WO2017161498A1 - 车辆控制方法、装置及系统 - Google Patents
车辆控制方法、装置及系统 Download PDFInfo
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- WO2017161498A1 WO2017161498A1 PCT/CN2016/076988 CN2016076988W WO2017161498A1 WO 2017161498 A1 WO2017161498 A1 WO 2017161498A1 CN 2016076988 W CN2016076988 W CN 2016076988W WO 2017161498 A1 WO2017161498 A1 WO 2017161498A1
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- Prior art keywords
- driving mode
- vehicle
- vehicle control
- management device
- control device
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- 238000004891 communication Methods 0.000 claims description 44
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/085—Changing the parameters of the control units, e.g. changing limit values, working points by control input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- H—ELECTRICITY
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- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Definitions
- the present invention relates to the field of intelligent transportation technologies, and in particular, to a vehicle control method, device and system.
- ITS Intelligent Transportation System
- ITS is a technology that integrates advanced information, communication, sensing, control and computer technology.
- Integrated transportation management system, ITS can reduce traffic load, reduce environmental pollution, ensure traffic safety and improve transportation efficiency.
- the ITS may include a management device, a collection device, and a vehicle, the vehicle being configured with a driving mode, and the driving mode may correspond to at least one scene that is allowed to be employed, for example, when the vehicle adopts the first driving mode to allow the vehicle to adopt
- the management device can control the vehicle when the first driving mode travels within the first range.
- the management device may acquire the road condition information in the first range through the collecting device, and according to the acquired road condition information.
- a travel path is planned for the vehicle, and the planned travel path is transmitted to the vehicle such that the vehicle travels along the planned travel path in a first range using a fully automated driving mode.
- the management equipment in the ITS can effectively control the vehicle only when the driving mode is adopted in the allowed scene. Therefore, the control function of the ITS is relatively simple, and the flexibility of the vehicle control is low.
- the present invention provides a vehicle control method, apparatus and system.
- the technical solution is as follows:
- a vehicle control method comprising:
- the management device acquires a first driving mode set, the first driving mode set including a driving mode currently allowed to be adopted by the first vehicle;
- the management device determines a target driving mode in the first driving mode set
- the management device transmits indication information to the first vehicle control device, the indication information including information of the target driving mode, the indication information being used to instruct the first vehicle control device to control the first vehicle to adopt the Driving in the target driving mode.
- the vehicle control system may be an ITS
- the ITS may include a management device and a vehicle
- the vehicle management device may be disposed on the vehicle.
- the vehicle is configured with a driving mode
- the driving mode can correspond to at least one allowed scene
- the management device in the ITS can effectively control the vehicle when the vehicle is driven only by the driving mode allowed by the current scene. Therefore, the control function of ITS is relatively simple, and the flexibility of vehicle control is low.
- the management device may acquire a first driving mode set composed of a driving mode that the first vehicle is currently allowed to allow the driving mode adopted by the first vehicle, and determine a target driving mode in the first driving mode set, and then include the target.
- the indication information of the information of the driving mode is sent to the first vehicle control device, that is, the first vehicle control device is instructed to control the first vehicle to adopt the target driving mode, so that the driving mode adopted by the first vehicle in the ITS is the target driving mode (ie, the current The scene allows the driving mode adopted by the first vehicle), so the management device in the ITS can effectively control the first vehicle.
- the management device stores a correspondence between the driving mode and the priority, and the management device determines the target driving mode in the first driving mode set, including:
- the management device determines that a driving mode having the highest priority among the driving modes in the first driving mode set is the target driving mode.
- the management device may determine the priority of each driving mode in the first driving mode set according to the correspondence between the locally stored driving mode and the priority, and determine the first driving.
- the driving mode with the highest priority among the mode sets is the target driving mode, and one driving mode is selected as the target driving mode in the driving mode currently allowed by the first vehicle.
- the management device sends the indication information to the first vehicle control device, including:
- the management device transmits indication information to the first vehicle control device, the indication information includes only information of a driving mode, and the one driving mode is the target driving mode;
- the management device sends indication information to the first vehicle control device, the indication letter
- the information includes information of at least two driving modes in the first driving mode set, and the driving mode information includes priority information of the driving mode, wherein the target driving mode is the highest priority driving among the at least two driving modes mode.
- the management device may generate indication information including only the information of the target driving mode, and send the indication information to the first vehicle control device, indicating A vehicle control device controls the first vehicle to travel in a target driving mode.
- the management device may also generate indication information including information of at least two driving modes including the target driving determined by the management device. a mode, and the information of each driving mode may include identification information of each driving mode and priority information. Since the target driving mode is the driving mode with the highest priority among the first driving mode set, the target driving mode is also The highest priority driving mode of the at least two driving modes.
- the first vehicle control device may determine, according to the priority information of the driving mode, the highest priority among the at least two driving modes.
- the driving mode is the target driving mode, and it is determined whether the first vehicle is configured with the target driving mode, and if the first vehicle is configured with the target driving mode, the first vehicle is controlled to travel in the target driving mode.
- the management device acquires the first driving mode set, including:
- the management device receives request information sent by the first vehicle control device, and the request information is used to request a driving mode that is allowed to be adopted by the first vehicle;
- the management device determines the first driving mode set according to the driving mode adopted by the first vehicle according to the current scene.
- the first vehicle control device may send request information to the management device, requesting the management device to allocate the driving mode that the first vehicle is currently allowed to adopt for the first vehicle.
- the management device may determine the first driving mode set according to the request information after receiving the request information, thereby allocating, to the first vehicle, the target driving mode currently allowed by the first vehicle, so that the first vehicle control device controls the first vehicle to adopt the target driving.
- the mode driving ensures that the first vehicle will save you from the driving mode allowed by the current scene when starting from the beginning.
- the request information includes information of a self-selected driving mode
- the request information is used to request to travel in the self-selected driving mode
- the first vehicle is configured with a preset driving mode set
- the preset driving mode set Included in the at least one driving mode
- the optional driving mode belongs to the preset driving mode set
- the management device determines the target driving mode in the first driving mode set, including:
- the management device determines whether the first driving mode set includes the optional driving mode
- the management device determines that the self-selected driving mode is the target driving mode when the first driving mode set includes the optional driving mode;
- the management device determines a priority of each driving mode in the first driving mode set according to a correspondence relationship between the driving mode and a priority, And determining that the driving mode with the highest priority among the first driving mode sets is the target driving mode.
- the request information that the first vehicle control device can send to the management device may include information of a self-selected driving mode, which may be directly determined by the first vehicle control device, or the self-selection
- the driving mode may be determined by the first vehicle control device according to the user's selection.
- the management device may acquire the first driving mode set, determine the self-selected driving mode according to the request information, and then determine whether the first driving mode set includes the optional driving mode, and include the optional driving in the first driving mode set.
- the management device may determine that the current scene allows the first vehicle to drive in the self-selected driving mode, and instruct the first vehicle to drive in the self-selected driving mode; when the first driving mode set does not include the optional driving mode, the management device may determine that the current scene is not The first vehicle is allowed to travel in the self-selected driving mode. At this time, the management device may determine one driving mode as the target driving mode in the first driving mode set, and instruct the first vehicle to travel in the target driving mode.
- the management device stores a correspondence between the driving mode and the priority, and the management device determines the target driving mode in the first driving mode set, including:
- the management device acquires a current driving mode of the first vehicle
- the management device determines whether the first driving mode set includes a current driving mode of the first vehicle
- the management device determines each driving mode in the first driving mode set according to the correspondence between the driving mode and the priority. Priority and determine the highest priority driving mode in the first set of driving modes The formula is the target driving mode.
- the management device may further determine a current driving mode of the first vehicle, and determine whether the first driving mode set includes The current driving mode of the first vehicle, that is, determining whether the current scene in which the first vehicle is located allows the first vehicle to travel in the current driving mode of the first vehicle.
- the management device may determine that the scene in which the first vehicle is currently located allows the first vehicle to travel in the current driving mode of the first vehicle, and the management device may not perform an action.
- the management device may determine that the scene in which the first vehicle is currently located does not allow the first vehicle to travel in the current driving mode of the first vehicle, and the management device may be in the Determining one driving mode as the target driving mode in the first driving mode set, and transmitting the indication information including the information of the target driving mode to the first vehicle control device, instructing the first vehicle to travel in the target driving mode.
- the management device stores a correspondence between a driving mode and a safety distance threshold, and a correspondence between the driving mode and the speed threshold. After the management device acquires the first driving mode set, the method further includes:
- the management device acquires a current driving mode of the first vehicle
- the management device determines whether the first driving mode set includes a current driving mode of the first vehicle
- the management device When the first driving mode set includes the current driving mode of the first vehicle, the management device indicates the according to a current driving mode of the first vehicle and a correspondence relationship between the driving mode and a safety distance threshold The first vehicle control device controls the first vehicle to adjust a front and rear vehicle safety distance of the first vehicle, and the adjusted front and rear vehicle safety distance of the first vehicle is greater than or equal to a current driving mode of the first vehicle a safety distance threshold; or, when the first driving mode set includes the current driving mode of the first vehicle, the management device according to a current driving mode of the first vehicle and a correspondence between the driving mode and a speed threshold a relationship, the first vehicle control device is instructed to control the first vehicle to adjust a traveling speed of the first vehicle, and the adjusted driving speed of the first vehicle is less than or equal to a current driving mode of the first vehicle Speed threshold.
