CN114655254A

CN114655254A - Automatic driving vehicle control method and device and electronic equipment

Info

Publication number: CN114655254A
Application number: CN202210420953.8A
Authority: CN
Inventors: 张国辉
Original assignee: Apollo Intelligent Technology Beijing Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2022-04-20
Filing date: 2022-04-20
Publication date: 2022-06-24

Abstract

The utility model provides a control method, a device and an electronic device for an automatic driving vehicle, which relate to the technical field of vehicle calculation, in particular to the fields of intelligent transportation and automatic driving in the vehicle technology, and the concrete implementation scheme comprises the following steps: receiving a first control instruction sent by a server, wherein the first control instruction is used for controlling an autonomous vehicle to bypass an obstacle if the autonomous vehicle is obstructed by the obstacle and cannot bypass the obstacle under the control of an autonomous driving decision module of the autonomous vehicle; determining a second control instruction according to the first control instruction; and controlling the automatic driving vehicle to bypass the obstacle according to the second control instruction.

Description

Automatic driving vehicle control method and device and electronic equipment

Technical Field

The present disclosure relates to the field of vehicle computing technologies, and in particular, to a method and an apparatus for controlling an autonomous vehicle, and an electronic device.

Background

The application of the automatic driving vehicle in the life of people is more and more extensive, and great convenience is brought to the life of people, but in the driving process of the automatic driving vehicle, the automatic driving vehicle is easily obstructed by obstacles on a road, and the automatic driving vehicle cannot automatically bypass the obstacles under the control of an automatic driving decision system, and at the moment, the automatic driving vehicle is generally required to be switched into a manual driving mode to bypass the obstacles.

Disclosure of Invention

The disclosure provides a control method and device for an automatic driving vehicle and electronic equipment.

According to a first aspect of the present disclosure, there is provided an autonomous vehicle control method including:

receiving a first control instruction sent by a server, wherein the first control instruction is used for controlling an autonomous vehicle to bypass an obstacle when the autonomous vehicle is obstructed by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of an autonomous driving decision module of the autonomous vehicle;

determining a second control instruction according to the first control instruction;

and controlling the automatic driving vehicle to bypass the obstacle according to the second control instruction.

According to a second aspect of the present disclosure, there is provided an autonomous vehicle control method comprising:

the method comprises the steps that a first control instruction sent by a target terminal is obtained, and the first control instruction is used for controlling an automatic driving vehicle to bypass an obstacle under the condition that the automatic driving vehicle is obstructed by the obstacle and cannot bypass the obstacle under the control of an automatic driving decision module of the automatic driving vehicle;

and sending the first control instruction to the autopilot decision module, wherein the first control instruction is used for the autopilot decision module to determine a second control instruction, and the second control instruction is used for controlling the autopilot vehicle to bypass the obstacle.

According to a third aspect of the present disclosure, there is provided an autonomous vehicle control method comprising:

the method comprises the steps that a target electronic device sends distress information to a server, wherein the distress information comprises first information and second information, the first information is used for indicating that the target electronic device detects that an automatic driving vehicle is blocked by an obstacle and cannot bypass the obstacle under the control of an automatic driving decision module, and the second information is used for indicating the obstacle;

the server broadcasts the predicament information to a plurality of auxiliary terminals;

a target terminal in the plurality of auxiliary terminals determines a first control instruction of the predicament information and replies the first control instruction to the server;

the server sends the first control instruction to an automatic driving decision module of the automatic driving vehicle;

the automatic driving decision module determines a second control instruction according to the first control instruction;

the autonomous driving decision module controls the autonomous driving vehicle to bypass the obstacle according to the second control instruction.

According to a fourth aspect of the present disclosure, there is provided an autonomous vehicle control apparatus comprising:

the system comprises a first receiving module, a first control module and a second receiving module, wherein the first receiving module is used for receiving a first control instruction sent by a server, and the first control instruction is used for controlling an automatic driving vehicle to bypass an obstacle under the condition that the automatic driving vehicle is blocked by the obstacle and cannot bypass the obstacle under the control of an automatic driving decision module of the automatic driving vehicle;

the first determining module is used for determining a second control instruction according to the first control instruction;

and the first control module is used for controlling the automatic driving vehicle to bypass the obstacle according to the second control instruction.

According to a fifth aspect of the present disclosure, there is provided an autonomous vehicle control apparatus comprising:

the automatic driving control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a first control instruction sent by a target terminal, and the first control instruction is used for controlling an automatic driving vehicle to bypass an obstacle under the condition that the automatic driving vehicle is obstructed by the obstacle and cannot bypass the obstacle under the control of an automatic driving decision module of the automatic driving vehicle;

and the second sending module is used for sending the first control instruction to the automatic driving decision-making module, the first control instruction is used for the automatic driving system decision-making module to determine a second control instruction, and the second control instruction is used for controlling the automatic driving vehicle to bypass the obstacle.

