CN117208018B - Vehicle control method, control device, readable storage medium, and vehicle - Google Patents
Vehicle control method, control device, readable storage medium, and vehicle Download PDFInfo
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Abstract
The invention relates to the technical field of automatic driving, in particular to a vehicle control method, a control device, a readable storage medium and a vehicle, and aims to solve the problem of how to reduce cost and resource requirements on the premise of ensuring the full capacity of the vehicle. For this purpose, the invention firstly acquires the driving scene of the vehicle, and selects the functional state of the function of the vehicle according to the driving scene, thereby realizing the control of the vehicle according to the selected functional state. The problem that a plurality of functions are activated simultaneously to cause high calculation force and resource requirements can be avoided. Meanwhile, the function state of the functions of the vehicle is determined based on the driving scene, so that the problem that certain functions of the vehicle are lost at some moments can be avoided, and the cost and the resource requirements are effectively reduced on the premise of ensuring the full functions of the vehicle.
Description
Technical Field
The invention relates to the technical field of automatic driving, and particularly provides a vehicle control method, a control device, a readable storage medium and a vehicle.
Background
Advanced assisted and automated driving is becoming more and more of a concern, and system costs are becoming a challenge for OEMs and component manufacturers. How to realize the system can meet more and more user demands and solve and reduce the cost of the system is well known.
The driving control architecture in the prior art is shown in fig. 2, and fig. 2 is a schematic diagram of main implementation of the driving control architecture in the prior art. As shown in fig. 2, in the prior art, cameras, laser radars and millimeter wave radars are generally used as sensor inputs, and no matter in advanced driving assistance or automatic driving scenarios, the domain controller can simultaneously perform a driving function, an active safety and parking function, an accompanying and data feedback function and the like to realize a full-scale function, but the method requires higher calculation power and system resources. Some manufacturers also implement the driving function and the parking function in a time-sharing multiplexing manner to save calculation power and system resources, but this necessarily results in some loss of functions at some time.
Accordingly, there is a need in the art for a new vehicle control scheme to address the above-described issues.
Disclosure of Invention
The present invention has been made to overcome the above drawbacks, and provides a solution or at least partially solves the problem of how to achieve a reduction in cost and resource requirements while ensuring full functionality of the vehicle.
In a first aspect, the present invention provides a vehicle control method, the method comprising:
acquiring a driving scene of a vehicle; wherein the driving scene comprises an auxiliary driving scene and a non-auxiliary driving scene; the auxiliary driving scene is a scene of the vehicle starting an advanced auxiliary driving function or an automatic driving function; the non-auxiliary driving scene is a scene that the vehicle does not start advanced auxiliary driving functions and automatic driving functions;
and selecting the functional state of the function of the vehicle according to the driving scene so as to realize the control of the vehicle according to the selected functional state.
In one aspect of the above vehicle control method, the acquiring a driving scenario of a vehicle includes:
and interacting with the vehicle through an SOA interface to acquire the driving scene of the vehicle.
In one technical scheme of the vehicle control method, the functions of the vehicle comprise a driving function, an active safety function, a parking function and an associated function; the functional states include an active state and a standby state;
the selecting the functional state of the vehicle according to the driving scene includes:
when the driving scene is an auxiliary driving scene, controlling the associated function to be in a standby state, and controlling the driving function, the active safety function and the parking function to be in an activated state;
when the driving scene is a non-auxiliary driving scene, controlling the driving function to be in a standby state, and controlling the accompanying function, the active safety function and the parking function to be in an activated state;
the accompanying function is a function of carrying out data feedback and/or performance test on the performance of the vehicle in the actual road running process.
In one aspect of the above vehicle control method, the method further includes implementing the active safety function or parking function according to the steps of:
performing first data sensing according to data acquired by a vehicle-mounted sensor of the vehicle, and acquiring a first sensing result;
performing first data fusion according to the plurality of first perception results to obtain a first fusion result;
and according to the first fusion result, performing active safety control or parking control on the vehicle so as to realize the active safety function or the parking function.