- the management device may determine that the scene in which the first vehicle is currently allowed to allow the first vehicle to travel in the current driving mode of the first vehicle, and the management device may be based on the first vehicle Current driving mode, indicating that the first vehicle control device controls the first Vehicles, thereby improving the efficiency of vehicle control.
- the management device acquires a current driving mode of the first vehicle, including:
- the management device determines a current driving mode of the first vehicle based on the first notification information.
- the first vehicle control device may transmit the first notification information including the information of the current driving mode of the first vehicle to the management device in real time, that is, report the current driving mode of the first vehicle to the management device in real time.
- the method further includes:
- the management device acquires a current driving mode of the second vehicle, where a distance between the first vehicle and the second vehicle is less than a preset distance;
- the management device transmits second notification information to the first vehicle control device, the second notification information including information of a current driving mode of the second vehicle.
- the management device may transmit second notification information including information of a current driving mode of the second vehicle to the first vehicle control device after acquiring the current driving mode of the second vehicle. That is, the management device can notify the first vehicle control device of the current driving mode of the second vehicle, so that when the second vehicle is traveling in front of the first vehicle and the first vehicle needs to overtake, the first vehicle control device can determine to inform The manner in which the second vehicle driver's overtaking intention of the first vehicle ensures that the first vehicle effectively informs the second vehicle driver of the overtaking intention, thereby improving the efficiency of overtaking and preventing the occurrence of a traffic accident.
- a vehicle control method comprising:
- the first vehicle control device receives the indication information sent by the management device, the indication information includes information of at least two driving modes, and the driving mode information includes priority information of the driving mode, and the at least two driving modes are currently permitted The driving mode adopted by the first vehicle;
- the first vehicle control device when the preset driving mode set includes the target driving mode The first vehicle is controlled to travel in the target driving mode.
- a vehicle control device comprising:
- a first acquiring module configured to acquire a first driving mode set, where the first driving mode set includes a driving mode currently allowed to be adopted by the first vehicle;
- a determining module configured to determine a target driving mode in the first driving mode set acquired by the first acquiring module
- a first sending module configured to send indication information to the first vehicle control device, where the indication information includes information about the target driving mode determined by the determining module, where the indication information is used to indicate that the first vehicle control device controls the The first vehicle travels in the target driving mode.
- the management device stores a correspondence between a driving mode and a priority, where the determining module is specifically configured to:
- Determining that the driving mode with the highest priority among the driving modes in the first driving mode set is the target driving mode.
- the first sending module is specifically configured to:
- the indication information includes only information of a driving mode, and the one driving mode is the target driving mode determined by the determining module;
- the indication information includes information of at least two driving modes in the first driving mode set acquired by the first acquiring module, where the driving mode information includes a driving mode
- the priority information, the target driving mode determined by the determining module is the driving mode with the highest priority among the at least two driving modes.
- the first acquiring module is specifically configured to:
- the request information includes information about an optional driving mode, and the request information is used for requesting Driving in the self-selected driving mode, the first vehicle is configured with a preset driving mode set, the preset driving mode set includes at least one driving mode, and the self-selecting driving mode belongs to the preset driving mode set,
- the determination module is specifically used to:
- the driving mode with the highest priority among the first driving mode sets is the target driving mode.
- the management device stores a correspondence between a driving mode and a priority, where the determining module is specifically configured to:
- the first driving mode set does not include the current driving mode of the first vehicle, determining a priority of each driving mode in the first driving mode set according to a correspondence relationship between the driving mode and a priority, And determining that the driving mode with the highest priority among the first driving mode sets is the target driving mode.
- the management device stores a correspondence between a driving mode and a safety distance threshold, and a correspondence between a driving mode and a speed threshold, where the vehicle control device further includes:
- a second acquiring module configured to acquire a current driving mode of the first vehicle
- a determining module configured to determine whether the first driving mode set acquired by the first acquiring module includes a current driving mode of the first vehicle
- a indicating module configured to indicate, according to a current driving mode of the first vehicle and a correspondence between the driving mode and a safety distance threshold, when the first driving mode set includes a current driving mode of the first vehicle
- the first vehicle control device controls the first vehicle to adjust a front and rear vehicle safety distance of the first vehicle, and the adjusted front and rear vehicle safety distance of the first vehicle is greater than or equal to a current driving mode of the first vehicle.
- a safety distance threshold when the first driving mode set includes the current driving mode of the first vehicle, according to a current driving mode of the first vehicle and Corresponding relationship between the driving mode and the speed threshold, instructing the first vehicle control device to control the first vehicle to adjust a traveling speed of the first vehicle, and the adjusted driving speed of the first vehicle is less than or equal to A speed threshold corresponding to the current driving mode of the first vehicle.
- the second acquiring module is specifically configured to:
- the first notification information including information of a current driving mode of the first vehicle
- the vehicle control device further includes:
- a third acquiring module configured to acquire a current driving mode of the second vehicle, where a distance between the first vehicle and the second vehicle is less than a preset distance
- a second sending module configured to send second notification information to the first vehicle control device, where the second notification information includes information about a current driving mode of the second vehicle.
- a vehicle control device comprising:
- a receiving module configured to receive indication information sent by the management device, where the indication information includes information of at least two driving modes, the driving mode information includes priority information of the driving mode, and the at least two driving modes are currently allowed The driving mode adopted by the first vehicle;
- a determining module configured to determine, according to the priority information of the at least two driving modes in the indication information received by the receiving module, that the driving mode with the highest priority among the at least two driving modes is the target driving mode;
- a determining module configured to determine whether the preset driving mode set includes the target driving mode determined by the determining module, wherein the first vehicle is configured with the preset driving mode set, and the preset driving mode set includes at least one driving mode;
- control module configured to control the first vehicle to travel in the target driving mode when the determining module determines that the preset driving mode set includes the target driving mode.
- a vehicle control system comprising: a management device and a first vehicle control device,
- the management device includes the vehicle control device of the third aspect
- the first vehicle control device includes the vehicle control device of the fourth aspect.
- a vehicle control apparatus for managing a device, the vehicle control apparatus comprising: at least one processor, at least one network interface, a memory, and at least one communication bus, The processor is configured to execute a program stored in the memory to implement the vehicle control method of the first aspect.
- a vehicle control apparatus for a first vehicle control apparatus, the vehicle control apparatus comprising: at least one processor, a memory, a communication module, at least one communication bus, and a communication antenna.
- the communication bus is used to implement connection communication between these components.
- the communication module can be used for long distance communication.
- the communication antenna is used to receive and transmit communication signals.
- the processor is configured to execute a program stored in the memory to implement the vehicle control method of the second aspect.
- a vehicle control system including a management device and a first vehicle control device,
- the management device includes the vehicle control device of the sixth aspect
- the first vehicle control device includes the vehicle control device of the seventh aspect.
- the present invention provides a vehicle control method, apparatus and system.
- a management device first acquires a first driving mode set composed of driving modes currently permitted by a first vehicle, and determines a first driving mode set. And the target driving mode, and then transmitting the indication information including the information of the target driving mode to the first vehicle control device, so that the first vehicle control device controls the first vehicle to travel in the target driving mode after receiving the indication information.
- the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- FIG. 1 is a schematic diagram of an application scenario of a vehicle control method according to an embodiment of the present invention
- FIG. 2 is a flowchart of a method for controlling a vehicle according to an embodiment of the present invention
- FIG. 3 is a flowchart of a method for controlling another vehicle according to an embodiment of the present invention.
- FIG. 4 is a flowchart of still another method for controlling a vehicle according to an embodiment of the present invention.
- 5-1 is a schematic structural diagram of a vehicle control apparatus according to an embodiment of the present invention.
- 5-2 is a schematic structural diagram of another vehicle control apparatus according to an embodiment of the present invention.
- 5-3 is a schematic structural diagram of still another vehicle control apparatus according to an embodiment of the present invention.
- FIG. 6 is a schematic structural diagram of still another vehicle control apparatus according to an embodiment of the present invention.
- FIG. 7 is a schematic structural diagram of a vehicle control device according to another embodiment of the present invention.
- FIG. 8 is a schematic structural diagram of another vehicle control apparatus according to another embodiment of the present invention.
- ITS can effectively use transportation facilities to reduce traffic load, reduce environmental pollution, ensure traffic safety, and improve transportation efficiency.
- ITS is an important part of smart city (English: Intelligent City).
- the development of ITS is inseparable from the development of the Internet of Things (English: Internet of Things; IoT).
- ITS is the embodiment of IoT in the transportation industry.
- the ITS includes acquisition equipment, vehicles, drivers, and management equipment.
- the management equipment in the ITS has functions of controlling vehicles, collecting traffic information, and managing traffic.
- FIG. 1 is a schematic diagram of an application scenario of a vehicle control method according to an embodiment of the present invention.
- the ITS-0 may include: a management device 01, an acquisition device 02, a first vehicle control device 03, and a second vehicle control.
- the device 04, the first vehicle control device 03 can be disposed on the first vehicle 13, and the second vehicle control device 04 can be disposed on the second vehicle 14, and any two of the ITS-0 can be established with a communication connection (Fig. 1 is not shown), the first vehicle 13 and the second vehicle 14 are each configured with at least one driving mode, and at least one driving mode configured on the first vehicle 13 constitutes a preset driving mode set, the first vehicle 13 and the first The distance of the two vehicles 14 is less than the preset distance.
