WO2018228405A1 - 一种机动车辆自动驾驶方法及终端设备 - Google Patents

一种机动车辆自动驾驶方法及终端设备 Download PDF

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Publication number
WO2018228405A1
WO2018228405A1 PCT/CN2018/090968 CN2018090968W WO2018228405A1 WO 2018228405 A1 WO2018228405 A1 WO 2018228405A1 CN 2018090968 W CN2018090968 W CN 2018090968W WO 2018228405 A1 WO2018228405 A1 WO 2018228405A1
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WO
WIPO (PCT)
Prior art keywords
motor vehicle
target
terminal device
positioning
driving
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PCT/CN2018/090968
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English (en)
French (fr)
Inventor
傅佳莉
张慧敏
黄茂胜
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华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP18816923.9A priority Critical patent/EP3627268B1/en
Publication of WO2018228405A1 publication Critical patent/WO2018228405A1/zh
Priority to US16/712,574 priority patent/US11243529B2/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • 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
    • B60W50/082—Selecting or switching between different modes of propelling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/009—Transmission of differential positioning data to mobile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/22—Platooning, i.e. convoy of communicating vehicles
    • 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
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • the present application relates to the field of vehicle control technologies, and in particular, to a motor vehicle automatic driving method and a terminal device.
  • Automated driving technology relies on artificial intelligence, visual computing, radar, surveillance and global positioning systems to enable motor vehicles to automate without the need for human active operation. Since the automatic driving technology does not require humans to drive the motor vehicle, it is theoretically possible to effectively avoid human driving errors, reduce the occurrence of traffic accidents, and improve the transportation efficiency of the road. Therefore, autonomous driving technology is receiving more and more attention.
  • the motor vehicle determines its driving parameters in a positioning manner, thereby realizing automatic driving of the motor vehicle.
  • the motor vehicle needs to adopt a positioning method with high positioning accuracy, such as a network-assisted GPS (Global Positioning System) positioning method.
  • GPS Global Positioning System
  • the network-assisted GPS positioning method hardware devices such as a GPS receiver and a wireless interface are required to receive and transmit necessary data. Therefore, how to reduce the cost of automatic driving of a motor vehicle while ensuring the driving safety of the motor vehicle becomes a problem in the field of automatic driving technology.
  • the embodiment of the present application provides a motor vehicle automatic driving method and a terminal device to reduce the cost on the premise of ensuring vehicle safety.
  • an embodiment of the present application provides a motor vehicle automatic driving method, including: acquiring, by a terminal device, first vehicle information of a first motor vehicle, where the first vehicle information includes a first positioning manner and a first driving route; The terminal device acquires second vehicle information of the second motor vehicle, the second motor vehicle is located within a preset range of the first motor vehicle, and the second vehicle information includes a second positioning manner and a second driving route. The terminal device determines whether the first travel route and the second travel route overlap; when the first travel route and the second travel route overlap, the terminal device compares the first The positioning mode and the positioning mode of the second positioning mode are high or low; the terminal device determines the positioning mode with high positioning accuracy in the first positioning mode and the second positioning mode as a target positioning mode; The target positioning mode determines a target driving parameter; the terminal device controls the first motor vehicle and the second motor vehicle according to the target Driving parameters driving.
  • the terminal device acquires first vehicle information of the first motor vehicle, the first vehicle information includes a first positioning manner and a first driving route; and the terminal device acquires the second mobility Second vehicle information of the vehicle, the second motor vehicle is located within a preset range of the first motor vehicle, the second vehicle information includes a second positioning manner and a second driving route; the terminal device determines the Whether there is overlap between the first travel route and the second travel route; when the first travel route and the second travel route overlap, the terminal device compares the first positioning manner and the second positioning Determining the positioning accuracy of the mode; the terminal device determines the positioning mode with high positioning accuracy in the first positioning mode and the second positioning mode as the target positioning mode; and determining, by the terminal device, the target driving according to the target positioning mode a parameter; the terminal device controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter.
  • the terminal device determines the target driving parameter according to the target positioning mode, and the target positioning mode is the positioning mode with the high positioning accuracy in the first positioning mode and the second positioning mode, so the terminal device controls the first motor vehicle and the first The second motor vehicle has higher safety when driving according to the target driving parameter determined according to the target positioning mode.
  • the terminal device can simultaneously control the first motor vehicle and the second motor vehicle to travel according to the target driving parameter determined according to the target positioning manner, the first motor vehicle and the second motor vehicle do not need to adopt a high positioning mode, so the cost is low. .
  • the first vehicle information further includes first environment data of the first motor vehicle, and the second vehicle information further includes the second maneuver The second environment data of the vehicle; the terminal device determines the target driving parameter according to the target positioning manner, including:
  • the terminal device determines the target driving parameter according to the target positioning mode and the first environment data; when the target positioning mode is the second positioning mode, The terminal device determines the target driving parameter according to the target positioning manner and the second environment data.
  • the terminal device determines target driving parameters of the first motor vehicle and the second motor vehicle according to the positioning mode with high positioning accuracy and the corresponding environment data, so the target driving parameter may change according to different environmental data, and thus The external environment is matched to improve the safety of the first motor vehicle and the second motor vehicle for automatic driving.
  • the terminal device determines the target driving parameter according to the target positioning manner and the first environment data, including: the terminal device according to the The target positioning mode determines the first driving parameter; the terminal device determines whether the first environment data includes a preset environment feature; and when the first environment data includes a preset environment feature, the terminal device according to the Determining a first driving parameter offset by the preset environmental feature and the first driving parameter, and summing the first driving parameter and the first driving parameter offset to obtain the target driving parameter; When the first environment data does not include the preset environment feature, the terminal device uses the first driving parameter as the target driving parameter; and the terminal device according to the target positioning mode and the second environment data Determining the target driving parameter, the terminal device determining a second driving parameter according to the target positioning manner; the terminal device determining the second ring Whether the preset environment feature is included in the data; when the second environment data includes the preset environment feature, the terminal device determines the second driving according to the preset environment feature and
  • the corresponding driving parameter offset is calculated according to the preset environmental feature, and then the driving parameter offset and the initial driving parameter are The first driving parameter or the second driving parameter is summed to calculate the target driving parameter; and when the preset environmental feature is not included in the first environmental data or the second environmental data, the first driving parameter or the second is directly Driving parameters are used as target driving parameters. That is to say, the initial driving parameters are adjusted only when the first environmental data or the second environmental data includes the preset environmental features, so that the initial driving parameters can be adjusted once the environment changes.
  • the method further includes: determining, by the terminal device, whether the vehicle automatic driving condition is met according to the first environment data or the second environment data; The terminal device prompts the first motor vehicle and the second motor vehicle to enter a manual driving mode when the driving condition is automatic.
  • the terminal device reminds the driver to manually drive the first motor vehicle and the second motor vehicle, so that the driving maneuver can be further improved. The safety of the vehicle.
  • the method further includes: when the first driving route and the second driving route are separated, the terminal device stops controlling the first motor vehicle or The second motor vehicle travels in accordance with the target driving parameter.
  • the terminal device stops controlling the first motor vehicle or the second motor vehicle to travel according to the target driving parameter when the first travel route and the second travel route are separated, the first travel route and the second travel route are avoided from being separated. After that, the driving parameters of the first motor vehicle or the second motor vehicle do not match the corresponding positioning modes, resulting in a decrease in the safety of the automatic driving.
  • the method further includes: the terminal device acquiring third vehicle information of a third motor vehicle, where the third motor vehicle is located at the first motor vehicle In the preset range, the third vehicle information includes a third positioning manner and a third driving route; the terminal device determines whether the first driving route and the third driving route overlap; when the first When the driving route and the third driving route overlap, the terminal device compares the positioning accuracy of the target positioning mode and the third positioning mode; when the positioning accuracy of the target positioning mode is higher than the third When the positioning accuracy of the positioning mode is used, the terminal device controls the third motor vehicle to travel according to the target driving parameter; when the positioning accuracy of the target positioning mode is lower than the positioning accuracy of the third positioning mode, Determining, by the terminal device, current driving parameters according to the third positioning manner; the terminal device controlling the first motor vehicle, the second motor vehicle, and the third machine In accordance with the current vehicle driving parameters.
  • the terminal device determines the driving parameter according to the positioning accuracy of the third positioning mode and the target positioning mode, and determines the driving parameter according to the positioning mode with high positioning accuracy.
  • the terminal device controls the first motor vehicle, the second motor vehicle, and the third motor vehicle to travel in accordance with the determined driving parameters, the safety of the automatic driving is high.
  • the terminal device controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter, including: when the target positioning When the mode is the first positioning mode, the terminal device uses the first motor vehicle as a head vehicle and controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter; When the target positioning mode is the second positioning mode, the terminal device uses the second motor vehicle as a head vehicle and controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter.
  • the terminal device controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter
  • the motor vehicle with high positioning accuracy is used as the head vehicle. Since the positioning accuracy of the head vehicle is high, the first embodiment of the first motor vehicle and the second motor vehicle are safe to drive automatically.
  • the embodiment of the present application provides a terminal device, including: an acquiring module, configured to acquire first vehicle information of a first motor vehicle, where the first vehicle information includes a first positioning manner and a first driving route; Acquiring second vehicle information of the second motor vehicle, the second motor vehicle is located within a preset range of the first motor vehicle, the second vehicle information includes a second positioning manner and a second driving route; and a processing module, And determining whether the first driving route and the second driving route overlap; when the first driving route and the second driving route overlap, comparing the first positioning manner and the second Determining the positioning accuracy of the positioning mode; determining a positioning mode with a high positioning accuracy in the first positioning mode and the second positioning mode as a target positioning mode; determining a target driving parameter according to the target positioning mode; and controlling the first The motor vehicle and the second motor vehicle travel in accordance with the target driving parameter.
  • an acquiring module configured to acquire first vehicle information of a first motor vehicle, where the first vehicle information includes a first positioning manner and a first driving route
  • the acquiring module acquires first vehicle information of the first motor vehicle, the first vehicle information includes a first positioning manner and a first driving route, and acquires second vehicle information of the second motor vehicle.
  • the second motor vehicle is located within a preset range of the first motor vehicle, the second vehicle information includes a second positioning manner and a second driving route; and the processing module determines the first driving route and the second Whether there is overlap in the driving route; when the first driving route and the second driving route overlap, comparing the positioning accuracy of the first positioning mode and the second positioning mode; the first positioning mode And a positioning manner with high positioning accuracy in the second positioning manner is determined as a target positioning manner; determining a target driving parameter according to the target positioning manner; controlling the first motor vehicle and the second motor vehicle to drive according to the target Parameter driving.
