CN114771573A

CN114771573A - Object control method and device, electronic equipment, medium and road side equipment

Info

Publication number: CN114771573A
Application number: CN202210506494.5A
Authority: CN
Inventors: 张雯; 杜小川; 杨凡; 王鲲; 李赓; 张健; 胡茂洋; 夏黎明; 冯靖超; 郑鹏杰; 孙庆瑞
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-07-22

Abstract

The disclosure provides a control method and device of an object, electronic equipment, a medium and roadside equipment, relates to the field of intelligent transportation, and particularly relates to the technical field of vehicle-road cooperation and automatic driving. The specific implementation scheme of the object control method is as follows: determining state information of a target object located in a predetermined area according to roadside sensing data of the predetermined area detected by the roadside sensing equipment, wherein the state information comprises road infrastructure and vehicles; and determining the control object and the control information for the control object in response to the state information indicating that the target object is in an abnormal state.

Description

Object control method and device, electronic equipment, medium and road side equipment

Technical Field

The present disclosure relates to the field of intelligent transportation, and in particular, to the field of automated driving and vehicle-road coordination technologies, and in particular, to a method and an apparatus for controlling an object, an electronic device, a storage medium, and a roadside device.

Background

With the development of computer technology, network technology and communication technology, the extension and application of artificial intelligence and other technologies in the automobile industry and traffic field, the automatic driving technology and the vehicle-road cooperation technology become important development directions to improve the driving safety of vehicles.

Disclosure of Invention

The present disclosure is directed to a method and apparatus for controlling an object, an electronic device, a storage medium, and a roadside device, which are advantageous for improving driving safety.

According to an aspect of the present disclosure, there is provided a control method of an object, including: determining state information of a target object located in a predetermined area according to roadside sensing data of the predetermined area detected by the roadside sensing equipment, wherein the target object comprises road infrastructure and vehicles; and determining the control object and the control information for the control object in response to the state information indicating that the target object is in an abnormal state.

According to an aspect of the present disclosure, there is provided a control apparatus of an object, including: the state determining module is used for determining state information of a target object located in a preset area according to roadside sensing data of the preset area, wherein the roadside sensing data are detected by the roadside sensing equipment, and the target object comprises road infrastructure and a vehicle; and an information determination module for determining the control object and the control information for the control object in response to the state information indicating that the target object is in an abnormal state.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the control method of the object provided by the present disclosure.

According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of controlling an object provided by the present disclosure.

According to another aspect of the present disclosure, there is provided a computer program product comprising computer programs/instructions which, when executed by a processor, implement the control method of the object provided by the present disclosure.

According to an aspect of the present disclosure, there is provided a roadside apparatus including the electronic apparatus provided by the present disclosure.

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 system architecture diagram of an application scenario of a roadside device and a control method of an object according to an embodiment of the present disclosure;

FIG. 2 is a flow chart diagram of a method of controlling an object according to an embodiment of the present disclosure;

FIG. 3 is a first application scenario diagram of a method of controlling an object according to an embodiment of the present disclosure;

fig. 4 is a second application scenario diagram of a control method of an object according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of a third application scenario of a control method of an object according to an embodiment of the present disclosure;

fig. 6 is a fourth application scenario diagram of a control method of an object according to an embodiment of the present disclosure;

fig. 7 is a diagram of a fifth application scenario of a control method of an object according to an embodiment of the present disclosure;

fig. 8 is a block diagram of a control apparatus of an object according to an embodiment of the present disclosure; and

fig. 9 is a block diagram of an electronic device for implementing a control method of an object of an embodiment 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 embodiments of the present 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.

The present disclosure provides a method of controlling an object, including a state determination phase and an information determination phase. In the state determining stage, according to roadside sensing data of a predetermined area detected by the roadside sensing equipment, state information of a target object located in the predetermined area is determined, wherein the target object comprises road infrastructure and vehicles. In the information determination phase, in response to the state information indicating that the target object is in an abnormal state, the control object and the control information for the control object are determined.

The terms referred to in the present disclosure are explained below as follows:

5G, fifth generation mobile communication technology (The 5)^th Generation Mobile Communication Technology)。

MEC, Multiple-access Edge Computing (Multiple-access Edge Computing).

RSU, Road Side Unit (Road Side Unit).

OBU, On Board Unit (On Board Unit).

RSCU, Road Side Computing Unit (Road Side Computing Unit), which is a small server that is improved to meet extreme conditions of low voltage, high temperature, high humidity and the like of Road Side lamp posts.

The cloud control platform (cloud control platform for short) is a remote control platform which is responsible for full-period management in remote control service and can implement remote control tasks such as remote monitoring, stroke planning and optimization, remote control taking-over decision, remote control instruction issuing and the like. The cloud control platform can comprise a remote control cockpit and a remote control console, and can also comprise a high-computing-power server cluster.

The remote control driving cabin supports a driver to implement a cloud intelligent driving cabin of a remote designated driving task, and the driver can issue a control instruction to a vehicle chassis through a steering wheel, a pedal and the like arranged in the remote control driving cabin, so that remote control driving is realized.

The remote control console is a control platform supporting a security officer to perform tasks such as remote guidance and remote decision, and is at least provided with a screen for around-looking display (for example, 360-degree around-looking display), a touch pad or a mouse for inputting instructions and the like.

