CN114572248A - Vehicle control method and device, electronic equipment and storage medium - Google Patents

Vehicle control method and device, electronic equipment and storage medium Download PDF

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Publication number
CN114572248A
CN114572248A CN202210254375.5A CN202210254375A CN114572248A CN 114572248 A CN114572248 A CN 114572248A CN 202210254375 A CN202210254375 A CN 202210254375A CN 114572248 A CN114572248 A CN 114572248A
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section
vehicle
driven
state
state information
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Chinese (zh)
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石晶
贾云光
崔俊锋
刘岭
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CRSC Research and Design Institute Group Co Ltd
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CRSC Research and Design Institute Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The embodiment of the invention discloses a vehicle control method and device, electronic equipment and a storage medium. The method comprises the following steps: in the running process of the vehicle, acquiring state information of a section to be run, which is sent by a controller; according to the state information of the section to be driven and a detection result obtained by actively detecting collision avoidance on the section to be driven, performing state verification on the section to be driven; and controlling the vehicle to run according to the state checking result. According to the invention, the detection result obtained by active anti-collision detection is utilized to check the state information of the section to be driven, so that the vehicle can be controlled to drive under the condition of ensuring the driving safety of the vehicle.

Description

Vehicle control method and device, electronic equipment and storage medium
Technical Field
The embodiment of the invention relates to an intelligent traffic technology, in particular to a vehicle control method, a vehicle control device, electronic equipment and a storage medium.
Background
With the development of artificial intelligence technology and the continuous progress of automatic driving vehicle control technology, a vehicle may encounter many situations in the process of traveling based on the related information of a planned route, such as detecting an emergency in front, failing to continue traveling, or having an error in the related information of the planned route, so how to check the related information of the planned route to further ensure the safety of vehicle traveling is an urgent problem to be solved at present in order to avoid the traveling safety risk and property loss hidden danger caused by the emergency or the wrong planned route information.
Disclosure of Invention
The invention provides a vehicle control method, a vehicle control device, an electronic device and a storage medium, which can control the vehicle to run under the condition of ensuring the running safety of the vehicle by checking the state information of a section to be run by using a detection result obtained by active anti-collision detection.
In a first aspect, an embodiment of the present invention provides a vehicle control method, including:
in the running process of the vehicle, acquiring state information of a section to be run, which is sent by a controller;
according to the state information of the section to be driven and a detection result obtained by actively detecting collision avoidance on the section to be driven, performing state verification on the section to be driven;
and controlling the vehicle to run according to the state checking result.
In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:
the acquisition module is used for acquiring the state information of the section to be driven, which is sent by the controller, in the driving process of the vehicle;
the verification module is used for performing state verification on the section to be driven according to the state information of the section to be driven and a detection result obtained by actively detecting collision avoidance on the section to be driven;
and the control module is used for controlling the vehicle to run according to the state verification result.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a vehicle control method as provided by any of the embodiments of the invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. Wherein the program when executed by a processor implements a vehicle control method as provided in any of the embodiments of the invention.
According to the embodiment of the invention, in the driving process of the vehicle, the state information of the section to be driven, which is sent by the controller, is obtained, the state of the section to be driven is checked according to the state information of the section to be driven and the detection result obtained by actively detecting collision avoidance of the section to be driven, and finally the vehicle is controlled to drive according to the state check result. By checking the state information of the section to be driven by utilizing the detection result obtained by the active anti-collision detection, the driving safety risk and the property loss hidden danger caused by the emergency situation or the wrong state information of the section to be driven in the driving process of the vehicle can be avoided, and therefore the vehicle is controlled to drive under the condition of ensuring the driving safety of the vehicle.
Drawings
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention;
fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a vehicle control method according to a third embodiment of the present invention;
fig. 4A is a flowchart of a vehicle control method according to a fourth embodiment of the present invention;
fig. 4B is a schematic diagram illustrating a train driving mode conversion according to a fourth embodiment of the present invention;
fig. 5 is a block diagram of a vehicle control apparatus according to a fifth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, where the embodiment is applicable to a situation of controlling a vehicle to run, and particularly to a situation of controlling a vehicle to run safely according to a result of checking a to-be-run section.