- the ITS-0 may include more than one vehicle configured with at least one driving mode, and the first vehicle 13 and the second vehicle 14 may be less than any two of the vehicles in which the at least one driving mode is configured.
- both the first vehicle 13 and the second vehicle 14 may be driven on a road (not shown in FIG. 1), and the collection device 02 may be a road traffic facility disposed on the road (not shown in FIG. 1) ).
- the first vehicle control device 03 is disposed on the first vehicle 13 as an example, and the second vehicle control The manufacturing device 04 is disposed on the second vehicle 14 as an example.
- the first vehicle control device 03 may be disposed on the first vehicle 13 or may not be disposed on the first vehicle 13
- the second vehicle control device 04 may be disposed on the second vehicle 14 or may not be disposed in the second vehicle 14 .
- the second embodiment of the present invention is not limited thereto.
- an embodiment of the present invention provides a vehicle control method, which may be used in the management device 01 in the ITS-0 as shown in FIG. 1.
- the vehicle control method may include:
- Step 201 The management device acquires a first driving mode set, where the first driving mode set includes a driving mode currently allowed to be adopted by the first vehicle.
- Step 202 The management device determines a target driving mode in the first driving mode set.
- Step 203 The management device sends the indication information to the first vehicle control device, where the indication information includes information of the target driving mode, and the indication information is used to instruct the first vehicle control device to control the first vehicle to travel in the target driving mode.
- the management device first acquires the first driving mode set that is currently allowed to adopt the driving mode adopted by the first vehicle, and determines the target in the first driving mode set.
- the driving mode then transmits the indication information including the information of the target driving mode to the first vehicle control device, so that the first vehicle control device controls the first vehicle to travel in the target driving mode after receiving the indication information.
- the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- mapping between the driving mode and the priority is stored on the management device, and the step 202 may include:
- the management device determines a priority of the driving mode in the first driving mode set according to the correspondence between the driving mode and the priority;
- the management device determines that the driving mode with the highest priority among the driving modes in the first driving mode set is the target driving mode.
- step 203 can include:
- the management device sends the indication information to the first vehicle control device, the indication information includes only information of one driving mode, and one driving mode is the target driving mode;
- the management device sends the indication information to the first vehicle control device, the indication information includes information of at least two driving modes in the first driving mode set, the driving mode information includes driving mode priority information, and the target driving mode is at least two The driving mode with the highest priority among the driving modes.
- step 201 may include:
- the management device receives the request information sent by the first vehicle control device, and the request information is used to request a driving mode that is allowed to be adopted by the first vehicle;
- the management device determines, according to the request information, a scenario in which the first vehicle is currently located;
- the management device acquires a driving mode that the current scene is allowed to allow the first vehicle to adopt;
- the management device determines the first driving mode set by allowing the driving mode adopted by the first vehicle according to the current scene.
- the request information includes information of an optional driving mode
- the request information is used to request to drive in the self-selected driving mode
- the first vehicle is configured with a preset driving mode set
- the preset driving mode set includes at least one driving mode
- the driving mode is optional.
- step 202 may include:
- the management device determines whether the first driving mode set includes an optional driving mode
- the management device determines that the self-selected driving mode is the target driving mode
- the management device determines the priority of each driving mode in the first driving mode set according to the correspondence between the driving mode and the priority, and determines the priority in the first driving mode set.
- the highest driving mode is the target driving mode.
- mapping between the driving mode and the priority is stored on the management device, and the step 202 may include:
- the management device acquires a current driving mode of the first vehicle
- the management device determines whether the first driving mode set includes a current driving mode of the first vehicle
- the management device determines the priority of each driving mode in the first driving mode set according to the correspondence relationship between the driving mode and the priority, and determines the first driving mode.
- the highest priority driving mode in the collection is the target driving mode.
- the management device stores a correspondence between the driving mode and the safety distance threshold, and a correspondence between the driving mode and the speed threshold.
- the vehicle control method may further include:
- the management device acquires a current driving mode of the first vehicle
- the management device determines whether the first driving mode set includes a current driving mode of the first vehicle
- the management device instructs the first vehicle control device to control the first vehicle to adjust the first according to the current driving mode of the first vehicle and the correspondence between the driving mode and the safety distance threshold a front and rear vehicle safety distance of the vehicle, the adjusted front and rear vehicle safety distance of the first vehicle is greater than or equal to a safety distance threshold corresponding to the current driving mode of the first vehicle; or the first driving mode set includes the current driving mode of the first vehicle
- the management device instructs the first vehicle control device to control the first vehicle to adjust the traveling speed of the first vehicle according to the current driving mode of the first vehicle and the correspondence between the driving mode and the speed threshold, and the adjusted driving speed of the first vehicle is less than Or equal to the speed threshold corresponding to the current driving mode of the first vehicle.
- the management device acquires the current driving mode of the first vehicle, which may include:
- the management device receives first notification information sent by the first vehicle control device, where the first notification information includes information of a current driving mode of the first vehicle;
- the management device determines a current driving mode of the first vehicle based on the first notification information.
- the vehicle control method may further include:
- the management device acquires a current driving mode of the second vehicle, and the distance between the first vehicle and the second vehicle is less than a preset distance;
- the management device transmits second notification information to the first vehicle control device, the second notification information including information of a current driving mode of the second vehicle.
- the management device first acquires the first driving mode set that is currently allowed to adopt the driving mode adopted by the first vehicle, and determines the target in the first driving mode set.
- the driving mode then transmits the indication information including the information of the target driving mode to the first vehicle control device, so that the first vehicle control device controls the first vehicle to travel in the target driving mode after receiving the indication information.
- the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- an embodiment of the present invention provides another vehicle control method, which may be used for the first vehicle control device 03 in ITS-0 as shown in FIG. 1, and the vehicle control method may include :
- Step 301 The first vehicle control device receives the indication information sent by the management device, and indicates the information packet. Including information of at least two driving modes, the driving mode information includes driving mode priority information, and the at least two driving modes are driving modes currently permitted for the first vehicle.
- Step 302 The first vehicle control device determines, according to the priority information of the at least two driving modes in the indication information, that the driving mode with the highest priority among the at least two driving modes is the target driving mode.
- Step 303 The first vehicle control device determines whether the preset driving mode set includes a target driving mode, the first vehicle is configured with a preset driving mode set, and the preset driving mode set includes at least one driving mode.
- Step 304 When the preset driving mode set includes the target driving mode, the first vehicle control device controls the first vehicle to travel in the target driving mode.
- the indication information sent by the management device received by the first vehicle control device includes information of at least two driving modes, and the at least two driving modes are currently allowed.
- the driving mode adopted by the first vehicle so the first vehicle control device may determine one driving mode as the target driving mode in the at least two driving modes, and determine whether the first vehicle is configured with the target driving mode. If the first vehicle is configured with the target driving mode, the first vehicle is controlled to travel in the target driving mode.
- the target driving mode is the driving mode currently allowed for the first vehicle
- the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle
- the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- an embodiment of the present invention provides a vehicle control method, which may be used in a vehicle control system, and the vehicle control system may be ITS-0 shown in FIG. 1.
- the vehicle control method may be include:
- Step 401 The first vehicle control device sends request information to the management device, where the request information includes the self-selected driving mode information.
- the first vehicle may be configured with at least one driving mode, and the at least one driving mode of the first vehicle configuration constitutes a preset driving mode set, that is, the first vehicle can travel in any one of the preset driving mode sets .
- the driver of the first vehicle may determine that one of the preset driving modes is the self-selected driving mode (ie, the driving mode adopted by the first vehicle is required), and notify the first vehicle control device
- the self-selected driving mode enables the first vehicle control device to generate request information including information of the self-selected driving mode, the request information being available for requesting adoption Driving in the optional driving mode and the driving mode allowed by the first vehicle.
- the first vehicle control device may generate request information including information of the self-selected driving mode, and transmit the request information to the management device.
- the self-selected driving mode belongs to a preset driving mode set, that is, the first vehicle is configured with all driving modes that the first vehicle needs to adopt.
- the driver of the first vehicle may be based on the current environment in which the first vehicle is located (such as a highway environment, a foggy weather environment), or may be based on specific needs (such as testing the function of the first vehicle, detecting the first vehicle)
- the fault determines the self-selected driving mode (ie, the driving mode adopted by the first vehicle is required), and can notify the first vehicle control device of the self-selected driving mode by pressing a preset button or a voice input.
- the optional driving mode may be directly determined by the first vehicle control device, which is not limited by the embodiment of the present invention.
- the preset driving mode set may include: a zero-level driving mode (ie, a non-automatic driving mode), a first-level driving mode (ie, a driver-assisted driving mode), a second-level driving mode (ie, a partial automatic driving mode), and three levels.
- Driving mode ie, conditional automatic driving mode
- four-level driving mode ie, high-automatic driving mode
- five-level driving mode ie, fully automatic driving mode.
- the zero-level driving mode (ie, non-automatic driving mode) is: All dynamic driving tasks are performed by the driver full time.
- the dynamic driving task performed by the driver may include an operative driving task and a technical driving task, wherein the operative driving task includes: steering, braking, accelerating, and monitoring driving tasks such as vehicles and roads; Driving tasks include: responding to events, deciding lane changes, turning, using signals, etc.