According to a sixth aspect of the present disclosure, there is provided an autonomous vehicle control system comprising: the system comprises a target electronic device, a server, a plurality of auxiliary terminals and an automatic driving decision module of an automatic driving vehicle;

the target electronic device is used for sending distress information to the server, the distress information comprises first information and second information, the first information is used for indicating that the target electronic device detects that the autonomous vehicle is blocked by an obstacle, the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, and the second information is used for indicating the obstacle;

the server is used for broadcasting the predicament information to a plurality of auxiliary terminals;

the target terminal in the plurality of auxiliary terminals is used for determining a first control instruction of the predicament information and replying the first control instruction to the server;

the server is further configured to send the first control instruction to an autonomous driving decision module of the autonomous driving vehicle;

the automatic driving decision module is used for determining a second control instruction according to the first control instruction and controlling the automatic driving vehicle to bypass the obstacle according to the second control instruction

According to a seventh aspect of the present disclosure, there is provided an electronic apparatus comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of the first, second or third aspects.

According to an eighth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of the first, second or third aspects.

According to a ninth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of any one of the first, second or third aspects.

According to a tenth aspect of the present disclosure, there is provided an autonomous vehicle comprising the electronic apparatus of the seventh aspect.

In the embodiment of the disclosure, on the basis of the first control instruction sent by the server, the automatic driving decision module of the automatic driving vehicle can determine the second control instruction, and control the automatic driving vehicle to bypass the obstacle according to the second control instruction, that is, the automatic driving vehicle can be directly controlled to bypass the obstacle without switching the automatic driving vehicle into a manual driving mode to bypass the obstacle, so that the intelligent degree of the control mode that the automatic driving vehicle bypasses the obstacle is enhanced, and meanwhile, the efficiency that the automatic driving vehicle bypasses the obstacle is also improved.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

FIG. 1 is a schematic flow diagram of a method for controlling an autonomous vehicle provided by an embodiment of the disclosure;

FIG. 2 is a second schematic flow chart of a method for controlling an autonomous vehicle according to an embodiment of the disclosure;

FIG. 3a is a schematic diagram of a control system for an autonomous vehicle provided by an embodiment of the present disclosure;

FIG. 3b is a third schematic flow chart of a method for controlling an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of an autonomous vehicle control apparatus provided in an embodiment of the present disclosure;

FIG. 5 is a second schematic structural diagram of an autonomous vehicle control apparatus provided in an embodiment of the present disclosure;

fig. 6 is a third schematic structural diagram of an automatic driving vehicle control device provided by the embodiment of the disclosure;

FIG. 7 is a fourth schematic structural diagram of an autonomous vehicle control apparatus provided by an embodiment of the disclosure;

FIG. 8 is a fifth schematic view of the structure of an autonomous vehicle control apparatus provided by the embodiment of the present disclosure;

FIG. 9 is a sixth schematic view of a control device for an autonomous vehicle according to an embodiment of the present disclosure;

FIG. 10 is a schematic block diagram of an example electronic device used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Referring to fig. 1, fig. 1 is a flowchart of an autonomous vehicle control method according to an embodiment of the present disclosure, where the autonomous vehicle control method shown in fig. 1 may be executed by an autonomous driving decision module of an autonomous vehicle, and as shown in fig. 1, the autonomous vehicle control method may include the following steps:

step S101, receiving a first control instruction sent by a server, wherein the first control instruction is used for controlling an automatic driving vehicle to bypass an obstacle when the automatic driving vehicle is obstructed by the obstacle and the automatic driving vehicle cannot bypass the obstacle under the control of an automatic driving decision module of the automatic driving vehicle.

The specific type of the obstacle is not limited herein, and for example: the obstacle may be an object such as a stone on the road, or the obstacle may be a vehicle stopped on the road.

The vehicle stopped on the road may be a vehicle stopped on the road due to a failure, or the vehicle stopped on the road may be a vehicle stopped in a parking space on the road.

Wherein the condition that the autonomous vehicle is controlled by the autonomous driving decision module to not bypass the obstacle may include: the automatic driving decision module generates a driving route by acquiring information such as the distance, position and direction between the automatic driving vehicle and the obstacle, wherein the driving route cannot bypass the obstacle.

