steps of obtaining driving route information of a plurality of first vehicles, wherein the driving route information comprises an expected entrance and an expected exit of the vehicles at a target crossing and the time when the vehicles reach the target crossing; determining a plurality of second vehicles passing through the target intersection in a target time window according to the driving route information of the first vehicles, wherein the first vehicles comprise the second vehicles; generating a plurality of driving route plans of the plurality of second vehicles passing through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles; and respectively sending the driving route plans to the corresponding second vehicles.
Optionally, when the driving route information includes the first information and the second information, acquiring the driving route information of any one of the first vehicles includes: receiving first information sent by the first vehicle, wherein the first information comprises: an expected entrance and an expected exit of a vehicle at the target intersection; obtaining second information of the first vehicle, wherein the second information comprises: the position of the vehicle, the speed of the vehicle.
Optionally, obtaining second information of the first vehicle includes: determining a target road according to an expected entrance of the first vehicle at the target intersection, wherein the target road corresponds to the expected entrance; acquiring an image of a predetermined area of the target road, wherein the predetermined area is located at a junction of the target road and the expected entrance; determining second information of the first vehicle according to the image when the first vehicle is included in the image.
Optionally, acquiring the image of the predetermined area of the target road includes any one of the following manners: shooting the preset area by using camera equipment to obtain a video image of the preset area; and detecting the preset area by using laser radar equipment to obtain an echo data image of the preset area.
Optionally, in a case where the first vehicle is included in the image, the method further includes: sending a control instruction to the first vehicle, wherein the control instruction is used for controlling the first vehicle to travel in the predetermined area.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle control method including: transmitting first information of a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection; receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to travel in a predetermined area, the predetermined area is located at a junction of a target road and the expected entrance, and the target road corresponds to the expected entrance; receiving a driving route plan, wherein the driving route plan is used for indicating that the first vehicle passes through the target intersection; and controlling the first vehicle to run through the preset area and the target intersection according to the control instruction and the driving route planning.
According to still another aspect of the embodiment of the present invention, there is also provided a vehicle control apparatus including: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the driving route information of a plurality of first vehicles, and the driving route information comprises expected entrances and expected exits of the vehicles at a target intersection and the time when the vehicles reach the target intersection; the determining module is used for determining a plurality of second vehicles passing through the target intersection in a target time window according to the driving route information of the first vehicles, wherein the first vehicles comprise the second vehicles; the generating module is used for generating a plurality of driving route plans of the plurality of second vehicles passing through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles; and the first sending module is used for respectively sending the driving route plans to the corresponding second vehicles.
According to still another aspect of the embodiments of the present invention, there is also provided a vehicle control apparatus including: the second sending module is used for sending first information of a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection; the first receiving module is used for receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to travel in a predetermined area, the predetermined area is located at the junction of a target road and the expected entrance, and the target road corresponds to the expected entrance; a second receiving module, configured to receive a driving route plan, where the driving route plan is used to indicate that the first vehicle passes through the target intersection; and the control module is used for controlling the first vehicle to run through the preset area and the target intersection according to the control instruction and the driving route planning.
According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein when the program runs, an apparatus in which the computer-readable storage medium is located is controlled to execute any one of the above-described vehicle control methods.
According to still another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the vehicle control method described in any one of the above.
In the embodiment of the invention, a plurality of second vehicles passing through the target intersection in a target time window are determined by acquiring the driving route information of a plurality of first vehicles according to the driving route information of the plurality of first vehicles, wherein the first vehicles comprise the second vehicles; generating a plurality of driving route plans of the plurality of second vehicles passing through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles; the driving routes are respectively sent to the corresponding second vehicles, and the purpose of planning the driving routes for the vehicles passing through the target intersection in the target time window is achieved, so that the technical effect of improving the passing efficiency of the vehicles at the intersection is achieved, and the technical problem of low vehicle passing efficiency caused by complex intersection traffic conditions 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 vehicle control method embodiment, it is 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 while 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.
