CN114771553B

CN114771553B - Method and apparatus for controlling vehicle travel, vehicle, and storage medium

Info

Publication number: CN114771553B
Application number: CN202210700935.5A
Authority: CN
Inventors: 吴丹丹
Original assignee: Guoqi Intelligent Control Beijing Technology Co Ltd
Current assignee: Guoqi Intelligent Control Beijing Technology Co Ltd
Priority date: 2022-06-21
Filing date: 2022-06-21
Publication date: 2022-09-13
Anticipated expiration: 2042-06-21
Also published as: CN114771553A

Abstract

The application provides a vehicle driving control method, equipment, a vehicle and a storage medium, which relate to the technical field of automobiles, wherein electronic equipment obtains vehicle information of a current vehicle, and also receives the vehicle information sent by a target vehicle in a preset geographic area, after the vehicle information of the target vehicle is utilized to update a vehicle information mapping table, the information fusion is carried out on the vehicle information of the current vehicle and all the vehicle information in the vehicle information mapping table to obtain vehicle fusion information, path planning is carried out according to the vehicle fusion information to obtain a preset driving route, so that the current vehicle is controlled to run according to the preset driving route, the synchronization of environment information and decision information is directly carried out on the current vehicle and surrounding vehicles in the preset area, the mastering degree of the current vehicle on the surrounding environment information quantity is ensured, the influence of network speed on information transmission is reduced, and the accuracy of the vehicle on environment perception is improved, thereby improving the safety of the vehicle operation.

Description

Method and device for controlling vehicle running, vehicle and storage medium

Technical Field

The present application relates to the field of automotive technologies, and in particular, to a method and an apparatus for controlling vehicle driving, a vehicle, and a storage medium.

Background

With the development of the intelligent networked automobile, the automobile can realize automatic driving through sensing environmental information, information fusion, path planning and vehicle control in sequence. Because the perception visual angle of the vehicle-end sensor is limited, the environmental information obtained by the vehicle is not comprehensive, and the potential safety hazard exists in a path planning result.

In order to enrich the information acquired by the vehicle, an intelligent road facility can be installed near the road, after the facility acquires the dynamic and static information of the road environment and the traffic participants, the acquired information is sent to a cloud server, the information acquired by the vehicle is also sent to the cloud server, the acquired information is integrated and then synchronized by the server to the vehicle, so that the vehicle can perform information fusion on the environment information sensed by the current vehicle and the received information, and path planning and vehicle control are performed on the basis. However, in the process of data interaction between the vehicle and the intelligent road facility, the vehicle is affected by communication delay, so that the information transmission between the vehicle and the intelligent road facility is not timely, synchronous partial information is lost, fused information has errors, and the vehicle cannot perform path planning and operation control correctly, which is not beneficial to the safe operation of the vehicle.

Disclosure of Invention

The application provides a vehicle running control method, device, vehicle and storage medium, which are used for solving the technical problem of low accuracy of sensing surrounding information by the vehicle.

In a first aspect, the present application provides a method for controlling vehicle driving, the method being applied to an electronic device in a vehicle, the method comprising:

obtaining vehicle information of a current vehicle and vehicle information sent by a target vehicle in a preset geographic area; the vehicle information comprises vehicle identification, environment information and vehicle decision information;

updating a vehicle information mapping table by using vehicle information sent by a target vehicle; the vehicle information mapping table represents the mapping relation among the vehicle identification, the environmental information and the vehicle decision information;

carrying out information fusion on the vehicle information of the current vehicle and all the vehicle information in the vehicle information mapping table to obtain vehicle fusion information;

and planning a path according to the vehicle fusion information to obtain a preset driving route so as to control the current vehicle to operate according to the preset driving route.

In the technical scheme, the electronic equipment directly acquires the vehicle information with high relevance with the current vehicle from the target vehicle through the preset geographic area, and integrates the vehicle information acquired by the current vehicle, so that the peripheral information acquired by the vehicle is enriched, the path of information transmission is shortened, the influence of time delay on the accuracy of the acquired information is reduced, the accuracy of the peripheral information sensed by the vehicle is improved, and the path planning is performed on the basis, so that the accuracy of the planning result is improved, and the safety of vehicle driving control is improved.

Optionally, the obtaining of the vehicle information of the current vehicle specifically includes:

acquiring environmental information acquired by a sensor unit of a current vehicle and operation information of the current vehicle; the environment information comprises road condition information and driving information of surrounding traffic participants;

processing the environmental information according to the behavior prediction model to obtain movement intention information of surrounding traffic participants;

processing environmental information and current vehicle operation information according to the path planning model to obtain driving planning information;

the vehicle decision information comprises movement intention information of surrounding traffic participants and driving planning information of a current vehicle.

Optionally, the obtaining of the vehicle information sent by the target vehicle in the preset geographic area specifically includes:

establishing a communication connection relation between a current vehicle and a target vehicle;

the method comprises the steps of sending a vehicle identifier and vehicle position information of a current vehicle to a target vehicle, and receiving the vehicle identifier and the vehicle position information sent by the target vehicle;

when the target vehicle is determined to be in the preset geographic area according to the vehicle position information, sending the environmental information collected by the current vehicle and the generated vehicle decision information to the target vehicle according to a first preset time interval, and receiving the environmental information and the vehicle decision information sent by the target vehicle according to the first preset time interval.

Optionally, when it is determined that the target vehicle is located in the preset geographic area according to the vehicle position information, sending the environmental information collected by the current vehicle and the generated vehicle decision information to the target vehicle according to a first preset time interval, and receiving the environmental information and the vehicle decision information sent by the target vehicle according to the first preset time interval, specifically including:

calculating and obtaining the distance between the current vehicle and the target vehicle according to the vehicle position information of the current vehicle and the vehicle position information of the target vehicle;

when the distance is smaller than a preset distance threshold value, the target vehicle is determined to be in a preset geographic area, the environmental information collected by the current vehicle and the generated vehicle decision information are sent to the target vehicle according to a first preset time interval, and the environmental information and the vehicle decision information sent by the target vehicle are received according to the first preset time interval.

