CN114475654B - Vehicle control method and device and computer readable storage medium - Google Patents

Abstract

This application provides a vehicle control method, device and computer-readable storage medium. The method includes: based on the communication connection with the central resource server, requesting the central resource server for the corresponding barrier information of the target passing through the barrier; based on the barrier information , obtain the real-time status of the corresponding barrier gate through the central resource server; refer to the real-time status of the barrier gate to control the driving of the autonomous vehicle. Through the implementation of this application plan, the barrier gate itself performs status monitoring, which improves the accuracy of the gate status identification results, and obtains status monitoring data through the central resource server, reducing the data calculation amount of the vehicle itself, thus ensuring Vehicle control performance of unmanned vehicles in the scenario of crossing the gate.

Description

Vehicle control method, device and computer-readable storage medium

Technical field

The present application relates to the field of unmanned driving technology, and in particular, to a vehicle control method, device and computer-readable storage medium.

Background technique

With the continuous development of science and technology, the application of driverless technology has become more and more mature. Currently, when an unmanned vehicle passes through the barrier system, the unmanned vehicle needs to accurately identify the opening and closing status of the barrier to control the vehicle to pass through the barrier normally. In practical applications, driverless vehicles usually rely on image recognition technology to actively identify the opening and closing status of the barrier gate. That is, the driverless vehicle takes images of the environment where the barrier gate is located, and then performs feature recognition on the barrier gate in the image. to determine the opening and closing status of the barrier gate. However, on the one hand, when the actual environment is poor, the quality of the captured images is limited, and the accuracy of the barrier status recognition results cannot be guaranteed; on the other hand, current image recognition mostly relies on deep learning technology, and during the image recognition process The calculation amount is large, resulting in low efficiency of gate status identification. Due to the above two deficiencies, the vehicle control performance of current driverless vehicles in the scenario of passing through gates is relatively limited.

Contents of the invention

Embodiments of the present application provide a vehicle control method, device and computer-readable storage medium, which can at least solve the problem of using image recognition methods to identify gate status in related technologies, resulting in unmanned vehicles passing through gates. The vehicle control performance is relatively limited.

The first aspect of the embodiment of the present application provides a vehicle control method, which is applied to autonomous vehicles, including:

Based on the communication connection with the central resource server, request the central resource server for the barrier information corresponding to the target passing through the barrier; wherein the barrier information at least includes a barrier identifier;

Based on the barrier information, obtain the real-time status of the barrier corresponding to the target passing through the barrier through the central resource server;

Driving control of the autonomous vehicle is performed with reference to the real-time status of the barrier gate.

The second aspect of the embodiment of the present application provides a vehicle control device applied to an autonomous vehicle, including:

A request module, configured to request barrier information corresponding to the target passing through the barrier from the central resource server based on the communication connection with the central resource server; wherein the barrier information at least includes a barrier identifier;

An acquisition module, configured to obtain, through the central resource server, the real-time status of the barrier corresponding to the target passing through the barrier based on the barrier information;

A control module, used to control the driving of the autonomous vehicle with reference to the real-time status of the barrier gate.

The third aspect of the embodiment of the present application provides an electronic device, including: a memory, a processor and a bus; the bus is used to realize connection and communication between the memory and the processor; the processor is used to execute a computer program stored in the memory; processing When the computer program is executed by the computer, each step in the vehicle control method provided by the first aspect of the embodiment of the present application is implemented.

The fourth aspect of the embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, each step in the vehicle control method provided by the first aspect of the embodiment of the present application is implemented. .

It can be seen from the above that according to the vehicle control method, device and computer-readable storage medium provided by the solution of this application, based on the communication connection with the central resource server, the central resource server requests the corresponding barrier information of the target passing through the barrier; based on the barrier Information, obtain the real-time status of the corresponding gate through the central resource server through the target; refer to the real-time status of the gate to control the driving of the autonomous vehicle. Through the implementation of this application plan, the barrier gate itself performs status monitoring, which improves the accuracy of the gate status identification results, and obtains status monitoring data through the central resource server, reducing the data calculation amount of the vehicle itself, thus ensuring Vehicle control performance of unmanned vehicles in the scenario of crossing the gate.