In addition, the case where the autonomous driving decision module controls the autonomous vehicle not to bypass the obstacle may further include: the autonomous driving decision module attempts to bypass the obstacle by controlling the autonomous driving vehicle, but the autonomous driving decision module fails to bypass the obstacle, and the autonomous driving decision module predicts that a collision risk exists between the autonomous driving vehicle and the obstacle if the autonomous driving vehicle continues to travel.

As an optional implementation, the server may be electrically connected to the target electronic device, and when the target electronic device detects that the autonomous driving vehicle is obstructed by an obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, the target electronic device may send the first control instruction to the autonomous driving decision module through the server. Therefore, the target electronic equipment can monitor the state of the automatic driving vehicle in real time and send out a first control instruction according to the state of the automatic driving vehicle, so that the computing resource of the automatic driving vehicle is saved.

It should be noted that, when the forward route of the autonomous vehicle is obstructed by an obstacle and a target identifier is displayed on a display screen of the autonomous vehicle, the target electronic device may determine that the autonomous vehicle is detected to be obstructed by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, where the target identifier may include an identifier of a target color or an identifier of a target content, and is not limited herein.

The type of the target electronic device is not limited herein, and for example: the target electronic device may include at least one of a vehicle-mounted terminal, a cloud server, a virtual web interface, and a simulation application.

As another optional implementation, the method further includes:

sending distress information to the server, the distress information including first information and second information, the first information being indicative that the autonomous vehicle detects that the autonomous vehicle is obstructed by the obstacle and the autonomous vehicle cannot bypass the obstacle under control of the autonomous driving decision module, the second information being indicative of the obstacle;

the receiving of the first control instruction sent by the server includes:

and receiving a first control instruction replied by the server aiming at the predicament information.

The second information may include information such as a position, a size, and a shape of the obstacle.

After receiving the predicament information, the server can directly generate a first control instruction according to the predicament information and send the first control instruction to the automatic driving decision-making module; or the server may also forward the predicament information to other auxiliary terminals, so that the other auxiliary terminals generate a first control instruction according to the predicament information, and then the server receives the first control instruction generated by the other auxiliary terminals and forwards the first control instruction to the automatic driving decision module.

In the embodiment of the disclosure, the automatic driving decision module can monitor the state of the automatic driving vehicle in real time, when the automatic driving decision module finds that the automatic driving vehicle is obstructed by the obstacle and the automatic driving vehicle cannot bypass the obstacle under the control of the automatic driving decision module, the automatic driving decision module can actively send distress information to the server and then receive a first control instruction sent by the server, so that the automatic driving decision module can send distress information to the server in time to request assistance, and after receiving the first control instruction, the automatic driving vehicle can be controlled to smoothly bypass the obstacle, and the efficiency and the success rate of the automatic driving vehicle for bypassing the obstacle are improved.

As an alternative embodiment, the first control instruction is for controlling the autonomous vehicle to bypass an obstacle in the event that the autonomous vehicle is obstructed by the obstacle for a period of time exceeding a preset period of time and the autonomous vehicle is unable to bypass the obstacle under control of the autonomous driving decision module.

The specific value of the preset duration is not limited herein, for example: the preset time period may be 30 seconds or 45 seconds, etc.

In the embodiment of the disclosure, the first control instruction sent by the server is received only when the time length of the automatic driving vehicle blocked by the obstacle exceeds the preset time length and the automatic driving vehicle cannot bypass the obstacle under the control of the automatic driving decision module, so that the accuracy of the detection result of the automatic driving vehicle blocked by the obstacle can be improved, the occurrence of the phenomenon of misjudgment is reduced, and the consumption of computing resources is reduced.

And S102, determining a second control instruction according to the first control instruction.

When the first control instruction sent by the server is received and the second control instruction is determined according to the first control instruction, the state of the obstacle and the state of the automatic driving vehicle are likely to change, and if the automatic driving vehicle is directly controlled according to the first control instruction, the automatic driving vehicle is likely to collide with the obstacle during driving.

Therefore, the first control instruction can be corrected to obtain the second control instruction, so that when the obstacle is bypassed according to the second control instruction, the obstacle is more accurately and quickly bypassed, and the phenomenon that the automatic driving vehicle collides with the obstacle is reduced.

The specific manner of determining the second control instruction according to the first control instruction is not limited herein, for example: the first control instruction may be information supplemented to obtain the second control instruction, or the first control instruction may be corrected to obtain the second control instruction.

As an optional implementation manner, the determining the second control instruction according to the first control instruction includes:

acquiring surrounding environment information of the autonomous vehicle;

and correcting the first control instruction according to the ambient environment information to obtain the second control instruction.

The ambient environment information may include: the target information of the vehicle, the pedestrian and the obstacle around the autonomous driving vehicle may include at least one of information of a position, a distance, whether to move, a moving direction and a moving speed.