- the dynamic driving task performed by the driver may not include the directional driving task, and the directional driving task may include: determining the destination and determining the driving point and the like.
- the first-level driving mode ie, driver-assisted driving mode
- a driver assistance system English: Driver Assistance System; DAS
- DAS Driver Assistance System
- the driver performs other driving tasks in addition to the steering driving task, the accelerated driving task, and the deceleration driving task in the dynamic driving task.
- a DAS can be set on a vehicle using the first-level driving mode.
- the second driving mode (ie, the partial driving mode) is: performing one steering task, an accelerated driving task, and a deceleration driving task according to the driving environment information by one or more DASs, and performing a dynamic driving task in addition to the steering driving task, Accelerate driving tasks and slow down other driving tasks outside of driving tasks.
- a vehicle with a second-level driving mode can be provided with multiple DASs in the vehicle.
- the vehicle may perform steering driving tasks, speeding driving tasks, and slowing down driving tasks using one or more of the plurality of DASs.
- the three-level driving mode (ie, the conditional automatic driving mode) is: All dynamic driving tasks are performed by the Automated Driving System (ADS), and the driver needs to respond appropriately when the ADS needs to request driver intervention. For example, when the ADS fails, all dynamic driving tasks are performed by the driver.
- ADS Automated Driving System
- the four-level driving mode (ie, the high-automatic driving mode) is: All dynamic driving tasks are performed by the ADS, and the driver does not need to respond appropriately when the ADS needs to request driver intervention.
- the five-level driving mode (ie, the fully automatic driving mode) is: All dynamic driving tasks are performed by the ADS within a preset range. Automated Driving can effectively avoid the lack of judgment, reaction and operation of human drivers, which is conducive to improving traffic safety. Automated driving can make better use of information and resources to improve traffic efficiency. Vehicles that use the automatic driving mode, also known as automatic vehicles (English: Automated Vehicle).
- the ITS defines identification information of each driving mode, and the information of the optional driving mode in the request information may include identification information of the self-selected driving mode, and priority information of the optional driving mode.
- the identification information of the driving mode may be an Arabic numeral (such as 0, 1, 2, 3, 4, 5), and the identification information of the zero-level driving mode (ie, the non-automatic driving mode) may be 0, and the first driving mode (ie, the driver)
- the identification information of the assist driving mode may be 1, the identification information of the second driving mode (ie, the partial automatic driving mode) may be 2, and the identification information of the third driving mode (ie, the conditional automatic driving mode) may be 3, and the fourth driving is
- the identification information of the mode (ie, the high automatic driving mode) may be 4, and the identification information of the five-level driving mode (ie, the fully automatic driving mode) may be 5.
- the request information may include only information of an optional driving mode, and the optional driving mode is a three-level driving mode, the request information may be: ⁇ 3 ⁇
- the first vehicle control device may further determine at least two types of the self-selected driving modes in the preset driving mode set, and generate request information including information of the at least two optional driving modes, and the at least The priority of the two optional driving modes can be different.
- the request information may be a sequence of information of at least two types of self-selected driving modes, or the information of each driving mode in the request information may include identification information of the driving mode and priority information of the driving mode.
- the at least two optional driving modes may be: a three-level driving mode, a second driving mode, and a first-level driving mode, wherein the third-level driving mode has a higher priority than the second-level driving mode, and the second-level driving mode
- the priority of the mode is higher than the priority of the first driving mode
- the request information may include: ⁇ 3, 2, 1 ⁇ .
- Step 402 The management device determines a first driving mode set according to the request information, where the first driving mode set includes all driving modes currently allowed to be adopted by the first vehicle.
- the management device may determine, according to the request information, a driving mode that is currently allowed to be adopted by the first vehicle.
- each geographic area may allow the vehicle to adopt at least one driving mode.
- the management device may send the geographic location query information to the first vehicle control device, so that after receiving the geographic location query information sent by the management device, the first vehicle control device sends the geographic location information of the first vehicle to the management device, so that the management The device determines the geographic location of the first vehicle according to the geographic location information of the first vehicle; or, after the management device receives the request information sent by the first vehicle control device, the management device may further collect the geographic location of the first vehicle by using the collecting device. Location information, which in turn determines the geographic location of the first vehicle. After determining the geographic location of the first vehicle, the management device may determine a geographic area to which the geographic location of the first vehicle belongs, thereby determining a first set of driving modes that the assigned geographic region allows for the driving mode employed by the first vehicle.
- each time period may allow the vehicle to employ at least one driving mode.
- the management device may determine, according to the time when the first vehicle control device sends the request information, the time period to which the first vehicle control device sends the request information, and further A first set of driving modes consisting of driving modes employed by the first vehicle is determined for the time period.
- the request information may further include a time for generating the request information, and the time when the management device receives the request information may be the time when the first vehicle control device sends the request information.
- regulations are generally used to define the driving rules of the vehicle, and each set of regulations may allow the vehicle to adopt at least one driving mode.
- the management device may determine, according to the currently used regulations, the first driving mode set that the currently used regulations allow the driving mode adopted by the first vehicle.
- the management device may further determine the first driving mode set according to the geographic location of the first vehicle and the time when the first vehicle control device sends the request information; or determine the geographic location of the first vehicle and the currently used regulations. a first set of driving modes; or, in conjunction with a time when the first vehicle control device transmits the request information and a currently used regulation, determining the first driving mode set; or, in conjunction with the geographic location of the first vehicle, the first vehicle control device transmits the request information Time and current make Use the regulations to determine the first driving mode set.
- Step 403 The management device determines a target driving mode in the first driving mode set.
- the request information may include only an optional driving mode
- the management device may determine whether the first driving mode set includes the optional driving mode. That is, it is judged whether the current scene allows the vehicle to drive in the self-selected driving mode.
- the management device may compare the self-selected driving mode with each of the first driving modes to determine whether the self-selecting driving mode is the same as one of the first driving mode sets.
- the management device may determine that the first driving mode set includes the optional driving mode, if the optional driving mode and the first driving mode set are any A driving mode is different, and the management device may determine that the first driving mode set does not include the optional driving mode.
- the management device may determine the first driving mode set by comparing.
- the self-selected driving mode is included; if the self-selected driving mode is the three-level driving mode, and the first driving mode set includes: a five-level driving mode and a four-level driving mode, the management device can determine that the first driving mode set does not include the optional driving mode.
- the management device may determine that the self-selected driving mode is the target driving mode; if the first driving mode set does not include the optional driving mode, the management device may be in the first driving mode set Determining a driving mode as a target driving mode. Specifically, the management device may store a correspondence between the driving mode and the priority, and the management device may determine each of the first driving mode sets according to the correspondence between the driving mode and the priority. The priority of the driving mode is determined, and the driving mode with the highest priority among the first driving mode sets is determined as the target driving mode.
- the management device may determine whether the first driving mode includes the at least two optional driving modes, and according to The judgment result determines the target driving mode.
- the at least two optional driving modes may include: a three-level driving mode, a second driving mode, and a first driving mode
- the first driving mode set includes: a four-level driving mode and a third-level driving mode
- the management device passes Comparing, it may be determined that the first driving mode set may include a three-level driving mode of the at least two self-selected driving mode sets, and the management device may determine that the three-level driving mode is the target driving mode, and the indication information includes only the three-level driving mode.
- the three-level driving mode is the indication The driving mode with the highest priority among the driving modes indicated by the information; if the at least two optional driving modes may include: a three-level driving mode, a second driving mode, and a first driving mode, the first driving mode set includes: four-level driving The mode, the three-level driving mode and the second driving mode, the management device can determine, by comparison, that the first driving mode set can include the three-level driving mode and the second-level driving mode in the at least two self-selected driving mode sets, then the management The device can determine the priority driving mode of the third-level driving driving mode and the second-level driving mode as the target driving mode according to the priority of the three-level driving mode and the second driving mode; if the at least two optional driving modes can be
- the utility model comprises: a three-level driving mode and a second driving mode, wherein the first driving mode set comprises: a five-level driving mode and a four-level driving mode, and the management device can determine that the first driving mode set does not include any one of the self-s
- Step 404 The management device sends the indication information to the first vehicle control device, where the indication information includes information of the target driving mode.
- the management device may generate indication information including information of the target driving mode, and transmit the generated indication information to the first vehicle control device.
- the information of the target driving mode may be the identification information of the target driving mode and the priority information of the target driving mode, and when the indication information includes only information of a driving mode (target driving mode), the target driving The mode is the driving mode with the highest priority among the driving modes indicated by the indication information.
- the management device may establish a communication connection with the first vehicle control device, and when the management device needs to send the indication information to the first vehicle control device, the management device may directly establish the relationship with the first vehicle control device.
- the communication connection sends the indication information to the management device; optionally, the management device can also establish a communication connection with the collection device, and the first vehicle control device can also establish a communication connection with the collection device, and the management device can pass
- the communication connection established with the collection device sends the indication information to the collection device, and the collection device transmits the indication information to the first vehicle control device through a communication connection established with the first vehicle control device.
- the indication information may further include information of at least two driving modes, and the at least two driving modes may include a target driving mode, and the target driving mode is the highest priority among the driving modes indicated by the indication information.