In this embodiment, the vehicle end may interact with the controller, perform state verification on the section to be traveled, and control the vehicle to travel. Wherein, the controller can be arranged beside the road or beside the railway track.
As shown in fig. 1, the vehicle control method provided in this embodiment specifically includes:
s101, acquiring the state information of the section to be driven, which is sent by the controller, in the driving process of the vehicle.
The vehicle refers to a vehicle capable of traveling according to a planned route, and specifically, the vehicle may be an automatic driving automobile, or may be a railway train, such as a common train or a suspended magnetic levitation train. The to-be-driven section refers to a route section into which the vehicle is about to be driven. The state information of the section to be driven may include an occupied state and an idle state, and specifically, the occupied state of the section to be driven may include an illegal occupied state, a manual occupied state, and other vehicle occupied states. The manual occupied state refers to a state that a zone is occupied due to manual blocking of a zone to be driven by related personnel, if a vehicle is a train, scheduling personnel can manually input a starting point position and a blocking zone terminal point of the blocking zone, state information corresponding to the blocking zone is updated to the occupied state, and in addition, if the vehicle is manually blocked, only manual deblocking can be performed. The illegal occupation state refers to an occupation state of a driving section where the vehicle belongs when the vehicle encounters an emergency, such as an unknown obstacle. The other vehicle occupation state refers to a state in which the to-be-driven zone is occupied due to the other vehicle being located in the to-be-driven zone, and accordingly, the state information of the to-be-driven zone in the other vehicle occupation state may further include identification information of the vehicle occupying the to-be-driven zone, such as an ID (Identity document) number of the vehicle.
The section to be traveled may include at least one virtual sub-section that the controller previously divides for governing the route, and accordingly, the status information of the section to be traveled may include status information and location information of each virtual sub-section included in the section to be traveled.
Optionally, the vehicle end (i.e., the vehicle-mounted device of the vehicle) may determine the section to be traveled in real time, send a state information acquisition request of the section to be traveled to the controller according to the determined section to be traveled, and acquire the state information of the section to be traveled sent by the controller; the state information acquisition request of the section to be driven can be sent to the controller directly according to the position of the vehicle and the planned driving route, so that after the controller determines the section to be driven of the vehicle, the state information of the section to be driven of the vehicle is further determined and fed back to the vehicle end, and the vehicle end can acquire the state information of the section to be driven sent by the controller.
For example, referring to table 1, if the vehicle is a railway train, the state information of the to-be-driven section sent by the controller received by the vehicle end may be shown in the form of the following table:
TABLE 1 State information Table of to-be-driven zones
Figure BDA0003547958250000051
Alternatively, there may be many ways of determining the section to be traveled, for example, one possible implementation is: and taking a driving section from the current position of the vehicle to the end point of the planned driving route of the vehicle as a section to be driven, namely determining the section to be driven. Another possible implementation is: according to the distance which can be detected by an active collision avoidance detection system of the vehicle, based on a preset rule, a part of driving sections from the current position of the vehicle to the end point of the planned driving route of the vehicle (such as the driving sections which can be detected by the active collision avoidance detection system) are taken as the sections to be driven, namely the sections to be driven are determined.
Optionally, after receiving the state information obtaining request, the controller may determine, according to the virtual sub-segment division conditions of all the vehicle driving segments and the state information of all the virtual sub-segments managed, the number of virtual sub-segments included in the to-be-driven segment of the vehicle, the position information of each virtual sub-segment, and the real-time state information of each virtual sub-segment, that is, determine the state information of the to-be-driven segment, further feed back the determined state information of the to-be-driven segment to the vehicle end, and the vehicle end detects the state information of the to-be-driven segment fed back by the controller, that is, obtains the state information of the to-be-driven segment sent by the controller.
S102, performing state verification on the section to be driven according to the state information of the section to be driven and a detection result obtained by performing active anti-collision detection on the section to be driven.
The detection result of the active collision avoidance detection is a result obtained after detection is performed by using an active collision avoidance detection system configured on the vehicle. Specifically, the detection result includes detection information detected by the active collision avoidance detection system as to whether an obstacle is present in the travel section detectable at the front. It should be noted that, an active collision avoidance detection system configured for a vehicle may include a detection device for active collision avoidance to detect whether an obstacle exists in front of the vehicle, specifically, the detection device may be a common detection device such as an ultrasonic wave, a laser radar, a digital camera, an infrared or millimeter wave radar, and the embodiment is not limited to this. The status verification is verification for verifying the status information of the section to be traveled, which is transmitted by the controller.
