CN114756023A - Automatic driving vehicle control method, device, electronic equipment and storage medium - Google Patents
Automatic driving vehicle control method, device, electronic equipment and storage medium Download PDFInfo
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Abstract
The present disclosure provides a method, an apparatus, an electronic device and a storage medium for controlling an autonomous vehicle, which relate to the field of artificial intelligence such as autonomous driving and intelligent transportation, wherein the method may include: determining departure time according to the acquired task information, wherein the task information is the task information issued by the cloud platform to the automatic driving vehicle; in response to determining the arrival-departure time, controlling the autonomous vehicle to depart to a target location indicated in the mission information. By applying the scheme disclosed by the invention, the automatic driving vehicle can be effectively controlled, and the application scene of the automatic driving vehicle is expanded.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to a method and an apparatus for controlling an autonomous vehicle, an electronic device, and a storage medium in the fields of autonomous driving and intelligent transportation.
Background
With the development of the automatic driving technology, the automatic driving vehicle is inevitably applied in more scenes, and accordingly, the problem of how to effectively control the automatic driving vehicle needs to be solved.
Disclosure of Invention
The disclosure provides an autonomous vehicle control method, an autonomous vehicle control apparatus, an electronic device, and a storage medium.
An autonomous vehicle control method comprising:
determining departure time according to the acquired task information, wherein the task information is the task information which is issued to the automatic driving vehicle by the cloud platform;
in response to determining that the departure time is reached, controlling the autonomous vehicle to depart to travel to a target location indicated in the task information.
An autonomous vehicle control method comprising:
generating task information for any autonomous vehicle;
and issuing the task information to the automatic driving vehicle for the automatic driving vehicle to start and drive to a target place indicated in the task information when the automatic driving vehicle reaches the starting time determined according to the task information.
An autonomous vehicle control apparatus comprising: the device comprises a first control module and a second control module;
the first control module is used for determining a starting time according to the acquired task information, and the task information is the task information which is issued by the cloud platform to the automatic driving vehicle;
the second control module is used for responding to the fact that the departure time is determined to be reached, and controlling the automatic driving vehicle to depart and travel to the target position indicated in the task information.
An autonomous vehicle control apparatus comprising: the system comprises a task generating module and a task issuing module;
the task generating module is used for generating task information aiming at any automatic driving vehicle;
and the task issuing module is used for issuing the task information to the automatic driving vehicle and is used for starting the automatic driving vehicle to drive to the target place indicated in the task information when the automatic driving vehicle reaches the starting time determined according to the task information.
An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method as described above.
A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method as described above.
A computer program product comprising computer programs/instructions which, when executed by a processor, implement a method as described above.
One embodiment in the above disclosure has the following advantages or benefits: the automatic driving vehicle can start to travel to the target location indicated in the task information at the preset starting time according to the task information issued by the cloud platform, so that the effective control on the automatic driving vehicle is realized, the application scene of the automatic driving vehicle is expanded, the usability of the automatic driving vehicle is improved, and the like.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a flow chart of a first embodiment of an autonomous vehicle control method according to the present disclosure;
FIG. 2 is a flow chart of a second embodiment of an autonomous vehicle control method according to the present disclosure;
FIG. 3 is a flow chart of a third embodiment of a method of controlling an autonomous vehicle according to the present disclosure;
FIG. 4 is a schematic diagram of a first embodiment 400 of an autonomous vehicle control apparatus according to the present disclosure;
FIG. 5 is a schematic structural diagram illustrating a second embodiment 500 of an autonomous vehicle control apparatus according to the present disclosure;
FIG. 6 illustrates a schematic block diagram of an electronic device 600 that may be 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.
In addition, it should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
FIG. 1 is a flow chart of a first embodiment of an autonomous vehicle control method according to the present disclosure. As shown in fig. 1, the following detailed implementation is included.
In step 101, the departure time is determined according to the acquired task information, and the task information is the task information issued by the cloud platform to the automatic driving vehicle.
In step 102, in response to determining that the departure time is reached, controlling the autonomous vehicle to depart to travel to the target location indicated in the task information.