An application scenario of the method and apparatus provided by the present disclosure will be described below with reference to fig. 1.

Fig. 1 is a system architecture diagram of an application scenario of a method, an apparatus, and a roadside device for controlling a subject according to an embodiment of the present disclosure.

As shown in fig. 1, the system architecture 100 includes a traffic road 110 (also called a highway), a vehicle 120 running on the traffic road, roadside devices disposed at the roadside, a traffic indication device 140, and a cloud device 150.

The traffic road 110 may be provided with road infrastructure, which may include, for example, roadbeds, pavements, bridges, culverts, tunnels and the like. The vehicle 120 may be multiple vehicles, and the multiple vehicles may be communicatively connected to each other through a local area network or a cellular mobile network (e.g., 5G), for example, to share information such as driving parameters of each other. At least some of the plurality of vehicles may be autonomous vehicles.

The roadside apparatus may include, for example, the RSCU131, a roadside communication facility 132, a roadside sensing facility 133, and the like. Wherein. The roadside communication facilities 132 may include, for example, RSUs and/or cellular mobile communication facilities. Roadside sensing facility 133 may include, for example, at least one of a video detector, a radar detector, or the like detection device. The radar detector may comprise a laser radar and/or a millimeter wave radar etc. and the video detector may comprise a gun camera and/or a fish-eye camera etc. The RSCU131 of the roadside device may be communicatively connected to the vehicle 120, for example, by a roadside communication facility 132, and the RSCU131 may be communicatively connected to the roadside sensing facility 133, the traffic indication device 140, and the cloud device 150, for example, via a communication cable or the like. The roadside apparatus may be, for example, a plurality of roadside apparatuses which are arranged at intervals at the roadside of the traffic road 110, and the roadside sensing facility in each of the roadside apparatuses corresponds to a detectable predetermined area, and the size of the predetermined area depends on the detection range of the roadside sensing facility.

The traffic indicating device 140 may include, for example, at least one of a traffic light, a traffic inducement control facility, a variable identification, and a condition monitoring facility, among others. The traffic-indicating device 140 may output indicating information to guide the vehicle 120 to travel safely and orderly on the traffic road 110.

The cloud device 150 may be integrated with a cloud control platform, for example, for global scheduling and control of autonomous vehicles, RSCUs, and the like. The cloud control platform may also communicate with the third party platform 160, for example, via an API interface or the like, to obtain data from the third party platform that is needed in the remote control process of the vehicle. The third party platform may include, for example, at least one of: the system comprises a vehicle management and service platform, a traffic safety and traffic management platform (a traffic management platform for short), a map service platform, a weather service platform, a positioning service platform and the like.

In one embodiment, the RSCU131 may control individual traffic indicating devices 140, for example, based on at least one of the roadside awareness data detected by the roadside awareness facility 133 and the on-board awareness data detected by the on-board subsystems of the vehicle 120, to make the indication information output by the traffic indicating devices 140 more consistent with actual traffic requirements. It is understood that the roadside sensing device described below may be a part or all of the detection device included in the roadside sensing device 133 in fig. 1.

In an embodiment, the RSCU131 may further process at least one of the roadside sensing data and the vehicle-mounted sensing data, send the processed result to the cloud device 150, and the cloud device 150 performs global control on the plurality of traffic indication devices 140 disposed on the traffic road according to the processing results sent by the plurality of RSCUs, so as to improve the driving efficiency of vehicles on the traffic road and the use value of the traffic road.

In one embodiment, the cloud device 150 may be integrated with a remote control cockpit and a remote console, for example. Through the arranged remote control cockpit, the remote control console and the cloud control platform, various types of remote control can be performed on the automatic driving vehicle, for example, remote designated driving can be performed on the automatic driving vehicle, remote guidance and remote decision can be performed on automatic driving of the automatic driving vehicle, and running of the automatic driving vehicle can be remotely assisted. In one embodiment, the RSCU may also send control information to the autonomous vehicle, for example, to provide timely, simple remote control of the autonomous vehicle.

It is understood that the control method of the object provided by the present disclosure may be performed by a roadside apparatus. Accordingly, the control device of the object provided by the present disclosure may be provided in a roadside apparatus.

In one embodiment, the mobile terminal carried by the passenger who needs to ride the vehicle 120 may be communicatively connected to the roadside device or the cloud device 150 through a network, for example. The mobile terminal may be at least one of a smartphone, a tablet computer, a smart watch, and the like, for example. The mobile terminal can be installed with various client applications, such as a vehicle rental application, an instant messaging application, and the like. In one embodiment, the mobile terminal may have an automatic driving travel service application installed thereon, for example, to facilitate passenger travel. Accordingly, the cloud device 150 may include, for example, a background management server of the automated driving travel service application.

It should be understood that the types and numbers of vehicle 120, roadside devices, traffic indication devices 140, and cloud devices 150 in fig. 1 are merely illustrative. There may be any type and number of vehicles 120, roadside devices, traffic indicating devices 140, and cloud devices 150, as desired for an implementation.

The control method of the object provided by the present disclosure will be described in detail below with reference to fig. 2 to 7.