Optionally, after the state information of the to-be-driven section is obtained, the state information of the to-be-driven section and a detection result obtained by actively performing collision avoidance detection on the to-be-driven section can be input into a pre-trained neural network model, state verification is performed on the to-be-driven section, and a state verification result is output; the state information of the to-be-driven zone can be compared with the detection result obtained by actively detecting the to-be-driven zone according to a preset rule, so as to perform state verification on the to-be-driven zone, and specifically, whether the state information of the to-be-driven zone sent by the controller is consistent with the state information of the to-be-driven zone detected by the active anti-collision detection system or not can be judged, so as to perform state verification on the to-be-driven zone.
And S103, controlling the vehicle to run according to the state verification result.
The state verification result refers to a verification result for verifying the state information of the section to be driven of the vehicle, and specifically, the state verification result may include passing verification and failing verification. Controlling the vehicle to travel may include controlling the vehicle to stop, controlling the vehicle to continue traveling according to an originally planned route, and controlling the vehicle to travel according to a newly planned route.
Optionally, if the state verification passes and the state information of the to-be-driven section sent by the controller is in an idle state, it is indicated that the to-be-driven section can pass, and at this time, the vehicle can be controlled to continue to drive according to the original planned route. If the state check is passed and the state information of the section to be driven sent by the controller is an occupied state, it is indicated that the section to be driven is not available, and at this time, the vehicle can obtain a new planned route to drive, specifically, the new planned route to be driven can be obtained from the controller or the dispatching center, and can also be automatically re-planned to obtain the new planned route to further control the vehicle to drive according to the new planned route. And if the state check fails and the state information of the section to be driven sent by the controller is in an occupied state, feeding back the latest state information of the section to be driven to the controller, and controlling the vehicle to continue driving according to the original planned route. And if the state check is not passed and the state information of the section to be driven sent by the controller is in an idle state, feeding back the latest state information of the section to be driven, and controlling the vehicle to stop.
According to the embodiment of the invention, in the driving process of the vehicle, the state information of the section to be driven, which is sent by the controller, is obtained, the state of the section to be driven is checked according to the state information of the section to be driven and the detection result obtained by actively detecting collision avoidance of the section to be driven, and finally the vehicle is controlled to drive according to the state check result. By the mode, driving safety risks and property loss hidden dangers caused by emergencies or wrong state information of the section to be driven in the driving process of the vehicle can be avoided, and therefore the vehicle is controlled to drive under the condition of ensuring the driving safety of the vehicle.
It should be noted that, the controller in this embodiment is used to collectively manage at least one vehicle and determine the status information of all the vehicle travel zones that are managed, and specifically, one possible implementation of the controller determining the status information of the travel zones is as follows: dividing the running sections of all the management vehicles into a plurality of sub virtual sections, namely sub sections, acquiring the vehicle positions of all the management vehicles (namely the head positions of the vehicles) in real time, determining the tail positions of the vehicles according to the head positions and the body lengths of the management vehicles aiming at each management vehicle, respectively determining the sub sections to which the head positions and the tail positions of the vehicles belong, further determining that the state information of the corresponding sub sections is in an occupied state, if the head positions and the tail positions of the vehicles of all the management vehicles are not in a certain sub section, determining that the state information of the sub sections is in an idle state, and if the head positions or the tail positions of other vehicles run into the sub sections in the idle state, updating the state information of the sub sections to be in the occupied state. In this way, the controller can determine real-time status information for all sub-sections of all managed vehicle travel sections.
Example two
Fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention, and in this embodiment, based on the above embodiment, a detailed explanation is further provided for "performing a state check on a to-be-driven zone according to state information of the to-be-driven zone and a detection result obtained by performing active collision avoidance detection on the to-be-driven zone", as shown in fig. 2, the vehicle control method according to this embodiment specifically includes:
s201, in the running process of the vehicle, state information of the section to be run sent by the controller is obtained.
