WO2019061311A1

WO2019061311A1 - Control method for self-driving car, control terminal and machine readable storage medium

Info

Publication number: WO2019061311A1
Application number: PCT/CN2017/104433
Authority: WO
Inventors: 封旭阳; 赵丛; 李思晋; 张李亮
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-09-29
Filing date: 2017-09-29
Publication date: 2019-04-04
Also published as: CN108521800A

Abstract

Provided are a control method for a self-driving car, a control terminal and a machine readable storage medium, the method comprising: acquiring location information of a designated location (201); determining the real-time location of a car according to the location information of the designated location (202); broadcasting the real-time location by means of a radio transmission device carried by the car (203). By applying the method, a self-driving car driving on a curve may accurately acquire driving status information thereof, and send the driving status information in a broadcast, while detecting driving status information that is sent by other cars in a broadcast, thereby taking measures for avoidance in advance according to the driving status information of the other cars so as to prevent crashes at the turn of a curve.

Description

Control method, control terminal and machine readable storage medium for self-driving vehicle

Technical field

The present application relates to the field of automatic driving technology, and in particular, to a control method, a control terminal, and a machine readable storage medium for an autonomous vehicle.

Background technique

Autonomous vechicles, also known as driverless cars, computer-driven cars, or wheeled mobile robots, rely on artificial intelligence, visual computing, and monitoring by adding multiple sensors compared to manual driving vehicles. A device or the like can realize automatic, safe and reliable operation of the motor vehicle.

At present, sensors for self-driving cars, such as millimeter wave radars, ultrasonic radars, etc., detect the position and speed of the opposite side of the vehicle by means of emitting radiation. However, this method is only applicable to roads that are approximately straight, for bending In this way, it is impossible to detect the position of the vehicle on the other side of the curve and the speed of the vehicle in this way, so that it is impossible to take corresponding measures in advance to avoid the risk of collision.

Summary of the invention

In view of this, the present application discloses a control method, a control terminal, and a machine readable storage medium for an autonomous vehicle.

In a first aspect, a method of controlling an autonomous vehicle is provided, the method comprising:

Get location information of the specified location;

Determining a real-time location of the location according to the location information of the specified location;

The real-time location is broadcasted by a radio transmitter mounted on itself.

In a second aspect, a method of controlling an autonomous vehicle is provided, the method comprising:

Acquiring driving state information of other vehicles detected by the radio receiving device mounted on the vehicle;

Obtaining driving state information of the vehicle;

The traveling state of the vehicle is controlled based on the traveling state information of the other vehicle and the traveling state information of the vehicle.

In a third aspect, a control method for an autonomous vehicle is provided, which is applied to a control terminal for detecting a running state of a vehicle, which is disposed at a corner of a curve, and the method includes:

Detecting the first vehicle traveling on one side of the curve;

Determining a driving state of the first vehicle according to a position thereof;

Transmitting the driving state of the first vehicle to a second vehicle traveling on the other side of the curve;

A fourth aspect provides a control terminal, where the control terminal includes a processor, and the processor is configured to:

Get location information of the specified location;

The real-time location is broadcasted by a radio transmitter mounted on itself.

A fifth aspect provides a control terminal, where the control terminal includes a processor, and the processor is configured to:

Obtaining driving state information of the vehicle;

According to a sixth aspect, a control terminal is provided, where the control terminal is located at a corner of a curve for detecting a running state of the vehicle, the control terminal includes a memory, a processor, and the computer stores a plurality of computer instructions, and the processing Used for:

Get location information of the specified location;

Determining, according to the location information of the specified location, a real-time location of the first vehicle traveling on one side of the curve;

The real-time location of the first vehicle is transmitted to a second vehicle traveling on the other side of the curve.

In a seventh aspect, a machine readable storage medium is provided, on which a plurality of computer instructions are stored, the computer instructions being executed as follows:

Get location information of the specified location;

The real-time location is broadcasted by a radio transmitter mounted on itself.