- Driving mode may include: a three-level driving mode, a second driving mode, and a first driving mode, wherein the highest-priority three-level driving mode is a target driving mode, and the driving information is driving Mode information can include driving mode
- the identification information and the priority information of the driving mode, the indication information may be a sequence formed by the identification information of the driving mode, and the order of the driving modes is related to the priority of the driving mode, if the indication information is ⁇ 3, 2, 1 ⁇ , it can be seen from the indication that the priority of the third-level driving mode is higher than the priority of the second-level driving mode, the priority of the second-level driving mode is higher than the priority of the first-level driving mode, and the three driving modes In the mode, the driving mode with the highest priority (three-level driving mode)
- Step 405 The first vehicle control device controls the first vehicle to travel in the target driving mode.
- the first vehicle control device may extract the target from the indication information after receiving the indication information.
- the driving mode information is used to determine the target driving mode. And determining whether the preset driving mode set configured by the first vehicle includes the target driving mode, and if the preset driving mode set includes the target driving mode, the first vehicle control device may control the first vehicle to adopt the target driving mode. . If the preset driving mode set does not include the target driving mode, the first vehicle control device may not perform any action and does not travel in the target driving mode.
- the first vehicle control device may extract information of the at least two driving modes from the indication information after receiving the indication information, and according to The priority information of the driving mode in the information of the at least two driving modes determines the priority of each of the at least two driving modes. Then, determining that the driving mode with the highest priority among the at least two driving modes is the target driving mode, and determining whether the preset driving mode set of the first vehicle configuration includes the target driving mode. If the preset driving mode set includes the target driving mode, the first vehicle control device may control the first vehicle to travel in the target driving mode. If the preset driving mode set does not include the target driving mode, the first vehicle control device may not perform any action and does not travel in the target driving mode.
- the first vehicle control device may The first vehicle is controlled to travel in the target driving mode. That is, the first vehicle control device may control the first vehicle to adopt the driving mode in which the current vehicle is allowed to be adopted by the first vehicle and the first vehicle is configured.
- the first vehicle control device before the first vehicle is traveling, sends request information including information of the self-selected driving mode to the management device, so that the management device performs the self-selected driving mode that the first vehicle needs to adopt.
- the management device determines that the current scene in which the first vehicle is located is Whether the first vehicle is allowed to drive in the optional driving mode. If the current scene in which the first vehicle is located does not allow the first vehicle to travel in the self-selected driving mode, the management device may instruct the first vehicle control device to control the driving mode in which the first vehicle adopts the current scene to allow the first vehicle to adopt, ensuring The first vehicle, while traveling, uses the current scene to allow the driving mode employed by the first vehicle to travel.
- the first vehicle control device may determine the driving mode that needs to be replaced as a step.
- the optional driving mode in 401 and re-executing the request information for transmitting the information including the self-selected driving mode to the management device, requesting the management device to approve the self-selected driving mode, that is, re-executing steps 401 to 405, where the embodiment of the present invention is Do not repeat them.
- the first vehicle control device may send, to the management device, request information that does not include information of the self-selected driving mode, that is, the request information may be used to request the management device to allocate the first vehicle to the first vehicle.
- Driving mode the management device may directly determine the first driving mode set and determine the priority of each driving mode in the first driving mode set.
- Determining the driving mode with the highest priority as the target driving mode transmitting the indication information including the information of the target driving mode having the highest priority among the first driving mode sets to the first vehicle control device; or transmitting to the first vehicle control device
- the indication information including information of all the driving modes in the first driving mode set, wherein the target driving mode is the driving mode having the highest priority among the driving modes indicated by the indication information.
- the management device may also determine, in real time (or every preset time period), the driving mode that the current scene allows the first vehicle to adopt, that is, the real-time determination. a driving mode set, and may transmit, in real time (or every preset time period), indication information including information of a target driving mode having the highest priority among the first driving mode sets to the first vehicle control device; or A vehicle control device transmits indication information including information of all driving modes in the first driving mode set, wherein the target driving mode is a driving mode having the highest priority among the driving modes indicated by the indication information.
- the first vehicle control device may control the first vehicle to travel in the target driving mode after receiving the indication information including the information of the target driving mode.
- the management device may also determine the current driving mode of the first vehicle in real time (or every preset time period) and determine a first driving mode set that is currently allowed to adopt a driving mode adopted by the first vehicle. Then determining whether the first driving mode set includes the current driving mode of the first vehicle, If the first driving mode set does not include the current driving mode of the first vehicle, the management device may determine that the current scene does not allow the first vehicle to travel in the current driving mode of the first vehicle, and determine the priority in the first driving mode set.
- the highest driving mode is a target driving mode, and the indication information including the information of the target driving mode is transmitted to the first vehicle control device; or the information including all the driving modes in the first driving mode set is transmitted to the first vehicle control device.
- the indication information wherein the target driving mode is the driving mode with the highest priority among the driving modes indicated by the indication information.
- the first vehicle control device may control the first vehicle to travel in the target driving mode after receiving the indication information including the information of the target driving mode.
- the first vehicle control device may transmit first notification information including information of a current driving mode of the first vehicle to the management device in real time (or every preset time period).
- the management device may further send, to the first vehicle control device, driving mode query information for querying a current driving mode of the first vehicle, where the first vehicle control device may send the driving mode query information to the management device Send the first notification message.
- the management device may store information about the current driving mode of the first vehicle in the first notification information.
- the management device may generate the first vehicle according to the current driving mode of the first vehicle. Real-time dynamic map of the current driving mode.
- the management device may query the information of the currently stored first driving mode of the first vehicle to determine the current driving mode of the first vehicle.
- the management device may instruct the first vehicle control device to control the vehicle according to different driving modes adopted by the vehicle, thereby Improve the efficiency of vehicle control.
- the management device can instruct the first vehicle control device to control the vehicle to change the front and rear vehicle safety distance of the vehicle based on the current driving mode of the vehicle. Since the ADS is more prompt than the driver's response, the front-to-back safety distance corresponding to the zero-level driving mode (non-automatic driving mode) is smaller than the front and rear vehicle safety distance corresponding to the five-level driving mode (full automatic driving mode) in which ADS is set.
- the management device may store the correspondence between the driving mode and the safety distance threshold. If the first vehicle adopts the full automatic driving mode, the management device may indicate the first vehicle control due to the dynamic driving task performed by the ADS in the full automatic driving mode.
- the device adjusts the front and rear vehicle safety distance of the first vehicle to a safety distance threshold corresponding to the full automatic driving mode (less than the safety distance threshold corresponding to the non-auto driving mode). After adjusting the safety distance between the front and rear vehicles of the first vehicle, under the premise of ensuring no traffic accidents, Effectively improve traffic efficiency.
- the management device may instruct the first vehicle control device to control the vehicle to change the vehicle speed according to the current driving mode of the vehicle.
- different driving modes correspond to different speed thresholds, and the correspondence between the driving mode and the speed threshold may be stored on the management device.
- the driving speed of the vehicle is greater than the speed threshold corresponding to the driving mode currently adopted by the vehicle, the vehicle occurs. The probability of a traffic accident is high.
- the management device determines that the driving mode adopted by the first vehicle is the driving mode W
- the management device may instruct the first vehicle control device to control the first vehicle to change the vehicle speed according to the driving mode W.
- the management device may notify the first vehicle control device of the driving threshold W corresponding to the speed threshold, and the management device may also determine the traveling speed of the first vehicle.
- the management device may instruct the first vehicle control device to issue a warning to the driver of the first vehicle to remind the driver to reduce the traveling speed.
- the first vehicle control device may issue a warning to the driver of the first vehicle in a voice or image display manner.
- the management device may notify the first vehicle control device of the speed threshold corresponding to the driving mode W.
- a vehicle equipped with a first driving mode or a second driving mode is provided with a DAS.
- the DAS may be integrated on the first vehicle control device, and the management device may also determine the traveling speed of the first vehicle when the first vehicle is traveling. When the speed is greater than the speed threshold corresponding to the driving mode W, the management device may instruct the first vehicle control device to issue a warning to the driver of the first vehicle in a voice or image display manner to remind the driver to reduce the traveling speed.
- the management device may instruct the first vehicle control device to control the first vehicle to reduce the traveling speed by controlling the DAS.
- the first vehicle control device may store the speed threshold corresponding to the driving mode W, and monitor the first vehicle in real time. The traveling speed is controlled to reduce the traveling speed of the first vehicle when the traveling speed of the first vehicle is greater than the stored speed threshold.
- the management device can notify the first vehicle control The speed threshold corresponding to the device driving mode W.
- ADS is provided on a vehicle equipped with a three-level driving mode, a four-level driving mode or a five-level driving mode.
- the ADS can be integrated on the first vehicle control device, and the management device can also determine the traveling speed of the first vehicle.
- the management device may instruct the first vehicle control device to control the first vehicle to reduce the traveling speed by controlling the ADS.
- the first vehicle control device may store the speed threshold corresponding to the driving mode W, and monitor the first vehicle in real time. The traveling speed is controlled to reduce the traveling speed of the first vehicle when the traveling speed of the first vehicle is greater than the stored speed threshold.
- the second vehicle control device in the ITS can also report the current driving mode of the second vehicle to the management device in real time, so that the management device can determine the current driving mode of the second vehicle in the ITS.
- the management device may transmit second notification information including information of the current driving mode of the second vehicle to the first vehicle control device, informing the first vehicle control device of the second vehicle
- the information of the current driving mode of the second vehicle may include identification information of the current driving mode of the second vehicle, and the management device may further notify the second vehicle control device of the current driving mode of the first vehicle.