In one aspect of the vehicle control method, the method further includes implementing the driving function according to the following steps:
acquiring environmental data of the environment where the vehicle is located according to the non-vehicle-end sensing data and the first fusion result;
and carrying out running control on the vehicle according to the environmental data so as to realize the running function.
In one aspect of the above vehicle control method, the method further includes implementing the companion function according to the steps of:
performing second data sensing according to data acquired by the vehicle-mounted sensor of the vehicle to acquire a second sensing result;
performing second data fusion according to the plurality of second sensing results to obtain a second fusion result;
and carrying out data feedback and/or performance test according to the second fusion result so as to realize the associated function.
In one aspect of the above vehicle control method, the performance test includes a performance test of an on-board sensor of the vehicle and/or a performance test of an autopilot algorithm; and/or the number of the groups of groups,
the accompanying function is full accompanying;
the full-scale accompaniment is a process of performing full-scale test on the performance of the automatic driving algorithm without cutting the performance of the automatic driving algorithm in the performance test process of the automatic driving algorithm.
In a second aspect, a control device is provided, which comprises at least one processor and at least one memory device, said memory device being adapted to store a plurality of program codes, said program codes being adapted to be loaded and run by said processor to perform the vehicle control method according to any one of the above-mentioned vehicle control methods.
In a third aspect, there is provided a computer-readable storage medium having stored therein a plurality of program codes adapted to be loaded and executed by a processor to perform the vehicle control method according to any one of the above-described vehicle control methods.
In a fourth aspect, a vehicle is provided, which includes the control device in the above-described control device technical solution.
The technical scheme provided by the invention has at least one or more of the following beneficial effects:
in the technical scheme of implementing the invention, the driving scene of the vehicle is acquired firstly, and the functional state of the function of the vehicle is selected according to the driving scene, so that the control of the vehicle is realized according to the selected functional state. By the configuration mode, the method and the device can determine the functional states of the functions of the vehicles based on the driving scenes of the vehicles, for example, the functions of some vehicles related to the auxiliary driving scenes can be activated in the auxiliary driving scenes, and the functions of other vehicles can be activated in the non-auxiliary driving scenes. Thus, the problem that a plurality of functions are activated simultaneously to cause high calculation force and resource requirements can be avoided. Meanwhile, the function state of the functions of the vehicle is determined based on the driving scene, so that the problem that certain functions of the vehicle are lost at some moments can be avoided, and the cost and the resource requirements are effectively reduced on the premise of ensuring the full functions of the vehicle.
Drawings
The present disclosure will become more readily understood with reference to the accompanying drawings. As will be readily appreciated by those skilled in the art: the drawings are for illustrative purposes only and are not intended to limit the scope of the present invention. Wherein:
FIG. 1 is a flow chart of the main steps of a vehicle control method according to one embodiment of the invention;
FIG. 2 is a schematic diagram of the main components of a driving control architecture in the prior art;
fig. 3 is a schematic diagram of main components of a vehicle control architecture according to an implementation of an embodiment of the invention.
Detailed Description
Some embodiments of the invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, a "module," "processor" may include hardware, software, or a combination of both. A module may comprise hardware circuitry, various suitable sensors, communication ports, memory, or software components, such as program code, or a combination of software and hardware. The processor may be a central processor, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and/or signal processing functions. The processor may be implemented in software, hardware, or a combination of both. Non-transitory computer readable storage media include any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, and the like. The term "a and/or B" means all possible combinations of a and B, such as a alone, B alone or a and B. The term "at least one A or B" or "at least one of A and B" has a meaning similar to "A and/or B" and may include A alone, B alone or A and B. The singular forms "a", "an" and "the" include plural referents.
Referring to fig. 1, fig. 1 is a schematic flow chart of main steps of a vehicle control method according to an embodiment of the present invention. As shown in fig. 1, the vehicle control method in the embodiment of the invention mainly includes the following steps S101 to S102.
Step S101: acquiring a driving scene of a vehicle; the driving scene comprises an auxiliary driving scene and a non-auxiliary driving scene.