By adopting the scheme of the method embodiment, the automatic driving vehicle can start to travel to the target location indicated in the task information at the preset starting time according to the task information issued by the cloud platform, so that the effective control on the automatic driving vehicle is realized, the application scene of the automatic driving vehicle is expanded, the usability of the automatic driving vehicle is improved, and the like.
The autonomous vehicle in the solution of the present disclosure may be a level 4 (L4) autonomous vehicle.
For any one of the autonomous vehicles, the cloud platform may generate task information and may issue the generated task information to the autonomous vehicle.
What is specifically included in the task information may depend on actual needs. In one embodiment of the present disclosure, the task information may include: the number of the target places is M, wherein M is a positive integer, namely the number of the target places can be one or a plurality of.
Accordingly, in one embodiment of the present disclosure, when determining the departure time according to the acquired task information, if the current position of the autonomous vehicle is the starting point, the departure time may be used as the departure time, and if the current position of the autonomous vehicle is any target point other than the last target point, the departure time may be determined according to the time for the autonomous vehicle to reach the current position and the time length required to stay at the current position.
How to obtain the length of stay at the current location is not limited, and for example, the length of stay may be preset or may be carried in the task information, and the length of stay at each target location is generally the same.
Assuming that the value of M is 3, for convenience of description, 3 target locations are respectively referred to as a target location 1, a target location 2, and a target location 3, and assuming that the current position of the autonomous vehicle is the target location 1, the departure time may be determined according to the time when the autonomous vehicle reaches the target location 1 and the time length required to stay at the target location 1, and assuming that the current position of the autonomous vehicle is the target location 2, the departure time may be determined according to the time when the autonomous vehicle reaches the target location 2 and the time length required to stay at the target location 2.
If the current position of the automatic driving vehicle is the initial position, the departure time can be directly used as the departure time. The starting position may be the same as the original position where the autonomous vehicle is located, such as a garage where the autonomous vehicle is located, or may be different from the original position, and in the latter case, after the autonomous vehicle acquires the task information, the autonomous vehicle may automatically travel to the starting position before the departure time.
By the method, the departure time of the automatic driving vehicle can be accurately and efficiently determined, and therefore effective control over the automatic driving vehicle is achieved.
Accordingly, if the arrival-departure time is determined, the autonomous vehicle may be controlled to depart to travel to the target point indicated in the task information.
In one embodiment of the disclosure, a path planning may be performed according to a current position of the autonomous vehicle and a next target location to obtain a planned driving path, and the autonomous vehicle may be controlled to drive to the next target location according to the driving path.
Assuming that the current position of the automatic driving vehicle is the target location 1, a path between the target location 1 and the target location 2 can be planned, so that a planned driving path is obtained, and further, when the departure time is reached, the automatic driving vehicle can be controlled to depart from the target location 1 and drive to the target location 2 according to the driving path.
The driving path can be planned in a segmented mode, so that the accuracy of a planning result is improved, the driving efficiency of the automatic driving vehicle is improved, and the like.
In one embodiment of the disclosure, if the departure time is determined, a vehicle start instruction may be issued first, and then if a confirmation instruction returned for the vehicle start instruction is acquired, the autonomous vehicle may be controlled to depart and travel to the target point indicated in the task information.
The form in which the vehicle activation indication is issued is not limiting. For example, a predetermined button may be turned on, and when the security officer presses the button, it may be considered that the confirmation instruction is acquired, and the autonomous vehicle may be controlled to start and travel to the target point indicated in the task information.
By lighting the preset button, the safety officer can be prompted/indicated that the vehicle is about to be started, correspondingly, the safety officer can confirm whether passengers on the automatic driving vehicle are all seated or not, and the like, if the passengers who are not seated are prevented from falling down due to vehicle starting, if no problem is confirmed, the button can be pressed, a confirmation instruction is sent out, and then the automatic driving vehicle can be controlled to start to run to the target location indicated in the task information, so that the driving safety is improved.
In an embodiment of the disclosure, the riding prompt information can be generated according to the task information, and can be displayed through a screen, and/or broadcast.
The specific content included in the riding prompt information may be determined according to actual needs, for example, the next destination location, the stay time at the next destination location, and the like may be included.
Through the mode, passengers on the automatic driving vehicle can visually and clearly know the related information such as the vehicle travel and the like, and the information acquisition of users is facilitated.