- the first vehicle control device and the second vehicle control device may also communicate with each other to inform the other party of the current driving mode of the vehicle.
- the first vehicle control device may also request the current driving mode of the second vehicle from the management device, so that the management device informs the first vehicle control device of the current driving mode of the second vehicle; or requests the second vehicle control device The current driving mode of the second vehicle, so that the second vehicle control device informs the first vehicle control device of the current driving mode of the second vehicle.
- the first vehicle control device may establish a real-time dynamic map regarding the second vehicle driving mode.
- the first vehicle control device may control the first vehicle to notify the driver of the second vehicle of the overtaking intention of the first vehicle by lighting the lights or honking.
- the first vehicle control device may transmit an overtaking information for indicating that the first vehicle needs to overtake to the ADS on the second vehicle. Informing the second vehicle of the overtaking intention of the first vehicle.
- the first vehicle control device may further send the overtaking information to the management device, and the management device transmits the overtaking information to the ADS on the second vehicle, thereby The second vehicle is informed of the overtaking intention of the first vehicle.
- the first vehicle control device may be based on the driving mode of the second vehicle, Determining the manner of informing the second vehicle of the first vehicle's overtaking intention ensures that the first vehicle effectively informs the second vehicle of the overtaking intention, thereby improving the efficiency of overtaking and preventing the occurrence of a traffic accident.
- the vehicle is configured with a driving mode, and the driving mode can correspond to at least one allowed scene, and the management device in the ITS can effectively control the vehicle when the vehicle is driven only by the driving mode allowed by the current scene. Therefore, the control function of ITS is relatively simple, and the flexibility of vehicle control is low.
- the management device may determine that the current scene in which the first vehicle is located allows the first driving mode set composed of the driving modes adopted by the first vehicle, and determines the first driving mode set.
- Target driving mode and then transmitting indication information including information of the target driving mode to the first vehicle control device, that is, instructing the first vehicle control device to control the first vehicle to travel in the target driving mode, that is, to make the first vehicle in the ITS
- the driving mode adopted is that the current scene allows the driving mode adopted by the first vehicle, and therefore, the management device in the ITS can effectively control the first vehicle.
- the management device first acquires the first driving mode set that is currently allowed to adopt the driving mode adopted by the first vehicle, and determines the target in the first driving mode set.
- the driving mode then transmits the indication information including the information of the target driving mode to the first vehicle control device, so that the first vehicle control device controls the first vehicle to travel in the target driving mode after receiving the indication information.
- the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- an embodiment of the present invention provides a vehicle control device 50, which may be the management device 01 in ITS-0 shown in FIG. 1.
- the vehicle control device 50 can include:
- the first obtaining module 501 is configured to acquire a first driving mode set, where the first driving mode set includes a driving mode currently allowed to be adopted by the first vehicle.
- the determining module 502 is configured to determine a target driving mode in the first driving mode set acquired by the first acquiring module.
- the first sending module 503 is configured to send indication information to the first vehicle control device, where the indication information includes information of a target driving mode determined by the determining module, where the indication information is used to indicate the first vehicle control device The first vehicle is controlled to travel in the target driving mode.
- the first acquiring module first acquires the first driving mode set that is currently allowed to adopt the driving mode adopted by the first vehicle, and the determining module determines the first driving mode.
- a target driving mode in the collection and then the first transmitting module box first vehicle control device transmits indication information including information of the target driving mode, so that the first vehicle control device controls the first vehicle to adopt the target driving after receiving the indication information Mode driving.
- the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- the management device stores a correspondence between the driving mode and the priority
- the determining module 502 is specifically configured to:
- the first sending module 503 is specifically configured to:
- the indication information includes only information of one driving mode, and one driving mode is a target driving mode determined by the determining module;
- the indication information includes information of at least two driving modes in the first driving mode set acquired by the first acquiring module, the information of the driving mode includes priority information of the driving mode, and the determining module
- the determined target driving mode is the highest priority driving mode among the at least two driving modes.
- the first obtaining module 501 is specifically configured to:
- the first driving mode set is determined according to the driving mode that the first vehicle adopts according to the current scene.
- the request information includes information of an optional driving mode
- the request information is used to request to drive in the self-selected driving mode
- the first vehicle is configured with a preset driving mode set
- the preset driving mode set includes There is one less driving mode
- the optional driving mode belongs to a preset driving mode set
- the determining module 502 can be specifically used for:
- the driving mode is the target driving mode.
- the management device stores a correspondence between the driving mode and the priority
- the determining module 502 can be specifically configured to:
- the first driving mode set does not include the current driving mode of the first vehicle, determining a priority of each driving mode in the first driving mode set according to a correspondence relationship between the driving mode and the priority, and determining the first driving mode set The highest priority driving mode is the target driving mode.
- the embodiment of the present invention provides another vehicle management device 50.
- the correspondence between the driving mode and the safety distance threshold and the correspondence between the driving mode and the speed threshold are stored on the management device.
- the vehicle control device 50 may further include:
- the second obtaining module 504 is configured to acquire a current driving mode of the first vehicle.
- the determining module 505 is configured to determine whether the first driving mode set acquired by the first acquiring module includes a current driving mode of the first vehicle.
- the indicating module 506 is configured to, when the first driving mode set includes the current driving mode of the first vehicle, instruct the first vehicle control device to control the first according to the current driving mode of the first vehicle and the correspondence between the driving mode and the safety distance threshold
- the vehicle adjusts a front and rear vehicle safety distance of the first vehicle, and the adjusted front and rear vehicle safety distance of the first vehicle is greater than or equal to a safety distance threshold corresponding to the current driving mode of the first vehicle; or the first driving mode set includes the first vehicle In the current driving mode, according to the current driving mode of the first vehicle and the correspondence between the driving mode and the speed threshold, instructing the first vehicle control device to control the first vehicle to adjust the traveling speed of the first vehicle, and the adjusted driving of the first vehicle The speed is less than or equal to a speed threshold corresponding to the current driving mode of the first vehicle.
- the second obtaining module 504 is specifically configured to:
- the first notification information including information of a current driving mode of the first vehicle.
- a current driving mode of the first vehicle is determined based on the first notification information.
- the embodiment of the present invention provides another vehicle management device 50.
- the vehicle control device 50 may further include:
- the third obtaining module 507 is configured to acquire a current driving mode of the second vehicle, where a distance between the first vehicle and the second vehicle is less than a preset distance.
- the second sending module 508 is configured to send second notification information to the first vehicle control device, where the second notification information includes information about a current driving mode of the second vehicle.
- the first acquiring module first acquires the first driving mode set that is currently allowed to adopt the driving mode adopted by the first vehicle, and the determining module determines the first driving mode.
- a target driving mode in the collection and then the first transmitting module box first vehicle control device transmits indication information including information of the target driving mode, so that the first vehicle control device controls the first vehicle to adopt the target driving after receiving the indication information Mode driving.
- the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- the embodiment of the present invention provides another vehicle control device 60, which may be the first vehicle control device 03 of ITS-0 shown in FIG. 1.
- the vehicle control device 60 can include:
- the receiving module 601 is configured to receive indication information sent by the management device, where the indication information includes information of at least two driving modes, the driving mode information includes priority information of the driving mode, and the at least two driving modes are currently allowed by the first vehicle. Driving mode.
- the determining module 602 is configured to determine, according to the priority information of the at least two driving modes of the indication information received by the receiving module, that the driving mode with the highest priority among the at least two driving modes is the target driving mode.
- the determining module 603 is configured to determine whether the preset driving mode set includes a target driving mode determined by the determining module, where the first vehicle is configured with a preset driving mode set, and the preset driving mode set includes at least one Driving mode.
- the control module 604 is configured to control the first vehicle to travel in the target driving mode when the determining module determines that the preset driving mode set includes the target driving mode.
- the indication information sent by the management device received by the receiving module includes information of at least two driving modes, and the at least two driving modes are currently allowing the first vehicle.
- the driving mode is adopted, so the determining module can determine one driving mode as the target driving mode in the at least two driving modes, and the determining module can determine whether the first vehicle is configured with the target driving mode. If the first vehicle is configured with the target driving mode, the control module controls the first vehicle to travel in the target driving mode.
- the target driving mode is the driving mode currently allowed for the first vehicle
- the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle
- the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- Embodiments of the present invention provide a vehicle control system, which may include: a management device and a first vehicle control device.
- the management device may include a vehicle control device 50 as shown in FIGS. 5-1, 5-2, or 5-3, which may include the vehicle control device 60 illustrated in FIG.
- the management device first acquires the first driving mode set that is currently allowed to adopt the driving mode adopted by the first vehicle, and determines the target in the first driving mode set.
- the driving mode then transmits the indication information including the information of the target driving mode to the first vehicle control device, so that the first vehicle control device controls the first vehicle to travel in the target driving mode after receiving the indication information.
- the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- the vehicle control device 70 includes at least one processor 701 (e.g., a CPU), at least one network interface 702 or other communication interface, a memory 703, and at least one communication bus 704 for enabling connection communication between the devices.
- the processor 701 is configured to execute an executable module, such as a computer program, stored in the memory 703.
- the memory 703 may include a high speed random access memory (English: Random Access Memory; RAM), and may also include a non-volatile memory (English: non-volatile memory), such as at least one disk storage.