Description of the drawings

Figure 1 is a basic flow diagram of a vehicle control method provided by the first embodiment of the present application;

Figure 2 is a schematic architectural diagram of a communication system provided by the first embodiment of the present application;

Figure 3 is a detailed flowchart of a vehicle control method provided by the second embodiment of the present application;

Figure 4 is a schematic diagram of the program module of the vehicle control device provided by the third embodiment of the present application;

FIG. 5 is a schematic structural diagram of an electronic device provided by the fourth embodiment of the present application.

Detailed ways

In order to make the purpose, features, and advantages of the invention of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the description The embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the scope of protection of this application.

At present, the industry usually uses image recognition technology to identify gate status, but cameras have high environmental requirements and cannot achieve stable recognition in harsh environments. Moreover, camera recognition requires a certain recognition distance and has certain requirements for the site. In addition, If the camera is displaced after calibration, a large error will occur. Therefore, the accuracy of using image recognition to identify the gate status is poor.

In order to solve the problem in the related art that the image recognition method is used to identify the gate status, which results in the relatively limited vehicle control performance of the unmanned vehicle in the scene of passing through the gate, the first embodiment of the present application provides a vehicle The control method is applied to autonomous vehicles. Figure 1 is a basic flow diagram of the vehicle control method provided in this embodiment. The vehicle control method includes the following steps:

Step 101: Based on the communication connection with the central resource server, request the central resource server for gate information corresponding to the target passing through the gate.

Specifically, barrier gates are automated equipment installed in vehicle passages and are used to control the entry and exit of vehicles. According to the type of gate poles, they can be divided into straight pole barrier gates, curved pole barrier gates and fence barrier gates. They are widely used in parking lots and toll stations. , community entrance and other places. The barrier information in this embodiment at least includes barrier identifiers, and the barrier identifiers are used to distinguish the identities of different barrier gates. Figure 2 is a schematic diagram of the architecture of a communication system provided in this embodiment. The communication system includes an autonomous vehicle, a central resource server, and a barrier status monitor installed on the barrier. The autonomous vehicle in this embodiment When establishing P2P (peer-to-peer, peer-to-peer network) communication with the barrier status monitor, the central resource server provides relay service functions for the two terminal devices. It should be understood that the central resource server in this embodiment It is a data server for autonomous vehicles, used to provide multiple services required for autonomous driving. In this embodiment, the main task of the central resource server is to record the attribute information of all gates in the city, which can include, for example, location, orientation , name, type, IP, port, status and other important information.

In one implementation of this embodiment, the above-mentioned step of requesting the central resource server for the gate information corresponding to the target passing through the gate specifically includes: requesting the gate distribution map data from the central resource server; obtaining the real-time geographical location of the vehicle, and based on The real-time geographical location of the vehicle queries the geographical location of the nearest target barrier in the barrier distribution map data; obtains the barrier information of the target passing through the barrier corresponding to the geographical location of the target barrier.

Specifically, the gate distribution map data in this embodiment includes multiple gate information and corresponding gate geographical locations. In practical applications, after the self-driving vehicle obtains the global gate distribution map from the backend server, it based on its current location Locate the nearest barrier gate on the map as the current target to pass through the barrier gate, and then extract its barrier information from the barrier distribution map data. It should be noted that in actual applications, there may be a scenario where multiple barrier gates jointly control the entry and exit of vehicles, so there will be multiple correspondingly determined targets passing through the barrier gate, that is, the aforementioned "closest" in this embodiment is not one It is an absolute concept, but a relative concept. In the scenario of joint management and control of multiple gates, the distance between gates can be ignored, that is, these multiple gates are simultaneously determined to be the target passing gate closest to the vehicle.

Step 102: Based on the barrier information, obtain the real-time status of the barrier corresponding to the target passing through the barrier through the central resource server.