In the embodiment of the disclosure, the surrounding environment information of the autonomous vehicle can be acquired, the first control instruction is corrected according to the surrounding information of the autonomous vehicle, and the second control instruction is obtained, so that when the obstacle is bypassed according to the second control instruction, the method is more accurate and quicker, and the phenomenon that the autonomous vehicle collides with the object in the surrounding environment is reduced.

It should be noted that the object in the surrounding environment may include information about a vehicle, a pedestrian, an obstacle, and the like around the autonomous vehicle.

In addition, in this embodiment, when the autonomous driving decision module controls the autonomous driving vehicle to bypass the obstacle, it may determine whether there is a collision risk in real time according to a change in the ambient environment information, and when there is a collision risk, the first control instruction may be modified according to the ambient environment information, so that occurrence of a collision phenomenon may be reduced.

In addition, when the ambient environment information changes, for example: when pedestrians or vehicles suddenly appear around the automatic driving vehicle, the first control instruction can be corrected in real time according to the change of the surrounding environment information, so that the correction efficiency of the control instruction can be improved, and the efficiency of the automatic driving vehicle for bypassing obstacles is further improved.

The first control command and the second control command may be the same or opposite.

For example: if the first control instruction and the second control instruction are the same, the second control instruction can be understood as a control instruction obtained by supplementing and perfecting the first control instruction according to the surrounding environment information, so that the accuracy of the obtained second control instruction is higher, and the automatic driving vehicle age can be controlled to bypass the obstacle more efficiently and quickly.

Specifically, the first control instruction may refer to an instruction for controlling steering of the autonomous vehicle, and the second control instruction may include both an instruction for controlling steering of the autonomous vehicle and an instruction for controlling a specific moving distance of the autonomous vehicle in each advancing direction.

It should be noted that, if the first control instruction and the second control instruction are the same, the automatic driving decision module may send the first control instruction and the second control instruction to the server, that is, both the first control instruction and the second control instruction may be stored in the server, so as to facilitate subsequent training iteration on the automatic driving decision module, so that the control instruction sent by the automatic driving decision module after training iteration is more accurate, and the automatic driving vehicle may be directly controlled to bypass the obstacle.

Another example is: if the first control command and the second control command are opposite, it is indicated that the change of the ambient information is large at this time, and the first control command is affected, and the first control command needs to be corrected to the second control command opposite to the first control command.

It should be noted that when the first control instruction and the second control instruction are opposite, the autonomous vehicle may be preferentially controlled to bypass the obstacle according to the first control instruction, and if the autonomous vehicle cannot bypass the obstacle, the autonomous vehicle may be then controlled to bypass the obstacle according to the second control instruction, so that the first control instruction sent by the server may be preferentially executed, that is, the control operation of the external control instruction on the autonomous vehicle may be preferentially executed, and the situation that the obstacle cannot be bypassed all the time due to the preferential execution of the control instruction of the autonomous driving decision module when the control instruction of the autonomous driving decision module is wrong is avoided.

And step S103, controlling the automatic driving vehicle to bypass the obstacle according to the second control instruction.

The automatic driving vehicle CAN be further provided with a serial Bus system (CAN Bus) layer, and the automatic driving decision module CAN be electrically connected with the CAN Bus layer, so that the automatic driving decision module CAN control the automatic driving vehicle through the CAN Bus layer.

In the embodiment of the disclosure, through steps S101 to S103, on the basis of the first control instruction sent by the server, the automatic driving decision module of the automatic driving vehicle may determine the second control instruction, and control the automatic driving vehicle to bypass the obstacle according to the second control instruction, that is, directly control the automatic driving vehicle to bypass the obstacle without switching the automatic driving vehicle into a manual driving mode to bypass the obstacle, so that the degree of intelligence of the automatic driving vehicle in a control mode of bypassing the obstacle is enhanced, and meanwhile, the efficiency of the automatic driving vehicle in bypassing the obstacle is also improved.

Referring to fig. 2, fig. 2 is a flowchart of another autonomous vehicle control method provided in an embodiment of the present disclosure, where the autonomous vehicle control method shown in fig. 2 may be executed by a server, and as shown in fig. 2, the autonomous vehicle control method may include the following steps:

step S201, a first control instruction sent by a target terminal is obtained, and the first control instruction is used for controlling an automatic driving vehicle to bypass an obstacle when the automatic driving vehicle is obstructed by the obstacle and the automatic driving vehicle cannot bypass the obstacle under the control of an automatic driving decision module of the automatic driving vehicle.