Fig. 2 is a flowchart illustrating a control method of an object according to an embodiment of the present disclosure.

As shown in fig. 2, the control method 200 of the object of the embodiment may include operations S210 to S220. The control method 200 of the object may be performed by the roadside apparatus described above, and specifically, may be performed by the RSCU in the roadside apparatus.

In operation S210, status information of a target object located in a predetermined area is determined according to roadside sensing data of the predetermined area detected by the roadside sensing device.

In operation S220, in response to the state information indicating that the target object is in an abnormal state, the control object and the control information for the control object are determined.

According to an embodiment of the present disclosure, status information of a target object may be determined from roadside awareness data. The roadside sensing data may be data detected by the roadside sensing device. For example, image data, water depth, gas concentration, location data, distance data, and the like may be included. The embodiment may analyze the roadside sensing data to determine state information of the target object. The target object may include, among other things, road infrastructure and a vehicle.

For example, if it is determined that a vehicle exists in the predetermined area according to the roadside sensing data, the type of the vehicle, the size of the vehicle, the license plate number of the vehicle, the speed and the position of the vehicle, the environmental information around the vehicle, and the like can be identified by analyzing the collected continuous multi-frame image data. Based on these pieces of information, it can be determined that the vehicle is in a normal running state, a stopped state, or an abnormal state, for example. For example, if two vehicles exist within a predetermined area and it is detected that the distance between the two vehicles is less than a distance threshold, it may be determined that the two vehicles are in an abnormal state in which an accident occurs. For example, if the speed of the vehicle is greater than the speed limit of the traffic road on which the vehicle is located, it may be determined that the vehicle is in an abnormal state of speeding or the like.

For example, if it is determined that road infrastructure exists in the predetermined area according to the roadside sensing data, the type of the object, the size of the object, the position of the object, and the like on the traffic infrastructure can be identified by analyzing the collected continuous multi-frame image data. It can thus be determined whether there are obstacles on the traffic infrastructure that affect the travel of the vehicle. If there are obstacles on the traffic infrastructure that affect the travel of the vehicle (e.g., a collapsed rock, an accident vehicle, etc.), it may be determined that the traffic infrastructure is in an abnormal state.

According to the embodiment of the present disclosure, when the vehicle is in an abnormal state, it may be determined that the control object includes the vehicle itself, and accordingly, the control information may include, for example, running guidance information for remotely controlling the vehicle. The travel guidance information may include, for example, a vehicle speed of the guided vehicle, an accelerator opening degree, a brake parameter, and the like. It is to be understood that the above-described travel guidance information is merely an example to facilitate understanding of the present disclosure, and the present disclosure is not limited thereto. Specifically, the controlled object may be, for example, an on-board subsystem provided in the vehicle, where the on-board subsystem may include, for example, an OBU or an on-board smart terminal, and the on-board subsystem may have communication capability, local data storage and processing capability, and capability of executing a driving task according to a control instruction issued by the cloud control platform, the remote control console, and the remote control cockpit, and the like. Accordingly, the control information may include a control instruction to perform a driving task, and the like.

According to an embodiment of the present disclosure, when the road infrastructure is in an abnormal state, it may be determined that the control object includes a traffic indication device indicating that the vehicle is traveling. The control information may include, for example, control instructions to the traffic indicating device to control the operational state of the traffic indicating device or to control the alert information output by the traffic indicating device. The prompt information output by the traffic indicating equipment can comprise information of no passing, information of speed limit reminding and the like. The operational status of the traffic indicating device may include, for example, a traffic-enabled status, a traffic-disabled status, etc. For example, the control information may include information that controls the traffic indicating device to switch to a first state that includes a no traffic state for the roadway infrastructure.

In an embodiment, when the road infrastructure is in the abnormal state, it may be further determined that the control object includes a vehicle, and the control information may include information for controlling the vehicle to output a prompt message for prompting that the road infrastructure is in the abnormal state. The prompting information can also be used for prompting the position of the road infrastructure in an abnormal state. Specifically, according to the control information, the in-vehicle terminal of the vehicle may output the prompt information. Therefore, the vehicle road infrastructure can be timely informed of the abnormal state, so that an automatic driving system of the vehicle or a passenger can make a decision for changing a driving route in time, and the driving safety and the driving efficiency of the vehicle are improved.

In an embodiment, the status information of the target object may be determined in response to receiving remote control request information for the vehicle. In this case, the target object may include a vehicle, for example. The remote control request message may be sent by an onboard subsystem of the vehicle, or may be sent by a mobile terminal carried by a passenger who needs to take the vehicle. The abnormal state of the target object may include a state of the vehicle requiring remote control. The control object may include a vehicle, and the control information includes travel guidance information provided to an onboard subsystem of the vehicle.

According to the method and the device, the control object and the control information are determined when the target object is in the abnormal state, auxiliary information can be provided for vehicles running on the traffic road, and the driving safety of the vehicles on the traffic road is improved.