- the communication connection between the vehicle control device and the at least one other network element is implemented by at least one network interface 702 (which may be wired or wireless), and may be an Internet, a wide area network, a local network, a metropolitan area network, or the like.
- the memory 703 stores a program 7031 that can be executed by the processor 701 to implement the method of the embodiment shown in FIG. 2.
- the vehicle control device 70 provided by the embodiment of the present invention can implement the method embodiment shown in FIG. 2 by the cooperation of the above-mentioned respective execution modules, and the device embodiments shown in FIG. 5-1, FIG. 5-2 and FIG. 5-3.
- the indication module 506 in 2 and the third acquisition module 507 in FIG. 5-3 may be implemented by the processor 701 executing the program 7031 stored in the memory 703; the first sending module 503 of FIG. 5-1 and FIG. 5 -
- the second sending module 508 of 3 may be implemented by the network interface 702.
- the vehicle control apparatus first acquires a first driving mode set that is currently allowed to adopt a driving mode adopted by the first vehicle, and determines a target driving mode in the first driving mode set, and then The indication information including the information of the target driving mode is transmitted to the first vehicle control device, so that the first vehicle control device controls the first vehicle to travel in the target driving mode after receiving the indication information. And since the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- another embodiment of the present invention provides another vehicle control device 80, which may be the first vehicle control device 03 of ITS-0 shown in FIG. It should be understood that in practical applications the vehicle control device may have more or fewer components than the vehicle control device 80 shown in FIG. 8, two or more components may be combined, or may have different component configurations.
- the various components shown in Figure 8 may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and/or application specific integrated circuits.
- the vehicle control device shown in Figure 8 Specifically, as shown in FIG. 8, the vehicle control apparatus includes at least one processor 801, a memory 802, a communication module 803, at least one communication bus 804, and a communication antenna 805.
- the vehicle control device also includes other functional components such as a battery module, a wired/wireless charging structure, and the like.
- Communication bus 804 is used to implement connection communication between these components.
- Memory 802 may include non-volatile solid state memory and/or dynamic non-volatile storage devices such as flash memory, rotatable disk drives.
- the communication module 803 can be used for long-distance communication, such as GSM, CDMA, General Packet Radio Service (GPRS: GPRS), Enhanced Data Rate for GSM Evolution (English: Enhanced Data Rate for GSM Evolution; EDGE), 3G technologies such as Wideband Code Division Multiple Access (WCDMA), Time Division-Synchronous Code Division Multiple Access (English: Time Division-Synchronous Code Division Multiple Access; TD-SCDMA), 4G technologies such as LTE.
- Communication antenna 805 is used to receive and transmit communication signals.
- the memory 802 includes an operating system 8021 and an application program 8022.
- the operating system 8021 includes various operating system programs for implementing hardware-based operations.
- the application 8022 includes various applications for implementing various application functions.
- the processor 801 communicates with various modules and components via a communication bus 804, and the processor 801 can execute an application stored in the memory 802 to implement the vehicle control method illustrated in FIG.
- the vehicle control device provided by the embodiment of the present invention can realize the method embodiment shown in FIG. 3 and the device embodiment shown in FIG. 6 by the cooperation of the above various execution modules.
- the receiving module 601 in FIG. 6 may be implemented by the communication module 803 and the communication antenna 805; the determining module 602 in FIG. 6, the determining module 603 in FIG. 6, and the control module 604 in FIG. 6 may be
- the processor 801 executes an application stored in the memory 802 for implementation.
- the received indication information sent by the management device includes information of at least two driving modes, and the at least two driving modes are driving modes currently permitted by the first vehicle. Therefore, it is possible to determine one driving mode as the target driving mode in the at least two driving modes, and determine whether the first vehicle is configured with the target driving mode. If the first vehicle is configured with the target driving mode, the first vehicle is controlled to travel in the target driving mode. And since the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
- the management device may include a vehicle control device 70 as shown in FIG. 7, which may include the vehicle control device 80 shown in FIG.
- the management device first acquires the first driving mode set that is currently allowed to adopt the driving mode adopted by the first vehicle, and determines the target in the first driving mode set.
- the driving mode then transmits the indication information including the information of the target driving mode to the first vehicle control device, so that the first vehicle control device controls the first vehicle to travel in the target driving mode after receiving the indication information.