In this embodiment, the current driving scenario of the vehicle may be acquired first, where the driving scenario includes an auxiliary driving scenario and a non-auxiliary driving scenario. The auxiliary driving scene is a scene that the vehicle starts an advanced auxiliary driving function or an automatic driving function. The non-auxiliary driving scene is a scene in which the vehicle does not turn on advanced auxiliary driving functions and automatic driving functions.
In one embodiment, the vehicle end domain controller may determine whether the advanced auxiliary driving function or the automatic driving function is on based on CAN (Controller Area Network) bus protocol, so as to obtain a driving scene of the vehicle.
Step S102: according to the driving scene, the function state of the function of the vehicle is selected, so that the control of the vehicle is realized according to the selected function state.
In the present embodiment, the function state of the function of the vehicle may be selected according to the driving scene of the vehicle, so that the vehicle is controlled according to the selected function state.
In one embodiment, the functions of the vehicle may include a driving function, an active safety function, a parking function, and an accompanying function. The associated function is that the vehicle carries out data feedback and backstage test on the performance of the vehicle in the actual road running process so as to achieve the functions of faster algorithm iteration efficiency and final user experience.
In one embodiment, the functional states may include an active state and a standby state. Wherein, the activated state refers to the function of the vehicle being in the running state at present. The standby state refers to a state in which the functions of the vehicle are not currently in operation.
Based on the steps S101 to S102, the embodiment of the present invention obtains the driving scene of the vehicle first, and selects the functional state of the function of the vehicle according to the driving scene, so as to realize the control of the vehicle according to the selected functional state. Through the configuration manner, the embodiment of the invention can determine the functional states of the functions of the vehicles based on the driving scenes of the vehicles, for example, the functions of some vehicles related to the auxiliary driving scenes can be activated in the auxiliary driving scenes, and the functions of other vehicles can be activated in the non-auxiliary driving scenes. Thus, the problem that a plurality of functions are activated simultaneously to cause high calculation force and resource requirements can be avoided. Meanwhile, the function state of the functions of the vehicle is determined based on the driving scene, so that the problem that certain functions of the vehicle are lost at some moments can be avoided, and the cost and the resource requirements are effectively reduced on the premise of ensuring the full functions of the vehicle.
Step S101 and step S102 are further described below.
In one implementation of the embodiment of the present invention, step S101 may be further configured to:
the method comprises the steps of interacting with a vehicle through an SOA (Service-Oriented Architecture-oriented architecture) interface to obtain a driving scene of the vehicle.
In this embodiment, the SOA interface may be used to interact with the vehicle to determine whether the current driving scenario of the vehicle is an auxiliary driving scenario or a non-auxiliary driving scenario. The SOA interface is a virtual medium for realizing communication between services in the SOA architecture, and is realized through software definition. The SOA architecture is a software architecture design model and methodology, and can realize distributed deployment, combination and use of loosely coupled coarse-grained application components through a network according to requirements. Through the interaction between the SOA interface and the vehicle, the interaction process between the vehicles can be realized only through the SOA interface which is simply and accurately defined, so that the driving scene of the vehicle is obtained, and the realization process is simpler, more convenient and flexible.
In one embodiment, reference may be made to fig. 3, and fig. 3 is a schematic diagram of the main components of a vehicle control architecture according to an embodiment of the present invention. As shown in fig. 3, the scene management module may interact with the vehicle through the SOA interface, so as to obtain whether the current driving scene of the vehicle is an auxiliary driving scene or a non-auxiliary driving scene.
In one implementation of the embodiment of the present invention, step S102 may further include the following steps S1021 and S1022:
step S1021: when the driving scene is an auxiliary driving scene, the associated function is controlled to be in a standby state, and the driving function, the active safety function and the parking function are controlled to be in an activated state.
Step S1022: when the driving scene is a non-auxiliary driving scene, the driving function is controlled to be in a standby state, and the accompanying function and the active safety function parking function are controlled to be in an activated state.
In this embodiment, as shown in fig. 3, when the driving scenario is an auxiliary driving scenario, the accompanying function, that is, the box 3 in fig. 3 is in a standby (standby) state, and the driving function (box 1 in fig. 3), the active safety function and the parking function (box 2 in fig. 3) are in an active state, so as to satisfy the driving experience and the safety requirement of the user. When the driving scenario is a non-assisted driving scenario, the driving function (block 1 in fig. 3) is in a standby state, while the active safety function and the parking function (block 2 in fig. 3) and the accompanying function (block 1 in fig. 3) are in an active state to ensure the safety requirements and the test requirements.