According to an embodiment of the present disclosure, when the information control method 200 is executed by a roadside apparatus, control information may be directly transmitted to a control object so that the control object provides assistance information for the traveling of a vehicle. For example, if it is detected that the vehicle in the predetermined area is in an abnormal state, the control object may include the vehicle, and the vehicle may be decelerated or started in time according to the control information, or the like. For example, if it is detected that the traffic infrastructure in the predetermined area is in an abnormal state, the control object may include a vehicle, and may also include a traffic light on a traffic road, and the like. For example, if the traffic infrastructure is in an abnormal state and the control target is a vehicle, the vehicle may be caused to output a guidance message or the like for bypassing the road ahead, based on the control information. If the traffic infrastructure is in an abnormal state and the control object is a traffic indicating device, the traffic indicating device can output guiding information for guiding the vehicle to detour according to the control information (for example, the traffic indicating lamp can display a red light to prompt a road in front of the vehicle to forbid passing, so that the purpose of guiding the vehicle to detour is achieved).

According to an embodiment of the present disclosure, when the information control method 200 is executed by a roadside device, the roadside device may further send status information and roadside sensing data of the target object to the cloud device connected in communication, and the cloud device determines the control object and control information for the control object according to the status information and the roadside sensing data of the target object. It can be understood that, the roadside sensing device may also directly upload the detected roadside sensing data to the cloud device via the network, and the RSCU in the roadside device only needs to send the determined state information to the cloud device. After the cloud device determines the control object and the control information, indication information indicating the control object and the control information may be sent to the roadside device.

For example, the cloud device may determine the control object and the control information according to roadside sensing data provided by a plurality of roadside devices arranged at intervals on the roadside, for example. Namely, the control object and the control information are determined according to the road side sensing data of the preset area, the road side sensing data of other areas except the preset area and the state information of the target object.

For example, if the target object is a road infrastructure, the state information of the object indicates that the road infrastructure is in an abnormal state, and the size of an obstacle on the road infrastructure is a. And determining the size of the obstacle on the other road infrastructure which is alternative to the road infrastructure in the predetermined area as B according to the roadside perception data of the other area, wherein B is larger than A, determining that the target object comprises the traffic indicating equipment set for the other road infrastructure instead of the traffic indicating equipment set for the road infrastructure in the predetermined area, and determining that the control information is used for controlling the traffic indicating equipment set for the other road infrastructure to output the indication information indicating no passing.

It can be understood that the cloud device can perform global control on a plurality of control objects according to the global roadside sensing data. In this way, the control method of the object of the embodiment can also be applied to management control of the main road level of traffic, which is beneficial to improving the driving safety and the driving efficiency of the vehicle as a whole and improving the utilization rate of the road.

In an embodiment, the target object may comprise, for example, a road infrastructure such as a culvert, tunnel, or bridge. When the road infrastructure is determined to be abnormal according to the roadside sensing data, the determined control object is controlled according to the control information, and the indication information can be provided for the vehicle to indicate the vehicle to detour when the vehicle runs to the road infrastructure, so that potential safety hazards possibly existing when the vehicle runs on the road infrastructure can be effectively avoided.

For example, the roadside awareness data set forth above includes environmental information for the road infrastructure, which may be embodied, for example, by image data detected by a video detector. Or may be represented by the gas concentration, the water accumulation depth, and the like described above. The embodiment may determine the control object as a traffic indication device provided for the road infrastructure when the road infrastructure is in the abnormal state to control the traffic indication device to be in the first state according to the control information. Wherein the first state may comprise a no-pass state for the roadway infrastructure. For example, control information may be sent to a traffic light at an entrance of a road infrastructure to control the traffic light to output a red light signal for the purpose of prompting a vehicle about to drive to the road infrastructure. Therefore, the vehicle can timely bypass when running to the road infrastructure, and the running safety of the vehicle is improved.

In one embodiment, in the case of an abnormal road infrastructure, control information may be further sent to a vehicle in the navigation path including the location of the road infrastructure, and the control information may be used to control the vehicle to output a prompt to prompt the road infrastructure on the vehicle travel path to be in an abnormal state. In this way, the vehicle-mounted subsystem or the driver of the vehicle can change the path in time according to the prompt message. By the mode, the driving safety of the vehicle can be improved, and meanwhile, the driving efficiency of the vehicle can be improved.

The following will describe in detail the implementation principle of the object control method in two scenarios in which the target object includes a road infrastructure, with reference to fig. 3 to 4.

Fig. 3 is a first application scenario diagram of a control method of an object according to an embodiment of the present disclosure.

As shown in fig. 3, in the application scenario 300, the target object may include a culvert 310, and the environmental information of the culvert 310 may include a water depth detected by a level sensor disposed at the culvert 310. The level sensor may be communicatively coupled to the RSCU320 in the roadside device described above. The RSCU320 may determine that the culvert 310 is in an abnormal condition when the depth of the ponding detected by the level sensor is greater than or equal to the depth threshold.

The RSCU320 may transmit control information to the traffic signal lamp 330 at the mouth of the culvert 310 after determining that the culvert 310 is in an abnormal state, so as to control the traffic signal lamp 330 to output a red signal. The RSCU320 can also transmit control information to the vehicle 340 within communication range through the RSU or 5G network or the like to control the vehicle 340 to output prompt information to prompt the vehicle that the culvert 310 in the vicinity thereof is in an abnormal state.