S202, performing state verification on the section to be driven according to the state information, the vehicle position, the active anti-collision detection distance of the section to be driven and a detection result obtained by performing active anti-collision detection on the section to be driven.
The vehicle position refers to the head position of the vehicle. The active collision detection distance refers to a limit distance that can be detected by the active collision detection system.
Optionally, the state information of the section to be driven, the vehicle position, the active anti-collision detection distance and the detection result obtained by performing active anti-collision detection on the section to be driven can be input into a pre-trained neural network model, and the state of the section to be driven is checked; also can be according to predetermined rule, treat the state information, the vehicle position, the initiative anticollision detection distance of the district section of traveling to and treat the district section of traveling and carry out the analysis of the detection result that initiative anticollision was surveyed and is obtained, treat the district section of traveling promptly and carry out the state verification, it is concrete, treat the district section of traveling according to the state information, the vehicle position, the initiative anticollision detection distance of the district section of traveling to and treat the district section of traveling and carry out the detection result that initiative anticollision was surveyed and is obtained, treat the district section of traveling and carry out the state verification, include:
determining a state verification interval of a section to be driven according to the position of the vehicle and the active anti-collision detection distance; if the detection result obtained by actively detecting the collision avoidance of the section to be driven is that no obstacle exists in the front, determining the state information of the state verification interval according to the position relation between the state verification interval and the sub-sections contained in the section to be driven; and performing state verification on the section to be driven according to the state information of the section to be driven and the state information of the state verification interval.
Specifically, if the active collision avoidance detection distance is greater than the section length of the section to be driven, the state verification interval may be an interval from the current position of the vehicle to the end of the section to be driven, and if the active collision avoidance detection distance is less than the section length of the section to be driven, the state verification interval may be an interval from the current position of the vehicle to the limit position detectable by the active collision avoidance system. The sub-section included in the section to be traveled means a virtual sub-section divided in advance by the controller included in the section to be traveled.
Specifically, after the state verification interval of the section to be traveled is determined, if the detection result indicates that no obstacle exists in front, at least one virtual sub-section overlapping the state verification interval may be determined, and the state information of each virtual sub-section in which the state verification interval is located is determined to be in an idle state, that is, the state information of the state verification interval is determined according to the position relationship between the state verification interval and the sub-sections included in the section to be traveled.
Optionally, after the vehicle end determines the state information of each virtual sub-segment in the state check interval, the state information of each sub-segment corresponding to the state information of the to-be-driven segment sent by the controller may be compared with the state information of each corresponding virtual sub-segment in the state check interval, so as to perform state check on the to-be-driven segment.
Illustratively, if the vehicle position is xtIf the active anti-collision detection distance is L, the state verification interval of the section to be driven is determined to be [ x ]t,xt+ L), if the detection result obtained by active collision avoidance detection on the section to be driven is front obstacle-free, then the method can be further based on xtAnd xtThe value of + L, respectively, determines xtAnd xtThe + L is located in which virtual sub-section of the section to be traveled that is transmitted by the controller, i.e., at least one virtual sub-section that overlaps with the status check interval is determined. In particular, if xtIs greater than or equal to xiAnd is less than xi+1Then it is determined that the vehicle is located in the ith virtual subsection. If xt+ L is greater than or equal to xjAnd is less than xj+1Determining the farthest detectable virtual subsection as the jth virtual subsection, and further using the (i + 1) th to (j-1) th virtual subsections as the virtual subsections overlapped with the state verification intervalAnd determining that the state information of each virtual sub-section (i.e. the (i + 1) th to (j-1) th virtual sub-sections) in the state checking interval is in an idle state, if the state information of each corresponding sub-section sent by the controller is also in the idle state, the checking is passed, and if the state information of each corresponding sub-section sent by the controller is in an occupied state, the checking is not passed.
It should be noted that, in this way, an embodiment of performing status verification on the to-be-driven section is provided, so that the vehicle end can effectively perform status verification on the to-be-driven section sent by the controller, and thus safety of vehicle driving can be better guaranteed.
And S203, controlling the vehicle to run according to the state verification result.
Optionally, if the state check fails, the following conditions are: if the state check of part of the virtual subsections of the section to be driven is not passed, the vehicle can be controlled to stop until the virtual subsections which are not passed through the check, namely, the vehicle is not driven on the virtual subsections which are not passed through the check, and the vehicle can be controlled to keep driving for the virtual subsections which are passed through the check and have the state information being free.