In practical application, the method disclosed by the disclosure can be used for enabling the automatic driving vehicle to start from the appointed departure time and go to the appointed target place for receiving people. Accordingly, the departure time in the task information may be the departure time, the starting location may be the original location where the autonomous vehicle is located, and the target location may be one location where the person to be picked up is located.
In addition, the automatic driving vehicle can also be used as a bus, so that a plurality of target places can be provided.
FIG. 2 is a flow chart of a second embodiment of an autonomous vehicle control method of the present disclosure. It is assumed that the autonomous vehicle in the present embodiment is used as a bus, and in addition, it is assumed that there are 2 (for illustration only, and may be much larger in practice) target sites. As shown in fig. 2, the following detailed implementation is included.
In step 201, task information issued by the cloud platform to the autonomous vehicle is obtained.
Assuming that there are multiple autonomous vehicles as buses, the cloud platform may perform task scheduling on the multiple autonomous vehicles, such as arranging departure times of the respective autonomous vehicles at intervals of 20 minutes for the same bus route.
The task information may include: departure time, starting location and 2 destination locations.
In step 202, the autonomous vehicle is controlled to travel to the starting point indicated in the task information.
The starting point may be a starting station on a bus route, and the autonomous vehicle may automatically travel to the starting point from an original location where the autonomous vehicle is located.
In step 203, the departure time in the task information is set as the departure time, and when the departure time is determined to be reached, a vehicle start instruction is issued.
For example, a predetermined button may be illuminated, which may be a button located on a 7 "screen of the end of the car hardware.
In step 204, if a confirmation instruction for returning the vehicle start instruction is acquired, the automatic driving vehicle is controlled to start and run to the first target point indicated in the task information.
For example, after confirming that all passengers in the vehicle are seated, the security officer may press the predetermined button, i.e., issue a confirmation command, and accordingly, may automatically control the autonomous vehicle to start to travel to the first destination point indicated in the service information.
In addition, the predetermined button may be turned off after the confirmation instruction is acquired.
Furthermore, a path can be planned according to the starting point and the first target point to obtain a planned driving path, and the automatic driving vehicle can be controlled to drive to the first target point according to the driving path.
In step 205, after reaching the first target location, a departure time is determined based on the time the autonomous vehicle reaches the target location and the length of time the autonomous vehicle needs to remain at the target location, and a vehicle start indication is issued when the departure time is determined.
In step 206, if a confirmation instruction for returning the vehicle start instruction is acquired, the automatic driving vehicle is controlled to start and run to the second target point indicated in the task information.
For example, a path may be planned based on the first target location and the second target location to obtain a planned travel path, and the autonomous vehicle may be controlled to travel to the second target location according to the travel path.
After reaching the second target location and staying for a certain period of time, no limitation is imposed on how to deal with the second target location, for example, the autonomous vehicle can be controlled to return to the original position, and the like.
In addition, the riding prompt information can be generated according to the task information and can be displayed through a screen, and/or the riding prompt information is broadcasted.
For example, the riding prompt message can be displayed to the passenger through the 10-inch screen of the vehicle end, and/or the riding prompt message can be broadcast to the passenger.
For example, the riding prompt information may include information of a next target point and a staying time at the next target point during the driving of the autonomous vehicle, and when the autonomous vehicle stays at the staying state, the riding prompt information may include information of a currently arriving target point, a next target point, and a departure time.
The scheme of the present disclosure is mainly explained from the automatic driving vehicle side, and is further explained from the cloud platform side.
FIG. 3 is a flow chart of a third embodiment of an autonomous vehicle control method according to the present disclosure. As shown in fig. 3, the following detailed implementation is included.
In step 301, task information for any autonomous vehicle is generated.
In step 302, the task information is issued to an autonomous vehicle, and the autonomous vehicle starts to travel to a target location indicated in the task information when the autonomous vehicle reaches a start time determined according to the task information.
By adopting the scheme of the method embodiment, the automatic driving vehicle can drive to the target place indicated in the task information at the preset starting time according to the task information issued by the cloud platform, so that the effective control on the automatic driving vehicle is realized, the application scene of the automatic driving vehicle is expanded, the usability of the automatic driving vehicle is improved, and the like.