The obstacle, the automatic driving decision module, and the first control instruction may refer to the relevant expressions in the above embodiments, which are not described herein again.

The target terminal may refer to at least one terminal in the auxiliary terminals included in the above embodiments, for example: the number of the other auxiliary terminals may be multiple, and the multiple auxiliary terminals may all send the first control instruction to the server, and the auxiliary terminal corresponding to the first control instruction received by the server first may be determined as the target terminal.

Another example is: the plurality of auxiliary terminals may all send control instructions to the server, the server may receive the control instructions of the plurality of auxiliary terminals and filter the control instructions of the plurality of auxiliary terminals, the finally determined control instruction may be a first control instruction, the first control instruction may be an instruction with highest accuracy among the plurality of control instructions or a shortest instruction when controlling the autonomous vehicle to bypass an obstacle, and the auxiliary terminal corresponding to the first control instruction may be determined as the target terminal.

The specific manner in which the server obtains the first control instruction sent by the target terminal is not limited here, for example: the server may actively acquire the first control instruction sent by the target terminal, or the server may send the predicament information to the target terminal and then receive the first control instruction replied by the target terminal for the predicament information.

In the embodiment of the disclosure, the first control instruction sent by the target terminal is acquired only when the time length of the automatic driving vehicle blocked by the obstacle exceeds the preset time length and the automatic driving vehicle cannot bypass the obstacle under the control of the automatic driving decision module, so that the accuracy of the detection result of the automatic driving vehicle blocked by the obstacle can be improved, the occurrence of misjudgment is reduced, and the consumption of computing resources is reduced.

As an optional implementation manner, the method further includes:

the method comprises the steps of receiving predicament information sent by a target electronic device, wherein the predicament information comprises first information and second information, the first information is used for indicating that the target electronic device detects that an automatic driving vehicle is blocked by an obstacle and cannot bypass the obstacle under the control of an automatic driving decision module, and the second information is used for indicating the obstacle;

broadcasting the dilemma information to a plurality of secondary terminals;

the acquiring of the first control instruction sent by the target terminal includes:

and acquiring a first control instruction replied by a target terminal in the plurality of auxiliary terminals aiming at the predicament information.

When the forward route of the autonomous vehicle is obstructed by the obstacle and the target identifier is displayed on the display screen of the autonomous vehicle, the target electronic device may determine that the autonomous vehicle is detected to be obstructed by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, where the target identifier may include an identifier of a target color or an identifier of target content, and is not limited herein.

The target electronic device may be located on the server, the autonomous driving vehicle, or on one side of the road, that is, the specific location of the target electronic device is not limited herein. The above-described target electronic device may also be referred to as a module for detecting that the autonomous vehicle is stuck in distress or an electronic device for detecting that the autonomous vehicle is stuck in distress.

In the embodiment of the disclosure, the target electronic device detects the state of the autonomous vehicle, and when it is detected that the autonomous vehicle is obstructed by an obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, the distress information may be sent to the server, so that the state of the autonomous vehicle may be monitored by the target electronic device, that is, the monitoring effect on the state of the autonomous vehicle is enhanced.

Step S202, the first control instruction is sent to the automatic driving decision-making module, the first control instruction is used for the automatic driving system decision-making module to determine a second control instruction, and the second control instruction is used for controlling the automatic driving vehicle to bypass the obstacle.

For a specific manner of determining the second control instruction according to the first control instruction, reference may be made to related expressions in the foregoing embodiments, and details are not repeated herein.

In the embodiment of the disclosure, through steps S201 to S202, on the basis of the first control instruction sent by the server, the automatic driving decision module of the automatic driving vehicle may determine the second control instruction, and control the automatic driving vehicle to bypass the obstacle according to the second control instruction, that is, directly control the automatic driving vehicle to bypass the obstacle without switching the automatic driving vehicle into a manual driving mode to bypass the obstacle, so that the degree of intelligence of the automatic driving vehicle in a control mode of bypassing the obstacle is enhanced, and meanwhile, the efficiency of the automatic driving vehicle in bypassing the obstacle is also improved.

As shown in fig. 3a, fig. 3a is a scene diagram to which the embodiment of the present disclosure is applicable, and as shown in fig. 3a, the automatic driving decision module 31, the server 32, the auxiliary terminal 33, and the target electronic device 34 of the automatic driving vehicle are included, and the automatic driving decision module 31, the server 32, the auxiliary terminal 33, and the target electronic device 34 may be understood as constituting one automatic driving system.