Optionally, the method further comprises:

when the target vehicle is in the preset geographic area, the current vehicle generates a time synchronization request according to a second preset time interval and sends the time synchronization request to the target vehicle; the time synchronization request is used for controlling the target vehicle to adjust the time error according to the time information in the time synchronization request and sending the adjusted time information to the current vehicle;

receiving time information sent by a target vehicle, and determining the time synchronization state of the target vehicle by combining with local time information;

when the time synchronization state of the target vehicle is in the abnormal state, the time synchronization request is retransmitted.

Optionally, the updating the vehicle information mapping table by using the vehicle information sent by the target vehicle specifically includes:

after receiving environmental information and vehicle decision information sent by a target vehicle, establishing a mapping relation between a vehicle identifier of the target vehicle and the environmental information and the vehicle decision information;

and adding the environment information, the vehicle decision information and the mapping relation into a vehicle information mapping table.

Optionally, the method further comprises:

and when the current vehicle receives the vehicle identification sent by the target vehicle for the first time, adding the vehicle identification into the vehicle information mapping table.

Optionally, performing information fusion on the vehicle information of the current vehicle and all the vehicle information in the vehicle information mapping table to obtain vehicle fusion information, specifically including:

acquiring environment information and vehicle decision information corresponding to each vehicle identifier in a vehicle information mapping table; the environmental information comprises time information, and the vehicle decision information comprises time information;

and carrying out information fusion on the environment information and the vehicle decision information corresponding to all the vehicle identifications containing the same time information and the environment information and the vehicle decision information of the current vehicle to obtain vehicle fusion information.

In the technical scheme, in the process of information synchronization between the current vehicle and the target vehicle, time synchronization is also performed according to a second preset time interval, so that the consistency of time information corresponding to shared vehicle information is guaranteed, the acquisition of wrong vehicle fusion information caused by time errors in the information fusion process is reduced, the accuracy of a path planning result made based on the vehicle fusion information is improved, and the safety of the current vehicle in the running process is guaranteed.

Optionally, the method further comprises:

when the target vehicle is no longer in the preset geographic area, the current vehicle stops receiving the vehicle information sent by the target vehicle and also stops sending the vehicle information to the target vehicle;

and deleting all information associated with the vehicle identification from the vehicle information mapping table according to the vehicle identification of the target vehicle.

In the technical scheme, the electronic equipment only shares the vehicle information with the target vehicle in the preset geographic area, so that the richness of the current vehicle for acquiring the surrounding information is increased, the information acquisition range is expanded, the information sharing process can be stopped when the target vehicle is not in the preset geographic area, the interaction of invalid information is reduced, and the utilization rate of the electronic equipment is improved.

In a second aspect, the present application provides an electronic device comprising: a processor and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor is configured to implement the control method for vehicle travel relating to the first aspect when executing the computer-executable instructions.

In a third aspect, the present application provides a vehicle including the electronic apparatus according to the second aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, in which computer instructions are stored, and the computer instructions are executed by a processor to implement the control method for vehicle driving according to the first aspect.

According to the vehicle running control method, the device, the vehicle and the storage medium provided by the application, the electronic device obtains the vehicle information of the current vehicle, and also receives the vehicle information sent by the target vehicle in the preset geographic area, after the vehicle information of the target vehicle is utilized to update the vehicle information mapping table, the vehicle information of the current vehicle and all the vehicle information in the vehicle information mapping table are subjected to information fusion to obtain the vehicle fusion information, the path planning is carried out according to the vehicle fusion information to obtain the preset driving route so as to control the current vehicle to run according to the preset driving route, wherein the vehicle information comprises the vehicle identification, the environment information and the vehicle decision information, the vehicle information mapping table represents the mapping relation among the vehicle identification, the environment information and the vehicle decision information, so as to realize the direct synchronization of the environment information and the decision information with the surrounding vehicles in the preset area of the current vehicle, the method and the device not only ensure the mastery degree of the current vehicle on the information content of the surrounding environment, but also reduce the influence of the network speed on information transmission so as to improve the accuracy of the vehicle for perceiving the surrounding information and improve the safety of vehicle operation.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view of an application scenario of a control method for vehicle driving provided by the present application;

FIG. 2 is a schematic flow chart diagram of a method for controlling vehicle travel provided herein according to an exemplary embodiment;

FIG. 3 is a schematic flow chart diagram of a method of controlling vehicle travel provided herein according to another exemplary embodiment;

FIG. 4 is a signaling interaction diagram of a method for controlling vehicle travel provided by the present application in accordance with another exemplary embodiment;

FIG. 5 is a schematic diagram illustrating an exemplary embodiment of a vehicle travel control apparatus provided herein;

FIG. 6 is a schematic structural diagram of an electronic device provided herein according to an exemplary embodiment;

FIG. 7 is a schematic illustration of a vehicle according to an exemplary embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. The drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the concepts of the application by those skilled in the art with reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

In order to enrich the information acquired by the vehicle, an intelligent road facility can be installed near the road, after the facility acquires the dynamic and static information of the road environment and the traffic participants, the acquired information is sent to a cloud server, the information acquired by the vehicle is also sent to the cloud server, the acquired information is integrated and then synchronized by the server to the vehicle, so that the vehicle can perform information fusion on the environment information sensed by the current vehicle and the received information, and path planning and vehicle control are performed on the basis. However, in the process of data interaction between the vehicle and the intelligent road facility, the vehicle is affected by communication delay, so that the information transmission between the vehicle and the intelligent road facility is not timely, part of synchronous information is lost, fused information has errors, and the vehicle cannot make path planning and operation control correctly, which is not beneficial to the safe operation of the vehicle.