In one embodiment of the present disclosure, the task information may include: departure time, a starting place and target places, wherein the number of the target places is M, and M is a positive integer.
Accordingly, in one embodiment of the present disclosure, when the current location of the autonomous vehicle is the starting location, the departure time may be departure time, and when the current location of the autonomous vehicle is any target location other than the last target location, the departure time may be departure time determined according to the time when the autonomous vehicle reaches the current location and the time length required to stay at the current location.
In an embodiment of the present disclosure, the driving route may be a driving route obtained after performing route planning on a current position and a next target location.
In practical application, for any automatic driving vehicle, the cloud platform can also adjust the task information issued to the automatic driving vehicle according to actual needs, for example, if the departure time of the automatic driving vehicle needs to be adjusted for some reason, the task information can be generated and issued again, and accordingly, the automatic driving vehicle can issue according to the departure time in the latest acquired task information.
It is noted that while for simplicity of explanation, the foregoing method embodiments are described as a series of acts, those skilled in the art will appreciate that the present disclosure is not limited by the order of acts, as some steps may, in accordance with the present disclosure, occur in other orders and concurrently. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that acts and modules are not required for the present disclosure. In addition, for parts which are not described in detail in a certain embodiment, reference may be made to relevant descriptions in other embodiments.
In a word, by adopting the scheme of the embodiment of the method, the effective control on the automatic driving vehicle can be realized, the application scene of the automatic driving vehicle is expanded, for example, the automatic driving vehicle is used as a bus to pick up and send passengers, and the usability of the automatic driving vehicle is further improved.
The above is a description of embodiments of the method, and the embodiments of the apparatus are further described below.
Fig. 4 is a schematic structural diagram of a first embodiment 400 of an autonomous vehicle control apparatus according to the present disclosure. As shown in fig. 4, includes: a first control module 401 and a second control module 402.
The first control module 401 is configured to determine a departure time according to the acquired task information, where the task information is task information that is issued by the cloud platform to the autonomous vehicle.
A second control module 402 for controlling the autonomous vehicle to drive off to the target location indicated in the mission information in response to determining the arrival-to-departure time.
By adopting the scheme of the device embodiment, the automatic driving vehicle can drive to the target place indicated in the task information at the preset starting time according to the task information issued by the cloud platform, so that the effective control on the automatic driving vehicle is realized, the application scene of the automatic driving vehicle is expanded, the usability of the automatic driving vehicle is improved, and the like.
What is specifically included in the task information may depend on actual needs. In one embodiment of the present disclosure, the task information may include: the number of the target places is M, wherein M is a positive integer, namely the number of the target places can be one or a plurality of.
Accordingly, in an embodiment of the disclosure, when determining the departure time according to the acquired task information, if the current position of the autonomous vehicle is the starting point, the first control module 401 may use the departure time as the departure time, and if the current position of the autonomous vehicle is any target point other than the last target point, the departure time may be determined according to the time for the autonomous vehicle to reach the current position and the time length required to stay at the current position.
How to obtain the length of stay at the current location is not limited, and for example, the length of stay may be preset or may be carried in the task information, and the length of stay at each target location is generally the same.
Accordingly, in response to determining the arrival at the departure time, the second control module 402 may control the autonomous vehicle to travel to the destination point indicated in the mission information.
In one embodiment of the disclosure, in response to determining that the departure time is reached, the second control module 402 may further issue a vehicle start instruction first, and in response to obtaining a confirmation instruction returned for the vehicle start instruction, may control the autonomous vehicle to depart to travel to the target point indicated in the task information.
The form in which the vehicle activation indication is issued is not limiting. For example, a predetermined button may be turned on, and when the security officer presses the button, it may be considered that the confirmation instruction is acquired, and the autonomous vehicle may be controlled to start and travel to the target point indicated in the task information.
In an embodiment of the present disclosure, the second control module 402 may further perform path planning according to the current position of the autonomous vehicle and a next target location, to obtain a planned driving path, and may control the autonomous vehicle to drive to the next target location according to the driving path.