The automatic driving decision module 31 and the server 32 may communicate with each other to transmit the distress information and the first control instruction in the above embodiments; the server 32 and the auxiliary terminal 33 can communicate with each other to transmit the distress information and the first control instruction in the above embodiment; the target electronic device 34 and the server 32 may communicate with each other to transmit the distress information in the above embodiments; when the automatic driving vehicle may further be provided with the CAN Bus layer 35, the automatic driving decision module may communicate with the CAN Bus layer 35, and is configured to transmit the second control instruction in the above embodiment.

The installation position of the target electronic device 34 is not limited herein, and may be set on the road side, the server 32, or an autonomous vehicle.

The auxiliary terminal 33 may be a Mobile phone, a Tablet Personal Computer (Tablet Personal Computer), a Laptop Computer (Laptop Computer), a Personal Digital Assistant (PDA), a Mobile Internet Device (MID), a Wearable Device (Wearable Device), a vehicle-mounted Device, or the like. The server 32 may be a base station, Access and Mobility Management Function (AMF), relay, Access point, or other network element, etc.

Referring to fig. 3b, fig. 3b is a flowchart of a method for controlling an autonomous vehicle according to an embodiment of the present disclosure, and an executive subject according to an embodiment of the present disclosure may be understood as an autonomous driving system composed of an autonomous driving decision module 31, a server 32, an auxiliary terminal 33, and a target electronic device 34, as shown in fig. 3b, including the following steps:

step S301, a target electronic device sends distress information to a server, wherein the distress information includes first information and second information, the first information is used for indicating that the target electronic device detects that an autonomous driving vehicle is obstructed by an obstacle, the autonomous driving vehicle cannot bypass the obstacle under the control of an autonomous driving decision module, and the second information is used for indicating the obstacle.

Step S302, the server broadcasts the dilemma information to a plurality of auxiliary terminals.

Step S303, a target terminal of the plurality of auxiliary terminals determines a first control instruction of the distress information, and replies the first control instruction to the server.

Step S304, the server sends the first control instruction to an automatic driving decision module of the automatic driving vehicle.

And step S305, the automatic driving decision module determines a second control instruction according to the first control instruction.

And S306, controlling the automatic driving vehicle to bypass the obstacle by the automatic driving decision module according to the second control instruction.

For each feature of the present embodiment, reference may be made to corresponding expressions in the above embodiments, and details are not repeated herein.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an autonomous vehicle control apparatus according to an embodiment of the present disclosure, and as shown in fig. 4, the autonomous vehicle control apparatus 400 includes:

a first receiving module 401, configured to receive a first control instruction sent by a server, where the first control instruction is used to control an autonomous vehicle to bypass an obstacle if the autonomous vehicle is obstructed by the obstacle and cannot bypass the obstacle under control of an autonomous driving decision module of the autonomous vehicle;

a first determining module 402, configured to determine a second control instruction according to the first control instruction;

a first control module 403 for controlling the autonomous vehicle to bypass the obstacle according to the second control instruction.

Optionally, as shown in fig. 5, the first determining module 402 includes:

an acquisition submodule 4021 for acquiring surrounding environment information of the autonomous vehicle;

the modification submodule 4022 is configured to modify the first control instruction according to the ambient environment information to obtain the second control instruction.

Optionally, as shown in fig. 6, the method further includes:

a first sending module 404, configured to send distress information to the server, where the distress information includes first information and second information, the first information is used to indicate that the autonomous vehicle detects that the autonomous vehicle is obstructed by the obstacle, and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, and the second information is used to indicate the obstacle;

the first receiving module 401 is further configured to receive a first control instruction replied by the server for the distress information.

Optionally, the first control instruction is for controlling the autonomous vehicle to bypass an obstacle if a length of time that the autonomous vehicle is blocked by the obstacle exceeds a preset length of time and the autonomous vehicle cannot bypass the obstacle under control of the autonomous driving decision module.

The automatic driving vehicle control device 400 provided by the present disclosure can implement each process implemented by the automatic driving vehicle control method embodiment shown in fig. 1, and can achieve the same beneficial effects, and is not described herein again to avoid repetition.

Referring to fig. 7, fig. 7 is a schematic structural diagram of an autonomous vehicle control apparatus according to an embodiment of the present disclosure, and as shown in fig. 7, an autonomous vehicle control apparatus 700 includes:

an obtaining module 701, configured to obtain a first control instruction sent by a target terminal, where the first control instruction is used to control an autonomous vehicle to bypass an obstacle when the autonomous vehicle is obstructed by the obstacle and cannot bypass the obstacle under control of an autonomous driving decision module of the autonomous vehicle;

a second sending module 702, configured to send the first control instruction to the autopilot decision module, where the first control instruction is used for the autopilot decision module to determine a second control instruction, and the second control instruction is used for controlling the autonomous vehicle to bypass the obstacle.