It should be noted that the gate is equipped with a gate status monitor, which can be connected to single or multiple sensors to monitor the status of the gate. The sensors include: laser sensor, angle position sensor, inclination sensor, pressure sensor, and torque sensor. . The gate status monitor's microcontroller has an RJ485 port for wired network connection. In addition, it also has a WIFI module and a 4G module for wireless network connection. The microcontroller can be powered by solar energy or direct plug-in power. The software modules of the microcontroller include: (1) sensor driver module, which has different data collection methods according to different sensors; (2) data filtering module, which effectively filters the erroneous data generated by the monitoring sensor due to external interference. It mainly includes: mean filtering, low-pass filtering, Gaussian filtering, and Kalman filtering; (3) Data processing and packaging module, which performs cumulative calculation and data format packaging of the filtered effective data. If the data format is not customized, it will be encapsulated in the default way; (4) Network service module provides external connection services. This module can be set as a server or client in SOCKET communication, and this module has P2P (peer-to-peer, peer-to-peer network) communication establishment logic.

In addition, it should be noted that in this embodiment, the barrier status monitor and the sensors and power supply equipment used are waterproof, dustproof, and anti-fog. The barrier status monitor uses a fanless casing for heat dissipation. And supports SSH protocol and remote software upgrade function.

In practical applications, the specific implementation methods of step 102 in this embodiment include but are not limited to the following two:

Method 1: The barrier information also includes the barrier communication address; the central resource server sends a barrier status request to the barrier status monitor corresponding to the barrier communication address; the central resource server receives the corresponding barrier real-time status of the target passing through the barrier via the central resource server .

Specifically, after the gate status monitor detects the real-time status of the gate, it can be stored locally. When the autonomous vehicle needs to obtain the real-time status of the target passing the gate, based on the gate communication address, the central resource server is used as the The communication relay point requests the real-time status of its gate from the gate status monitor.

Method 2: Send a status query request to the central resource server based on the barrier information; receive the real-time status of the barrier corresponding to the barrier information that the central resource server responds to after querying the local database; where the local database includes real-time uploads of barrier gates from different barrier gates. Gate real-time status.

Specifically, different from the previous method, after the barrier status monitor completes detecting the real-time status of the barrier, it can upload it to the central resource server and store it locally. Then the autonomous vehicle can directly access the information from the central resource server. Request the real-time status of the target passing through the barrier.

Step 103: Perform driving control of the autonomous vehicle with reference to the real-time status of the barrier gate.

Specifically, the real-time status of the barrier in this embodiment includes the barrier opening and the barrier closing. If the barrier is open, the self-driving vehicle can drive forward through the barrier. If the barrier is closed, the self-driving vehicle continues in front of the barrier. wait.

In one implementation of this embodiment, the real-time status of the barrier gate includes the opening of the barrier gate and the real-time opening degree. Correspondingly, the above-mentioned steps of driving and controlling the autonomous vehicle with reference to the real-time status of the barrier gate specifically include: determining the corresponding vehicle speed control information based on the real-time opening degree of the barrier gate when it is opened; and controlling the autonomous vehicle with reference to the vehicle speed control information. Pass the gate through the target.

Specifically, the opening degree in this embodiment includes the gate lifting angle or the gate opening distance. In practical applications, the time node when the autonomous vehicle obtains the opening of the barrier can be any time node in the process from the beginning of the barrier opening to the full opening of the barrier. The barrier opening process is a continuous process, that is, from the beginning to the full opening of the barrier. It takes a certain time interval to open, and if the real-time opening degree of the barrier does not match the speed of the autonomous vehicle, there will be a situation where the barrier will still block the vehicle when the vehicle passes the barrier, causing the vehicle to pass Damage occurs when the barrier gate is damaged. Based on this, in this embodiment, when the vehicle senses that the barrier gate is open, the vehicle is controlled to pass through the barrier gate at a reasonable speed according to the current opening degree of the barrier gate. For example, the current opening degree of the barrier gate is small, then it can be used Drive forward to the barrier gate at a relatively low speed and pass through the barrier gate to ensure that the barrier gate is fully opened during the process of passing the barrier gate to achieve smooth passage of the barrier gate.