  • the terminal device determines the target driving parameter according to the target positioning mode, and the target positioning mode is the positioning mode with the high positioning accuracy in the first positioning mode and the second positioning mode, so the terminal device controls the first motor vehicle and the first The second motor vehicle has higher safety when driving according to the target driving parameter determined according to the target positioning mode.
  • the terminal device can simultaneously control the first motor vehicle and the second motor vehicle to travel according to the target driving parameter determined according to the target positioning manner, the first motor vehicle and the second motor vehicle do not need to adopt a high positioning mode, so the cost is low. .
  • the first vehicle information further includes first environment data of the first motor vehicle
  • the second vehicle information further includes the second maneuver The second environment data of the vehicle
  • the processing module is specifically configured to: when the target positioning mode is the first positioning mode, determine the target driving parameter according to the target positioning mode and the first environment data; When the target positioning mode is the second positioning mode, the target driving parameter is determined according to the target positioning mode and the second environment data.
  • the processing module is specifically configured to determine a first driving parameter according to the target positioning manner, and determine whether the first environmental data includes a preset environmental feature.
  • the preset environmental feature is included in the first environment data, determining a first driving parameter offset according to the preset environmental feature and the first driving parameter, and the first driving parameter and the The first driving parameter offset is summed to obtain the target driving parameter; when the first environmental data does not include the preset environmental feature, the first driving parameter is used as the target driving parameter; or
  • the processing module is specifically configured to determine a second driving parameter according to the target positioning manner; determine whether the preset environmental feature is included in the second environment data; and include the preset environment in the second environment data And determining, according to the preset environmental feature and the second driving parameter, a second driving parameter offset, and offsetting the second driving parameter and the second driving parameter Summing, to obtain the target driving parameters; when the second environmental data is not included in said predetermined environmental characteristic, the second driving parameter as the target driving parameters.
  • the processing module is further configured to determine, according to the first environment data and/or the second environment data, whether the vehicle automatic driving condition is met; When the vehicle automatic driving condition is satisfied, the first motor vehicle and the second motor vehicle are prompted to enter a manual driving mode.
  • the processing module is further configured to stop controlling the first motor vehicle or when the first travel route and the second travel route are separated The second motor vehicle travels in accordance with the target driving parameter.
  • the acquiring module is further configured to acquire third vehicle information of a third motor vehicle, where the third motor vehicle is located at the first motor vehicle.
  • the third vehicle information includes a third positioning manner and a third driving route;
  • the processing module is further configured to determine whether the first driving route and the third driving route overlap; When the first driving route and the third driving route overlap, comparing the positioning accuracy of the target positioning mode and the third positioning mode; when the positioning accuracy of the target positioning mode is higher than the third positioning When the positioning accuracy of the mode is used, the third motor vehicle is controlled to travel according to the target driving parameter; when the positioning accuracy of the target positioning mode is lower than the positioning accuracy of the third positioning mode, according to the third positioning mode Determining current driving parameters; controlling the first motor vehicle, the second motor vehicle, and the third motor vehicle to travel in accordance with the current driving parameter.
  • the processing module is specifically configured to: when the target positioning manner is the first positioning manner, use the first motor vehicle as a head vehicle Controlling the first motor vehicle and the second motor vehicle to travel according to the target driving parameter; when the target positioning mode is the second positioning mode, using the second motor vehicle as a head vehicle and controlling the vehicle The first motor vehicle and the second motor vehicle travel in accordance with the target driving parameter.
  • the embodiment of the present application provides a computer storage medium, wherein the computer storage medium can store a program, and when the program is executed, the motor vehicle automatic driving method of any one of the embodiments of the first aspect of the present application can be implemented.
  • FIG. 1 is a schematic flow chart of a method for automatically driving a motor vehicle according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of another terminal device according to an embodiment of the present disclosure.
  • the execution body of the motor vehicle automatic driving method is a terminal device, and the terminal device may be located outside the first motor vehicle and the second motor vehicle, or may be located inside the first motor vehicle.
  • the embodiment of the present application may include the following steps:
  • step S110 the terminal device acquires first vehicle information of the first motor vehicle, and the first vehicle information includes a first positioning manner and a first driving route.
  • the first positioning module and the first human-machine interaction module may be disposed on the terminal device to implement the first motor vehicle. Locate and set the first driving route.
  • the first positioning module can implement positioning of the first motor vehicle by interaction with the network device, where the network device can be a base station, an enhanced base station, or a relay with scheduling function, or a device with a base station function, etc. Or it may be a satellite or it may also include a base station and a satellite.
  • the satellite can be a satellite in the BeiDou Navigation Satellite System (BDS), a satellite in the Global Positioning System (GPS), or a GLOBAL NAVIGATION SATELLITE.
  • BDS BeiDou Navigation Satellite System
  • GPS Global Positioning System
  • GLOBAL NAVIGATION SATELLITE GLOBAL NAVIGATION SATELLITE.
  • the satellite in the SYSTEM, GLONASS is not limited in the embodiment of the present application. In practical applications, the number of network devices is multiple.
  • the network device when the positioning function is provided by the satellite for the terminal device, the network device is at least four; when the base station is used to provide the positioning function for the terminal device, the network device is at least three.
  • the first positioning module is different, and the corresponding first positioning mode is also different.
  • the first human-computer interaction module provides an input function for the user, and the first driving route can be known after the user inputs the destination or the itinerary route.
  • the first human-computer interaction module can have multiple representations, such as the first human-computer interaction module can be through a graphical user interface (GUI), or can perform human-computer interaction through voice recognition.
  • GUI graphical user interface
  • the first positioning module and the first human-machine interaction module may also exist independently of the terminal device, and then the terminal device communicates with the first positioning module by using a bus or the like. Communicating with the first human-machine interaction module to obtain the first positioning mode and the first driving route.
  • the first motor vehicle may be configured with a first communication module capable of communicating with the terminal device, and the first positioning module and the first human-machine interaction module acquire the first positioning mode and the first After a driving route, the first communication module transmits the first vehicle information including the first positioning manner and the first driving route to the terminal device.
  • the first vehicle information in step S110 may further include other information.
  • the first vehicle information may further include information such as first environmental data of the first motor vehicle, the first motor vehicle ID, and/or the first travel rate.
  • information such as the first environmental data and/or the first travel rate may be implemented by a camera and/or various sensors.
  • step S120 the terminal device acquires second vehicle information of the second motor vehicle, the second motor vehicle is located within a preset range of the first motor vehicle, and the second vehicle information includes a second positioning manner and a second driving route.
  • the preset range herein means that the second motor vehicle is located within a certain distance (for example, 20 m) in front of or behind the first motor vehicle, or that the second motor vehicle is located at the center of the first motor vehicle and has a second radius. The distance is within the range of the circle (eg 10m).
  • the second motor vehicle is limited to a preset range of the first motor vehicle to facilitate subsequent terminal devices to simultaneously control the first motor vehicle and the second motor vehicle to travel according to specific driving parameters.
  • the second positioning module and the second human-machine interaction module may be disposed on the second motor vehicle to realize positioning and setting the second driving route for the second motor vehicle.
  • a second communication module capable of communicating with the terminal device may be disposed on the second motor vehicle. After the first positioning module and the first human interaction module acquire the second positioning mode and the second driving route, the second communication module includes The second positioning mode and the second vehicle information of the second driving route are transmitted to the terminal device.
  • the second positioning module can implement positioning of the second motor vehicle by interaction with the network device, where the network device can be a base station, an enhanced base station, or a relay with scheduling function, or a device with a base station function, etc. Or it may be a satellite or it may also include a base station and a satellite.
  • the satellite can be a satellite in the Beidou navigation satellite system (BDS), a satellite in a global positioning system (GPS), or a global navigation satellite (global navigation satellite).
  • BDS Beidou navigation satellite system
  • GPS global positioning system
  • GLONASS global navigation satellite
  • the satellite in the system, GLONASS is not limited in the embodiment of the present application. In practical applications, the number of network devices is multiple.
  • the network device when the positioning function is provided by the satellite for the terminal device, the network device is at least four; when the base station is used to provide the positioning function for the terminal device, the network device is at least three.
  • the second positioning module is different, and the corresponding second positioning mode is also different.
  • the second human-computer interaction module provides an input function for the user, and after the user inputs the destination or the itinerary route, the second driving route can be known.
  • the second human-computer interaction module can have multiple representations, for example, the second human-computer interaction module can perform human-computer interaction through a graphical user interface (GUI) or voice recognition.
  • GUI graphical user interface
  • the second vehicle information in step S120 may further include other information.
  • the second vehicle information may further include information such as second environmental data of the second motor vehicle, the second motor vehicle ID, and/or the second travel rate.
  • information such as the first environmental data and/or the second travel rate may be implemented by a camera and/or various sensors.
  • step S130 the terminal device determines whether there is overlap between the first travel route and the second travel route.
  • the overlap means partial overlap or full overlap.
  • step S140 when the first driving route and the second driving route overlap, the terminal device compares the positioning accuracy of the first positioning mode and the second positioning mode.
  • the terminal device may pre-store the corresponding relationship between the positioning mode and the positioning accuracy. After the terminal device acquires the first positioning mode and the second positioning mode, the terminal device directly according to the positioning mode and the positioning accuracy. The corresponding relationship determines the positioning accuracy of the first positioning mode and the positioning accuracy of the second positioning mode, and compares the positioning accuracy of the first positioning mode and the second positioning mode.
  • the implementation manner of step S140 is not limited thereto.
  • the first vehicle information acquired as described above may directly include the positioning accuracy of the first positioning mode
  • the second vehicle information may directly include the positioning accuracy of the second positioning mode. In this way, after acquiring the first vehicle information and the second vehicle information, the terminal device can directly determine the positioning accuracy of the first positioning mode and the second positioning mode.
  • step S150 the terminal device determines the positioning mode with high positioning accuracy in the first positioning mode and the second positioning mode as the target positioning mode.
  • step S350 will be described by way of example.
  • the first positioning mode is: GPS+ base station, and its positioning accuracy is 10 m
  • the second positioning mode is: GPS outdoor positioning, and its accuracy is 50 m
  • the terminal device determines the first positioning mode as the target positioning mode.
  • step S160 the terminal device determines the target driving parameter according to the target positioning manner.