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 S102, obtaining driving route information of a plurality of first vehicles, wherein the driving route information comprises expected entrances and expected exits of the vehicles at the target intersection and the time when the vehicles reach the target intersection. Alternatively, the first vehicle may be a vehicle that will pass through the target intersection, the owner of the first vehicle may enter traffic information at the target intersection on the auxiliary driving device or map of the vehicle, such as whether the owner wants to go straight or turn at the intersection, and the auxiliary driving system of the vehicle may estimate the time at which the first vehicle reaches the entrance of the target intersection based on the current vehicle speed of the first vehicle.
Step S104, determining a plurality of second vehicles passing through the target intersection in the target time window according to the driving route information of the plurality of first vehicles, wherein the first vehicles comprise the second vehicles. Alternatively, information may be collected for a plurality of first vehicles, a time for each of the plurality of first vehicles to reach the target intersection may be determined, and a second vehicle passing through the target intersection in the target time window may be determined based thereon. Since these second vehicles will pass through the target intersection within the target time window, the vehicle passage plan of the intersection can be planned according to the information of the second vehicles within the target time window.
And S106, generating a plurality of driving route plans for the plurality of second vehicles to pass through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles. Optionally, the driving route planning may include a driving route of the vehicle, and may also include a speed of the vehicle when the vehicle is driving along the driving route, or a time for controlling the vehicle to reach a fixed location point of the driving route, and by planning the driving route of each vehicle passing through the target intersection in the time window, an effect that the vehicles cross each other in the intersection without mutual interference is achieved, and efficiency of the vehicle passing through the road intersection is greatly improved.
Step S108, respectively sending a plurality of driving route plans to a plurality of corresponding second vehicles. And the driving route planning is sent to the corresponding second vehicle, so that the second vehicle can pass at the target intersection strictly according to the route planning.
Through the steps, the purpose of planning the driving route for the vehicle passing through the target intersection in the target time window can be achieved, so that the technical effect of improving the passing efficiency of the vehicle at the intersection is achieved, and the technical problem that the passing efficiency of the vehicle is low due to the complex traffic condition of the intersection is solved.
As an alternative embodiment, in the case that the driving route information includes the first information and the second information, the driving route information of any one of the first vehicles may be acquired in the following manner: receiving first information sent by a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection; in addition, second information of the first vehicle may be acquired, wherein the second information includes: the position of the vehicle, the speed of the vehicle.
It should be noted that the first information of the first vehicle may be sent by the assistant driving system of the first vehicle, and optionally, the assistant driving system of the first vehicle first communicates with the dispatching system of the target intersection, establishes a communication channel, and then sends the first information to the dispatching system by the assistant driving system. The second information can be directly acquired by an information acquisition device connected with a dispatching system of the target crossing without being sent to the dispatching system by the first vehicle.
As an alternative embodiment, the second information of the first vehicle may be acquired by: determining a target road according to an expected entrance of a first vehicle at a target intersection, wherein the target road corresponds to the expected entrance; acquiring an image of a predetermined area of a target road, wherein the predetermined area is located at the intersection of the target road and an expected entrance; in a case where the first vehicle is included in the image, second information of the first vehicle is determined from the image.
Alternatively, image capture devices may be provided at all entrances to the target intersection for capturing images of vehicles about to enter the target intersection. In the road connected to the target entrance, a section of the road a predetermined distance from the entrance may be set as a predetermined area, and the image capturing device may capture an image of the predetermined area for identifying the first vehicle from the image and resolving the second information of the first vehicle.
As an alternative embodiment, the image of the predetermined area of the target road may be acquired in any one of the following manners: shooting a preset area by using camera equipment to obtain a video image of the preset area; and detecting the preset area by using the laser radar equipment to obtain an echo data image of the preset area.
As an alternative embodiment, in a case where the first vehicle is included in the image, a control instruction may be sent to the first vehicle, where the control instruction is used to control the first vehicle to travel within the predetermined area. In this optional embodiment, by sending the control instruction to the first vehicle, the movement of the vehicle traveling in the predetermined area may be normalized, for example, all the first vehicles travel at a constant speed according to a predetermined speed when passing through the predetermined area, which is convenient for the scheduling system to schedule all the vehicles passing through the target intersection, and is also beneficial to determine the specific time when the first vehicle reaches the entrance of the intersection, so as to prevent the time when the vehicle enters the intersection from being inconsistent with the predetermined schedule due to the vehicle speed change traveling, which leads to traffic confusion.