In the embodiment of the invention, after the state information of the section to be driven sent by the controller is obtained, the state verification is carried out on the section to be driven according to the state information of the section to be driven, the position of the vehicle, the active anti-collision detection distance and the detection result obtained by the active anti-collision detection of the section to be driven, and finally the vehicle is controlled to drive according to the state verification result. By the mode, more effective and accurate state verification can be performed, so that driving safety risks and property loss hidden dangers caused by emergencies or wrong state information of the section to be driven in the driving process of the vehicle are better avoided, and the driving of the vehicle is controlled under the condition of ensuring the driving safety of the vehicle.
EXAMPLE III
Fig. 3 is a flowchart of a vehicle control method according to a third embodiment of the present invention, and in this embodiment, based on the above embodiment, a detailed explanation is further provided on how to perform a status check on a to-be-driven section when a detection result indicates that there is an obstacle ahead, and as shown in fig. 3, the vehicle control method according to this embodiment specifically includes:
s301, acquiring the state information of the section to be driven sent by the controller in the driving process of the vehicle.
S302, if the detection result obtained by actively detecting the collision avoidance in the section to be driven is that the front part of the section to be driven has an obstacle, determining the position of the obstacle according to the detection result.
The obstacle is an object that hinders the vehicle from continuing to travel, and specifically, the obstacle may be another vehicle, or an obstacle caused by other emergencies such as a sign or a falling object. The obstacle position is a position representing a position of the obstacle, specifically, the obstacle position may be a longitude and latitude coordinate, or may be a relative position corresponding to a current position of the vehicle in a vehicle coordinate system, for example, if the detection result indicates that the front L is detected1There is an obstacle in the rice and the vehicle position is xtThen the obstacle position may be represented as xt+L1。
Specifically, if the detection result obtained by the active collision avoidance detection system of the vehicle performing active collision avoidance detection on the section to be driven is that there is an obstacle in the front, the detection result may be further analyzed to extract the obstacle position from the detection result, and the front may be detected again by using a relevant position sensing device to determine the obstacle position.
S303, determining the state information of the subsections to which the obstacles belong according to the position relation between the positions of the obstacles and the subsections contained in the sections to be driven.
The sub-section to which the obstacle belongs refers to a sub-section in which a front obstacle detected by the vehicle end is located.
Optionally, after the position of the obstacle is determined, the sub-section to which the obstacle belongs may be further determined according to the position of the obstacle and the position coordinate information of each sub-section included in the to-be-driven section, and the state information of the sub-section to which the obstacle belongs is determined to be the occupied state.
Illustratively, if the obstacle position is denoted xt+L1Then, thenWhen x ist+L1Greater than or equal to xiAnd is less than xi+1Then, it may be determined that the obstacle is located in the ith subsection, that is, the ith subsection is a subsection to which the obstacle belongs, and the state information of the ith subsection is determined to be the occupied state.
S304, performing state verification on the section to be driven according to the state information of the subsection to which the obstacle belongs and the state information of the section to be driven.
Optionally, after the vehicle end determines the state information of the sub-section to which the obstacle belongs, the state information of the corresponding sub-section in the section to be driven sent by the controller may be determined according to the position information of the sub-section to which the obstacle belongs, and the state information of the sub-section to which the obstacle belongs is further compared with the state information of the corresponding sub-section in the section to be driven sent by the controller to determine whether the two are consistent, that is, the state of the section to be driven is checked.
Specifically, since the status information of the sub-zone is in the occupied status, when it is determined that the status information of the corresponding sub-zone in the zone to be driven sent by the controller is also in the occupied status, it may be determined that the verification is passed, and when it is determined that the status information of the corresponding sub-zone in the zone to be driven sent by the controller is in the idle status, it may be determined that the verification is not passed.
And S305, controlling the vehicle to run according to the state checking result.
Optionally, if the state check fails and it is determined that the state information of the corresponding sub-section in the section to be driven sent by the controller is in an idle state, the determined position of the obstacle may be sent to the controller, and the vehicle may be controlled to stop in front of the obstacle, that is, the vehicle may be controlled to drive according to the state check result.