In view of the above technical problems, embodiments of the present application provide a method, an apparatus, a device and a storage medium for controlling vehicle driving, which aim to solve the problem of low accuracy of sensing surrounding information by a vehicle. The technical idea of the application is as follows: in the preset area, the current vehicle directly synchronizes the environmental information and the decision information with the surrounding vehicles, so that the current vehicle can timely master all information around the vehicle, obtain more comprehensive environmental information on the basis, and perform more accurate path planning and vehicle operation control, thereby reducing the influence of the network speed on information transmission, improving the accuracy of sensing the surrounding information by the vehicle, and improving the safety of vehicle operation.

Fig. 1 is a schematic application scenario diagram of the vehicle driving control method provided in the present application, as shown in fig. 1, the application scenario diagram includes a road 10, a sidewalk 11, 4 cars, and 5 traffic participants. The 4 vehicles are the first vehicle 20, the second vehicle 21, the third vehicle 22, and the fourth vehicle 23, respectively. Traffic participants include, but are not limited to: pedestrians, non-motor vehicles, motor vehicles which cannot transmit information.

In the application scenario, the sidewalk 11 is set on the road 10, 5 traffic participants move around the road 10 in a scattered manner, and 4 vehicles perform corresponding driving operations according to the preset driving direction of the road 10, that is, the vehicles all drive along the direction indicated by the upward arrow. Each vehicle has a function of establishing a communication connection relationship with other vehicles and mutually transmitting data, and an information transmission ring which takes the vehicle as a center is arranged around each vehicle and represents the farthest distance of data transmission of the vehicle, for example: the first vehicle 20 can only perform data transmission with the vehicle in the first information transmission circle 201, and so on, and the description of other vehicles is omitted here.

During the running process of the vehicle, the sensor unit mounted on the vehicle is used for collecting information around the vehicle, and the collected information includes but is not limited to: information on road surface conditions, information on the operating states of traffic participants, and information on the operating conditions of other vehicles around the vehicle. According to the vehicle position relationship shown in the application scene, no other vehicle is covered in the first information transmission ring 201 corresponding to the first vehicle 20, the first vehicle 20 can only determine the environmental information where the vehicle is located according to the information collected by the vehicle, judge the movement intention of the surrounding traffic participants according to the environmental information, and perform corresponding path planning according to the environmental information, the movement intention of the surrounding traffic participants and the movement intention of the first vehicle 20, so that the first vehicle 20 runs according to the planned path result.

The distance between the second vehicle 21 and the third vehicle 22 is relatively short, and the two vehicles are in the range covered by the information transmission circle of the other party, so after the second vehicle 21 and the third vehicle 22 establish communication connection, the collected data, the movement intention of each traffic participant and the movement intention of the current vehicle can be shared, so that each vehicle can grasp road information in a wider range, because the fourth vehicle 23 is in the third information transmission circle 221 corresponding to the third vehicle 22, the third vehicle 22 is also in the fourth information transmission circle 231 corresponding to the fourth vehicle 23, the collected data, each traffic participant and the movement intention of the current vehicle can be shared between the third vehicle 22 and the fourth vehicle 23, therefore, even if the fourth vehicle 23 is far away from the second vehicle 21 and is not in the second information transmission circle 211 corresponding to the second vehicle 21, the second vehicle 21 can still obtain and process the generated data by the fourth vehicle 23 according to the data shared by the third vehicle 22, in contrast, the fourth vehicle 23 can acquire not only the data acquired and processed by the third vehicle 22 but also the data acquired and processed by the second vehicle 21. The second vehicle 21, the third vehicle 22 and the fourth vehicle 23 respectively perform information fusion on more comprehensive information acquired after information sharing, adjust a judgment result of the movement intention of a traffic participant in the environment around the vehicle on the basis, perform corresponding path planning again according to the fused environment information and the adjusted movement intention, and control the vehicle to run under the guidance of the path planning result.

Fig. 2 is a flowchart illustrating a control method for vehicle driving according to an exemplary embodiment of the present application. As shown in fig. 2, the present application provides a method for controlling vehicle travel, including:

s201, the electronic equipment obtains vehicle information of a current vehicle and vehicle information sent by a target vehicle in a preset geographic area.

The vehicle information comprises vehicle identification, environment information and vehicle decision information. The environment information is information collected by a sensor unit installed on a vehicle, the vehicle decision information is information obtained after an electronic device on the vehicle processes the collected environment information, and the vehicle decision information comprises estimated movement intention information of traffic participants around the vehicle and movement intention information of the current vehicle.

The method comprises the steps that a current vehicle is a vehicle where electronic equipment is located, a target vehicle is a vehicle which is located in a preset geographic area and different from the current vehicle, and when the target vehicle meets a preset condition of sharing vehicle information with the current vehicle, the geographic area where the target vehicle is located is the preset geographic area.

S202, the electronic equipment updates the vehicle information mapping table by using the vehicle information sent by the target vehicle.

Wherein the vehicle information transmitted by the target vehicle is obtained from step S201.

The vehicle information mapping table contains all vehicle information which can be sent to the current vehicle, and the vehicle information comprises the vehicle identification, the environment information and the vehicle decision information of the target vehicle. More specifically, the vehicle information mapping table represents a mapping relationship between the vehicle identifier and the environmental information and the vehicle decision information.

The electronic device updates the mapping table by adding the vehicle identifier, the environment information and the vehicle decision information in the vehicle information into the vehicle information mapping table.

S203, the electronic equipment performs information fusion on the vehicle information of the current vehicle and all the vehicle information in the vehicle information mapping table to obtain vehicle fusion information.

Wherein the vehicle information of the current vehicle is obtained from step S201, and the vehicle information mapping table is obtained from step S202.