In one implementation of this embodiment, the target passage gate includes a first gate and a second gate arranged one after another along the current traveling direction of the vehicle. Correspondingly, the above-mentioned steps of driving and controlling the autonomous vehicle with reference to the real-time status of the gate specifically include: If the real-time status of the gate includes the opening of the first gate and the opening of the second gate, request the ETC identification result data from the central resource server ; If the ETC recognition result data is "passed", the self-driving vehicle is controlled to pass through the first gate and the second gate continuously; if the ETC recognition result data is "passed", the self-driving vehicle is controlled to pass the first gate and then pass. Wait in front of the second gate.

Specifically, in practical applications, electronic toll points are equipped with two gates in order to prevent some vehicles from tolling. The first gate is the first gate that vehicles need to pass through to pass the toll point. The initial state of the gate is is in the closed state, and the second gate is the last gate that the vehicle needs to pass through. The initial state of this gate is open, and it switches to the state when it is recognized that the vehicle passing through the first gate is an illegal vehicle that has not recognized ETC. Closed state, and intercept the vehicle in the middle area between the first gate and the second gate.

In some application scenarios, when the vehicle enters the electronic toll collection point, the ETC may not be successfully recognized. If there is a vehicle following the vehicle, when the ETC of the vehicle behind the vehicle is successfully recognized, the first vehicle will The gate will still be open, so the vehicle can actually pass through the first gate successfully when its own ETC is not recognized. However, the gate control system will use certain means to promptly identify that the vehicle has not paid and will pass the vehicle before the second gate. Vehicle interception, for example, detects whether the vehicle behind that has been successfully recognized by ETC has passed the first gate within the preset time. If not, it means that the vehicle before the vehicle behind passed the first gate at a cost, thereby turning on the second vehicle that is turned on by default. The barrier gate is closed and the vehicle is intercepted in the middle area of the barrier gate for ETC identification again. Therefore, in this case, even when the vehicle recognizes that both the first gate and the second gate are open, it still needs to identify the ETC according to its own ETC. The recognition results are used to distinguish the control gate passing behavior, that is, parking after the own ETC is not recognized but effectively passes the first gate, to avoid collision with the second gate that plays an intercepting role in the scenario of unconscious ETC.

In another implementation of this embodiment, the target passage gate includes a first gate and a second gate arranged one after another along the current traveling direction of the vehicle. Correspondingly, before the above-mentioned step of requesting the central resource server for the corresponding barrier information of the target passing the barrier, it also includes: requesting the central resource server for the ETC identification result data; the above-mentioned requesting the central resource server for the corresponding barrier information of the target passing the barrier. The steps specifically include: if the ETC recognition result data is recognition passed, request the central resource server for the corresponding barrier information of the target passing the barrier after a preset time interval.

Specifically, the gate control system of this embodiment is the same as the previous embodiment, but it is different from the previous application scenario. This embodiment is applied to the application scenario where the vehicle behind legally recognizes ETC but the vehicle in front does not legally recognize ETC. , then in actual applications, the vehicle in front will use the ETC recognition result of the own vehicle to successfully pass the first gate and be intercepted in front of the second gate. In order to avoid rear-end collisions, usually the first gate will also follow the second gate. If the gate is closed and closed at the same time, the driving behavior of the vehicle in front will affect the normal passage of the vehicle. Therefore, this embodiment can not immediately request the barrier information and obtain the real-time status of the barrier after it is determined that its own ETC identification is passed, because if there is a vehicle in front that pretends to use the ETC of the vehicle, it will cause the currently acquired real-time state of the barrier It becomes invalid after being changed, so that the real-time status of the barrier can be acquired after a certain time interval. If there is a vehicle in front of you that uses your own ETC, then what is obtained after the time interval is the changed real-time status of the barrier, ensuring This ensures the authenticity of the real-time status of the barrier obtained by the vehicle and avoids erroneous control of the vehicle.