  • step S360 may include vehicle speed, vehicle distance, and/or vehicle width, and the like.
  • step S360 can have multiple implementation manners.
  • the correspondence between the positioning mode and the driving parameter may be pre-stored in the terminal device.
  • the terminal device may determine the target driving parameter according to the target positioning mode and the correspondence between the positioning mode and the driving parameter.
  • the correspondence between the positioning mode and the positioning accuracy, and the functional relationship between the positioning accuracy and the driving parameter may be pre-stored in the terminal device.
  • the terminal device may first determine the positioning accuracy according to the target positioning mode, the corresponding relationship between the positioning mode and the positioning accuracy, and then determine the target driving parameter according to the functional relationship between the positioning accuracy and the driving parameter.
  • Step S160 when the first vehicle information further includes first environmental data of the first motor vehicle, and the second vehicle information further includes second environmental data of the second motor vehicle Step S160 may include:
  • the terminal device determines the target driving parameter according to the target positioning mode and the first environment data;
  • the terminal device determines the target driving parameter according to the target positioning mode and the second environment data.
  • the determining, by the terminal device, the target driving parameter according to the target positioning mode and the first environment data may include: determining, by the terminal device, the first driving parameter according to the target positioning manner; and determining, by the terminal device, whether the first environment data includes the preset The environment feature; when the first environment data includes the preset environment feature, the terminal device determines the first driving parameter offset according to the preset environment feature and the first driving parameter, and offsets the first driving parameter and the first driving parameter The quantity is summed to obtain the target driving parameter; when the preset environmental feature is not included in the first environmental data, the terminal device uses the first driving parameter as the target driving parameter.
  • the determining, by the terminal device, the target driving parameter according to the target positioning mode and the second environment data may include: determining, by the terminal device, the second driving parameter according to the target positioning manner; the terminal device determining whether the second environment data includes the preset environmental feature; When the data includes the preset environmental feature, the terminal device determines the second driving parameter offset according to the preset environmental feature and the second driving parameter, and sums the second driving parameter and the second driving parameter offset. Obtaining the target driving parameter; when the preset environmental feature is not included in the second environment data, the terminal device uses the second driving parameter as the target driving parameter.
  • the preset environmental characteristics here may be one or more of snow, rain, typhoon, high temperature (above 38 ° C), very low temperature (below -10 ° C), high buildings, remote mountains and tunnels.
  • the correspondence between the positioning mode and the initial driving parameters (such as the first driving parameter or the second driving parameter, etc.), and the driving parameter offset and the initial driving parameter may be pre-stored inside the terminal device.
  • the terminal device may calculate the first driving parameter offset or the second driving parameter according to a correspondence between the positioning mode and the initial driving parameter, and a functional relationship between the driving parameter offset and the initial driving parameter and the preset environmental feature.
  • the offset is used to calculate the required target driving parameters.
  • step S170 the terminal device controls the first motor vehicle and the second motor vehicle to travel in accordance with the target driving parameter.
  • step S170 may have multiple implementation manners.
  • step S170 may include:
  • the terminal device uses the first motor vehicle as the head vehicle and controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter;
  • the terminal device uses the second motor vehicle as the head vehicle and controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter.
  • step S170 may include: the terminal device uses the first motor vehicle as a head vehicle and controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter.
  • the head vehicle in the embodiment of the present application specifically refers to the vehicle that is driving ahead.
  • the terminal device acquires first vehicle information of the first motor vehicle, the first vehicle information includes a first positioning manner and a first driving route; and the terminal device acquires the second mobility Second vehicle information of the vehicle, the second motor vehicle is located within a preset range of the first motor vehicle, the second vehicle information includes a second positioning manner and a second driving route; the terminal device determines the Whether there is overlap between the first travel route and the second travel route; when the first travel route and the second travel route overlap, the terminal device compares the first positioning manner and the second positioning Determining the positioning accuracy of the mode; the terminal device determines the positioning mode with high positioning accuracy in the first positioning mode and the second positioning mode as the target positioning mode; and determining, by the terminal device, the target driving according to the target positioning mode a parameter; the terminal device controls the first motor vehicle and the second motor vehicle to travel according to the target driving parameter.
  • the terminal device determines the target driving parameter according to the target positioning mode, and the target positioning mode is the positioning mode with the high positioning accuracy in the first positioning mode and the second positioning mode, so the terminal device controls the first motor vehicle and the first The second motor vehicle has higher safety when driving according to the target driving parameter determined according to the target positioning mode.
  • the terminal device can simultaneously control the first motor vehicle and the second motor vehicle to travel according to the target driving parameter determined according to the target positioning manner, the first motor vehicle and the second motor vehicle do not need to adopt a high positioning mode, so the cost is low. .
  • the embodiment shown in FIG. 1 may further include:
  • the terminal device When the vehicle automatic driving condition is not satisfied, the terminal device prompts the first motor vehicle and the second motor vehicle to enter the manual driving mode.
  • the vehicle automatic driving conditions herein may be determined according to actual conditions.
  • the vehicle automatic driving conditions can be defined according to the accident rate in various environments. For example, environmental data with an accident rate of less than one in 10,000 is defined as satisfying the automatic driving condition of the vehicle, and environmental data having an accident rate higher than one ten thousandth is defined as not satisfying the automatic driving condition of the vehicle.
  • the terminal device may send a control instruction to the first motor vehicle and the second motor vehicle to cause sound, vibration, and the like to be sounded by the corresponding equipment in the first motor vehicle and the second motor vehicle to prompt the first A motor vehicle and a second motor vehicle enter a manual driving mode.
  • the first motor vehicle and the second motor vehicle continue to travel according to the target driving parameter determined in step S160, resulting in the first motor vehicle or the second motor vehicle.
  • the driving parameters do not match the corresponding positioning modes, resulting in a decrease in the safety of the driving.
  • the embodiment shown in FIG. 1 may further include:
  • the terminal device stops controlling the first motor vehicle or the second motor vehicle to travel according to the target driving parameter.
  • the embodiment shown in FIG. 1 may further include:
  • the terminal device acquires third vehicle information of the third motor vehicle, the third motor vehicle is located within a preset range of the first motor vehicle, and the third vehicle information includes a third positioning manner and a third driving route;
  • the terminal device determines whether the first travel route and the third travel route overlap
  • the terminal device compares the positioning accuracy of the target positioning mode and the third positioning mode
  • the terminal device controls the third motor vehicle to travel according to the target driving parameter
  • the terminal device determines the current driving parameter according to the third positioning mode
  • the terminal device controls the first motor vehicle, the second motor vehicle, and the third motor vehicle to travel in accordance with current driving parameters.
  • the terminal device determines the driving parameter according to the positioning accuracy of the third positioning mode and the target positioning mode, and determines the driving parameter according to the positioning mode with high positioning accuracy.
  • the terminal device controls the first motor vehicle, the second motor vehicle, and the third motor vehicle to travel in accordance with the determined driving parameters, the safety of the automatic driving is high.
  • the terminal device in order to make the safety of the first motor vehicle automatically driving, may only use the second positioning mode when determining the target positioning mode.
  • the second positioning mode is determined as the target positioning accuracy.
  • the terminal device determines the driving parameter according to the first positioning manner, and finally the terminal device only controls the first motor vehicle to travel according to the determined driving parameter.
  • the embodiment of the present application further provides an embodiment of a corresponding terminal device with respect to the above method embodiment.
  • FIG. 2 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
  • the terminal device is for performing a motor vehicle automatic driving method as shown in FIG.
  • the terminal device may include an acquisition module 210 and a processing module 220.
  • the acquiring module 210 is configured to acquire first vehicle information of the first motor vehicle, the first vehicle information includes a first positioning manner and a first driving route, and acquiring second vehicle information of the second motor vehicle, The second motor vehicle is located within a preset range of the first motor vehicle, and the second vehicle information includes a second positioning manner and a second driving route;
  • the processing module 220 is configured to determine whether the first driving route and the second driving route overlap; and when the first driving route and the second driving route overlap, compare the first positioning manner Determining the positioning accuracy of the second positioning mode; determining a positioning mode with a high positioning accuracy in the first positioning mode and the second positioning mode as a target positioning mode; and determining a target driving parameter according to the target positioning mode; The first motor vehicle and the second motor vehicle are controlled to travel in accordance with the target driving parameter.
  • the acquiring module acquires first vehicle information of the first motor vehicle, the first vehicle information includes a first positioning manner and a first driving route, and acquires second vehicle information of the second motor vehicle.
  • the second motor vehicle is located within a preset range of the first motor vehicle, the second vehicle information includes a second positioning manner and a second driving route; and the processing module determines the first driving route and the second Whether there is overlap in the driving route; when the first driving route and the second driving route overlap, comparing the positioning accuracy of the first positioning mode and the second positioning mode; the first positioning mode And a positioning manner with high positioning accuracy in the second positioning manner is determined as a target positioning manner; determining a target driving parameter according to the target positioning manner; controlling the first motor vehicle and the second motor vehicle to drive according to the target Parameter driving.
  • the terminal device determines the target driving parameter according to the target positioning mode, and the target positioning mode is the positioning mode with the high positioning accuracy in the first positioning mode and the second positioning mode, so the terminal device controls the first motor vehicle and the first The second motor vehicle has higher safety when driving according to the target driving parameter determined according to the target positioning mode.
  • the terminal device can simultaneously control the first motor vehicle and the second motor vehicle to travel according to the target driving parameter determined according to the target positioning manner, the first motor vehicle and the second motor vehicle do not need to adopt a high positioning mode, so the cost is low. .
  • the first vehicle information further includes first environment data of the first motor vehicle
  • the second vehicle information further includes the second maneuver The second environment data of the vehicle
  • the processing module 220 is specifically configured to: when the target positioning mode is the first positioning mode, determine the target driving parameter according to the target positioning mode and the first environment data; When the target positioning mode is the second positioning mode, the target driving parameter is determined according to the target positioning mode and the second environment data.
  • the processing module 220 is specifically configured to determine a first driving parameter according to the target positioning manner, and determine whether the first environment data includes a preset environment. And determining, when the preset environmental feature is included in the first environment data, determining a first driving parameter offset according to the preset environmental feature and the first driving parameter, and determining the first driving parameter and the The first driving parameter offset is summed to obtain the target driving parameter; when the first environmental data does not include the preset environmental feature, the first driving parameter is used as the target driving parameter;
  • the processing module 220 is specifically configured to determine a second driving parameter according to the target positioning manner; determine whether the preset environmental feature is included in the second environment data; and include the Determining a second driving parameter offset according to the preset environmental feature and the second driving parameter, and summing the second driving parameter and the second driving parameter offset And obtaining the target driving parameter; when the preset environmental feature is not included in the second environmental data, using the second driving parameter as the target driving parameter.