In one embodiment, the active safety function or the parking function may be implemented according to the following steps S201 to S203:
step S201: and performing first data sensing according to the data acquired by the vehicle-mounted sensor of the vehicle, and acquiring a first sensing result.
Step S202: and carrying out first data fusion according to the plurality of first perception results to obtain a first fusion result.
Step S203: and according to the first fusion result, performing active safety control or parking control on the vehicle so as to realize an active safety function or a parking function.
In this embodiment, as shown in fig. 3, first data sensing may be performed based on data acquired by the vehicle-mounted sensor, to obtain a first sensing result, first data fusion may be performed based on a plurality of first sensing results, to obtain a first fusion result, and active safety control or parking control may be performed according to the first fusion result, so as to implement an active safety function or a parking function. The vehicle-mounted sensor can be a vehicle-mounted camera, a vehicle-mounted laser radar and the like. The first data perception may be implemented using a perception algorithm commonly used in the art. The first data fusion may be achieved using fusion algorithms commonly used in the art.
In one embodiment, the driving function may be implemented according to the following steps S204 to S205:
step S204: and acquiring environmental data of the environment where the vehicle is located according to the non-vehicle-end sensing data and the first fusion result.
Step S205: and controlling the running of the vehicle according to the environmental data so as to realize the running function.
In this embodiment, environmental data of an environment where the vehicle is located may be obtained according to the non-vehicle-end sensing data and the first fusion result, and running control may be performed on the vehicle according to the environmental data, so as to implement a running function. As shown in fig. 3, the non-vehicle-end sensing data may be map data provided by a map module, and the map data, the first fusion result and other data are input into an environment module, so as to obtain environment data of an environment where a vehicle is located, and then a driving function is implemented according to the environment data. The other data may be high-precision map data, GNSS positioning data, vehicle speed data, data obtained by Fusion (Fusion) based on the above data, and the like.
In one embodiment, the companion function may be implemented according to the following steps S206 to S208:
step S206: and performing second data sensing according to the data acquired by the vehicle-mounted sensor of the vehicle to acquire a second sensing result.
Step S207: and carrying out second data fusion according to the plurality of second perception results to obtain a second fusion result.
Step S208: and carrying out data returning and performance testing according to the second fusion result so as to realize the associated function.
In this embodiment, as shown in fig. 3, the data collected by the vehicle-mounted sensor may be subjected to second data sensing, so as to obtain a second sensing result, second data fusion is performed according to a plurality of second sensing results, a second fusion result is obtained, and data feedback and performance test are performed according to the second fusion result, so as to implement the associated function. The vehicle-mounted sensor can be a vehicle-mounted camera, a vehicle-mounted laser radar and the like. The second data perception may be implemented using a perception algorithm commonly used in the art. The second data fusion may be achieved using fusion algorithms commonly used in the art.
The first data perception and the second data perception are respectively arranged, and the first data fusion and the second data fusion can respectively meet the requirements of the active safety function, the parking function and the associated function on the data perception and the data fusion. For example, when the companion function is realized, the second data perception and the second data fusion are applied, so that the occupation of the resources of the first data perception and the first data fusion can be avoided, and the active safety function and the traveling parking function are not influenced while the companion function is realized. Meanwhile, the first data perception and the second data perception, the first data fusion and the second data fusion can be respectively arranged in a mutually redundant mode. For example, when the first data sensing fails, a second sensing result obtained by the second data sensing may be applied to perform the first data fusion as the first sensing result, and vice versa. And when the first data fusion fails, the second fusion result obtained by the second data fusion can be used for carrying out active safety control or parking control on the vehicle, and vice versa.
In one embodiment, the performance test in the companion function may include a performance test of an onboard sensor of the vehicle, a performance test of an autopilot algorithm, and the like.