Based on the technical solutions of the above embodiments of the present application, based on the communication connection with the central resource server, the central resource server is requested to obtain the corresponding gate information of the target passing the gate; based on the gate information, the central resource server is used to obtain the corresponding gate information of the target passing the gate. The real-time status of the road gate; refer to the real-time status of the road gate to control the driving of the autonomous vehicle. Through the implementation of this application plan, the barrier gate itself performs status monitoring, which improves the accuracy of the gate status identification results, and obtains status monitoring data through the central resource server, reducing the data calculation amount of the vehicle itself, thus ensuring Vehicle control performance of unmanned vehicles in the scenario of crossing the gate.

The method in Figure 3 is a refined vehicle control method provided by the second embodiment of the present application. The vehicle control method includes:

Step 301: Based on the communication connection with the central resource server, request gate distribution map data from the central resource server.

Among them, the gate distribution map data includes information on multiple gates and the geographical location of the corresponding gates.

Step 302: Obtain the real-time geographical location of the vehicle, and query the geographical location of the nearest target barrier in the barrier distribution map data based on the real-time geographical location of the vehicle.

Step 303: Obtain the gate identification information of the target passing gate corresponding to the geographical location of the target gate.

Step 304: Send a status query request to the central resource server based on the gate identification information.

Step 305: Receive the real-time status of the barrier corresponding to the barrier identification information responded by the central resource server after querying the local database.

Among them, the local database of the central resource server includes the real-time status of the gates uploaded in real time by different gates.

Step 306: When the real-time status of the barrier gate is that the barrier gate is open, determine the corresponding vehicle speed control information according to the real-time opening degree of the barrier gate.

Step 307: Control the self-driving vehicle to pass the target and pass the gate with reference to the vehicle speed control information.

Step 308: When the real-time status of the barrier gate is that the barrier gate is closed, control the self-driving vehicle to wait before the target passes the barrier gate.

It should be understood that the sequence number of each step in this embodiment does not mean the order of execution of the steps. The execution order of each step should be determined by its function and internal logic, and should not constitute the implementation process of the embodiment of the present application. Only limited.

Based on the technical solutions of the above embodiments of the present application, the barrier gate itself performs status monitoring, which improves the accuracy of the gate status identification results, and the central resource server is used to obtain the status monitoring data, reducing the amount of data calculation on the vehicle itself. This can ensure the vehicle control performance of unmanned vehicles in the scenario of crossing the gate.

Figure 4 is a vehicle control device provided by the third embodiment of the present application. The vehicle control device can be used to implement the vehicle control method in the foregoing embodiments. As shown in Figure 4, the vehicle control device mainly includes:

The request module 401 is used to request barrier information corresponding to the target passing through the barrier from the central resource server based on the communication connection with the central resource server; wherein the barrier information at least includes a barrier identifier;

The acquisition module 402 is used to obtain the real-time status of the corresponding barrier gate through the central resource server based on the barrier gate information;

The control module 403 is used to control the driving of the autonomous vehicle with reference to the real-time status of the barrier gate.

In some implementations of this embodiment, the request module is specifically used to: request gate distribution map data from the central resource server; wherein the gate distribution map data includes multiple gate information and corresponding gate geographical locations; obtain real-time vehicle Geographical location, and based on the real-time geographical location of the vehicle, query the geographical location of the nearest target barrier gate in the barrier distribution map data; obtain the barrier information of the target passing through the barrier corresponding to the geographic location of the target barrier gate.

In some implementations of this embodiment, the barrier information also includes the barrier communication address. Correspondingly, the acquisition module is specifically used to: send a barrier status request to the barrier status monitor corresponding to the barrier communication address via the central resource server; receive the corresponding barrier real-time status of the target passing through the barrier via the central resource server.

In other implementations of this embodiment, the acquisition module is specifically configured to: send a status query request to the central resource server based on the barrier information; receive the real-time barrier response corresponding to the barrier information that the central resource server responds to after querying the local database. status; among them, the local database includes the real-time status of the gates uploaded in real time by different gates.

In some implementations of this embodiment, the real-time status of the barrier gate includes the opening of the barrier gate and the real-time opening degree. Correspondingly, the control module is specifically used to: determine the corresponding vehicle speed control information based on the real-time opening degree of the barrier gate when it is opened; refer to the vehicle speed control information to control the self-driving vehicle to pass the target through the barrier gate.