In an embodiment of the disclosure, the second control module 402 may further generate the riding prompt information according to the task information, display the riding prompt information through a screen, and/or broadcast the riding prompt information.
The specific content included in the riding prompt information may be determined according to actual needs, for example, the next destination point, the staying time at the next destination point, and the like may be included.
Fig. 5 is a schematic structural diagram of a second embodiment 500 of the control device of the autonomous vehicle according to the present disclosure. As shown in fig. 5, includes: a task generating module 501 and a task issuing module 502.
A task generating module 501 for generating task information for any autonomous vehicle.
And the task issuing module 502 is configured to issue the task information to the autonomous vehicle, and is configured to start the autonomous vehicle to travel to the target location indicated in the task information when the autonomous vehicle reaches the start time determined according to the task information.
By adopting the scheme of the embodiment of the device, the automatic driving vehicle can start to travel to the target location indicated in the task information at the preset starting time according to the task information issued by the cloud platform, so that the effective control on the automatic driving vehicle is realized, the application scene of the automatic driving vehicle is expanded, the usability of the automatic driving vehicle is improved, and the like.
In one embodiment of the present disclosure, the task information may include: departure time, a starting place and target places, wherein the number of the target places is M, and M is a positive integer.
Accordingly, in an embodiment of the present disclosure, when the current location of the autonomous vehicle is the starting location, the departure time may be departure time, and when the current location of the autonomous vehicle is any one of the target locations other than the last target location, the departure time may be departure time determined according to the time for the autonomous vehicle to reach the current location and the time length required to stay at the current location.
In an embodiment of the present disclosure, the driving route may be a driving route obtained after performing route planning on a current position and a next target location.
The specific working flows of the embodiments of the apparatuses shown in fig. 4 and fig. 5 may refer to the related descriptions in the foregoing method embodiments, and are not repeated.
In a word, by adopting the scheme of the embodiment of the device disclosed by the invention, the effective control on the automatic driving vehicle can be realized, the application scene of the automatic driving vehicle is expanded, for example, the automatic driving vehicle is used as a bus to pick up and deliver passengers, and the usability of the automatic driving vehicle is further improved.
The scheme disclosed by the disclosure can be applied to the field of artificial intelligence, in particular to the fields of automatic driving, intelligent transportation and the like. Artificial intelligence is a subject for studying a computer to simulate some thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning and the like) of a human, and has a hardware technology and a software technology, the artificial intelligence hardware technology generally comprises technologies such as a sensor, a special artificial intelligence chip, cloud computing, distributed storage, big data processing and the like, and the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, machine learning/deep learning, a big data processing technology, a knowledge graph technology and the like.
The task information in the embodiments of the present disclosure is not specific to a particular user and does not reflect personal information of a particular user. In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.
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. 6 illustrates a schematic block diagram of an electronic device 600 that may 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, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, 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 intended to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the apparatus 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the device 600 can also be stored. The calculation unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
A number of components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, a mouse, or the like; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 601 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 computing unit 601 performs the various methods and processes described above, such as the methods described in this disclosure. For example, in some embodiments, the methods described in this disclosure may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the methods described in the present disclosure may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured by any other suitable means (e.g., by means of firmware) to perform the methods described in the present disclosure.
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), Complex 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 can 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.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
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 (19)
1. An autonomous vehicle control method comprising:
determining departure time according to the acquired task information, wherein the task information is the task information issued by the cloud platform to the automatic driving vehicle;
in response to determining that the departure time is reached, controlling the autonomous vehicle to depart to travel to a target location indicated in the task information.
2. The method of claim 1, wherein the controlling the autonomous vehicle to drive off to a target location indicated in the task information in response to determining that the departure time is reached comprises:
in response to determining that the departure time is reached, issuing a vehicle start indication;
and in response to the acquisition of a confirmation instruction returned by the vehicle starting instruction, controlling the automatic driving vehicle to start and run to the target point indicated in the task information.
3. The method of claim 1 or 2,
the task information comprises: the system comprises departure time, a starting place and target places, wherein the number of the target places is M, and M is a positive integer;
the determining the departure time according to the acquired task information includes:
if the current position of the automatic driving vehicle is the starting place, taking the departure time as the departure time;
and if the current position of the automatic driving vehicle is any target position except the last target position, determining the departure time according to the time for the automatic driving vehicle to reach the current position and the time length for the automatic driving vehicle to stay at the current position.