The information fusion of the vehicle information of the current vehicle and the vehicle information of the target vehicle by the electronic equipment comprises data-level fusion and decision-level fusion. The data-level fusion is that the electronic equipment fuses the environmental information of the current vehicle and the environmental information of the target vehicle, and the decision-level fusion is that the electronic equipment fuses the vehicle decision-making information of the current vehicle and the vehicle decision-making information of the target vehicle. The method for information fusion of the electronic device includes, but is not limited to, weighted average, bayesian estimation, kalman filtering, multi-bayesian estimation, fuzzy logic method, and neural network method.

And the electronic equipment performs information fusion on all the vehicle information which can be obtained by the electronic equipment to obtain corresponding vehicle fusion information.

And S204, the electronic equipment carries out path planning according to the vehicle fusion information to obtain a preset driving route so as to control the current vehicle to operate according to the preset driving route.

Wherein the vehicle fusion information is obtained from step S203.

And the electronic equipment performs path planning again according to the environmental information and the vehicle decision information in the vehicle fusion information to obtain a preset driving route. The path planning method comprises a traditional path planning method, a sampling-based path planning algorithm and an intelligent bionic algorithm.

And after the electronic equipment obtains the preset driving route, controlling the current vehicle to run according to the preset driving route.

In the technical scheme, the electronic equipment directly acquires the vehicle information with high relevance with the current vehicle from the target vehicle in the preset geographic area, and integrates the vehicle information acquired by the current vehicle, so that the peripheral information acquired by the vehicle is enriched, the information transmission path is shortened, the influence of time delay on the accuracy of the acquired information is reduced, the accuracy of the peripheral information perceived by the vehicle is improved, and the path planning is performed on the basis, so that the accuracy of the planning result is improved, and the safety of vehicle driving control is improved.

Fig. 3 is a schematic flowchart of a control method for vehicle driving according to another embodiment of the present application, where an execution subject of the method is an electronic device of a current vehicle. As shown in fig. 3, the present application provides a method for controlling vehicle travel, including:

s301, obtaining environmental information collected by a sensor unit of the current vehicle and running information of the current vehicle.

The sensor unit installed in the current vehicle of the vehicle includes, but is not limited to, an image sensor, a distance sensor, a speed sensor, an inertial sensor, and a Global Positioning System (GPS) sensor. The environmental information collected by the sensor unit includes road condition information and driving information of surrounding traffic participants, wherein the road condition information is road surface information, such as: and (4) the position of a road surface pit. The running information of the current vehicle is information indicating a current vehicle running state and a running target, wherein the running target is information indicating a vehicle running destination obtained from an input unit of the current vehicle.

More specifically, the environment information is obtained from information collected by an image sensor, a speed sensor, and a distance sensor, and the running information of the vehicle is obtained from information collected by a GPS sensor and an inertial sensor.

More specifically, the information collected by the sensor unit of the current vehicle includes: the vehicle position information comprises image information in a sensor view field acquired by an image sensor, distance information between a current vehicle and objects around the vehicle acquired by a distance sensor, speed information of traffic participants around the current vehicle acquired by a speed sensor, acceleration information and angular acceleration information of the current vehicle acquired by an inertial sensor, and vehicle position information acquired by a GPS sensor. The image information comprises road image information and image information of traffic participants, the road image information comprises traffic marking information, road traffic sign information and road topological structure, and the traffic participant information comprises pedestrian information, non-motor vehicle information and motor vehicle information. The distance information comprises distance information between the current vehicle and the traffic participants and distance information between the current vehicle and the roadblock. In one embodiment, the image sensor is a binocular camera, the speed sensor is a millimeter wave radar velocimeter, and the distance sensor is an ultrasonic radar range finder.

And S302, processing the environment information according to the behavior prediction model to obtain the movement intention information of the surrounding traffic participants.

Wherein the environment information is obtained from step S301.

The behavior prediction model is a model that predicts the movement intention information of surrounding traffic participants. The movement intention information of the traffic participant is information of a path and an operation state which are predicted by the electronic equipment according to the operation information known by the traffic participant and are possible to operate by the electronic equipment. The running state includes running speed and running direction.

More specifically, the electronic device preprocesses the obtained environment information, assigns unique identifiers to the traffic participants, and obtains position information, speed information, acceleration information and motion direction information corresponding to each identifier, and the electronic device processes the preprocessed information and the road image information by using a behavior prediction model to obtain motion intention information corresponding to each identifier. The behavior prediction model includes but is not limited to: a prediction model based on policy selection, a prediction model based on an occupancy grid, a prediction model based on an energy map, and the like.

And S303, processing the environmental information and the running information of the current vehicle according to the path planning model to obtain driving planning information.

Wherein the environmental information and the current vehicle operation information are both obtained from step S301.

The path planning model is used for generating preset information of a path to be operated of the vehicle according to the information of the operation destination of the current vehicle and the information of the environment where the vehicle is located, and determining the information as driving planning information.

The path planning model includes, but is not limited to, Dijkstra algorithm model, heuristic search algorithm model, fast-expanding random tree algorithm model, and improved models of the above models.

The electronic device counts the movement intention information of the surrounding traffic participants obtained in step S302 and the driving planning information obtained in this step, and obtains vehicle decision information. The vehicle decision information is explained in detail in step S201, and is not described herein.

And S304, establishing a communication connection relation between the current vehicle and the target vehicle.

When the current vehicle can receive the communication connection establishment request sent by the target vehicle, the electronic equipment establishes the communication connection relationship between the current vehicle and the target vehicle.

In one embodiment, the current vehicle and the target vehicle may establish a communication connection relationship through three handshakes.

S305, sending the vehicle identification and the vehicle position information of the current vehicle to the target vehicle, and receiving the vehicle identification and the vehicle position information sent by the target vehicle.