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 S202, first information of a first vehicle is sent, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection. Alternatively, the first information of the first vehicle may be sent to a scheduling system of the target intersection, and the scheduling system of the target intersection plans the traveling track of the vehicle by communicating with all vehicles passing through the intersection.
Step S204, a control instruction is received, wherein the control instruction is used for controlling the first vehicle to run in a preset area, the preset area is located at the junction of a target road and an expected entrance, and the target road corresponds to the expected entrance.
Step S206, receiving a driving route plan, wherein the driving route plan is used for indicating that the first vehicle passes through the target intersection.
And S208, controlling the first vehicle to run through the preset area and the target intersection according to the control instruction and the driving route planning.
The purpose of planning the driving route for the vehicle passing through the target intersection in the target time window can be achieved, the technical effect of improving the passing efficiency of the vehicle at the intersection is achieved, and the technical problem that the passing efficiency of the vehicle is low due to the complex traffic condition of the intersection is solved.
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 provided according to an embodiment of the present invention, as shown in fig. 3, the first vehicle control device includes: the obtaining module 32, the determining module 34, the generating module 36 and the first sending module 38 are described below.
The obtaining module 32 is configured to obtain driving route information of a plurality of first vehicles, where the driving route information includes an expected entrance and an expected exit of a vehicle at a target intersection, and a time when the vehicle reaches the target intersection;
a determining module 34, connected to the acquiring module 32, for determining a plurality of second vehicles passing through the target intersection within the target time window according to the driving route information of the plurality of first vehicles, wherein the first vehicles include the second vehicles;
a generating module 36, connected to the determining module 34, for generating a plurality of driving route plans for the plurality of second vehicles to pass through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles;
and a first sending module 38, connected to the generating module 36, for sending the driving route plans to the corresponding second vehicles respectively.
It should be noted here that the acquiring module 32, the determining module 34, the generating module 36 and the first sending module 38 correspond to steps S102 to S108 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.
According to an embodiment of the present invention, there is further provided a second vehicle control device for implementing the second vehicle control method, and fig. 4 is a block diagram of a second vehicle control device according to an embodiment of the present invention, and as shown in fig. 4, the second vehicle control device includes: the second transmitting module 42, the first receiving module 44, the second receiving module 46 and the control module 48, which will be described later.
A second sending module 42, configured to send first information of the first vehicle, where the first information includes: an expected entrance and an expected exit of the vehicle at the target intersection;
a first receiving module 44, connected to the second sending module 42, for receiving a control command, where the control command is used to control the first vehicle to travel in a predetermined area, the predetermined area is located at a junction of a target road and an expected entrance, and the target road corresponds to the expected entrance;
a second receiving module 46, connected to the first receiving module 44, for receiving a driving route plan, wherein the driving route plan is used for indicating that the first vehicle passes through the target intersection;
and a control module 48, connected to the second receiving module 46, for controlling the first vehicle to travel through the predetermined area and the target intersection according to the control command and the driving route planning.
It should be noted that the second sending module 42, the first receiving module 44, the second receiving module 46 and the control module 48 correspond to steps S202 to S208 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 3
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 used to store software programs and modules, such as program instructions/modules corresponding to the vehicle control 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 vehicle control 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: the method comprises the steps of obtaining driving route information of a plurality of first vehicles, wherein the driving route information comprises expected entrances and expected exits of the vehicles at a target intersection and the time when the vehicles reach the target intersection; determining a plurality of second vehicles passing through the target intersection in the target time window according to the driving route information of the plurality of first vehicles, wherein the first vehicles comprise the second vehicles; generating a plurality of driving route plans of the plurality of second vehicles passing through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles; and respectively sending the driving route plans to the corresponding second vehicles.
Optionally, the processor may further execute the program code of the following steps: under the condition that the driving route information comprises first information and second information, acquiring the driving route information of any one first vehicle, wherein the method comprises the following steps: receiving first information sent by a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection; acquiring second information of the first vehicle, wherein the second information comprises: the position of the vehicle, the speed of the vehicle.