Optionally, referring to fig. 8, further comprising:

a second receiving module 703, configured to receive distress information sent by a target electronic device, where the distress information includes first information and second information, the first information is used to indicate that the target electronic device detects that the autonomous vehicle is obstructed by the obstacle, and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, and the second information is used to indicate the obstacle;

a first broadcasting module 704, configured to broadcast the dilemma information to a plurality of secondary terminals;

the obtaining module 701 is further configured to obtain a first control instruction replied by a target terminal in the multiple auxiliary terminals for the distress information.

The autonomous vehicle control apparatus 700 provided by the present disclosure can implement each process implemented by the autonomous vehicle control method embodiment shown in fig. 2, and can achieve the same beneficial effects, and for avoiding repetition, the detailed description is omitted here.

The disclosed embodiment also provides an automatic driving vehicle control system, including: the system comprises a target electronic device, a server, a plurality of auxiliary terminals and an automatic driving decision module of an automatic driving vehicle;

it should be noted that, the structural diagram of the automatic driving vehicle control system provided by the embodiment of the present disclosure can be seen in fig. 3 a.

the automatic driving decision module is used for determining a second control instruction according to the first control instruction and controlling the automatic driving vehicle to bypass the obstacle according to the second control instruction.

The automatic driving vehicle control system provided by the disclosure can realize each process realized by the automatic driving vehicle control method embodiment shown in fig. 3b, and can achieve the same beneficial effects, and is not repeated here for avoiding repetition.

Referring to fig. 9, fig. 9 is a schematic structural diagram of an autonomous vehicle control apparatus according to an embodiment of the present disclosure, and as shown in fig. 9, an autonomous vehicle control apparatus 900 includes:

a third sending module 901, configured to send distress information to a server by a target electronic device, where the distress information includes first information and second information, the first information is used to indicate that the target electronic device detects that the autonomous vehicle is obstructed by an obstacle, and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, and the second information is used to indicate the obstacle;

a second broadcasting module 902, configured to broadcast the dilemma information to a plurality of auxiliary terminals by the server;

a reply module 903, configured to determine a first control instruction of the distress information by a target terminal of the multiple auxiliary terminals, and reply the first control instruction to the server;

a fourth sending module 904, configured to send the first control instruction to an autonomous driving decision module of an autonomous vehicle by the server;

a second determining module 905, configured to determine a second control instruction according to the first control instruction by the automatic driving decision module;

a second control module 906 for the autonomous driving decision module to control the autonomous vehicle to bypass the obstacle according to the second control instruction.

The autonomous vehicle control apparatus 900 provided by the present disclosure can implement each process implemented by the autonomous vehicle control method embodiment shown in fig. 3b, and can achieve the same beneficial effects, and is not described herein again to avoid repetition.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

FIG. 10 illustrates a schematic block diagram of an example electronic device 1000 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 10, the apparatus 1000 includes a computing unit 1001 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)1002 or a computer program loaded from a storage unit 1008 into a Random Access Memory (RAM) 1003. In the RAM1003, various programs and data necessary for the operation of the device 1000 can also be stored. The calculation unit 1001, the ROM 1002, and the RAM1003 are connected to each other by a bus 1004. An input/output (I/O) interface 1005 is also connected to bus 1004.

A number of components in device 1000 are connected to I/O interface 1005, including: an input unit 1006 such as a keyboard, a mouse, and the like; an output unit 1007 such as various types of displays, speakers, and the like; a storage unit 1008 such as a magnetic disk, an optical disk, or the like; and a communication unit 1009 such as a network card, a modem, a wireless communication transceiver, or the like. The communication unit 1009 allows the device 1000 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

Computing unit 1001 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 1001 executes the respective methods and processes described above, such as the automated driving vehicle control method. For example, in some embodiments, the autonomous vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1008. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 1000 via ROM 1002 and/or communications unit 1009. When the computer program is loaded into RAM1003 and executed by computing unit 1001, one or more steps of the above-described autonomous vehicle control method may be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured to perform the autonomous vehicle control method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

As an alternative embodiment, the embodiment of the present disclosure further provides an autonomous vehicle, which includes an electronic device as shown in fig. 10, and a location of the electronic device in the autonomous vehicle is not limited herein. In this way, since the autonomous driving vehicle includes the electronic device, the same advantageous technical effects as those of the electronic device are obtained, and the specific structure of the electronic device may be referred to the above related expressions, which are not described herein again in detail.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. An autonomous vehicle control method comprising:

receiving a first control instruction sent by a server, wherein the first control instruction is used for controlling an autonomous vehicle to bypass an obstacle if the autonomous vehicle is obstructed by the obstacle and cannot bypass the obstacle under the control of an autonomous driving decision module of the autonomous vehicle;