In one embodiment, the RSCU320 may send the status information of the culvert 310 to the cloud device 350 after determining that the culvert 310 is in an abnormal state. The status information may include, for example, the water depth of the culvert 310 and location information of the culvert 310, RSCU identification information, and the like. After receiving the status information, the cloud device 350 may determine whether to send control information to the traffic signal lamp 330 according to roadside sensing data, vehicle-mounted sensing data, and the like sent by all RSCUs 320 in the road network, for example. For example, the cloud device 350 may determine that a safety hazard exists at the culvert 310 when it is determined that there is traffic flow at the culvert 310 according to all the received data and the depth of the water is greater than or equal to the depth threshold. At this time, the cloud device 350 may send indication information to the RSCU320, so that the RSCU320 determines that the control object is the traffic light 330 of the opening of the culvert 310 according to the indication information, and determines control information for the traffic light 330. For example, the RSCU320 may transmit certain control information to the traffic light 330 at the opening of the culvert 310 to control the traffic light 330 to output a red light signal. The cloud device 350 may also determine the autonomous vehicles located within the predetermined range of the culvert 310 according to vehicle-mounted sensing data reported by the autonomous vehicles on the road, determine the autonomous vehicles as control objects, and determine that the control information includes information for controlling the autonomous vehicles to output prompt information.

By the mode, the embodiment can avoid the vehicle from being trapped in a dangerous environment, and can ensure traffic safety and personal safety.

Fig. 4 is a second application scenario diagram of a control method of an object according to an embodiment of the present disclosure.

As shown in fig. 4, in the application scenario 400, the target object may include a tunnel 410, and the environment information of the tunnel 410 may include environment information presented by an image detected by a video detector disposed at the tunnel 410, and may also include a concentration of a flammable gas detected by a gas concentration detector of the flammable gas such as gas disposed at the tunnel 410. The video detector or gas concentration detector may be in communication with the RSCU420 in the roadside apparatus described above. The RSCU420 may determine that the tunnel 410 is in an abnormal state when it is determined that an abnormal object exists within the tunnel 410 from the environment information of the tunnel 410.

For example, the RSCU420 may determine that an abnormal object exists within the tunnel 410 when the gas concentration within the tunnel is greater than a predetermined concentration. Alternatively, the RSCU420 may determine that the tunnel 410 has collapsed when it is determined from the image that a large-sized stone or soil pile exists within the tunnel 410, thereby determining that an abnormal object exists within the tunnel 410. Alternatively, the RSCU420 may determine that an abnormal object exists within the tunnel 410 when it determines from the image that a flame exists within the tunnel 410. Alternatively, the RSCU420 may also determine that a traffic accident has occurred in the tunnel 410 when it is determined from the image that two vehicles having a distance less than a predetermined distance are included in the tunnel 410, and thus determine that an abnormal object exists in the tunnel 410.

The RSCU420 may transmit control information to the traffic signal lamp 430 at the entrance of the tunnel 410 after determining that the tunnel 410 is in an abnormal state, to control the traffic signal lamp 430 to output a red signal. The RSCU420 can also transmit control information to the vehicle 440 within communication range through the RSU or 5G network or the like to control the vehicle 440 to output prompt information to prompt the vehicle that the tunnel 410 in the vicinity thereof is in an abnormal state.

In an embodiment, the RSCU420 may send the status information of the tunnel 410 to the cloud device 450 after determining that the tunnel 410 is in an abnormal state. The state information may include, for example, environment information of the tunnel 410 and location information of the tunnel 410, identification information of the RSCU, and the like. Cloud device 450 may determine control objects and control information in a manner similar to application scenario 300 described above. For example, it may be determined that the control object includes the traffic light 430 at the entrance of the tunnel 410, and it may also be determined that the control object includes an autonomous vehicle whose travel path includes the location of the tunnel 410.

Through the mode, the embodiment can avoid the vehicle from falling into a dangerous environment, can also avoid the vehicle from driving into the tunnel 410 to cause secondary traffic accidents and the like, and ensures traffic safety and personal safety.

Fig. 5 is a schematic diagram of a third application scenario of a control method of an object according to an embodiment of the present disclosure.

According to an embodiment of the present disclosure, the target object may further include a vehicle. The embodiment can determine that the vehicle is in an abnormal state and remotely control the vehicle when the vehicle runs abnormally. Thereby ensuring the safety of the vehicle running.

As shown in fig. 5, in the application scenario 500, the target object includes a vehicle 510. The RSCU 520 and the like in the road side equipment can determine that the vehicle runs abnormally when the vehicle meets any one of the following conditions according to the road side perception data detected by the road side perception equipment: the speed of the vehicle is greater than the speed limit of the traffic road where the vehicle is located, the driving direction of the vehicle is inconsistent with the driving direction allowed by the traffic road where the vehicle is located, the location of the vehicle is not within the range of the automatically driven geo-fence, and the like. The RSCU 520 may, for example, send status information of the vehicle to the cloud device 530 upon determining that the vehicle is traveling abnormally. The status information may include location information of the vehicle 510, identification information (e.g., license plate number) of the vehicle 510, roadside awareness data, travel information of the vehicle 510, and the like. The cloud device 530, upon receiving the status information, may, for example, remotely control the vehicle 510. For example, the cloud device may determine that the control object includes a vehicle, and the control information includes a driving parameter for remotely controlling the vehicle. The cloud device can encapsulate identification information and driving parameters of the vehicle and the like into indication information and send the indication information to the RSCU 520, and the RSCU 520 can send the driving parameters to the vehicle 510, so that the cloud device can remotely control the vehicle 510.