In the embodiment of the invention, after the state information of the section to be driven sent by the controller is obtained, when the detection result is that an obstacle exists in front of the section to be driven, the position of the obstacle is determined according to the detection result, the state information of the subsection to which the obstacle belongs is determined according to the position relation between the position of the obstacle and the subsection contained in the section to be driven, then the state of the section to be driven is checked according to the state information of the subsection to which the obstacle belongs and the state information of the section to be driven, and finally the vehicle is controlled to drive according to the state checking result. By the mode, the process of state verification when the vehicle end detects that the front obstacle exists is given, so that the driving safety risk and property loss hidden danger caused by emergency situations or wrong state information of the section to be driven in the driving process of the vehicle can be effectively avoided, and the safe driving of the vehicle is controlled.
Example four
Fig. 4A is a flowchart of a vehicle control method according to a fourth embodiment of the present invention, and fig. 4B is a schematic diagram of a train driving mode conversion according to the fourth embodiment of the present invention, in this embodiment, a detailed explanation of "controlling vehicle driving according to a state verification result" is further performed on the basis of the above embodiments, and as shown in fig. 4A, the vehicle control method according to this embodiment specifically includes:
s401, in the running process of the vehicle, state information of the section to be run sent by the controller is obtained.
S402, performing state verification on the section to be driven according to the state information of the section to be driven and a detection result obtained by performing active anti-collision detection on the section to be driven.
And S403, determining the vehicle driving mode according to the state checking result.
The vehicle driving mode may include an automatic driving mode and a manual driving mode, among others.
Optionally, if the state verification result is that the vehicle passes and the previous driving mode of the vehicle is the manual driving mode, the manual driving mode may be upgraded to the automatic driving mode, that is, the driving mode of the vehicle is determined, and if the state verification result is that the vehicle passes and the previous driving mode of the vehicle is the automatic driving mode, the driving mode of the vehicle may be determined to still be the automatic driving mode.
Optionally, if the previous driving mode of the vehicle is an automatic driving mode and the detection result is that there is no obstacle in front, when it is determined that the state information of the to-be-driven section is an occupied state, in order to ensure safe driving of the vehicle, the vehicle may be manually controlled to drive, that is, the automatic driving mode is degraded into an artificial driving mode, and accordingly, the driving mode of the vehicle is determined according to the state verification result, including: and if the state check result is that the vehicle passes, the detection result obtained by actively detecting collision avoidance in the section to be driven is that no obstacle exists in the front, and the state information of the section to be driven is the occupied state, determining that the vehicle driving mode is the artificial driving mode.
Specifically, when the status check result is that the vehicle passes, that is, the status information of the to-be-driven section determined by the controller and the vehicle is inconsistent, specifically, the detection result obtained by performing active collision avoidance detection at the vehicle end is that no obstacle exists in front, and the status information of the to-be-driven section sent by the controller is in an occupied status, at this time, the vehicle can continue to drive, but in order to ensure driving safety, the automatic driving mode needs to be degraded to the manual driving mode, that is, the vehicle driving mode is determined to be the manual driving mode.
And S404, controlling the vehicle to run according to the vehicle driving mode.
After the vehicle end controls the vehicle to travel through each subsection, the state information of the corresponding subsection may be reset to the notification controller, and specifically, the vehicle position may be sent to the controller, so that the controller updates the state information of the traveled subsection of the vehicle based on the vehicle position.
The driven section refers to a virtual sub-section that the vehicle has driven.
Optionally, after the vehicle end has traveled one subsection each time, the real-time position of the vehicle may be sent to the controller, and the controller may determine the subsection that the vehicle has traveled and reset the state information of the subsection that the vehicle has traveled according to the real-time position of the vehicle, and specifically, may update the state information of the subsection from the original occupied state to the idle state.
By the mode, the controller can update and manage the state information of the vehicle driving section in real time, and the safe driving of the vehicle is better guaranteed.
For example, referring to fig. 4B, when the vehicle is a railway train, the vehicle may be in three different stages during the driving process, as shown in fig. 4B (1), 4B (2) and 4B (3).