In other implementations of this embodiment, the target passage gate includes a first gate and a second gate arranged one after another along the current traveling direction of the vehicle. Correspondingly, the control module is specifically used to: if the real-time status of the gate includes the opening of the first gate and the opening of the second gate, request the ETC identification result data from the central resource server; if the ETC identification result data is identification passed, control the automatic The driving vehicle continuously passes through the first gate and the second gate; if the ETC recognition result data is unrecognized and passed, the self-driving vehicle is controlled to wait in front of the second gate after passing the first gate.

In some implementations of this embodiment, the target passage gate includes a first gate and a second gate arranged one after another along the current traveling direction of the vehicle. Correspondingly, the request module is specifically used to: request the ETC identification result data from the central resource server; if the ETC identification result data is identification passed, request the central resource server after a preset time interval for the corresponding barrier information of the target passing the barrier.

It should be noted that the vehicle control methods in the first and second embodiments can be implemented based on the vehicle control device provided in this embodiment. Those of ordinary skill in the art can clearly understand that for the convenience and simplicity of description, this implementation For the specific working process of the vehicle control device described in the example, reference can be made to the corresponding process in the foregoing method embodiment, which will not be described again here.

According to the vehicle control device provided in this embodiment, based on the communication connection with the central resource server, the central resource server requests the corresponding gate information of the target passing the gate; based on the gate information, the central resource server obtains the corresponding gate information of the target passing the gate. The real-time status of the road gate; refer to the real-time status of the road gate to control the driving of the autonomous vehicle. Through the implementation of this application plan, the barrier gate itself performs status monitoring, which improves the accuracy of the gate status identification results, and obtains status monitoring data through the central resource server, reducing the data calculation amount of the vehicle itself, thus ensuring Vehicle control performance of unmanned vehicles in the scenario of crossing the gate.

Please refer to FIG. 5 . FIG. 5 shows an electronic device provided by a fourth embodiment of the present application. The electronic device can be used to implement the vehicle control method in the foregoing embodiments. As shown in Figure 5, the electronic device mainly includes:

A memory 501, a processor 502, a bus 503 and a computer program stored on the memory 501 and executable on the processor 502. The memory 501 and the processor 502 are connected through the bus 503. When the processor 502 executes the computer program, the vehicle control method in the aforementioned embodiment is implemented. The number of processors may be one or more.

The memory 501 can be a high-speed random access memory (RAM, Random Access Memory) memory, or a non-volatile memory (non-volatile memory), such as a disk memory. The memory 501 is used to store executable program codes, and the processor 502 is coupled to the memory 501 .

Furthermore, embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium may be provided in the electronic device in the above-mentioned embodiments. The computer-readable storage medium may be the computer-readable storage medium shown in FIG. 5 . memory in the illustrated embodiment.

A computer program is stored on the computer-readable storage medium, and when the program is executed by the processor, the vehicle control method in the aforementioned embodiment is implemented. Furthermore, the computer-storable medium can also be a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a RAM, a magnetic disk or an optical disk, and other media that can store program codes.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or modules, and may be in electrical, mechanical or other forms.

Modules described as separate components may or may not be physically separated, and components shown as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional module in each embodiment of the present application can be integrated into one processing module, or each module can exist physically alone, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software function modules.

Integrated modules can be stored in a computer-readable storage medium if they are implemented in the form of software function modules and sold or used as independent products. Based on this understanding, the technical solution of the present application is essentially or contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a readable storage. The medium includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned readable storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program code.

It should be noted that for the convenience of description, the foregoing method embodiments are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence. Because according to this application, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily necessary for this application.

In the above embodiments, each embodiment is described with its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

The above is a description of the vehicle control method, device and computer-readable storage medium provided by this application. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the embodiments of this application. , In summary, the content of this specification should not be understood as a limitation on this application.