  • the processing module 220 is further configured to determine, according to the first environment data and/or the second environment data, whether the vehicle automatic driving condition is met; When the vehicle automatic driving condition is not satisfied, the first motor vehicle and the second motor vehicle are prompted to enter a manual driving mode.
  • the processing module 220 is further configured to stop controlling the first motor vehicle when the first travel route and the second travel route are separated. Or the second motor vehicle travels in accordance with the target driving parameter.
  • the acquiring module 210 is further configured to acquire third vehicle information of a third motor vehicle, where the third motor vehicle is located in the first motor vehicle.
  • the third vehicle information includes a third positioning manner and a third driving route;
  • the processing module 220 is further configured to determine whether the first driving route and the third driving route overlap; and when the first driving route and the third driving route overlap, compare the target positioning manner And the positioning accuracy of the third positioning mode is high or low; when the positioning accuracy of the target positioning mode is higher than the positioning accuracy of the third positioning mode, controlling the third motor vehicle to drive according to the target driving parameter; When the positioning accuracy of the target positioning mode is lower than the positioning accuracy of the third positioning mode, determining a current driving parameter according to the third positioning manner; controlling the first motor vehicle, the second motor vehicle, and the The third motor vehicle travels in accordance with the current driving parameters.
  • the processing module 220 is specifically configured to use the first motor vehicle as a head vehicle when the target positioning mode is the first positioning mode. And controlling the first motor vehicle and the second motor vehicle to travel according to the target driving parameter; when the target positioning mode is the second positioning mode, using the second motor vehicle as a head vehicle and controlling The first motor vehicle and the second motor vehicle travel in accordance with the target driving parameter.
  • FIG. 3 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
  • the terminal device may be the terminal device in any of the foregoing embodiments for implementing the method steps in the foregoing embodiments.
  • the terminal device may include a processor 310, a memory 320, and a transceiver module 330.
  • the transceiver module 930 may include components such as a receiver 3301, a transmitter 3302, and an antenna 3303.
  • the terminal device may also include more or less components, or a combination of certain components, or different component arrangements, which is not limited in this application.
  • the processor 310 is a control center of the terminal device that connects various portions of the entire terminal device using various interfaces and lines, by running or executing software programs and/or modules stored in the memory 320, and recalling data stored in the memory 320. To perform various functions of the terminal device and/or process data.
  • the processor 310 may be composed of an integrated circuit (IC), for example, may be composed of a single packaged IC, or may be composed of a plurality of packaged ICs that have the same function or different functions.
  • the processor 310 may include only a central processing unit (CPU), or may be a GPU, a digital signal processor (DSP), and a control chip (for example, a baseband chip) in the transceiver module.
  • the CPU may be a single computing core or may include multiple computing cores.
  • the transceiver module 330 is configured to establish a communication channel, so that the terminal device is connected to the receiving device through the communication channel, thereby implementing data transmission between the terminal devices.
  • the transceiver module may include a wireless local area network (WLAN) module, a Bluetooth module, a baseband module, and the like, and a radio frequency (RF) circuit corresponding to the communication module.
  • WLAN wireless local area network
  • RF radio frequency
  • WCDMA wideband code division multiple access
  • HSDPA high speed downlink packet access
  • the transceiver module is configured to control communication of components in the terminal device and can support direct memory access.
  • various transceiver modules in the transceiver module 330 generally appear in the form of integrated circuit chips, and can be selectively combined without including all transceiver modules and corresponding Antenna group.
  • the transceiver module 330 can include only a baseband chip, a radio frequency chip, and a corresponding antenna to provide communication functionality in a cellular communication system.
  • the terminal device can be connected to a cellular network or the internet via a wireless communication connection established by the transceiver module, such as wireless local area network access or WCDMA access.
  • a communication module such as a baseband module, in the transceiver module may be integrated into the processor, typically an APQ+MDM series platform such as that provided by Qualcomm.
  • the radio frequency circuit is used for receiving and transmitting signals during information transmission and reception or during a call. For example, after the downlink information of the network device is received, it is processed by the processor; in addition, the data designed for the uplink is sent to the network device.