The vehicle identification of the vehicle is vehicle-generated, unique identification information representing the identity of the vehicle.

The vehicle position information is information collected by the GPS sensor.

The vehicle position information of the current vehicle is obtained from step S301.

The process of acquiring the vehicle position information of the target vehicle is the same as that of the current vehicle, and is not described herein again.

And S306, judging whether the target vehicle is in a preset geographical area or not according to the vehicle position information.

The vehicle position information includes vehicle position information corresponding to the current vehicle and the target vehicle in step S305, respectively.

More specifically, the electronic device calculates and obtains the distance between the current vehicle and the target vehicle based on the vehicle position information of the current vehicle and the vehicle position information of the target vehicle. And when the distance is smaller than the preset distance threshold value, determining that the target vehicle is in the preset geographic area, otherwise, determining that the target vehicle is out of the preset geographic area. The preset condition mentioned in step S201 includes a condition that the distance involved in this step is smaller than a preset distance threshold.

When the target vehicle is within the preset geographical area, the step S309 is entered, otherwise, the step S307 is entered.

S307, the reception of the vehicle information transmitted by the target vehicle is stopped, and the transmission of the vehicle information to the target vehicle is also stopped.

If the current vehicle never receives the vehicle information sent by the target vehicle, the current vehicle keeps the state of not receiving the vehicle information; and if the target vehicle moves from the preset geographic area to the outside of the preset geographic area, stopping receiving the vehicle information sent by the target vehicle.

In contrast, the target vehicle also keeps or stops receiving the vehicle information of the current vehicle, and the current vehicle no longer transmits the vehicle information to the target vehicle.

S308, according to the vehicle identification of the target vehicle, all information related to the vehicle identification is deleted from the vehicle information mapping table.

When the target vehicle runs in the preset geographic area, the identification of the target vehicle and the environmental information and the vehicle decision information corresponding to the vehicle identification exist in the vehicle information mapping table stored in the current vehicle. If the target vehicle moves from the inside of the preset geographic area to the outside of the preset geographic area, the electronic equipment queries the environment information, the vehicle decision information and the mapping relation corresponding to the vehicle identification in the vehicle information mapping table according to the vehicle identification, and the electronic equipment deletes the vehicle identification, the environment information, the vehicle decision information and the mapping relation from the vehicle information mapping table.

The vehicle information mapping table represents the mapping relation between the vehicle identification and the environment information and the vehicle decision information corresponding to the vehicle identification.

After the step is completed, step S305 is performed to obtain the vehicle position information of the target vehicle again, so that the current vehicle determines whether the target vehicle is in the preset geographic area according to the vehicle position information.

S309, judging whether the current vehicle receives the vehicle identification sent by the target vehicle for the first time.

And when the current vehicle receives the vehicle identifier sent by the target vehicle for the first time, the step S310 is executed, otherwise, the step S311 is executed.

And S310, adding the vehicle identification into the vehicle information mapping table.

The current vehicle receives the vehicle identifier of the target vehicle for the first time, and all information associated with the vehicle identifier is not stored in a vehicle information mapping table locally stored in the current vehicle.

The electronic device adds the vehicle identification obtained in step S305 to the vehicle information mapping table in preparation for storing the vehicle information transmitted by the target vehicle.

S311, according to a first preset time interval, sending the environmental information collected by the current vehicle and the generated vehicle decision information to the target vehicle, and receiving the environmental information and the vehicle decision information sent by the target vehicle.

Wherein the environmental information of the current vehicle is obtained from step S301, and the vehicle decision information of the current vehicle is obtained from step S303.

The electronic equipment sends the environmental information and the vehicle decision information to the target vehicle and receives the information sent by the target vehicle to realize information sharing.

S312, establishing a mapping relation between the vehicle identification of the target vehicle, the environment information and the vehicle decision information.

S313, adding the environment information, the vehicle decision information and the mapping relation into a vehicle information mapping table.

The electronic device stores the environment information of the target vehicle and the vehicle decision information obtained in step S311 into the vehicle information mapping table according to the mapping relationship established in step S312.

More specifically, the environmental information and the vehicle decision information include time information, and the electronic device adds the obtained environmental information, decision information and the correspondingly established mapping relation into a vehicle information mapping table according to a time sequence.

And S314, generating a time synchronization request according to a second preset time interval, and sending the time synchronization request to the target vehicle.

In order to keep consistency of time information contained in transmitted and received information in the process of sharing vehicle information by the current vehicle and the target vehicle, the current vehicle and the target vehicle need to perform time synchronization according to a second preset time interval, so that the current vehicle and the target vehicle have the same time in the system at the same time.

When the current vehicle carries out time synchronization, a time synchronization request is generated and sent to the target vehicle through an information channel established between the two vehicles, so that the target vehicle is controlled to adjust time errors according to the time information in the time synchronization request, and the adjusted time information is sent to the current vehicle.

And S315, receiving the time information sent by the target vehicle, and determining the time synchronization state of the target vehicle by combining the local time information.

The time information transmitted by the target vehicle is the time information transmitted to the current vehicle after the time adjustment in step S314.

The electronic equipment compares the time information of the target vehicle with the local time information, and determines that the time synchronization state of the target vehicle is in a normal state when the error between the two pieces of time information is smaller than a preset error threshold value, otherwise, the time synchronization state is in an abnormal state.

And S316, judging whether the time synchronization state of the target vehicle is in an abnormal state.

The time synchronization state of the target vehicle is obtained from step S315.

When the time synchronization state of the target vehicle is in the normal state, the process proceeds to step S318; when the time-synchronized state of the target vehicle is in the abnormal state, the process proceeds to step S317.

And S317, retransmitting the time synchronization request.

The time synchronization request is a time synchronization request which is generated by the electronic equipment according to the time information corresponding to the current moment, and the electronic equipment sends the time synchronization request to the target vehicle so as to control the target vehicle to perform time synchronization operation again.