According to the embodiment of the disclosure, when the cloud device 530 remotely controls the vehicle 510, the vehicle 510 may also synchronize vehicle sensing data detected by the vehicle-mounted subsystem to the cloud device 530 through a 5G technology and the like, for example. The cloud device 530 may determine the driving parameters of the vehicle by comprehensively considering the vehicle-mounted sensing data and the roadside sensing data. Wherein the driving parameters may comprise at least one of: the running speed, the accelerator opening, the brake parameter, the corner parameter, the running path and the like.

It is to be understood that the above-described conditions and driving parameters for determining abnormal driving of the vehicle are merely examples to facilitate understanding of the present disclosure, and the present disclosure is not limited thereto.

Through the mode, the embodiment can timely prevent the abnormal driving of the vehicle, and avoids the potential safety hazard caused by the abnormal driving of the vehicle under the condition that the high-precision map information lags due to the speed limit information of the traffic road, the transformation of the traffic road and the like. In this way, the driving safety of the vehicle and the ability to automatically drive to adapt to the environment can be improved.

According to the embodiment of the disclosure, the cloud device can remotely control the automatic driving vehicle to travel to the destination under the operation of the distributed cloud security personnel, so that the reason for abnormal travel of the automatic driving vehicle can be analyzed.

Fig. 6 is a fourth application scenario diagram of a control method of an object according to an embodiment of the present disclosure.

According to the embodiment of the disclosure, the vehicle can also send a remote control request instruction to the cloud device when encountering an abnormal scene in the driving process. Specifically, the vehicle may determine that an abnormal situation is encountered in the case where temporary traffic control is encountered, the vehicle is not driven for a long time due to road congestion, needs to be driven according to human command, and/or needs to be driven according to an unconventional route (for example, driven by an oncoming lane or driven by a solid line). When the vehicle sends a remote control request instruction, the vehicle-mounted sensing data can be synchronously uploaded to the cloud device.

As shown in fig. 6, in an embodiment 600, the target object may also be a vehicle 610, for example. The cloud device 620 may determine that the vehicle 610 is in a target state requiring remote control, for example, upon receiving remote control request information transmitted from a mobile terminal carried by a passenger 630 who has reserved the ride vehicle 610. The remote control request information may include identification information such as a license plate number of the vehicle 610 assigned to the passenger 630. Upon determining that the vehicle 610 is in an abnormal state, the cloud device 620 may send control information to the vehicle 610, thereby enabling remote control of the vehicle 610. For example, the cloud device 620 may remotely control the vehicle 610 to travel to the location of the mobile terminal (i.e., the location of the passenger). The control information may include, for example, a vehicle speed, an accelerator opening, a braking parameter, and the like of the vehicle. The control information may be generated by the cloud device 620 in response to operation of the smart cockpit by a cloud security officer assigned thereto. In an embodiment, the control information determined by the cloud device 620 may also be sent to the vehicle via the roadside device.

In this way, for example, when the passenger 630 is weak or carries a lot of luggage, the passenger can send remote control request information for the vehicle 610 to the cloud device 620 through the terminal device carried around to request the cloud device 620 to remotely control the vehicle assigned to the passenger. Therefore, the passenger carrying speed of the vehicle can be increased according to the requirements of passengers. Compared with the technical scheme of automatic driving of the vehicle, when the position of the passenger is located in the area 601 outside the coverage range of the high-precision map, the scheme of the embodiment can remotely control the vehicle to drive in the area outside the coverage range of the high-precision map, so that the vehicle can drive to the position of the passenger, and passenger experience is improved.

Fig. 7 is a diagram of a fifth application scenario of a control method of an object according to an embodiment of the present disclosure.

According to the embodiment of the disclosure, the target object may also be a target vehicle such as a special vehicle, for example, a rescue vehicle, a medical vehicle, or the like, which needs to perform an emergency task. The embodiment can determine that the vehicle is in an abnormal state when the vehicle is the target vehicle, and control the traffic indicating equipment closest to the vehicle, so that the target vehicle can pass smoothly, the passing priority is provided for special vehicles, and a safe, efficient and smooth passing environment is provided.

As shown in fig. 7, in this application scenario 700, the target object includes a vehicle 710. The RSCU 720 or the like in the roadside apparatus may determine that the vehicle 710 is in an abnormal state in the case where it is determined that the vehicle is the target vehicle from the roadside sensing data detected by the roadside sensing facility. For example, the RSCU 720 may identify the image detected by the video detector, determine the type of the vehicle 710, and determine whether the vehicle 710 is the target vehicle based on the type.

The RSCU 720 may, upon determining that the vehicle is the target vehicle, send control information to the traffic light 730 closest to the vehicle 710 to control the traffic light 730 to be in the second state. The second state includes a state of passage permission for the direction in which the vehicle 710 is traveling.

The RSCU 720 may also send the vehicle's status information to the cloud device 740 after determining that the vehicle 710 is the target vehicle. To instruct the cloud device 740 to control the traffic indicating device closest to the vehicle 710 so that the traffic indicating device is in the second indicating state.