Claims (9)

1. A vehicle control method, applied to autonomous vehicles, characterized in that the vehicle control method includes: Based on the communication connection with the central resource server, request the gate distribution map data from the central resource server; obtain the real-time geographical location of the vehicle, and query the nearest target in the gate distribution map data based on the real-time geographical location of the vehicle. The geographical location of the barrier gate; obtain the barrier information of the target passing through the barrier corresponding to the geographic location of the target barrier; wherein the barrier distribution map data includes multiple barrier information and the geographic location of the corresponding barrier, and the Gate information at least includes gate identification; Based on the barrier information, obtain the real-time status of the barrier corresponding to the target passing through the barrier through the central resource server; Driving control of the autonomous vehicle is performed with reference to the real-time status of the barrier gate. 2. The vehicle control method according to claim 1, wherein the barrier information further includes a barrier communication address; and based on the barrier information, the central resource server obtains the target passage through the barrier. The steps to determine the real-time status of the corresponding gate include: Send a gate status request to the gate status monitor corresponding to the gate communication address via the central resource server; The real-time status of the barrier corresponding to the target passing through the barrier is received via the central resource server. 3. The vehicle control method according to claim 1, characterized in that, based on the barrier information, the step of obtaining the real-time status of the barrier corresponding to the target passing the barrier through the central resource server includes: Send a status query request to the central resource server based on the gate information; Receive the real-time status of the gate corresponding to the gate information and the response from the central resource server after querying the local database; wherein the local database includes the real-time status of the gate uploaded in real time by different gates. 4. The vehicle control method according to claim 1, wherein the real-time state of the barrier gate includes the opening of the barrier gate and the real-time opening degree; the driving control of the autonomous vehicle is performed with reference to the real-time state of the barrier gate. The steps include: According to the corresponding real-time opening degree when the barrier is opened, the corresponding vehicle speed control information is determined; With reference to the vehicle speed control information, the autonomous vehicle is controlled to pass through the barrier gate through the target. 5. The vehicle control method according to claim 1, characterized in that the target passage gate includes a first gate and a second gate arranged front and back along the current driving direction of the vehicle; the reference to the gate is real-time The steps for controlling the driving of the autonomous vehicle include: If the real-time status of the gate includes the opening of the first gate and the opening of the second gate, request ETC identification result data from the central resource server; If the ETC recognition result data indicates that the recognition is passed, control the autonomous vehicle to continuously pass through the first gate and the second gate; If the ETC identification result data is not recognized and passed, the autonomous driving vehicle is controlled to wait in front of the second gate after passing the first gate. 6. The vehicle control method according to any one of claims 1 to 4, wherein the target passage gate includes a first gate and a second gate arranged front and back along the current traveling direction of the vehicle; Before the step of requesting the central resource server for the barrier information corresponding to the target passing through the barrier, it also includes: Request ETC identification result data from the central resource server; The step of requesting the central resource server for barrier information corresponding to a target passing through a barrier includes: If the ETC identification result data indicates that the identification is passed, then after a preset time interval, the central resource server is requested to obtain corresponding barrier information of the target passing through the barrier. 7. A vehicle control device, applied to autonomous vehicles, characterized in that the vehicle control device includes: A request module, configured to request barrier gate distribution map data from the central resource server based on the communication connection with the central resource server; obtain the vehicle's real-time geographical location, and add the barrier gate distribution map data based on the vehicle's real-time geographical location Query the geographical location of the nearest target gate; obtain the gate information of the target passing through the gate corresponding to the geographical location of the target gate; wherein the gate distribution map data includes multiple gate information and corresponding gates Geographical location, the gate information at least includes gate identification; An acquisition module, configured to obtain, through the central resource server, the real-time status of the barrier corresponding to the target passing through the barrier based on the barrier information; A control module, used to control the driving of the autonomous vehicle with reference to the real-time status of the barrier gate. 8. An electronic device, characterized by comprising: a memory, a processor and a bus; The bus is used to realize connection and communication between the memory and the processor; The processor is configured to execute a computer program stored on the memory; When the processor executes the computer program, the steps in the method of any one of claims 1 to 6 are implemented. 9. A computer-readable storage medium with a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps in the method of any one of claims 1 to 6 are implemented.