In one embodiment, the autopilot algorithm may include a perception algorithm, a fusion algorithm, a predictive algorithm, a planning control algorithm, and the like. The performance test of the autopilot algorithm may be a process of performing a performance test of the autopilot algorithm after being updated.
In one embodiment, the associated function may be in an activated state based on the driving scenario, so that the associated function may be full-scale associated, that is, the algorithm performance may be directly tested in full-scale without cutting the algorithm performance in the process of testing the latest algorithm performance.
It should be noted that, although the foregoing embodiments describe the steps in a specific order, it will be understood by those skilled in the art that, in order to achieve the effects of the present invention, the steps are not necessarily performed in such an order, and may be performed simultaneously (in parallel) or in other orders, and these variations are within the scope of the present invention.
It will be appreciated by those skilled in the art that the present invention may implement all or part of the above-described methods according to the above-described embodiments, or may be implemented by means of a computer program for instructing relevant hardware, where the computer program may be stored in a computer readable storage medium, and where the computer program may implement the steps of the above-described embodiments of the method when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include: any entity or device, medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunications signals, software distribution media, and the like capable of carrying the computer program code. It should be noted that the computer readable storage medium may include content that is subject to appropriate increases and decreases as required by jurisdictions and by jurisdictions in which such computer readable storage medium does not include electrical carrier signals and telecommunications signals.
Further, the invention also provides a control device. In one control device embodiment according to the present invention, the control device includes a processor and a storage device, the storage device may be configured to store a program for executing the vehicle control method of the above-described method embodiment, and the processor may be configured to execute the program in the storage device, including, but not limited to, the program for executing the vehicle control method of the above-described method embodiment. For convenience of explanation, only those portions of the embodiments of the present invention that are relevant to the embodiments of the present invention are shown, and specific technical details are not disclosed, please refer to the method portions of the embodiments of the present invention. The control device may be a control device formed of various electronic devices.
The control device in the embodiment of the invention can be a control device formed by various electronic devices. In some possible embodiments, the control device may include a plurality of memory devices and a plurality of processors. And the program for executing the vehicle control method of the above-described method embodiment may be divided into a plurality of sub-programs, each of which may be loaded and executed by a processor to perform the different steps of the vehicle control method of the above-described method embodiment, respectively. Specifically, each of the sub-programs may be stored in different storage devices, and each of the processors may be configured to execute the programs in one or more storage devices to collectively implement the vehicle control method of the above method embodiment, that is, each of the processors executes different steps of the vehicle control method of the above method embodiment, respectively, to collectively implement the vehicle control method of the above method embodiment.
The plurality of processors may be processors disposed on the same device, and for example, the control means may be a high-performance device composed of a plurality of processors, and the plurality of processors may be processors disposed on the high-performance device. In addition, the plurality of processors may be processors disposed on different devices, for example, the control apparatus may be a server cluster, and the plurality of processors may be processors on different servers in the server cluster.
Further, the invention also provides a computer readable storage medium. In one embodiment of the computer-readable storage medium according to the present invention, the computer-readable storage medium may be configured to store a program for executing the vehicle control method of the above-described method embodiment, which may be loaded and executed by a processor to implement the above-described vehicle control method. For convenience of explanation, only those portions of the embodiments of the present invention that are relevant to the embodiments of the present invention are shown, and specific technical details are not disclosed, please refer to the method portions of the embodiments of the present invention. The computer readable storage medium may be a storage device including various electronic devices, and optionally, the computer readable storage medium in the embodiments of the present invention is a non-transitory computer readable storage medium.
Further, the invention also provides a vehicle. In one vehicle embodiment according to the invention, the vehicle comprises a control device of the control device embodiment.
Further, it should be understood that, since the respective modules are merely set to illustrate the functional units of the apparatus of the present invention, the physical devices corresponding to the modules may be the processor itself, or a part of software in the processor, a part of hardware, or a part of a combination of software and hardware. Accordingly, the number of individual modules in the figures is merely illustrative.
Those skilled in the art will appreciate that the various modules in the apparatus may be adaptively split or combined. Such splitting or combining of specific modules does not cause the technical solution to deviate from the principle of the present invention, and therefore, the technical solution after splitting or combining falls within the protection scope of the present invention.