- the target driving mode is the driving mode currently allowed for the first vehicle, it is ensured that the driving mode adopted by the first vehicle is the driving mode currently allowed for the first vehicle, and the management device can effectively control the first vehicle, so It enriches the control functions of the vehicle control system and improves the flexibility of vehicle control.
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Abstract
Description
Claims (23)
- 一种车辆控制方法,其特征在于,所述方法包括:管理设备获取第一驾驶模式集合,所述第一驾驶模式集合包括当前允许第一车辆采用的驾驶模式;所述管理设备确定所述第一驾驶模式集合中的目标驾驶模式;所述管理设备向第一车辆控制设备发送指示信息,所述指示信息包括所述目标驾驶模式的信息,所述指示信息用于指示所述第一车辆控制设备控制所述第一车辆采用所述目标驾驶模式行驶。
- 根据权利要求1所述的方法,其特征在于,所述管理设备上存储有驾驶模式与优先级的对应关系,所述管理设备确定所述第一驾驶模式集合中的目标驾驶模式,包括:所述管理设备根据所述驾驶模式与优先级的对应关系,确定所述第一驾驶模式集合中的驾驶模式的优先级;所述管理设备确定所述第一驾驶模式集合中的驾驶模式中优先级最高的驾驶模式为所述目标驾驶模式。
- 根据权利要求2所述的方法,其特征在于,所述管理设备向第一车辆控制设备发送指示信息,包括:所述管理设备向所述第一车辆控制设备发送指示信息,所述指示信息仅仅包括一种驾驶模式的信息,且所述一种驾驶模式为所述目标驾驶模式;或者,所述管理设备向所述第一车辆控制设备发送指示信息,所述指示信息包括所述第一驾驶模式集合中的至少两种驾驶模式的信息,驾驶模式的信息包括驾驶模式的优先级信息,所述目标驾驶模式为所述至少两种驾驶模式中优先级最高的驾驶模式。
- 根据权利要求2或3所述的方法,其特征在于,所述管理设备获取第一驾驶模式集合,包括:所述管理设备接收所述第一车辆控制设备发送的请求信息,所述请求信息 用于请求允许所述第一车辆采用的驾驶模式;所述管理设备根据所述请求信息,确定所述第一车辆当前所处的场景;所述管理设备获取所述当前所处的场景允许所述第一车辆采用的驾驶模式;所述管理设备根据所述当前所处的场景允许所述第一车辆采用的驾驶模式,确定所述第一驾驶模式集合。
- 根据权利要求4所述的方法,其特征在于,所述请求信息包括自选驾驶模式的信息,所述请求信息用于请求采用所述自选驾驶模式行驶,所述第一车辆配置有预设驾驶模式集合,所述预设驾驶模式集合包括至少一种驾驶模式,所述自选驾驶模式属于所述预设驾驶模式集合,所述管理设备确定所述第一驾驶模式集合中的目标驾驶模式,包括:所述管理设备判断所述第一驾驶模式集合是否包括所述自选驾驶模式;在所述第一驾驶模式集合包括所述自选驾驶模式时,所述管理设备确定所述自选驾驶模式为所述目标驾驶模式;在所述第一驾驶模式集合不包括所述自选驾驶模式时,所述管理设备根据所述驾驶模式与优先级的对应关系,确定所述第一驾驶模式集合中每种驾驶模式的优先级,并确定所述第一驾驶模式集合中优先级最高的驾驶模式为所述目标驾驶模式。
- 根据权利要求1所述的方法,其特征在于,所述管理设备上存储有驾驶模式与优先级的对应关系,所述管理设备确定所述第一驾驶模式集合中的目标驾驶模式,包括:所述管理设备获取所述第一车辆的当前驾驶模式;所述管理设备判断所述第一驾驶模式集合是否包括所述第一车辆的当前驾驶模式;在所述第一驾驶模式集合不包括所述第一车辆的当前驾驶模式时,所述管理设备根据所述驾驶模式与优先级的对应关系,确定所述第一驾驶模式集合中每种驾驶模式的优先级,并确定所述第一驾驶模式集合中优先级最高的驾驶模式为所述目标驾驶模式。
- 根据权利要求1所述的方法,其特征在于,所述管理设备上存储有驾驶模式与安全距离阈值的对应关系,以及驾驶模式与速度阈值的对应关系,在所述管理设备获取第一驾驶模式集合之后,所述方法还包括:所述管理设备获取所述第一车辆的当前驾驶模式;所述管理设备判断所述第一驾驶模式集合是否包括所述第一车辆的当前驾驶模式;在所述第一驾驶模式集合包括所述第一车辆的当前驾驶模式时,所述管理设备根据所述第一车辆的当前驾驶模式以及所述驾驶模式与安全距离阈值的对应关系,指示所述第一车辆控制设备控制所述第一车辆调整所述第一车辆的前后车安全距离,调整后的所述第一车辆的前后车安全距离大于或等于所述第一车辆的当前驾驶模式对应的安全距离阈值;或者,在所述第一驾驶模式集合包括所述第一车辆的当前驾驶模式时,所述管理设备根据所述第一车辆的当前驾驶模式以及所述驾驶模式与速度阈值的对应关系,指示所述第一车辆控制设备控制所述第一车辆调整所述第一车辆的行驶速度,调整后的所述第一车辆的行驶速度小于或等于所述第一车辆的当前驾驶模式对应的速度阈值。
- 根据权利要求6或7所述的方法,其特征在于,所述管理设备获取所述第一车辆的当前驾驶模式,包括:所述管理设备接收所述第一车辆控制设备发送的第一通知信息,所述第一通知信息包括所述第一车辆的当前驾驶模式的信息;所述管理设备根据所述第一通知信息确定所述第一车辆的当前驾驶模式。
- 根据权利要求1所述的方法,其特征在于,所述方法还包括:所述管理设备获取第二车辆的当前驾驶模式,所述第一车辆与所述第二车辆的距离小于预设距离;所述管理设备向所述第一车辆控制设备发送第二通知信息,所述第二通知信息包括所述第二车辆的当前驾驶模式的信息。
- 一种车辆控制方法,其特征在于,所述方法包括:第一车辆控制设备接收管理设备发送的指示信息,所述指示信息包括至少两种驾驶模式的信息,驾驶模式的信息包括驾驶模式的优先级信息,所述至少 两种驾驶模式为当前允许所述第一车辆采用的驾驶模式;所述第一车辆控制设备根据所述指示信息中的所述至少两种驾驶模式的优先级信息,确定所述至少两种驾驶模式中优先级最高的驾驶模式为目标驾驶模式;所述第一车辆控制设备判断预设驾驶模式集合是否包括所述目标驾驶模式,所述第一车辆配置有所述预设驾驶模式集合,所述预设驾驶模式集合包括至少一种驾驶模式;在所述预设驾驶模式集合包括所述目标驾驶模式时,所述第一车辆控制设备控制所述第一车辆采用所述目标驾驶模式行驶。
- 一种车辆控制装置,其特征在于,所述车辆控制装置包括:第一获取模块,用于获取第一驾驶模式集合,所述第一驾驶模式集合包括当前允许第一车辆采用的驾驶模式;确定模块,用于确定第一获取模块获取的所述第一驾驶模式集合中的目标驾驶模式;第一发送模块,用于向第一车辆控制设备发送指示信息,所述指示信息包括确定模块确定的所述目标驾驶模式的信息,所述指示信息用于指示所述第一车辆控制设备控制所述第一车辆采用所述目标驾驶模式行驶。
- 根据权利要求11所述的车辆控制装置,其特征在于,所述管理设备上存储有驾驶模式与优先级的对应关系,所述确定模块具体用于:根据所述驾驶模式与优先级的对应关系,确定第一获取模块获取的所述第一驾驶模式集合中的驾驶模式的优先级;确定所述第一驾驶模式集合中的驾驶模式中优先级最高的驾驶模式为所述目标驾驶模式。
- 根据权利要求12所述的车辆控制装置,其特征在于,所述第一发送模块具体用于:向所述第一车辆控制设备发送指示信息,所述指示信息仅仅包括一种驾驶模式的信息,且所述一种驾驶模式为确定模块确定的所述目标驾驶模式;或者,向所述第一车辆控制设备发送指示信息,所述指示信息包括第一获 取模块获取的所述第一驾驶模式集合中的至少两种驾驶模式的信息,驾驶模式的信息包括驾驶模式的优先级信息,确定模块确定的所述目标驾驶模式为所述至少两种驾驶模式中优先级最高的驾驶模式。
- 根据权利要求12或13所述的车辆控制装置,其特征在于,所述第一获取模块具体用于:接收所述第一车辆控制设备发送的请求信息,所述请求信息用于请求允许所述第一车辆采用的驾驶模式;根据所述请求信息,确定所述第一车辆当前所处的场景;获取所述当前所处的场景允许所述第一车辆采用的驾驶模式;根据所述当前所处的场景允许所述第一车辆采用的驾驶模式,确定所述第一驾驶模式集合。
- 根据权利要求14所述的车辆控制装置,其特征在于,所述请求信息包括自选驾驶模式的信息,所述请求信息用于请求采用所述自选驾驶模式行驶,所述第一车辆配置有预设驾驶模式集合,所述预设驾驶模式集合包括至少一种驾驶模式,所述自选驾驶模式属于所述预设驾驶模式集合,所述确定模块具体用于:判断第一获取模块获取的所述第一驾驶模式集合是否包括所述自选驾驶模式;在所述第一驾驶模式集合包括所述自选驾驶模式时,确定所述自选驾驶模式为所述目标驾驶模式;在所述第一驾驶模式集合不包括所述自选驾驶模式时,根据所述驾驶模式与优先级的对应关系,确定所述第一驾驶模式集合中每种驾驶模式的优先级,并确定所述第一驾驶模式集合中优先级最高的驾驶模式为所述目标驾驶模式。
- 根据权利要求11所述的车辆控制装置,其特征在于,所述管理设备上存储有驾驶模式与优先级的对应关系,所述确定模块具体用于:获取所述第一车辆的当前驾驶模式;判断第一获取模块获取的所述第一驾驶模式集合是否包括所述第一车辆的当前驾驶模式;在所述第一驾驶模式集合不包括所述第一车辆的当前驾驶模式时,根据所述驾驶模式与优先级的对应关系,确定所述第一驾驶模式集合中每种驾驶模式的优先级,并确定所述第一驾驶模式集合中优先级最高的驾驶模式为所述目标驾驶模式。
- 根据权利要求11所述的车辆控制装置,其特征在于,所述管理设备上存储有驾驶模式与安全距离阈值的对应关系,以及驾驶模式与速度阈值的对应关系,所述车辆控制装置还包括:第二获取模块,用于获取所述第一车辆的当前驾驶模式;判断模块,用于判断第一获取模块获取的所述第一驾驶模式集合是否包括所述第一车辆的当前驾驶模式;指示模块,用于在所述第一驾驶模式集合包括所述第一车辆的当前驾驶模式时,根据所述第一车辆的当前驾驶模式以及所述驾驶模式与安全距离阈值的对应关系,指示所述第一车辆控制设备控制所述第一车辆调整所述第一车辆的前后车安全距离,调整后的所述第一车辆的前后车安全距离大于或等于所述第一车辆的当前驾驶模式对应的安全距离阈值;或者,在所述第一驾驶模式集合包括所述第一车辆的当前驾驶模式时,根据所述第一车辆的当前驾驶模式以及所述驾驶模式与速度阈值的对应关系,指示所述第一车辆控制设备控制所述第一车辆调整所述第一车辆的行驶速度,调整后的所述第一车辆的行驶速度小于或等于所述第一车辆的当前驾驶模式对应的速度阈值。
- 根据权利要求16或17所述的车辆控制装置,其特征在于,所述第二获取模块具体用于:接收所述第一车辆控制设备发送的第一通知信息,所述第一通知信息包括所述第一车辆的当前驾驶模式的信息;根据所述第一通知信息确定所述第一车辆的当前驾驶模式。
- 根据权利要求11所述的车辆控制装置,其特征在于,所述车辆控制装置还包括:第三获取模块,用于获取第二车辆的当前驾驶模式,所述第一车辆与所述第二车辆的距离小于预设距离;第二发送模块,用于向所述第一车辆控制设备发送第二通知信息,所述第二通知信息包括所述第二车辆的当前驾驶模式的信息。
- 一种车辆控制装置,其特征在于,所述车辆控制装置包括:接收模块,用于接收管理设备发送的指示信息,所述指示信息包括至少两种驾驶模式的信息,驾驶模式的信息包括驾驶模式的优先级信息,所述至少两种驾驶模式为当前允许所述第一车辆采用的驾驶模式;确定模块,用于根据接收模块接收到的所述指示信息中的所述至少两种驾驶模式的优先级信息,确定所述至少两种驾驶模式中优先级最高的驾驶模式为目标驾驶模式;判断模块,用于判断预设驾驶模式集合是否包括确定模块确定的所述目标驾驶模式,所述第一车辆配置有所述预设驾驶模式集合,所述预设驾驶模式集合包括至少一种驾驶模式;控制模块,用于在判断模块判断所述预设驾驶模式集合包括所述目标驾驶模式时,控制所述第一车辆采用所述目标驾驶模式行驶。
- 一种车辆控制系统,其特征在于,所述车辆控制系统包括:管理设备和第一车辆控制设备,所述管理设备包括权利要求11至19任一所述的车辆控制装置;所述第一车辆控制设备包括权利要求20所述的车辆控制装置。
- 一种车辆控制装置,其特征在于,所述车辆控制装置包括:至少一个处理器、至少一个网络接口、存储器和至少一个通信总线,所述处理器用于执行所述存储器中存储的程序,以实现权利要求1至9任一所述的车辆控制方法。
- 一种车辆控制装置,其特征在于,所述车辆控制装置包括:至少一个处理器、存储器、通讯模块、至少一个通信总线和通讯天线,其中,通信总线用于实现这些组件之间的连接通信,通讯模块可以用于远距离通信,通讯天线用于接收和发送通讯信号,所述处理器用于执行所述存储器中存储的程序,以实现权利要求10所述的车辆控制方法。
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EP3435351A1 (en) | 2019-01-30 |
EP3435351A4 (en) | 2019-07-31 |
JP6733997B2 (ja) | 2020-08-05 |
CN109219839A (zh) | 2019-01-15 |
US10921805B2 (en) | 2021-02-16 |
CN109219839B (zh) | 2020-10-09 |
US20190025826A1 (en) | 2019-01-24 |
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