  • the radio frequency circuit includes well-known circuits for performing these functions, including but not limited to an antenna system, a radio frequency transceiver, one or more amplifiers, a tuner, one or more oscillators, a digital signal processor, a codec.
  • the RF circuit can communicate with the network and other devices through wireless communication.
  • the wireless communication may use any communication standard or protocol, including but not limited to global system of mobile communication (GSM), general packet radio service (gprs), code division multiple access (code) Division multiple access (CDMA), wideband code division multiple access (WCDMA), high speed uplink packet access (HSUPA), long term evolution (LTE) , email, short messaging service (SMS), etc.
  • GSM global system of mobile communication
  • gprs general packet radio service
  • code division multiple access code division multiple access
  • WCDMA wideband code division multiple access
  • HSUPA high speed uplink packet access
  • LTE long term evolution
  • email short messaging service
  • the embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a program, where the program may be executed in the embodiments of the motor vehicle automatic driving method provided by the embodiment of the present application. Some or all of the steps.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).
  • the technology in the embodiments of the present application can be implemented by means of software plus a necessary general hardware platform.
  • the technical solution in the embodiments of the present application may be embodied in the form of a software product in essence or in the form of a software product, and the computer software product may be stored in a storage medium such as a ROM/RAM. , a diskette, an optical disk, etc., including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in various embodiments of the present application or portions of the embodiments.
  • a computer device which may be a personal computer, server, or network device, etc.

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Abstract

一种机动车辆自动驾驶方法及终端设备，方法包括：终端设备获取第一机动车辆的第一车辆信息，第一车辆信息包括第一定位方式和第一行驶路线（S110）；终端设备获取第二机动车辆的第二车辆信息，第二车辆信息包括第二定位方式和第二行驶路线（S120）；终端设备判断第一行驶路线和第二行驶路线是否有重叠（S130）；当有重叠时，终端设备比较第一定位方式和第二定位方式的定位精度高低（S140）；终端设备将第一定位方式和第二定位方式中定位精度高的定位方式确定为目标定位方式（S150）；终端设备根据目标定位方式确定目标驾驶参数（S160）；终端设备控制第一机动车辆和第二机动车辆按照目标驾驶参数行驶（S170）,该方法能够在保证车辆安全的前提下，降低成本。

Description

一种机动车辆自动驾驶方法及终端设备
本申请要求在2017年6月16日提交中国专利局、申请号为201710458710.2、发明名称为“一种机动车辆自动驾驶方法及终端设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆控制技术领域，尤其涉及一种机动车辆自动驾驶方法及终端设备。
背景技术
自动驾驶技术依靠人工智能、视觉计算、雷达、监控装置和全球定位系统协同合作，让机动车辆可以在不需要人类主动操作下，实现自动驾驶。由于自动驾驶技术无需人类来驾驶机动车辆，所以理论上能够有效避免人类的驾驶失误，减少交通事故的发生，且能够提高公路的运输效率。因此，自动驾驶技术越来越受到重视。
目前，相关技术中，在详细的地图指引基础上，机动车辆以定位方式确定其驾驶参数，进而实现机动车辆的自动驾驶。而为了保证机动车辆自动驾驶时的安全性，机动车辆需采用定位精度高的定位方式，如网络辅助的GPS(Global Positioning System，全球定位系统)定位方式。
发明人在实现本申请的过程中发现：机动车辆在自动驾驶时采用的定位方式定位精度越高，成本也越高。例如，采用网络辅助的GPS定位方式时，需配备GPS接收器、无线接口等硬件设备实现必要数据的接收和传输。因此，如何在保证机动车辆驾驶安全性的同时，降低机动车辆自动驾驶时的成本成为自动驾驶技术领域的一个难题。
发明内容
本申请实施例提供了一种机动车辆自动驾驶方法及终端设备，以保证车辆安全的前提下，降低成本。
第一方面，本申请实施例提供了一种机动车辆自动驾驶方法，包括：终端设备获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；所述终端设备获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第二车辆信息包括第二定位方式和第二行驶路线；所述终端设备判断所述第一行驶路线和所述第二行驶路线是否有重叠；当所述第一行驶路线和所述第二行驶路线有重叠时，所述终端设备比较所述第一定位方式和所述第二定位方式的定位精度高低；所述终端设备将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；所述终端设备根据所述目标定位方式确定目标驾驶参数；所述终端设备控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
本申请实施例提供的机动车辆自动驾驶方法，终端设备获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；所述终端设备获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第二 车辆信息包括第二定位方式和第二行驶路线；所述终端设备判断所述第一行驶路线和所述第二行驶路线是否有重叠；当所述第一行驶路线和所述第二行驶路线有重叠时，所述终端设备比较所述第一定位方式和所述第二定位方式的定位精度高低；所述终端设备将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；所述终端设备根据所述目标定位方式确定目标驾驶参数；所述终端设备控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
由于本申请实施例中，终端设备根据目标定位方式确定目标驾驶参数，而目标定位方式为第一定位方式和第二定位方式中定位精度高的定位方式，所以终端设备控制第一机动车辆和第二机动车辆按照根据目标定位方式确定的目标驾驶参数行驶时安全性较高。另外，由于终端设备能够同时控制第一机动车辆和第二机动车辆按照根据目标定位方式确定的目标驾驶参数行驶，所以第一机动车辆和第二机动车辆无需均采用高定位方式，所以成本较低。
可选地，在本申请实施例的一种具体实施方式中，所述第一车辆信息还包括所述第一机动车辆的第一环境数据，所述第二车辆信息还包括所述第二机动车辆的第二环境数据；所述终端设备根据所述目标定位方式确定目标驾驶参数，包括：
当所述目标定位方式是第一定位方式时，所述终端设备根据所述目标定位方式和所述第一环境数据确定所述目标驾驶参数；当所述目标定位方式是第二定位方式时，所述终端设备根据所述目标定位方式和所述第二环境数据确定所述目标驾驶参数。
本具体实施方式中，终端设备根据定位精度高的定位方式和对应的环境数据确定第一机动车辆和第二机动车辆的目标驾驶参数，所以目标驾驶参数会随环境数据的不同而变化，进而与外界环境相匹配，提高第一机动车辆和第二机动车辆自动驾驶的安全性。
可选地，在本申请实施例的一种具体实施方式中，所述终端设备根据所述目标定位方式和所述第一环境数据确定所述目标驾驶参数，包括：所述终端设备根据所述目标定位方式确定第一驾驶参数；所述终端设备判断所述第一环境数据中是否包括预设环境特征；当所述第一环境数据中包括预设环境特征时，所述终端设备根据所述预设环境特征和所述第一驾驶参数确定第一驾驶参数偏移量，并对所述第一驾驶参数和所述第一驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第一环境数据中不包括预设环境特征时，所述终端设备将所述第一驾驶参数作为所述目标驾驶参数；所述终端设备根据所述目标定位方式和所述第二环境数据确定所述目标驾驶参数，包括：所述终端设备根据所述目标定位方式确定第二驾驶参数；所述终端设备判断所述第二环境数据中是否包括所述预设环境特征；当所述第二环境数据中包括所述预设环境特征时，所述终端设备根据所述预设环境特征和所述第二驾驶参数确定第二驾驶参数偏移量，并对所述第二驾驶参数和所述第二驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第二环境数据中不包括所述预设环境特征时，所述终端设备将所述第二驾驶参数作为所述目标驾驶参数。
本具体实施方式中，当第一环境数据或第二环境数据中包括预设环境特征时，根据预设环境特征计算相应的驾驶参数偏移量，然后将驾驶参数偏移量和初始驾驶参数(第一驾驶参数或第二驾驶参数)进行求和，计算出目标驾驶参数；而在第一环境数据或第二环境数据中中不包括预设环境特征时，直接将第一驾驶参数或第二驾驶参数作为目标驾驶参数。也就是说，第一环境数据或第二环境数据中包括预设环境特征时才对初始驾驶参数进行调 整，所以能避免环境一旦变化，就对初始驾驶参数进行调整。
可选地，在本申请实施例的一种具体实施方式中，还包括：所述终端设备根据所述第一环境数据或所述第二环境数据判断是否满足车辆自动驾驶条件；当不满足车辆自动驾驶条件时，所述终端设备提示所述第一机动车辆和所述第二机动车辆进入手动驾驶模式。
本具体实施方式中，当所述第一环境数据或第二环境数据不满足车辆自动驾驶条件时，所述终端设备提醒司机手动驾驶第一机动车辆和第二机动车辆，所以能进一步提高驾驶机动车辆的安全性。
可选地，在本申请实施例的一种具体实施方式中，还包括：当所述第一行驶路线和所述第二行驶路线分离时，所述终端设备停止控制所述第一机动车辆或所述第二机动车辆按照所述目标驾驶参数行驶。
本具体实施方式中，由于当第一行驶路线和第二行驶路线分离时，终端设备停止控制第一机动车辆或第二机动车辆按照目标驾驶参数行驶，避免第一行驶路线和第二行驶路线分离后，第一机动车辆或第二机动车辆的驾驶参数与对应的定位方式不匹配，导致自动驾驶安全性降低。
可选地，在本申请实施例的一种具体实施方式中，还包括：所述终端设备获取第三机动车辆的第三车辆信息，所述第三机动车辆位于所述第一机动车辆的所述预设范围内，所述第三车辆信息包括第三定位方式和第三行驶路线；所述终端设备判断所述第一行驶路线和所述第三行驶路线是否有重叠；当所述第一行驶路线和所述第三行驶路线有重叠时，所述终端设备比较所述目标定位方式和所述第三定位方式的定位精度高低；当所述目标定位方式的定位精度高于所述第三定位方式的定位精度时，所述终端设备控制所述第三机动车辆按照所述目标驾驶参数行驶；当所述目标定位方式的定位精度低于所述第三定位方式的定位精度时，所述终端设备根据所述第三定位方式确定当前驾驶参数；所述终端设备控制所述第一机动车辆、所述第二机动车辆和所述第三机动车辆按照所述当前驾驶参数行驶。