2. The method of claim 1, wherein the determining a second control instruction from the first control instruction comprises:

acquiring surrounding environment information of the autonomous vehicle;

3. The method of claim 1 or 2, further comprising:

sending distress information to the server, the distress information including first information and second information, the first information indicating that the autonomous vehicle detects that the autonomous vehicle is obstructed by the obstacle and that the autonomous vehicle cannot bypass the obstacle under control of the autonomous driving decision module, the second information indicating the obstacle;

the receiving of the first control instruction sent by the server includes:

4. A method according to claim 1 or 2 wherein the first control instruction is for controlling the autonomous vehicle to bypass an obstacle if the length of time that the autonomous vehicle is blocked by the obstacle exceeds a preset length of time and the autonomous vehicle is unable to bypass the obstacle under control of the autonomous driving decision module.

5. An autonomous vehicle control method comprising:

6. The method of claim 5, wherein the first control instruction is to control the autonomous vehicle to bypass an obstacle if a period of time for which the autonomous vehicle is obstructed by the obstacle exceeds a preset period of time and the autonomous vehicle is unable to bypass the obstacle under control of the autonomous driving decision module.

7. The method of claim 5, further comprising:

broadcasting the dilemma information to a plurality of secondary terminals;

8. An autonomous vehicle control method comprising:

the server broadcasts the dilemma information to a plurality of auxiliary terminals;

the server sends the first control instruction to an automatic driving decision module of an automatic driving vehicle;

9. An autonomous vehicle control apparatus comprising:

10. The autonomous-vehicle control apparatus of claim 9, wherein the first determining module comprises:

an acquisition submodule for acquiring surrounding environment information of the autonomous vehicle;

and the correction submodule is used for correcting the first control instruction according to the ambient environment information to obtain the second control instruction.

11. The autonomous-vehicle control apparatus according to claim 9 or 10, further comprising:

a first sending module, configured to send distress information to the server, where the distress information includes first information and second information, the first information is used to indicate that the autonomous vehicle detects that the autonomous vehicle is obstructed by the obstacle, and the autonomous vehicle cannot bypass the obstacle under control of the autonomous driving decision module, and the second information is used to indicate the obstacle;

the first receiving module is further configured to receive a first control instruction replied by the server for the distress information.

12. The autonomous-vehicle control apparatus of claim 9 or 10, wherein the first control instruction is to control the autonomous vehicle to bypass an obstacle if a period of time for which the autonomous vehicle is obstructed by the obstacle exceeds a preset period of time and the autonomous vehicle is unable to bypass the obstacle under control of the autonomous driving decision module.

13. An autonomous vehicle control apparatus comprising:

and the second sending module is used for sending the first control instruction to the automatic driving decision module, the first control instruction is used for determining a second control instruction by the automatic driving system decision module, and the second control instruction is used for controlling the automatic driving vehicle to bypass the obstacle.

14. The autonomous-vehicle control apparatus of claim 13, wherein the first control instruction is to control the autonomous vehicle to bypass an obstacle if a length of time that the autonomous vehicle is blocked by the obstacle exceeds a preset length of time and the autonomous vehicle is unable to bypass the obstacle under control of the autonomous-driving decision module.

15. The autonomous-vehicle control apparatus of claim 13, further comprising:

a second receiving module, configured to receive distress information sent by a target electronic device, where the distress information includes first information and second information, the first information is used to indicate that the target electronic device detects that the autonomous vehicle is obstructed by the obstacle, and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, and the second information is used to indicate the obstacle;

the first broadcasting module is used for broadcasting the predicament information to a plurality of auxiliary terminals;

the obtaining module is further configured to obtain a first control instruction, replied by a target terminal of the plurality of auxiliary terminals, for the distress information.

16. An autonomous vehicle control system comprising: the system comprises a target electronic device, a server, a plurality of auxiliary terminals and an automatic driving decision module of an automatic driving vehicle;

the server is used for broadcasting the distress information to a plurality of auxiliary terminals;

17. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4, or to enable the at least one processor to perform the method of any one of claims 5-7, or to enable the at least one processor to perform the method of claim 8.

18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-4, or the computer instructions for causing the computer to perform the method of any one of claims 5-7, or the computer instructions for causing the computer to perform the method of claim 8.

19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-4, or which, when executed by a processor, implements the method according to any one of claims 5-7, or which, when executed by a processor, implements the method according to claim 8.

20. An autonomous vehicle comprising the electronic device of claim 17.