Optionally, as shown in fig. 4B (1), if the state verification result is that the train passes, the driving mode before the train is the automatic driving mode or the manual driving mode, and the state information of the next subsection ahead is the idle state, it indicates that the train has the driving condition at this time, and the train can be maintained or upgraded to the automatic driving mode to control the train to run.
Optionally, as shown in fig. 4B (2), when the detection result obtained by performing active collision avoidance detection at the vehicle end is that there is no obstacle in front, and the state information of the to-be-driven section sent by the controller is in an occupied state, that is, the state verification result is passed, the vehicle can continue to drive at this time, but in order to ensure driving safety, the automatic driving mode needs to be degraded into an artificial driving mode, and the train operation safety is ensured by the driver.
Alternatively, as shown in fig. 4B (3), when the train travels through a certain subsection based on the manual driving mode, the state information of the traveling subsection may be updated to an idle state, and specifically, the train position may be sent to the controller, so that the controller updates the state information of the traveling subsection of the train to an idle state based on the train position.
EXAMPLE five
Fig. 5 is a structural block diagram of a vehicle control device according to a fifth embodiment of the present invention, where the vehicle control device according to the fifth embodiment of the present invention is capable of executing a vehicle control method according to any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the executed method.
The vehicle control apparatus may include an acquisition module 501, a verification module 502, and a control module 503.
The acquiring module 501 is configured to acquire state information of a to-be-driven section sent by a controller in a driving process of a vehicle;
the verification module 502 is configured to perform state verification on the to-be-driven section according to the state information of the to-be-driven section and a detection result obtained by performing active collision detection on the to-be-driven section;
and the control module 503 is configured to control the vehicle to run according to the state verification result.
According to the embodiment of the invention, in the driving process of the vehicle, the state information of the section to be driven, which is sent by the controller, is obtained, the state of the section to be driven is checked according to the state information of the section to be driven and the detection result obtained by actively detecting collision avoidance of the section to be driven, and finally the vehicle is controlled to drive according to the state check result. By checking the state information of the section to be driven by utilizing the detection result obtained by the active anti-collision detection, the driving safety risk and the property loss hidden danger caused by the emergency situation or the wrong state information of the section to be driven in the driving process of the vehicle can be avoided, and therefore the vehicle is controlled to drive under the condition of ensuring the driving safety of the vehicle.
Further, the verification module 502 may include:
and the verification unit is used for performing state verification on the section to be driven according to the state information, the vehicle position, the active anti-collision detection distance of the section to be driven and the detection result obtained by actively detecting the section to be driven.
Further, the verification unit may include:
the interval determining subunit is used for determining a state verification interval of the section to be driven according to the vehicle position and the active anti-collision detection distance;
the information determining subunit is configured to determine, according to a position relationship between the state verification interval and a sub-segment included in the to-be-driven section, state information of the state verification interval if a detection result obtained by actively performing collision avoidance detection on the to-be-driven section is that no obstacle exists in front of the to-be-driven section;
and the first checking subunit is used for carrying out state checking on the section to be driven according to the state information of the section to be driven and the state information of the state checking interval.
Further, the verification unit further includes:
the position determining subunit is used for determining the position of the obstacle according to the detection result if the detection result indicates that the obstacle exists in front of the vehicle;
the state information determining subunit is used for determining the state information of the subsections to which the obstacles belong according to the position relation between the positions of the obstacles and the subsections contained in the sections to be driven;
and the second checking subunit is used for performing state checking on the section to be driven according to the state information of the subsection to which the obstacle belongs and the state information of the section to be driven.
Further, the control module 503 includes:
a driving mode determination unit for determining a driving mode of the vehicle according to the state verification result;
and the vehicle control unit is used for controlling the vehicle to run according to the vehicle driving mode.
Further, the driving mode determination unit is specifically configured to:
and if the state verification result is that the vehicle passes, the detection result obtained by actively detecting the collision avoidance of the section to be driven is that no obstacle exists in the front, and the state information of the section to be driven is in an occupied state, determining that the vehicle driving mode is the artificial driving mode.
Further, the above apparatus is further configured to:
sending a vehicle position to the controller to cause the controller to update status information of a traveled section of the vehicle based on the vehicle position.