The personal information of the relevant user possibly related in each embodiment of the application is personal information which is strictly required by laws and regulations, is processed actively provided by the user in the process of using the product/service or is generated by using the product/service and is obtained by authorization of the user according to legal, legal and necessary principles and based on reasonable purposes of business scenes.
The personal information of the user processed by the application may be different according to the specific product/service scene, and the specific scene that the user uses the product/service may be referred to as account information, equipment information, driving information, vehicle information or other related information of the user. The present application treats the user's personal information and its processing with a high diligence.
The method and the device have the advantages that safety of personal information of the user is very important, and safety protection measures which meet industry standards and are reasonable and feasible are adopted to protect the information of the user and prevent the personal information from unauthorized access, disclosure, use, modification, damage or loss.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (9)
1. A vehicle control method, characterized in that the method comprises:
acquiring a driving scene of a vehicle; wherein the driving scene comprises an auxiliary driving scene and a non-auxiliary driving scene; the auxiliary driving scene is a scene of the vehicle starting an advanced auxiliary driving function or an automatic driving function; the non-auxiliary driving scene is a scene that the vehicle does not start advanced auxiliary driving functions and automatic driving functions;
selecting a functional state of a function of the vehicle according to the driving scene to realize control of the vehicle according to the selected functional state;
the functions of the vehicle comprise a driving function, an active safety function, a parking function and an associated function; the functional states include an active state and a standby state;
the selecting the functional state of the vehicle according to the driving scene includes:
when the driving scene is an auxiliary driving scene, controlling the associated function to be in a standby state, and controlling the driving function, the active safety function and the parking function to be in an activated state;
when the driving scene is a non-auxiliary driving scene, controlling the driving function to be in a standby state, and controlling the accompanying function, the active safety function and the parking function to be in an activated state;
the accompanying function is a function of carrying out data feedback and/or performance test on the performance of the vehicle in the actual road running process.
2. The vehicle control method according to claim 1, characterized in that,
the acquiring the driving scene of the vehicle includes:
and interacting with the vehicle through an SOA interface to acquire the driving scene of the vehicle.
3. The vehicle control method according to claim 1, characterized in that the method further comprises implementing the active safety function or parking function according to the steps of:
performing first data sensing according to data acquired by a vehicle-mounted sensor of the vehicle, and acquiring a first sensing result;
performing first data fusion according to the plurality of first perception results to obtain a first fusion result;
and according to the first fusion result, performing active safety control or parking control on the vehicle so as to realize the active safety function or the parking function.
4. The vehicle control method according to claim 3, characterized in that the method further comprises implementing the driving function according to the steps of:
acquiring environmental data of the environment where the vehicle is located according to the non-vehicle-end sensing data and the first fusion result;
and carrying out running control on the vehicle according to the environmental data so as to realize the running function.
5. The vehicle control method according to claim 1, characterized in that the method further includes implementing the accompaniment function according to the steps of:
performing second data sensing according to data acquired by the vehicle-mounted sensor of the vehicle to acquire a second sensing result;
performing second data fusion according to the plurality of second sensing results to obtain a second fusion result;
and carrying out data feedback and/or performance test according to the second fusion result so as to realize the associated function.
6. The vehicle control method according to claim 5, characterized in that,
the performance test comprises a performance test of an on-board sensor of the vehicle and/or a performance test of an automatic driving algorithm; and/or the number of the groups of groups,
the accompanying function is full accompanying;
the full-scale accompaniment is a process of performing full-scale test on the performance of the automatic driving algorithm without cutting the performance of the automatic driving algorithm in the performance test process of the automatic driving algorithm.
7. A control device comprising at least one processor and at least one memory device, the memory device being adapted to store a plurality of program codes, characterized in that the program codes are adapted to be loaded and executed by the processor to perform the vehicle control method of any one of claims 1 to 6.
8. A computer readable storage medium having stored therein a plurality of program codes, characterized in that the program codes are adapted to be loaded and executed by a processor to perform the vehicle control method of any one of claims 1 to 6.
9. A vehicle characterized in that it comprises the control device according to claim 7.
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