本具体实施方式中，由于在第三行驶路线与第一行驶路线有重叠时，终端设备根据第三定位方式和目标定位方式的定位精度高低，并根据定位精度高的定位方式确定驾驶参数，所以终端设备控制第一机动车辆、第二机动车辆和第三机动车辆按照所确定出的驾驶参数行驶时，自动驾驶的安全性高。
可选地，在本申请实施例的一种具体实施方式中，所述终端设备控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶，包括：当所述目标定位方式为所述第一定位方式时，所述终端设备将所述第一机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶；当所述目标定位方式为所述第二定位方式时，所述终端设备将所述第二机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
本具体实施方式中，终端设备控制第一机动车辆和第二机动车辆按照目标驾驶参数行驶时，将定位精度高的机动车辆作为头车。由于头车的定位精度高，所以该具体实施方式第一机动车辆和第二机动车辆自动驾驶时安全性较高。
第二方面，本申请实施例提供了一种终端设备，包括：获取模块，用于获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第 二车辆信息包括第二定位方式和第二行驶路线；处理模块，用于判断所述第一行驶路线和所述第二行驶路线是否有重叠；当所述第一行驶路线和所述第二行驶路线有重叠时，比较所述第一定位方式和所述第二定位方式的定位精度高低；将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；根据所述目标定位方式确定目标驾驶参数；控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
本申请实施例提供的终端设备，获取模块获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第二车辆信息包括第二定位方式和第二行驶路线；处理模块判断所述第一行驶路线和所述第二行驶路线是否有重叠；当所述第一行驶路线和所述第二行驶路线有重叠时，比较所述第一定位方式和所述第二定位方式的定位精度高低；将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；根据所述目标定位方式确定目标驾驶参数；控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
由于本申请实施例中，终端设备根据目标定位方式确定目标驾驶参数，而目标定位方式为第一定位方式和第二定位方式中定位精度高的定位方式，所以终端设备控制第一机动车辆和第二机动车辆按照根据目标定位方式确定的目标驾驶参数行驶时安全性较高。另外，由于终端设备能够同时控制第一机动车辆和第二机动车辆按照根据目标定位方式确定的目标驾驶参数行驶，所以第一机动车辆和第二机动车辆无需均采用高定位方式，所以成本较低。
可选地，在本申请实施例的一种具体实施方式中，所述第一车辆信息还包括所述第一机动车辆的第一环境数据，所述第二车辆信息还包括所述第二机动车辆的第二环境数据；所述处理模块具体用于当所述目标定位方式是第一定位方式时，根据所述目标定位方式和所述第一环境数据确定所述目标驾驶参数；当所述目标定位方式是第二定位方式时，根据所述目标定位方式和所述第二环境数据确定所述目标驾驶参数。
可选地，在本申请实施例的一种具体实施方式中，所述处理模块具体用于根据所述目标定位方式确定第一驾驶参数；判断所述第一环境数据中是否包括预设环境特征；当所述第一环境数据中包括预设环境特征时，根据所述预设环境特征和所述第一驾驶参数确定第一驾驶参数偏移量，并对所述第一驾驶参数和所述第一驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第一环境数据中不包括预设环境特征时，将所述第一驾驶参数作为所述目标驾驶参数；或者，所述处理模块具体用于根据所述目标定位方式确定第二驾驶参数；判断所述第二环境数据中是否包括所述预设环境特征；当所述第二环境数据中包括所述预设环境特征时，根据所述预设环境特征和所述第二驾驶参数确定第二驾驶参数偏移量，并对所述第二驾驶参数和所述第二驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第二环境数据中不包括所述预设环境特征时，将所述第二驾驶参数作为所述目标驾驶参数。
可选地，在本申请实施例的一种具体实施方式中，所述处理模块还用于根据所述第一环境数据和/或所述第二环境数据判断是否满足车辆自动驾驶条件；当不满足车辆自动驾驶条件时，提示所述第一机动车辆和所述第二机动车辆进入手动驾驶模式。
可选地，在本申请实施例的一种具体实施方式中，所述处理模块还用于当所述第一行 驶路线和所述第二行驶路线分离时，停止控制所述第一机动车辆或所述第二机动车辆按照所述目标驾驶参数行驶。
可选地，在本申请实施例的一种具体实施方式中，所述获取模块还用于获取第三机动车辆的第三车辆信息，所述第三机动车辆位于所述第一机动车辆的所述预设范围内，所述第三车辆信息包括第三定位方式和第三行驶路线；所述处理模块还用于判断所述第一行驶路线和所述第三行驶路线是否有重叠；当所述第一行驶路线和所述第三行驶路线有重叠时，比较所述目标定位方式和所述第三定位方式的定位精度高低；当所述目标定位方式的定位精度高于所述第三定位方式的定位精度时，控制所述第三机动车辆按照所述目标驾驶参数行驶；当所述目标定位方式的定位精度低于所述第三定位方式的定位精度时，根据所述第三定位方式确定当前驾驶参数；控制所述第一机动车辆、所述第二机动车辆和所述第三机动车辆按照所述当前驾驶参数行驶。
可选地，在本申请实施例的一种具体实施方式中，所述处理模块具体用于当所述目标定位方式为所述第一定位方式时，将所述第一机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶；当所述目标定位方式为所述第二定位方式时，将所述第二机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
第三方面，本申请实施例提供了一种计算机存储介质，其中，该计算机存储介质可存储有程序，该程序执行时可实现本申请第一方面实施例的任一项机动车辆自动驾驶方法。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的一种机动车辆自动驾驶方法的流程示意图；
图2为本申请实施例提供的一种终端设备的结构示意图；
图3为本申请实施例提供的另一种终端设备的结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整的描述。
参见图1，为本申请实施例提供的一种机动车辆自动驾驶方法的流程示意图。其中，该机动车辆自动驾驶方法的执行主体为终端设备，该终端设备可位于第一机动车辆和第二机动车辆的外部，也可以位于第一机动车辆内部。在本申请实施例具体实施的过程中，本申请实施例可以包括以下步骤：
在步骤S110中，终端设备获取第一机动车辆的第一车辆信息，第一车辆信息包括第一定位方式和第一行驶路线。
其中，在本申请实施例具体实施的过程中，若终端设备设置在第一机动车辆内部，则可在终端设备上设置第一定位模块和第一人机交互模块，以实现对第一机动车辆定位和设置第一行驶路线。
具体地，第一定位模块可通过与网络设备的交互实现对第一机动车辆的定位，这里的 网络设备可以是基站、增强型基站、或具有调度功能的中继、或具有基站功能的设备等，或者也可以是卫星，或者还可以包括基站和卫星。卫星可以是北斗卫星导航系统(BeiDou Navigation Satellite System，BDS)中的卫星，也可以是全球定位系统(Global Positioning System，GPS)中的卫星，还可以是格洛纳斯卫星导航系统(GLOBAL NAVIGATION SATELLITE SYSTEM，GLONASS)中的卫星，本申请实施例并不限定。在实际应用中，网络设备的个数为多个。例如，利用卫星为终端设备提供定位功能时，网络设备为至少4个；利用基站为终端设备提供定位功能时，网络设备为至少3个。第一定位模块不同，对应的第一定位方式也不同。
第一人机交互模块为用户提供输入功能，在用户输入目的地或者行程路线后，可获知第一行驶路线。在实际应用中，第一人机交互模块可以有多种表现形式，如第一人机交互模块可以通过图形用户界面(Graphical User Interface，GUI)，也可以通过语音识别进行人机交互等。
需要特别说明的是，在终端设备设置在第一机动车辆内部时，上述第一定位模块和第一人机交互模块也可独立于终端设备存在，然后终端设备通过总线等方式与第一定位模块和第一人机交互模块进行通信，以获取第一定位方式和第一行驶路线。
在终端设备设置在第一机动车辆外部时，第一机动车辆内部可设置能与终端设备进行通信的第一通信模块，在第一定位模块和第一人机交互模块获取第一定位方式和第一行驶路线后，第一通信模块将包括第一定位方式和第一行驶路线的第一车辆信息发送给终端设备。
另外，在本申请实施例具体实施的过程中，步骤S110中的第一车辆信息还可以包括其他信息。例如，第一车辆信息还可以包括第一机动车辆的第一环境数据、第一机动车辆ID和/或第一行驶速率等信息。其中，第一环境数据和/或第一行驶速率等信息可通过摄像头和/或各种传感器实现。
在步骤S120中，终端设备获取第二机动车辆的第二车辆信息，第二机动车辆位于第一机动车辆的预设范围内，第二车辆信息包括第二定位方式和第二行驶路线。
其中，这里的预设范围是指第二机动车辆位于第一机动车辆前方或后方一定距离(如20m)内，或者是指第二机动车辆位于以第一机动车辆为圆心的、半径为第二距离(如10m)的圆的范围内。将第二机动车辆限制在第一机动车辆的预设范围内，以方便后续终端设备同时控制第一机动车辆和第二机动车辆按照特定的驾驶参数行驶。
在本申请实施例具体实施的过程中，可在第二机动车辆上设置第二定位模块和第二人机交互模块，以实现对第二机动车辆定位和设置第二行驶路线。可在第二机动车辆上设置能与终端设备进行通信的第二通信模块，在第一定位模块和第一人机交互模块获取第二定位方式和第二行驶路线后，第二通信模块将包括第二定位方式和第二行驶路线的第二车辆信息发送给终端设备。
具体地，第二定位模块可通过与网络设备的交互实现对第二机动车辆的定位，这里的网络设备可以是基站、增强型基站、或具有调度功能的中继、或具有基站功能的设备等，或者也可以是卫星，或者还可以包括基站和卫星。卫星可以是北斗卫星导航系统(beidou navigation satellite system，BDS)中的卫星，也可以是全球定位系统(global positioning system，GPS)中的卫星，还可以是格洛纳斯卫星导航系统(global navigation  satellite system，GLONASS)中的卫星，本申请实施例并不限定。在实际应用中，网络设备的个数为多个。例如，利用卫星为终端设备提供定位功能时，网络设备为至少4个；利用基站为终端设备提供定位功能时，网络设备为至少3个。第二定位模块不同，对应的第二定位方式也不同。
第二人机交互模块为用户提供输入功能，在用户输入目的地或者行程路线后，可获知第二行驶路线。在实际应用中，第二人机交互模块可以有多种表现形式，如第二人机交互模块可以通过图形用户界面(graphical user interface，GUI)，也可以通过语音识别进行人机交互等。
另外，在本申请实施例具体实施的过程中，步骤S120中的第二车辆信息还可以包括其他信息。例如，第二车辆信息还可以包括第二机动车辆的第二环境数据、第二机动车辆ID和/或第二行驶速率等信息。其中，第一环境数据和/或第二行驶速率等信息可通过摄像头和/或各种传感器实现。
在步骤S130中，终端设备判断第一行驶路线和第二行驶路线是否有重叠。
其中，这里的重叠是指部分重叠或全部重叠。
在步骤S140中，当第一行驶路线和第二行驶路线有重叠时，终端设备比较第一定位方式和第二定位方式的定位精度高低。
其中，在步骤S140具体实施的过程中，终端设备内部可预先存储定位方式与定位精度的对应关系，在终端设备获取第一定位方式和第二定位方式后，终端设备直接根据定位方式与定位精度的对应关系确定出第一定位方式的定位精度和第二定位方式的定位精度，并比较第一定位方式和第二定位方式的定位精度高低。当然，在本申请实施例具体实施的过程中，步骤S140的实施方式并不限于此。例如，上述获取的第一车辆信息中可直接包括第一定位方式的定位精度，第二车辆信息中可直接包括第二定位方式的定位精度。这样，终端设备在获取第一车辆信息和第二车辆信息后，可直接确定出第一定位方式和第二定位方式的定位精度高低。
在步骤S150中，终端设备将第一定位方式和第二定位方式中定位精度高的定位方式确定为目标定位方式。
为方便理解，这里对步骤S350举例进行说明。例如，第一定位方式为：GPS+基站，其定位精度为10m；第二定位方式为：GPS室外定位，其精度为50m，则终端设备将第一定位方式确定为目标定位方式。
在步骤S160中，终端设备根据目标定位方式确定目标驾驶参数。
其中，在实际应用中，步骤S360所确定出的目标驾驶参数可以包括车速、车距、和/或车宽等。在本申请实施例具体实施的过程中，步骤S360可以有多种实现方式。
例如，在本申请实施例的一种具体实施方式中，终端设备内部可预先存储定位方式与驾驶参数之间的对应关系。终端设备在确定目标定位方式后，可根据目标定位方式，以及定位方式与驾驶参数之间的对应关系确定出目标驾驶参数。