Optionally, the processor may further execute the program code of the following steps: obtaining second information of the first vehicle, comprising: determining a target road according to an expected entrance of a first vehicle at a target intersection, wherein the target road corresponds to the expected entrance; acquiring an image of a predetermined area of a target road, wherein the predetermined area is located at the intersection of the target road and an expected entrance; in a case where the first vehicle is included in the image, second information of the first vehicle is determined from the image.
Optionally, the processor may further execute the program code of the following steps: acquiring an image of a predetermined area of a target road, including any one of: shooting a preset area by using camera equipment to obtain a video image of the preset area; and detecting the preset area by using the laser radar equipment to obtain an echo data image of the preset area.
Optionally, the processor may further execute the program code of the following steps: in a case where the first vehicle is included in the image, the method further includes: and sending a control instruction to the first vehicle, wherein the control instruction is used for controlling the first vehicle to travel in the preset area.
Optionally, the processor may further execute the program code of the following steps: transmitting first information of a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection; receiving a control instruction, wherein the control instruction is used for controlling a first vehicle to run in a predetermined area, the predetermined area is located at the junction of a target road and an expected entrance, and the target road corresponds to the expected entrance; receiving a driving route plan, wherein the driving route plan is used for indicating that a first vehicle passes through a target intersection; and controlling the first vehicle to run through the preset area and the target intersection according to the control instruction and the driving route planning.
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 4
Embodiments of the present invention also provide a computer-readable storage medium. Alternatively, in the present embodiment, the computer-readable 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 computer-readable storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of mobile terminals.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: the method comprises the steps of obtaining driving route information of a plurality of first vehicles, wherein the driving route information comprises expected entrances and expected exits of the vehicles at a target intersection and the time when the vehicles reach the target intersection; determining a plurality of second vehicles passing through the target intersection in the target time window according to the driving route information of the plurality of first vehicles, wherein the first vehicles comprise the second vehicles; generating a plurality of driving route plans of the plurality of second vehicles passing through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles; and respectively sending the driving route plans to the corresponding second vehicles.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: under the condition that the driving route information comprises first information and second information, acquiring the driving route information of any one first vehicle, wherein the method comprises the following steps: receiving first information sent by a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection; acquiring second information of the first vehicle, wherein the second information comprises: the position of the vehicle, the speed of the vehicle.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: obtaining second information of the first vehicle, comprising: determining a target road according to an expected entrance of a first vehicle at a target intersection, wherein the target road corresponds to the expected entrance; acquiring an image of a predetermined area of a target road, wherein the predetermined area is located at the intersection of the target road and an expected entrance; in a case where the first vehicle is included in the image, second information of the first vehicle is determined from the image.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: acquiring an image of a predetermined area of a target road, including any one of: shooting a preset area by using camera equipment to obtain a video image of the preset area; and detecting the preset area by using the laser radar equipment to obtain an echo data image of the preset area.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: in a case where the first vehicle is included in the image, the method further includes: and sending a control instruction to the first vehicle, wherein the control instruction is used for controlling the first vehicle to travel in the preset area.
Optionally, in this embodiment, the computer readable storage medium is configured to store program code for performing the following steps: transmitting first information of a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection; receiving a control instruction, wherein the control instruction is used for controlling a first vehicle to run in a predetermined area, the predetermined area is located at the junction of a target road and an expected entrance, and the target road corresponds to the expected entrance; receiving a driving route plan, wherein the driving route plan is used for indicating that a first vehicle passes through a target intersection; and controlling the first vehicle to run through the preset area and the target intersection according to the control instruction and the driving route planning.
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, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be 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 it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. A vehicle control method characterized by comprising:
the method comprises the steps of obtaining driving route information of a plurality of first vehicles, wherein the driving route information comprises an expected entrance and an expected exit of the vehicles at a target crossing and the time when the vehicles reach the target crossing;
determining a plurality of second vehicles passing through the target intersection in a target time window according to the driving route information of the first vehicles, wherein the first vehicles comprise the second vehicles;
generating a plurality of driving route plans of the plurality of second vehicles passing through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles;
and respectively sending the driving route plans to the corresponding second vehicles.