Based on the object control method provided by the disclosure, the disclosure also provides an object control device. The apparatus will be described in detail below with reference to fig. 8.

Fig. 8 is a block diagram of a control apparatus of an object according to an embodiment of the present disclosure.

As shown in fig. 8, the control apparatus 800 of the object of this embodiment may include a state determination module 810 and an information determination module 820.

The state determining module 810 is configured to determine state information of the target object located in the predetermined area according to the roadside sensing data of the predetermined area detected by the roadside sensing device. In an embodiment, the state determining module 810 may be configured to perform the operation S210 described above, which is not described herein again.

The information determination module 820 is configured to determine a control object and control information for the control object in response to the status information indicating that the target object is in an abnormal state. In an embodiment, the information determining module 820 may be configured to perform the operation S220 described above, which is not described herein again.

According to an embodiment of the present disclosure, the information determining module 820 may include an information sending sub-module and an information receiving sub-module. The information sending submodule is used for sending the state information to the cloud end equipment. The information receiving submodule is used for receiving indication information sent by the cloud device, and the indication information is only a control object and control information aiming at the control object. Wherein the indication information is determined according to the state information, the roadside sensing data of the predetermined region and the roadside sensing data of other regions except the predetermined region.

According to an embodiment of the present disclosure, the control object may include an object of a predetermined region and an object of another region. The control object may include at least one of: traffic indication devices and vehicles.

According to an embodiment of the present disclosure, the roadside awareness data includes environmental information of a road infrastructure. The information determination module 820 may include a first object determination sub-module and a first information determination sub-module. The first object determination sub-module is for determining that the control object includes a traffic indication device for the road infrastructure in response to the road infrastructure being in an abnormal state. The first information determination submodule is configured to determine that the control information includes information to control the traffic indicating device to switch to a first state, the first state including a no-pass state for the roadway infrastructure.

According to an embodiment of the present disclosure, the first object determination sub-module described above may be further configured to determine that the control object includes a vehicle in response to the road infrastructure being in the abnormal state. The first information determination sub-module is further configured to determine that the control information includes information for controlling the vehicle to output a prompt for prompting that the road infrastructure is in an abnormal state.

According to an embodiment of the present disclosure, the road infrastructure includes a culvert, and the environmental information includes a water accumulation depth of the culvert. The status determination module 810 may be configured to determine that the culvert is in an abnormal status in response to the depth of the ponding being greater than or equal to the depth threshold.

According to an embodiment of the present disclosure, the road infrastructure includes a tunnel, and the environment information includes information of an object existing within the tunnel. The state determining module 810 may be configured to determine that the tunnel is in an abnormal state in response to determining that an abnormal object exists in the tunnel according to the information of the object.

According to an embodiment of the present disclosure, the state determination module 810 may be configured to determine that the vehicle is in an abnormal state in response to determining that the vehicle is abnormally driven according to the roadside perception data. The above-described information determination module 820 may be configured to determine that the control object includes a vehicle in response to the vehicle being in an abnormal state, and determine that the control information includes information controlling the vehicle to travel.

According to an embodiment of the present disclosure, the state determination module 810 may be configured to determine that the vehicle is in an abnormal state in response to determining that the vehicle is a target vehicle according to the roadside perception data. The information determination module 820 may include a second object determination sub-module and a second information determination sub-module. The second object determination sub-module may be configured to determine that the target object includes a traffic indication device closest to the vehicle in response to the vehicle being in the abnormal state. The second information determination submodule is used for determining that the control information comprises information for controlling the traffic indicating device to switch to the second state. The second state includes a passage-allowed state for a direction in which the vehicle is traveling.

In the technical scheme of the present disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and applying the personal information of the related users all conform to the regulations of related laws and regulations, and necessary security measures are taken without violating the good customs of the public order. In the technical scheme of the disclosure, before the personal information of the user is acquired or collected, the authorization or the consent of the user is acquired.

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. 9 illustrates a schematic block diagram of an example electronic device 900 that may be used to implement the control methods of the objects of the disclosed embodiments. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 executes the respective methods and processes described above, such as the control method of the object. For example, in some embodiments, the control method of the object may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into the RAM903 and executed by the computing unit 901, one or more steps of the control method of an object described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the control method of the object by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), 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 code 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 code, when executed by the processor or controller, causes the functions/acts 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, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service extensibility in a conventional physical host and VPS service ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server incorporating a blockchain.

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

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

Claims

1. A method of controlling an object, comprising:

determining state information of a target object located in a preset region according to roadside sensing data of the preset region detected by roadside sensing equipment; the target objects include road infrastructure and vehicles; and

in response to the status information indicating that the target object is in an abnormal state, a control object and control information for the control object are determined.

2. The method of claim 1, wherein the determining a control object and control information for the control object in response to the status information indicating that the target object is in an abnormal state comprises:

sending the state information to cloud equipment; and

receiving indication information sent by the cloud device, wherein the indication information indicates the control object and control information for the control object,

wherein the indication information is determined according to the state information, the roadside perception data of the predetermined region and the roadside perception data of other regions except the predetermined region.