又例如，在本申请实施例的另一种具体实施方式中，终端设备内部可预先存储定位方式与定位精度之间的对应关系，以及定位精度与驾驶参数之间的函数关系。终端设备在确定目标定位方式后，可先根据目标定位方式，以及定位方式与定位精度之间的对应关系确定出定位精度，再根据定位精度与驾驶参数之间的函数关系确定出目标驾驶参数。
还例如，在本申请实施例的又一种具体实施方式中，在第一车辆信息还包括第一机动车辆的第一环境数据，第二车辆信息还包括第二机动车辆的第二环境数据时，步骤S160可以包括：
当目标定位方式是第一定位方式时，终端设备根据目标定位方式和第一环境数据确定目标驾驶参数；
当目标定位方式是第二定位方式时，终端设备根据目标定位方式和第二环境数据确定目标驾驶参数。
在该具体实施方式中，终端设备根据目标定位方式和第一环境数据确定目标驾驶参数，可以包括：终端设备根据目标定位方式确定第一驾驶参数；终端设备判断第一环境数据中是否包括预设环境特征；当第一环境数据中包括预设环境特征时，终端设备根据预设环境特征和第一驾驶参数确定第一驾驶参数偏移量，并对第一驾驶参数和第一驾驶参数偏移量进行求和，得到所述目标驾驶参数；当第一环境数据中不包括预设环境特征时，终端设备将第一驾驶参数作为目标驾驶参数。终端设备根据目标定位方式和第二环境数据确定目标驾驶参数，可以包括：终端设备根据目标定位方式确定第二驾驶参数；终端设备判断第二环境数据中是否包括预设环境特征；当第二环境数据中包括预设环境特征时，终端设备根据预设环境特征和第二驾驶参数确定第二驾驶参数偏移量，并对第二驾驶参数和所述第二驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第二环境数据中不包括所述预设环境特征时，所述终端设备将所述第二驾驶参数作为所述目标驾驶参数。这里的预设环境特征可以为下雪，下雨，台风，温度高温(38℃以上)，极低温(-10℃以下)，高楼，偏远山区和隧道中的一种或多种。
其中，该具体实施方式中，可在终端设备内部预先存储定位方式和初始驾驶参数(如第一驾驶参数或第二驾驶参数等)之间的对应关系，以及驾驶参数偏移量与初始驾驶参数和预设环境特征之间的函数关系。终端设备可根据定位方式和初始驾驶参数之间的对应关系，以及驾驶参数偏移量与初始驾驶参数和预设环境特征之间的函数关系计算出第一驾驶参数偏移量或者第二驾驶参数偏移量，最终计算出所需要的目标驾驶参数。
在步骤S170中，终端设备控制第一机动车辆和第二机动车辆按照目标驾驶参数行驶。
其中，在本申请实施例具体实施的过程中，步骤S170可以有多种实现方式。例如，在本申请实施例的一种具体实施方式中，步骤S170可以包括：
当目标定位方式为第一定位方式时，终端设备将第一机动车辆作为头车并控制第一机动车辆和第二机动车辆按照目标驾驶参数行驶；
当目标定位方式为第二定位方式时，终端设备将第二机动车辆作为头车并控制第一机动车辆和第二机动车辆按照目标驾驶参数行驶。
又例如，在本申请实施例的另一种具体实施方式中，步骤S170可以包括，终端设备将第一机动车辆作为头车并控制第一机动车辆和第二机动车辆按照目标驾驶参数行驶。
其中，本申请实施例中的头车具体指行驶在前的车辆。
本申请实施例提供的机动车辆自动驾驶方法，终端设备获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；所述终端设备获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第二车辆信息包括第二定位方式和第二行驶路线；所述终端设备判断所述第一行驶路线和所述 第二行驶路线是否有重叠；当所述第一行驶路线和所述第二行驶路线有重叠时，所述终端设备比较所述第一定位方式和所述第二定位方式的定位精度高低；所述终端设备将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；所述终端设备根据所述目标定位方式确定目标驾驶参数；所述终端设备控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
由于本申请实施例中，终端设备根据目标定位方式确定目标驾驶参数，而目标定位方式为第一定位方式和第二定位方式中定位精度高的定位方式，所以终端设备控制第一机动车辆和第二机动车辆按照根据目标定位方式确定的目标驾驶参数行驶时安全性较高。另外，由于终端设备能够同时控制第一机动车辆和第二机动车辆按照根据目标定位方式确定的目标驾驶参数行驶，所以第一机动车辆和第二机动车辆无需均采用高定位方式，所以成本较低。
在实际应用中，由于外界环境太恶劣，可能导致机动车辆的定位精度很低，此时，如果机动车辆还采用自动驾驶模式，则机动车辆的安全性将不能保证。为此，在本申请实施例的一种具体实施方式中，图1所示实施例还可以包括：
终端设备根据第一环境数据和/或第二环境数据判断是否满足车辆自动驾驶条件；
当不满足车辆自动驾驶条件时，终端设备提示第一机动车辆和第二机动车辆进入手动驾驶模式。
具体地，这里的车辆自动驾驶条件可以根据实际情况而定。例如，可根据各种环境下的事故率定义车辆自动驾驶条件。例如，将事故率低于万分之一的环境数据定义为满足车辆自动驾驶条件，将事故率高于万分之一的环境数据定义为不满足车辆自动驾驶条件。在不满足车辆自动驾驶条件时，终端设备可向第一机动车辆和第二机动车辆发送控制指令，使第一机动车辆和第二机动车辆内的相应设备发出声音、振动等提示，以提示第一机动车辆和第二机动车辆进入手动驾驶模式。
还有，为避免第一行驶路线和第二行驶路线分离后，第一机动车辆和第二机动车辆继续按照步骤S160中所确定出的目标驾驶参数行驶，导致第一机动车辆或第二机动车辆的驾驶参数与对应的定位方式不匹配，导致自动驾驶安全性降低，图1所示实施例还可以包括：
当第一行驶路线和第二行驶路线分离时，终端设备停止控制第一机动车辆或第二机动车辆按照目标驾驶参数行驶。
当然，在本申请实施例具体实施的过程中，还有许多其他具体实施方式。例如，可选地，在本申请实施例的一种具体实施方式中，图1所示实施例还可以包括：
终端设备获取第三机动车辆的第三车辆信息，第三机动车辆位于第一机动车辆的预设范围内，第三车辆信息包括第三定位方式和第三行驶路线；
终端设备判断第一行驶路线和第三行驶路线是否有重叠；
当第一行驶路线和第三行驶路线有重叠时，终端设备比较目标定位方式和第三定位方式的定位精度高低；
当目标定位方式的定位精度高于第三定位方式的定位精度时，终端设备控制第三机动车辆按照目标驾驶参数行驶；
当目标定位方式的定位精度低于第三定位方式的定位精度时，终端设备根据第三定位 方式确定当前驾驶参数；
终端设备控制第一机动车辆、第二机动车辆和第三机动车辆按照当前驾驶参数行驶。
本具体实施方式中，由于在第三行驶路线与第一行驶路线有重叠时，终端设备根据第三定位方式和目标定位方式的定位精度高低，并根据定位精度高的定位方式确定驾驶参数，所以终端设备控制第一机动车辆、第二机动车辆和第三机动车辆按照所确定出的驾驶参数行驶时，自动驾驶的安全性高。
又例如，在本申请实施例的另一种具体实施方式中，为使第一机动车辆自动驾驶的安全性越来越高，终端设备在确定目标定位方式时，可在仅当第二定位方式的定位精度高于第一定位方式时，将第二定位方式确定为目标定位精度。而在第二定位方式的定位精度低于第一定位方式时，终端设备根据第一定位方式确定驾驶参数，最终终端设备仅控制第一机动车辆按照所确定出的驾驶参数行驶。
相对于上面的方法实施例，本申请实施例还提供了相应的终端设备的实施例。
参见图2，为本申请实施例提供的一种终端设备的结构示意图。该终端设备用于执行如图1所示的机动车辆自动驾驶方法。该终端设备可以包括获取模块210和处理模块220。
其中，所述获取模块210用于获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第二车辆信息包括第二定位方式和第二行驶路线；
所述处理模块220用于判断所述第一行驶路线和所述第二行驶路线是否有重叠；当所述第一行驶路线和所述第二行驶路线有重叠时，比较所述第一定位方式和所述第二定位方式的定位精度高低；将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；根据所述目标定位方式确定目标驾驶参数；控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
本申请实施例提供的终端设备，获取模块获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第二车辆信息包括第二定位方式和第二行驶路线；处理模块判断所述第一行驶路线和所述第二行驶路线是否有重叠；当所述第一行驶路线和所述第二行驶路线有重叠时，比较所述第一定位方式和所述第二定位方式的定位精度高低；将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；根据所述目标定位方式确定目标驾驶参数；控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
由于本申请实施例中，终端设备根据目标定位方式确定目标驾驶参数，而目标定位方式为第一定位方式和第二定位方式中定位精度高的定位方式，所以终端设备控制第一机动车辆和第二机动车辆按照根据目标定位方式确定的目标驾驶参数行驶时安全性较高。另外，由于终端设备能够同时控制第一机动车辆和第二机动车辆按照根据目标定位方式确定的目标驾驶参数行驶，所以第一机动车辆和第二机动车辆无需均采用高定位方式，所以成本较低。
可选地，在本申请实施例的一种具体实施方式中，所述第一车辆信息还包括所述第一机动车辆的第一环境数据，所述第二车辆信息还包括所述第二机动车辆的第二环境数据； 所述处理模块220具体用于当所述目标定位方式是第一定位方式时，根据所述目标定位方式和所述第一环境数据确定所述目标驾驶参数；当所述目标定位方式是第二定位方式时，根据所述目标定位方式和所述第二环境数据确定所述目标驾驶参数。
可选地，在本申请实施例的一种具体实施方式中，所述处理模块220具体用于根据所述目标定位方式确定第一驾驶参数；判断所述第一环境数据中是否包括预设环境特征；当所述第一环境数据中包括预设环境特征时，根据所述预设环境特征和所述第一驾驶参数确定第一驾驶参数偏移量，并对所述第一驾驶参数和所述第一驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第一环境数据中不包括预设环境特征时，将所述第一驾驶参数作为所述目标驾驶参数；
或者，所述处理模块220具体用于根据所述目标定位方式确定第二驾驶参数；判断所述第二环境数据中是否包括所述预设环境特征；当所述第二环境数据中包括所述预设环境特征时，根据所述预设环境特征和所述第二驾驶参数确定第二驾驶参数偏移量，并对所述第二驾驶参数和所述第二驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第二环境数据中不包括所述预设环境特征时，将所述第二驾驶参数作为所述目标驾驶参数。
可选地，在本申请实施例的一种具体实施方式中，所述处理模块220还用于根据所述第一环境数据和/或所述第二环境数据判断是否满足车辆自动驾驶条件；当不满足车辆自动驾驶条件时，提示所述第一机动车辆和所述第二机动车辆进入手动驾驶模式。
可选地，在本申请实施例的一种具体实施方式中，所述处理模块220还用于当所述第一行驶路线和所述第二行驶路线分离时，停止控制所述第一机动车辆或所述第二机动车辆按照所述目标驾驶参数行驶。
可选地，在本申请实施例的一种具体实施方式中，所述获取模块210还用于获取第三机动车辆的第三车辆信息，所述第三机动车辆位于所述第一机动车辆的所述预设范围内，所述第三车辆信息包括第三定位方式和第三行驶路线；
所述处理模块220还用于判断所述第一行驶路线和所述第三行驶路线是否有重叠；当所述第一行驶路线和所述第三行驶路线有重叠时，比较所述目标定位方式和所述第三定位方式的定位精度高低；当所述目标定位方式的定位精度高于所述第三定位方式的定位精度时，控制所述第三机动车辆按照所述目标驾驶参数行驶；当所述目标定位方式的定位精度低于所述第三定位方式的定位精度时，根据所述第三定位方式确定当前驾驶参数；控制所述第一机动车辆、所述第二机动车辆和所述第三机动车辆按照所述当前驾驶参数行驶。
可选地，在本申请实施例的一种具体实施方式中，所述处理模块220具体用于当所述目标定位方式为所述第一定位方式时，将所述第一机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶；当所述目标定位方式为所述第二定位方式时，将所述第二机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
参见图3，为本申请实施例提供的一种终端设备的结构示意图。所述终端设备可以是前述任意实施例中的终端设备，用于实现前述实施例中的方法步骤。
如图3所示，所述终端设备可以包括处理器310、存储器320及收发模块330，所述收发模块930可以包括接收机3301、发射机3302与天线3303等部件。所述终端设备还可以包括更多或更少的部件，或者组合某些部件，或者不同的部件布置，本申请对此不进行 限定。
处理器310为终端设备的控制中心，利用各种接口和线路连接整个终端设备的各个部分，通过运行或执行存储在存储器320内的软件程序和/或模块，以及调用存储在存储器320内的数据，以执行终端设备的各种功能和/或处理数据。所述处理器310可以由集成电路(integrated circuit，IC)组成，例如可以由单颗封装的IC所组成，也可以由连接多颗相同功能或不同功能的封装IC而组成。举例来说，处理器310可以仅包括中央处理器(central processing unit，CPU)，也可以是GPU、数字信号处理器(digital signal processor，DSP)、及收发模块中的控制芯片(例如基带芯片)的组合。在本申请的各种实施方式中，CPU可以是单运算核心，也可以包括多运算核心。