After this step is completed, the process proceeds to step S315 to acquire the time-synchronized state of the target vehicle again.

S318, obtaining environment information and vehicle decision information corresponding to each vehicle identification in the vehicle information mapping table.

Wherein the vehicle information mapping table is obtained from step S313.

And S319, performing information fusion on the environmental information and the vehicle decision information corresponding to all the vehicle identifications containing the same time information to obtain vehicle fusion information.

The environmental information and the vehicle decision information obtained in step S318 each include time information including the time at which the current vehicle receives the vehicle information transmitted by the target vehicle. In the process that the current vehicle shares the vehicle information with the target vehicle, the vehicle information in the vehicle information mapping table is the vehicle information corresponding to the consecutive time.

And the electronic equipment acquires all the vehicle information corresponding to the same time information from the vehicle information mapping table according to the time information. When the number of the target vehicles in the preset geographic area is N, the number of the vehicle identifications stored in the vehicle information mapping table is N, and the vehicle information obtained by the electronic device from the vehicle information mapping table is environment information and vehicle decision information which correspond to the N vehicle identifications and contain the same time information, wherein N is greater than or equal to 0.

And the electronic equipment performs information fusion on the obtained vehicle information to obtain more comprehensive vehicle information, and determines the information as vehicle fusion information. Here, the information fusion has already been explained in step S203, and is not described here again.

And S320, planning a path according to the vehicle fusion information to obtain a preset driving route so as to control the current vehicle to operate according to the preset driving route.

Wherein the vehicle fusion information is obtained from step S319.

The process of the electronic device performing the path planning on the vehicle fusion information to obtain the preset driving route is explained in step S204, and is not described herein again.

In the technical scheme, in the process of directly sharing the vehicle information with the target vehicle in the preset geographic area, the electronic equipment not only increases the richness of the current vehicle for acquiring the surrounding information and enlarges the information acquisition range, but also improves the time consistency of the shared information, reduces the time error of the shared information and improves the accuracy of the acquired information through the time synchronization with the target vehicle, thereby improving the accuracy of the control strategy of the electronic equipment and the safety of the vehicle operation.

Fig. 4 is a signaling interaction diagram of a control method for vehicle driving according to another embodiment of the present application, where the method is signaling interaction between a first vehicle and a second vehicle. As shown in fig. 4, the method includes:

s401, the first vehicle acquires the environment information acquired by the sensor unit and the running information of the first vehicle, processes the environment information according to the behavior prediction model to acquire the movement intention information of surrounding traffic participants, and processes the environment information and the running information according to the path planning model to acquire driving planning information.

S402, the second vehicle acquires the environment information acquired by the sensor unit and the running information of the second vehicle, processes the environment information according to the behavior prediction model to acquire the movement intention information of surrounding traffic participants, and processes the environment information and the running information according to the path planning model to acquire driving planning information.

The vehicles in step S401 and step S402 are two vehicles different from each other.

In step S401, the environmental information collected by the first vehicle using the sensor unit mounted on the current vehicle has been explained in detail in step S301; the process of obtaining the movement intention information by processing the environment information using the behavior prediction model has been explained in detail in step S302; the process of obtaining the driving planning information by processing the environmental information and the vehicle operation information using the path planning model is explained in detail in step S303, and is not described herein again.

In step S402, the process of acquiring and processing information by the second vehicle is the same as step S401, and is not repeated here.

In this embodiment, the steps S401 and S402 are not limited by the described operation sequence, and the steps S401 and S402 may be performed in other sequences or simultaneously.

And S403, the first vehicle sends a handshake request to the second vehicle.

When the distance between the first vehicle and the second vehicle is less than or equal to the handshake distance threshold, the first vehicle sends a handshake request to the second vehicle.

S404, the second vehicle replies the handshake request to the first vehicle.

S405, the first vehicle sends confirmation information to the second vehicle.

S406, the first vehicle establishes a communication connection relation with the second vehicle.

S407, establishing a communication connection relation between the second vehicle and the first vehicle.

After the three-way handshake of the first vehicle and the second vehicle in steps S403 to S405, the communication connection relationship is established between the first vehicle and the second vehicle.

In this embodiment, step S406 and step S407 are not limited by the described operation sequence, and step S406 and step S407 may be performed in other sequences or simultaneously.

When the first vehicle and the second vehicle are located in the preset geographical area corresponding to each other, that is, the first vehicle is located in the preset geographical area of the second vehicle and the second vehicle is located in the preset geographical area of the first vehicle, the process proceeds to step S408 and/or step S409.

And S408, the first vehicle sends the vehicle information to the second vehicle according to the first preset time interval.

The vehicle information sent by the first vehicle is the vehicle information obtained in step S401, and the vehicle information includes vehicle identification, environment information, and vehicle decision information. The environmental information and the vehicle decision information comprise time information, and the time information represents time information when the vehicle obtains the environmental information or the vehicle decision information.

And S409, the second vehicle sends the vehicle information to the first vehicle according to the first preset time interval.

The vehicle information transmitted by the second vehicle is the vehicle information obtained in step S402, and the vehicle information is the same as the content included in the vehicle information obtained in step S408, and is not described here again.

In this embodiment, the steps S408 and S409 are not limited by the described operation sequence, and the steps S408 and S409 may be performed in other sequences or simultaneously.

And S410, the first vehicle updates the vehicle information mapping table according to the vehicle information of the second vehicle.

The first vehicle updates a local vehicle information mapping table according to the vehicle information sent by the second vehicle, which is obtained in step S409, where the vehicle information mapping table represents a mapping relationship between a vehicle identifier and environment information and vehicle decision information corresponding to the vehicle.

More specifically, the process of the first vehicle updating the vehicle information mapping table has been explained in detail in step S310 to step S313, and is not described herein again.