3. The method of claim 1, wherein:

the control object comprises an object of the predetermined area and objects of other areas except the predetermined area;

the control object includes at least one of: a traffic indicating device and the vehicle.

4. The method of claim 1, wherein the roadside awareness data includes environmental information of the road infrastructure; the determining a control object and control information for the control object in response to the status information indicating that the target object is in an abnormal state comprises:

in response to the road infrastructure being in the abnormal state, determining that the control object includes a traffic indicating device for the road infrastructure; and

determining that the control information includes information that controls the traffic indicating device to switch to a first state that includes a no-pass state for the road infrastructure.

5. The method of claim 4, wherein, in response to the status information indicating that the target object is in an abnormal state, determining a control object and control information for the control object further comprises:

determining that the control object includes the vehicle in response to the road infrastructure being in the abnormal state; and

determining that the control information includes information for controlling the vehicle to output a prompt message for prompting that the road infrastructure is in the abnormal state.

6. The method of claim 4 or 5, wherein the road infrastructure comprises a culvert; the environmental information comprises the ponding depth of the culvert; determining the state information of the target object located within the predetermined area includes:

determining that the culvert is in the abnormal state in response to the ponding depth being greater than or equal to a depth threshold.

7. The method of claim 4 or 5, wherein the road infrastructure comprises a tunnel; the environment information includes information of an object existing within the tunnel; determining the state information of the target object located within the predetermined area includes:

and determining that the tunnel is in the abnormal state in response to determining that an abnormal object exists in the tunnel according to the information of the object.

8. A method according to any one of claims 1 to 3, wherein:

determining the state information of the target object located in the predetermined area includes: determining that the vehicle is in the abnormal state in response to determining that the vehicle is running abnormally according to the roadside perception data; and

the determining a control object and control information for the control object in response to the status information indicating that the target object is in an abnormal state comprises: determining that the control object includes the vehicle in response to the vehicle being in the abnormal state; and determining that the control information includes information controlling the vehicle to travel.

9. A method according to any one of claims 1 to 3, wherein:

determining the state information of the target object located in the predetermined area includes: in response to determining that the vehicle is a target vehicle according to the roadside sensing data, determining that the vehicle is in the abnormal state; and

the determining a control object and control information for the control object in response to the status information indicating that the target object is in an abnormal state comprises:

in response to the vehicle being in the abnormal state, determining that the target object includes a traffic indicating device closest to the vehicle; and

determining that the control information includes information that controls the traffic indicating device to switch to a second state that includes a traffic-permitted state for a direction in which the vehicle is traveling.

10. An apparatus for controlling an object, comprising:

the state determining module is used for determining the state information of the target object in the preset area according to the roadside sensing data of the preset area detected by the roadside sensing equipment; the target objects include road infrastructure and vehicles; and

and the information determination module is used for determining a control object and control information aiming at the control object in response to the state information indicating that the target object is in an abnormal state.

11. The apparatus of claim 10, wherein the information determination module comprises:

the information sending submodule is used for sending the state information to the cloud end equipment; and

an information receiving submodule, configured to receive indication information sent by the cloud device, where the indication information indicates the control object and control information for the control object,

12. The apparatus of claim 10, wherein:

13. The apparatus of claim 10, wherein the roadside awareness data includes environmental information of the road infrastructure; the information determination module includes:

a first object determination sub-module for determining that the control object includes a traffic indication device for the road infrastructure in response to the road infrastructure being in the abnormal state;

a first information determination sub-module to determine that the control information includes information to control the traffic indication device to switch to a first state, the first state including a no traffic state for the roadway infrastructure.

14. The apparatus of claim 13, wherein:

the first object determination sub-module is further configured to determine that the control object includes the vehicle in response to the road infrastructure being in the abnormal state;

the first information determination sub-module is further configured to determine that the control information includes information for controlling the vehicle to output a prompt message for prompting that the road infrastructure is in the abnormal state.

15. The apparatus of claim 13 or 14, wherein the road infrastructure comprises a culvert; the environmental information comprises the ponding depth of the culvert; the state determination module is to:

16. The apparatus of claim 13 or 14, wherein the road infrastructure comprises a tunnel; the environment information includes information of an object existing within the tunnel; the state determination module is to:

17. The apparatus of any one of claims 10-12, wherein:

the state determination module is to: determining that the vehicle is in the abnormal state in response to determining that the vehicle is running abnormally according to the roadside perception data;

the information determination module is configured to determine that the control object includes the vehicle in response to the vehicle being in the abnormal state; and determining that the control information includes information controlling the vehicle to travel.

18. The apparatus of any one of claims 10-12, wherein:

the state determination module is to: determining that the vehicle is in the abnormal state in response to determining that the vehicle is a target vehicle from the roadside perception data; and

the information determination module includes:

a second object determination sub-module for determining that the target object includes a traffic indication device closest to the vehicle in response to the vehicle being in the abnormal state; and

a second information determination submodule for determining that the control information includes information controlling the traffic indication device to switch to a second state including a passage permitted state for a direction in which the vehicle is traveling.

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

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 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method according to any one of claims 1-9.

21. A computer program product comprising computer programs/instructions which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 9.

22. A roadside apparatus comprising the electronic apparatus of claim 19.