所述收发模块330用于建立通信信道，使终端设备通过所述通信信道以连接至接收设备，从而实现终端设备之间的数据传输。所述收发模块可以包括无线局域网(wireless local area network，WLAN)模块、蓝牙模块、基带(base band)模块等通信模块，以及所述通信模块对应的射频(radio frequency，RF)电路，用于进行无线局域网络通信、蓝牙通信、红外线通信及/或蜂窝式通信系统通信，例如宽带码分多重接入(wideband code division multiple access，WCDMA)及/或高速下行封包存取(high speed downlink packet access，HSDPA)。所述收发模块用于控制终端设备中的各组件的通信，并且可以支持直接内存存取(direct memory access)。
在本申请的不同实施方式中，所述收发模块330中的各种收发模块一般以集成电路芯片(integrated circuit chip)的形式出现，并可进行选择性组合，而不必包括所有收发模块及对应的天线组。例如，所述收发模块330可以仅包括基带芯片、射频芯片以及相应的天线以在一个蜂窝通信系统中提供通信功能。经由所述收发模块建立的无线通信连接，例如无线局域网接入或WCDMA接入，所述终端设备可以连接至蜂窝网(cellular network)或因特网(internet)。在本申请的一些可选实施方式中，所述收发模块中的通信模块，例如基带模块可以集成到处理器中，典型的如高通(Qualcomm)公司提供的APQ+MDM系列平台。射频电路用于信息收发或通话过程中接收和发送信号。例如，将网络设备的下行信息接收后，给处理器处理；另外，将设计上行的数据发送给网络设备。通常，所述射频电路包括用于执行这些功能的公知电路，包括但不限于天线系统、射频收发机、一个或多个放大器、调谐器、一个或多个振荡器、数字信号处理器、编解码(codec)芯片组、用户身份模块(SIM)卡、存储器等等。此外，射频电路还可以通过无线通信与网络和其他设备通信。所述无线通信可以使用任一通信标准或协议，包括但不限于全球移动通讯系统(global system of mobile communication，GSM)、通用分组无线服务(general packet radio service，gprs)、码分多址(code division multiple access，CDMA)、宽带码分多址(wideband code division multiple access，WCDMA)、高速上行行链路分组接入技术(high speed uplink packet access，HSUPA)、长期演进(long term evolution，LTE)、电子邮件、短消息服务(short messaging service，SMS)等。
具体实现中，本申请实施例还提供一种计算机存储介质，其中，该计算机存储介质可存储有程序，该程序执行时可包括本申请实施例提供的机动车辆自动驾驶方法的各实施例中的部分或全部步骤。所述的存储介质可为磁碟、光盘、只读存储记忆体(read-only memory，ROM)或随机存储记忆体(random access memory，RAM)等。
本领域的技术人员可以清楚地了解到本申请实施例中的技术可借助软件加必需的通用硬件平台的方式来实现。基于这样的理解，本申请实施例中的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例或者实施例的某些部分所述的方法。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统及装置实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述的本申请实施方式，并不构成对本申请保护范围的限定。任何在本申请的精神和原则之内所作的修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (16)

  1. 一种机动车辆自动驾驶方法，其特征在于，包括：
    终端设备获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；
    所述终端设备获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第二车辆信息包括第二定位方式和第二行驶路线；
    所述终端设备判断所述第一行驶路线和所述第二行驶路线是否有重叠；
    当所述第一行驶路线和所述第二行驶路线有重叠时，所述终端设备比较所述第一定位方式和所述第二定位方式的定位精度高低；
    所述终端设备将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；
    所述终端设备根据所述目标定位方式确定目标驾驶参数；
    所述终端设备控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
  2. 根据权利要求1所述的方法，其特征在于，所述第一车辆信息还包括所述第一机动车辆的第一环境数据，所述第二车辆信息还包括所述第二机动车辆的第二环境数据；所述终端设备根据所述目标定位方式确定目标驾驶参数，包括：
    当所述目标定位方式是第一定位方式时，所述终端设备根据所述目标定位方式和所述第一环境数据确定所述目标驾驶参数；
    当所述目标定位方式是第二定位方式时，所述终端设备根据所述目标定位方式和所述第二环境数据确定所述目标驾驶参数。
  3. 根据权利要求2所述的方法，其特征在于，
    所述终端设备根据所述目标定位方式和所述第一环境数据确定所述目标驾驶参数，包括：
    所述终端设备根据所述目标定位方式确定第一驾驶参数；
    所述终端设备判断所述第一环境数据中是否包括预设环境特征；
    当所述第一环境数据中包括预设环境特征时，所述终端设备根据所述预设环境特征和所述第一驾驶参数确定第一驾驶参数偏移量，并对所述第一驾驶参数和所述第一驾驶参数偏移量进行求和，得到所述目标驾驶参数；
    当所述第一环境数据中不包括预设环境特征时，所述终端设备将所述第一驾驶参数作为所述目标驾驶参数；
    所述终端设备根据所述目标定位方式和所述第二环境数据确定所述目标驾驶参数，包括：
    所述终端设备根据所述目标定位方式确定第二驾驶参数；
    所述终端设备判断所述第二环境数据中是否包括所述预设环境特征；
    当所述第二环境数据中包括所述预设环境特征时，所述终端设备根据所述预设环境特征和所述第二驾驶参数确定第二驾驶参数偏移量，并对所述第二驾驶参数和所述 第二驾驶参数偏移量进行求和，得到所述目标驾驶参数；
    当所述第二环境数据中不包括所述预设环境特征时，所述终端设备将所述第二驾驶参数作为所述目标驾驶参数。
  4. 根据权利要求2所述的方法，其特征在于，还包括：
    所述终端设备根据所述第一环境数据或所述第二环境数据判断是否满足车辆自动驾驶条件；
    当不满足车辆自动驾驶条件时，所述终端设备提示所述第一机动车辆和所述第二机动车辆进入手动驾驶模式。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，还包括：
    当所述第一行驶路线和所述第二行驶路线分离时，所述终端设备停止控制所述第一机动车辆或所述第二机动车辆按照所述目标驾驶参数行驶。
  6. 根据权利要求1-4任一项所述的方法，其特征在于，还包括：
    所述终端设备获取第三机动车辆的第三车辆信息，所述第三机动车辆位于所述第一机动车辆的所述预设范围内，所述第三车辆信息包括第三定位方式和第三行驶路线；
    所述终端设备判断所述第一行驶路线和所述第三行驶路线是否有重叠；
    当所述第一行驶路线和所述第三行驶路线有重叠时，所述终端设备比较所述目标定位方式和所述第三定位方式的定位精度高低；
    当所述目标定位方式的定位精度高于所述第三定位方式的定位精度时，所述终端设备控制所述第三机动车辆按照所述目标驾驶参数行驶；
    当所述目标定位方式的定位精度低于所述第三定位方式的定位精度时，所述终端设备根据所述第三定位方式确定当前驾驶参数；
    所述终端设备控制所述第一机动车辆、所述第二机动车辆和所述第三机动车辆按照所述当前驾驶参数行驶。
  7. 根据权利要求1-4任一项所述的方法，其特征在于，所述终端设备控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶，包括：
    当所述目标定位方式为所述第一定位方式时，所述终端设备将所述第一机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶；
    当所述目标定位方式为所述第二定位方式时，所述终端设备将所述第二机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
  8. 一种终端设备，其特征在于，包括：
    获取模块，用于获取第一机动车辆的第一车辆信息，所述第一车辆信息包括第一定位方式和第一行驶路线；获取第二机动车辆的第二车辆信息，所述第二机动车辆位于所述第一机动车辆的预设范围内，所述第二车辆信息包括第二定位方式和第二行驶路线；
    处理模块，用于判断所述第一行驶路线和所述第二行驶路线是否有重叠；当所述第一行驶路线和所述第二行驶路线有重叠时，比较所述第一定位方式和所述第二定位方式的定位精度高低；将所述第一定位方式和所述第二定位方式中定位精度高的定位方式确定为目标定位方式；根据所述目标定位方式确定目标驾驶参数；控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
  9. 根据权利要求8所述的终端设备，其特征在于，所述第一车辆信息还包括所述第一机动车辆的第一环境数据，所述第二车辆信息还包括所述第二机动车辆的第二环境数据；所述处理模块具体用于当所述目标定位方式是第一定位方式时，根据所述目标定位方式和所述第一环境数据确定所述目标驾驶参数；当所述目标定位方式是第二定位方式时，根据所述目标定位方式和所述第二环境数据确定所述目标驾驶参数。
  10. 根据权利要求9所述的终端设备，其特征在于，所述处理模块具体用于根据所述目标定位方式确定第一驾驶参数；判断所述第一环境数据中是否包括预设环境特征；当所述第一环境数据中包括预设环境特征时，根据所述预设环境特征和所述第一驾驶参数确定第一驾驶参数偏移量，并对所述第一驾驶参数和所述第一驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第一环境数据中不包括预设环境特征时，将所述第一驾驶参数作为所述目标驾驶参数；
    或者，所述处理模块具体用于根据所述目标定位方式确定第二驾驶参数；判断所述第二环境数据中是否包括所述预设环境特征；当所述第二环境数据中包括所述预设环境特征时，根据所述预设环境特征和所述第二驾驶参数确定第二驾驶参数偏移量，并对所述第二驾驶参数和所述第二驾驶参数偏移量进行求和，得到所述目标驾驶参数；当所述第二环境数据中不包括所述预设环境特征时，将所述第二驾驶参数作为所述目标驾驶参数。
  11. 根据权利要求9所述的终端设备，其特征在于，所述处理模块还用于根据所述第一环境数据和/或所述第二环境数据判断是否满足车辆自动驾驶条件；当不满足车辆自动驾驶条件时，提示所述第一机动车辆和所述第二机动车辆进入手动驾驶模式。
  12. 根据权利要求8-11任一项所述的终端设备，其特征在于，所述处理模块还用于当所述第一行驶路线和所述第二行驶路线分离时，停止控制所述第一机动车辆或所述第二机动车辆按照所述目标驾驶参数行驶。
  13. 根据权利要求8-11任一项所述的终端设备，其特征在于，所述获取模块还用于获取第三机动车辆的第三车辆信息，所述第三机动车辆位于所述第一机动车辆的所述预设范围内，所述第三车辆信息包括第三定位方式和第三行驶路线；
    所述处理模块还用于判断所述第一行驶路线和所述第三行驶路线是否有重叠；当所述第一行驶路线和所述第三行驶路线有重叠时，比较所述目标定位方式和所述第三定位方式的定位精度高低；当所述目标定位方式的定位精度高于所述第三定位方式的 定位精度时，控制所述第三机动车辆按照所述目标驾驶参数行驶；当所述目标定位方式的定位精度低于所述第三定位方式的定位精度时，根据所述第三定位方式确定当前驾驶参数；控制所述第一机动车辆、所述第二机动车辆和所述第三机动车辆按照所述当前驾驶参数行驶。
  14. 根据权利要求8-11任一项所述的终端设备，其特征在于，所述处理模块具体用于当所述目标定位方式为所述第一定位方式时，将所述第一机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶；当所述目标定位方式为所述第二定位方式时，将所述第二机动车辆作为头车并控制所述第一机动车辆和所述第二机动车辆按照所述目标驾驶参数行驶。
  15. 一种计算机可读存储介质，其特征在于，包括指令，当其在计算机上运行时，使得计算机执行如权利要求1至7中任一项所述的方法。
  16. 一种计算机程序产品，其特征在于，当其在计算机上运行时，使得计算机执行如权利要求1至7中任一项所述的方法。
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