S411, the second vehicle updates the vehicle information mapping table according to the vehicle information of the first vehicle.

And the second vehicle updates the vehicle information mapping table according to the vehicle information sent by the first vehicle, which is obtained in step S408, wherein a process of updating the mapping table by using the vehicle information is the same as the process in step S410, and is not described herein again.

In this embodiment, step S410 and step S411 are not limited by the described operation sequence, and step S410 and step S411 may be performed in other sequences or simultaneously.

And S412, the first vehicle sends a time synchronization request to the second vehicle according to a second preset time interval.

In order to ensure consistency of time information contained in vehicle information shared between the first vehicle and the second vehicle, the first vehicle generates a time synchronization request according to a second preset time interval and sends the request to the second vehicle. The time synchronization request includes time information of the first vehicle.

And S413, the second vehicle adjusts the local time according to the time synchronization request.

The second vehicle correspondingly adjusts the local time according to the time information in the time synchronization request in step S412.

In another embodiment, the second vehicle sends a time synchronization request to the first vehicle at a second preset time interval, and the first vehicle adjusts the local time according to the time synchronization request.

And S414, the first vehicle performs information fusion on all the vehicle information in the vehicle information mapping table containing the same time information and the vehicle information of the current vehicle to obtain vehicle fusion information.

The first vehicle obtains the vehicle information mapping table updated in step S410, and obtains vehicle information corresponding to all vehicle identifiers in the mapping table.

The first vehicle obtains vehicle information corresponding to the current vehicle from step S401.

And the first vehicle performs information fusion on the vehicle information containing the same time information according to the acquired time information in the vehicle information to acquire vehicle fusion information.

More specifically, the process of the first vehicle acquiring the vehicle information and performing information fusion is explained in detail in step S318 to step S319, and is not described herein again.

And S415, the second vehicle performs information fusion on all the vehicle information in the vehicle information mapping table containing the same time information and the vehicle information of the current vehicle to obtain vehicle fusion information.

The vehicle information mapping table acquired by the second vehicle is acquired from step S411, and the vehicle information of the current vehicle is acquired from step S402.

The second vehicle performs information fusion on all the obtained vehicle information, and the process of obtaining the vehicle fusion information is the same as the processing process in step S414, and is not described herein again.

In this embodiment, the steps S414 and S415 are not limited by the described operation sequence, and the steps S414 and S415 may be performed in other sequences or simultaneously.

And S416, the first vehicle carries out path planning according to the vehicle fusion information to obtain a preset driving route so as to control the current vehicle to operate according to the preset driving route.

The first vehicle obtains the vehicle fusion information from step S414, and performs path planning on the information to obtain a preset driving route, so as to control the first vehicle to operate according to the preset driving route. The specific processing procedure of the first vehicle is explained in step S204, and is not described herein again.

And S417, the second vehicle carries out path planning according to the vehicle fusion information to obtain a preset driving route so as to control the current vehicle to operate according to the preset driving route.

The second vehicle obtains the vehicle fusion information from step S415, and performs path planning on the information to obtain a preset driving route, so as to control the second vehicle to operate according to the preset driving route. The specific processing procedure of the second vehicle is the same as the processing procedure of the first vehicle in step S416, and is not described herein again.

In this embodiment, step S416 and step S417 are not limited by the described operation sequence, and step S416 and step S417 may be performed in other sequences or simultaneously.

In the technical scheme, the electronic equipment stores the vehicle information collected by the current vehicle and all the vehicle information which can be acquired by the target vehicle in the preset geographic area, and performs information fusion on the stored all the vehicle information, so that the vehicle information of the target vehicle makes up the information of the position which cannot be acquired by the current vehicle, the integrity of the information acquired by the electronic equipment is improved, and the electronic equipment performs path planning on the fused vehicle information.

Fig. 5 is a schematic structural diagram of a control device for vehicle driving 500 provided by the present application according to an embodiment, where the control device for vehicle driving 500 includes an obtaining module 501 and a processing module 502, where,

the acquiring module 501 is configured to acquire vehicle information of a current vehicle and vehicle information sent by a target vehicle in a preset geographic area; the vehicle information includes vehicle identification, environmental information, and vehicle decision information.

A processing module 502, configured to update the vehicle information mapping table with the vehicle information sent by the target vehicle; the vehicle information mapping table represents the mapping relation among the vehicle identification, the environment information and the vehicle decision information.

The processing module 502 is further configured to perform information fusion on the vehicle information of the current vehicle and all the vehicle information in the vehicle information mapping table to obtain vehicle fusion information.

The processing module 502 is further configured to perform path planning according to the vehicle fusion information to obtain a preset driving route, so as to control the current vehicle to operate according to the preset driving route.

In an embodiment, the processing module 502 is specifically configured to:

processing the environmental information according to the path planning model to obtain driving planning information;

In an embodiment, the processing module 502 is specifically configured to:

the method comprises the steps that vehicle identification and vehicle position information of a current vehicle are sent to a target vehicle, and the vehicle identification and the vehicle position information sent by the target vehicle are received;

In an embodiment, the processing module 502 is specifically configured to:

Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the electronic device 600 includes a memory 601 and a processor 602.

The memory 601 is used for storing computer instructions executable by the processor.

The processor 602, when executing the computer instructions, implements the respective steps in the control method for vehicle travel with the electronic device as the execution subject in the above-described embodiment. Reference may be made in particular to the description relating to the method embodiments described above.

Alternatively, the memory 601 may be separate or integrated with the processor 602. When the memory 601 is separately provided, the electronic device 600 further includes a bus for connecting the memory 601 and the processor 602.

FIG. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application. As shown in fig. 7, the vehicle 700 includes an electronic device 701, a sensor unit 702, a communication unit 703, and an execution unit 704. The electronic device 701 is connected to the sensor unit 702, the communication unit 703, and the execution unit 704, respectively.