2. The method according to claim 1, wherein in the case where the travel route information includes the first information and the second information, acquiring the travel route information of any one of the first vehicles includes:
receiving first information sent by the first vehicle, wherein the first information comprises: an expected entrance and an expected exit of a vehicle at the target intersection;
obtaining second information of the first vehicle, wherein the second information comprises: the position of the vehicle, the speed of the vehicle.
3. The method of claim 2, wherein obtaining second information of the first vehicle comprises:
determining a target road according to an expected entrance of the first vehicle at the target intersection, wherein the target road corresponds to the expected entrance;
acquiring an image of a predetermined area of the target road, wherein the predetermined area is located at a junction of the target road and the expected entrance;
determining second information of the first vehicle according to the image when the first vehicle is included in the image.
4. The method of claim 3, wherein acquiring the image of the predetermined area of the target road comprises any one of:
shooting the preset area by using camera equipment to obtain a video image of the preset area;
and detecting the preset area by using laser radar equipment to obtain an echo data image of the preset area.
5. The method of claim 3, wherein if the first vehicle is included in the image, further comprising:
sending a control instruction to the first vehicle, wherein the control instruction is used for controlling the first vehicle to travel in the predetermined area.
6. A vehicle control method characterized by comprising:
transmitting first information of a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection;
receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to travel in a predetermined area, the predetermined area is located at a junction of a target road and the expected entrance, and the target road corresponds to the expected entrance;
receiving a driving route plan, wherein the driving route plan is used for indicating that the first vehicle passes through the target intersection;
and controlling the first vehicle to run through the preset area and the target intersection according to the control instruction and the driving route planning.
7. A vehicle control apparatus characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the driving route information of a plurality of first vehicles, and the driving route information comprises expected entrances and expected exits of the vehicles at a target intersection and the time when the vehicles reach the target intersection;
the determining module is used for determining a plurality of second vehicles passing through the target intersection in a target time window according to the driving route information of the first vehicles, wherein the first vehicles comprise the second vehicles;
the generating module is used for generating a plurality of driving route plans of the plurality of second vehicles passing through the target intersection according to the driving route information of the plurality of second vehicles, wherein the plurality of driving route plans are in one-to-one correspondence with the plurality of second vehicles;
and the first sending module is used for respectively sending the driving route plans to the corresponding second vehicles.
8. A vehicle control apparatus characterized by comprising:
the second sending module is used for sending first information of a first vehicle, wherein the first information comprises: an expected entrance and an expected exit of the vehicle at the target intersection;
the first receiving module is used for receiving a control instruction, wherein the control instruction is used for controlling the first vehicle to travel in a predetermined area, the predetermined area is located at the junction of a target road and the expected entrance, and the target road corresponds to the expected entrance;
a second receiving module, configured to receive a driving route plan, where the driving route plan is used to indicate that the first vehicle passes through the target intersection;
and the control module is used for controlling the first vehicle to run through the preset area and the target intersection according to the control instruction and the driving route planning.
9. A computer-readable storage medium characterized by comprising a stored program, wherein an apparatus in which the computer-readable storage medium is located is controlled to execute the vehicle control method according to any one of claims 1 to 6 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 6 when running.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110909151.9A CN113763704A (en) | 2021-08-09 | 2021-08-09 | Vehicle control method, device, computer readable storage medium and processor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110909151.9A CN113763704A (en) | 2021-08-09 | 2021-08-09 | Vehicle control method, device, computer readable storage medium and processor |
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| CN113763704A true CN113763704A (en) | 2021-12-07 |
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| CN202110909151.9A Pending CN113763704A (en) | 2021-08-09 | 2021-08-09 | Vehicle control method, device, computer readable storage medium and processor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179805A (en) * | 2021-12-10 | 2022-03-15 | 北京百度网讯科技有限公司 | Driving direction determining method, device, equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114179805A (en) * | 2021-12-10 | 2022-03-15 | 北京百度网讯科技有限公司 | Driving direction determining method, device, equipment and storage medium |
| CN114179805B (en) * | 2021-12-10 | 2023-12-19 | 北京百度网讯科技有限公司 | Driving direction determining method, device, equipment and storage medium |
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