4. The method of claim 3, wherein the controlling the autonomous vehicle to drive off to a target location indicated in the task information comprises:
planning a path according to the current position and the next target location to obtain a planned driving path;
and controlling the automatic driving vehicle to drive to the next target point according to the driving path.
5. The method of claim 1 or 2, further comprising:
generating riding prompt information according to the task information;
and displaying the riding prompt information through a screen, and/or broadcasting the riding prompt information.
6. An autonomous vehicle control method comprising:
generating task information for any autonomous vehicle;
and issuing the task information to the automatic driving vehicle for the automatic driving vehicle to start and drive to a target place indicated in the task information when the automatic driving vehicle reaches the starting time determined according to the task information.
7. The method of claim 6, wherein,
the task information comprises: the system comprises departure time, a starting place and target places, wherein the number of the target places is M, and M is a positive integer;
when the current position of the automatic driving vehicle is the starting place, the departure time is the departure time;
and when the current position of the automatic driving vehicle is any target position except the last target position, the departure time is determined according to the time for the automatic driving vehicle to reach the current position and the time length required to stay at the current position.
8. The method of claim 7, wherein,
and the driving path is obtained by planning the current position and the next target location.
9. An autonomous vehicle control apparatus comprising: the device comprises a first control module and a second control module;
the first control module is used for determining a starting time according to the acquired task information, and the task information is the task information which is issued by the cloud platform to the automatic driving vehicle;
the second control module is used for responding to the fact that the departure time is determined to be reached, and controlling the automatic driving vehicle to depart and travel to the target position indicated in the task information.
10. The apparatus of claim 9, wherein,
the second control module sends a vehicle starting instruction in response to the fact that the departure time is determined to be reached, and controls the automatic driving vehicle to depart and run to the target place indicated in the task information in response to the fact that a confirmation instruction returned by the vehicle starting instruction is obtained.
11. The apparatus of claim 9 or 10,
the task information comprises: the system comprises departure time, a starting place and target places, wherein the number of the target places is M, and M is a positive integer;
when the current position of the automatic driving vehicle is any target place except the last target place, the first control module determines the departure time according to the time when the automatic driving vehicle reaches the current position and the time length required for the automatic driving vehicle to stay at the current position.
12. The apparatus of claim 11, wherein,
and the second control module performs path planning according to the current position and the next target location to obtain a planned driving path, and controls the automatic driving vehicle to drive to the next target location according to the driving path.
13. The apparatus of claim 9 or 10,
the second control module is further used for generating riding prompt information according to the task information, displaying the riding prompt information through a screen, and/or broadcasting the riding prompt information.
14. An autonomous vehicle control apparatus comprising: the system comprises a task generating module and a task issuing module;
the task generating module is used for generating task information aiming at any automatic driving vehicle;
and the task issuing module is used for issuing the task information to the automatic driving vehicle and is used for starting the automatic driving vehicle to drive to the target place indicated in the task information when the automatic driving vehicle reaches the starting time determined according to the task information.
15. The apparatus of claim 14, wherein,
the task information comprises: the system comprises departure time, a starting place and target places, wherein the number of the target places is M, and M is a positive integer;
when the current position of the automatic driving vehicle is the starting place, the starting time is the departure time;
and when the current position of the automatic driving vehicle is any target position except the last target position, the departure time is determined according to the time for the automatic driving vehicle to reach the current position and the time length required to stay at the current position.
16. The apparatus of claim 15, wherein,
and the driving path is obtained by planning the current position and the next target location.
17. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
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 1-8.
18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1-8.
19. A computer program product comprising a computer program/instructions which, when executed by a processor, implement the method of any one of claims 1-8.
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|---|---|---|---|
| CN202210265043.7A CN114756023A (en) | 2022-03-17 | 2022-03-17 | Automatic driving vehicle control method, device, electronic equipment and storage medium |
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| CN202210265043.7A CN114756023A (en) | 2022-03-17 | 2022-03-17 | Automatic driving vehicle control method, device, electronic equipment and storage medium |
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