The electronic device 701 obtains the environmental information where the vehicle is located and the running information of the vehicle according to the sensor unit 702, and the electronic device 701 processes the obtained information to obtain corresponding vehicle decision information, wherein the vehicle decision information includes movement intention information of traffic participants around the vehicle and driving planning information of the current vehicle.

And when the target vehicle meets the condition of establishing communication connection with the current vehicle, the current vehicle and the target vehicle establish communication connection relationship through handshaking. When the target vehicle is in the preset geographical area of the current vehicle, the vehicle 700 transmits vehicle information to the target vehicle through the communication unit 703, and also receives the vehicle information transmitted by the target vehicle through the communication unit 703. The vehicle 700 and the target vehicle share the acquired vehicle information through the information interaction. The vehicle information shared between the two vehicles comprises vehicle identification, environment information and vehicle decision information.

The electronic device 701 performs information fusion by using the vehicle information of the current vehicle and the vehicle information acquired by the communication unit 703 to acquire vehicle fusion information, which contains more specific and detailed traffic information than the vehicle information of the current vehicle.

The electronic device 701 performs path planning according to the vehicle fusion information to obtain a preset driving route, so as to control the vehicle 700 to operate according to the preset driving route.

In the vehicle, the current vehicle directly synchronizes the environmental information and the decision information with the surrounding vehicles, so that the current vehicle can timely master all information around the vehicle, acquire more comprehensive environmental information on the basis, and perform more accurate path planning and vehicle operation control, thereby reducing the influence of the network speed on information transmission, improving the accuracy of the vehicle sensing the surrounding information and improving the safety of the vehicle operation.

The embodiment of the application also provides a computer-readable storage medium, in which computer instructions are stored, and when the processor executes the computer instructions, the steps in the control method for vehicle running in the above embodiment are implemented.

The embodiment of the present application further provides a computer program product, which includes computer instructions, and the computer instructions, when executed by a processor, implement the steps in the control method for vehicle driving in the foregoing embodiment.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method for controlling running of a vehicle, the method being applied to an electronic device in the vehicle, the method comprising:

obtaining vehicle information of a current vehicle and vehicle information sent by a target vehicle in a preset geographic area; the vehicle information comprises vehicle identification, environmental information and vehicle decision information;

updating a vehicle information mapping table by using the vehicle information sent by the target vehicle; the vehicle information mapping table represents the mapping relation among the vehicle identification, the environment information and the vehicle decision information;

performing path planning according to the vehicle fusion information to obtain a preset driving route so as to control the current vehicle to operate according to the preset driving route;

the method for obtaining the vehicle information of the current vehicle specifically comprises the following steps:

processing the environmental information according to a behavior prediction model to obtain movement intention information of the surrounding traffic participants;

processing the environmental information and the running information of the current vehicle according to a path planning model to obtain driving planning information;

wherein the vehicle decision information comprises movement intention information of the surrounding traffic participants and driving planning information of the current vehicle.

2. The method according to claim 1, wherein obtaining vehicle information sent by a target vehicle in a preset geographic area specifically comprises:

establishing a communication connection relation between the current vehicle and the target vehicle;

sending the vehicle identification and the vehicle position information of the current vehicle to the target vehicle, and receiving the vehicle identification and the vehicle position information sent by the target vehicle;

and when the target vehicle is determined to be in a preset geographic area according to the vehicle position information, sending the environmental information acquired by the current vehicle and the generated vehicle decision information to the target vehicle according to a first preset time interval, and receiving the environmental information and the vehicle decision information sent by the target vehicle according to the first preset time interval.

3. The method according to claim 2, wherein when it is determined that the target vehicle is located in a preset geographic area according to the vehicle position information, sending the environmental information collected by a current vehicle and the generated vehicle decision information to the target vehicle according to a first preset time interval, and receiving the environmental information and the vehicle decision information sent by the target vehicle according to the first preset time interval specifically includes:

4. The method of claim 2, further comprising:

when the target vehicle is in a preset geographic area, the current vehicle generates a time synchronization request according to a second preset time interval, and sends the time synchronization request to the target vehicle; the time synchronization request is used for controlling the target vehicle to adjust the time error according to the time information in the time synchronization request and sending the adjusted time information to the current vehicle;

receiving time information sent by the target vehicle, and determining the time synchronization state of the target vehicle by combining with local time information;

and when the time synchronization state of the target vehicle is in an abnormal state, retransmitting the time synchronization request.

5. The method according to claim 2, wherein updating a vehicle information mapping table with the vehicle information sent by the target vehicle specifically comprises:

after receiving the environmental information and the vehicle decision information sent by the target vehicle, establishing a mapping relation between a vehicle identifier of the target vehicle and the environmental information and the vehicle decision information;

adding the environmental information, the vehicle decision information, and the mapping relationship into the vehicle information mapping table.

6. The method of claim 5, further comprising:

7. The method according to claim 1, wherein performing information fusion on the vehicle information of the current vehicle and all the vehicle information in the vehicle information mapping table to obtain vehicle fusion information specifically comprises:

acquiring environment information and vehicle decision information corresponding to each vehicle identifier in the vehicle information mapping table; the environment information comprises time information, and the vehicle decision information comprises time information;

8. The method of claim 1, further comprising:

9. An electronic device, comprising: a processor and a memory communicatively coupled to the processor;

the memory stores computer-executable instructions;

the processor, when executing the computer-executable instructions, is configured to implement a control method for vehicle travel according to any one of claims 1 to 8.

10. A vehicle characterized by comprising the electronic device of claim 9.

11. A computer-readable storage medium, characterized in that computer instructions are stored therein, which when executed by a processor, are used to implement a control method of vehicle travel according to any one of claims 1 to 8.