EXAMPLE six
Fig. 6 is a schematic structural diagram of an electronic device according to a sixth embodiment of the present invention, and fig. 6 shows a block diagram of an exemplary device suitable for implementing the embodiment of the present invention. The device shown in fig. 6 is only an example and should not bring any limitation to the function and the scope of use of the embodiments of the present invention.
As shown in FIG. 6, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Electronic device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory (cache 32). The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 6, and commonly referred to as a "hard drive"). Although not shown in FIG. 6, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of embodiments described herein.
Electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with electronic device 12, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the electronic device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be appreciated that although not shown in FIG. 6, other hardware and/or software modules may be used in conjunction with electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing, such as implementing a vehicle control method provided by an embodiment of the present invention, by running a program stored in the system memory 28.
EXAMPLE seven
Seventh embodiment of the present invention further provides a computer-readable storage medium, on which a computer program (or referred to as computer-executable instructions) is stored, where the computer program is used for executing the vehicle control method provided by the embodiment of the present invention when executed by a processor.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and many other equivalent embodiments can be included without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A vehicle control method, characterized by comprising:
in the running process of the vehicle, acquiring state information of a section to be run, which is sent by a controller;
according to the state information of the section to be driven and a detection result obtained by actively detecting collision avoidance on the section to be driven, performing state verification on the section to be driven;
and controlling the vehicle to run according to the state checking result.
2. The method according to claim 1, wherein the performing the status check on the section to be traveled according to the status information of the section to be traveled and the detection result obtained by performing the active collision avoidance detection on the section to be traveled comprises:
and performing state verification on the section to be driven according to the state information, the vehicle position, the active anti-collision detection distance of the section to be driven and a detection result obtained by performing active anti-collision detection on the section to be driven.
3. The method according to claim 2, wherein the performing the status check on the section to be traveled according to the status information of the section to be traveled, the vehicle position, the active collision avoidance detection distance, and the detection result obtained by performing the active collision avoidance detection on the section to be traveled comprises:
determining a state verification interval of a section to be driven according to the position of the vehicle and the active anti-collision detection distance;
if the detection result obtained by actively detecting the collision avoidance of the section to be driven is that no obstacle exists in the front, determining the state information of the state verification interval according to the position relation between the state verification interval and the subsections contained in the section to be driven;
and performing state verification on the section to be driven according to the state information of the section to be driven and the state information of the state verification interval.
4. The method of claim 3, further comprising:
if the detection result indicates that an obstacle exists in front, determining the position of the obstacle according to the detection result;
determining the state information of the subsections to which the obstacles belong according to the position relation between the positions of the obstacles and the subsections contained in the sections to be driven;
and performing state verification on the section to be driven according to the state information of the subsection to which the obstacle belongs and the state information of the section to be driven.
5. The method according to claim 1, wherein controlling the vehicle to travel according to the state verification result comprises:
determining a vehicle driving mode according to the state checking result;
and controlling the vehicle to run according to the vehicle driving mode.
6. The method of claim 5, wherein determining a vehicle driving mode based on the state check results comprises:
and if the state verification result is that the vehicle passes, the detection result obtained by actively detecting the collision avoidance of the section to be driven is that no obstacle exists in the front, and the state information of the section to be driven is in an occupied state, determining that the vehicle driving mode is an artificial driving mode.
7. The method of claim 1, further comprising:
sending a vehicle position to the controller to cause the controller to update status information of a traveled section of the vehicle based on the vehicle position.
8. A vehicle control apparatus characterized by comprising:
the acquisition module is used for acquiring the state information of the section to be driven, which is sent by the controller, in the driving process of the vehicle;
the checking module is used for checking the state of the section to be driven according to the state information of the section to be driven and a detection result obtained by actively detecting collision of the section to be driven;
and the control module is used for controlling the vehicle to run according to the state verification result.
9. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle control method of any one of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a vehicle control method according to any one of claims 1 to 7.
CN202210254375.5A 2022-03-15 2022-03-15 Vehicle control method and device, electronic equipment and storage medium Pending CN114572248A (en)

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Application Number Priority Date Filing Date Title
CN202210254375.5A CN114572248A (en) 2022-03-15 2022-03-15 Vehicle control method and device, electronic equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210254375.5A CN114572248A (en) 2022-03-15 2022-03-15 Vehicle control method and device, electronic equipment and storage medium

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