In an eighth aspect, a machine readable storage medium is provided having stored thereon a plurality of computer instructions that, when executed, perform the following processing:

Obtaining driving state information of the vehicle;

In a ninth aspect, a machine readable storage medium is provided having stored thereon a plurality of computer instructions that, when executed, perform the following processing:

Get location information of the specified location;

It can be seen from the above embodiment that by acquiring the location information of the specified location and acquiring the real-time location of the location according to the location information of the specified location, the accuracy of the acquired real-time location of the self can be improved, and since the real-time location is radio By way of broadcast transmission, it is possible to realize that the vehicle on the other side of the curve can detect the real-time position, so that the vehicle on the other side can make avoidance measures in advance to avoid collision of the vehicle at the corner of the curve.

DRAWINGS

FIG. 1 is a schematic diagram of an application scenario of an automatic driving control method according to an embodiment of the present invention; FIG.

2 is a flow chart of an embodiment of a method for controlling an autonomous vehicle according to the present invention;

3 is a flow chart of another embodiment of a method for controlling an autonomous vehicle according to the present invention;

4 is a flow chart of still another embodiment of a method for controlling an autonomous vehicle according to the present invention;

Figure 5 is a block diagram of an embodiment of a control terminal;

6 is a block diagram of another embodiment of a control terminal;

Figure 7 is a block diagram of yet another embodiment of a control terminal.

Detailed ways

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

1 is a schematic diagram of an application scenario of an automatic driving control method according to an embodiment of the present invention. FIG. 1 includes a curve 100, and in accordance with the actual situation, since a road safety blind spot generally exists at a corner of a curve, Therefore, some traffic signs are usually arranged on the road side, such as the traffic sign 130 and the traffic sign 140 shown in FIG. 1 to prompt the front corner to bend, thereby causing the driver to pay attention, and the driver can be near the turn. Take measures such as deceleration, whistling, etc. to avoid collision of the vehicle at the corner of the curve.

However, the traffic sign for prompting the curve of the front curve can only remind the driver of the artificially driven vehicle, and for the self-driving vehicle, for example, the vehicle 110 and the vehicle 120 illustrated in FIG. It is impossible to take evasive measures in advance according to the above traffic signs, but rely on its own sensors, such as millimeter wave radar, ultrasonic radar, etc. to detect the position and speed of the opposite side of the vehicle. However, since the millimeter-wave radar and the ultra-wave radar all detect the position and the vehicle speed of the opposite side of the vehicle by means of emitting radiation, it can be seen that the above method is not applicable to the curved road application scenario shown in FIG. in.

Based on this, the present invention provides a control method for an autonomously driven vehicle, which can be applied to a curve driving application scenario as illustrated in FIG. 1, and can realize that the vehicle 110 and the vehicle 120 respectively broadcast their own driving state information, and The driving state information of the contralateral vehicle is separately detected, so that the avoidance measures are taken in advance according to the driving state information of the contralateral vehicle before entering the cornering of the curve to avoid the collision of the vehicle at the corner of the curve.

It can be understood by those skilled in the art that in FIG. 1 , only two traffic signs are taken as an example, the specific number of traffic signs disposed on the road side of the present invention is not limited; correspondingly, only two vehicles are shown in FIG. 1 . For example, the present invention does not limit the specific number of vehicles.

The following embodiment will be described below to explain the control method of the self-driving vehicle proposed by the present invention.

First, the following first embodiment is shown to explain how the self-driving vehicle broadcasts its own traveling state information.

Embodiment 1:

2 is a flow chart of an embodiment of a method for controlling an autonomous vehicle according to the present invention. The method may include the following steps:

Step 201: Acquire location information of the specified location.

Referring to the application scenario shown in FIG. 1 , since the traffic sign is disposed, the location of the traffic sign is fixed. Based on this, in the embodiment of the invention, the location of the traffic sign can be set to the designated position, and then the designated location is obtained. The position information is equivalent to obtaining the position information of the traffic sign disposed on the road side of the current driving section.

In an embodiment, the location information of the traffic sign may be pre-stored on the traffic sign. For example, in an optional implementation, the graphical symbol for recording data may be drawn on the traffic sign. The graphical symbol records the location information of the traffic sign.

In an embodiment, the graphical symbol may include at least one of the following: a two-dimensional code, a barcode, a digital signature, and an AprilTag marker tracking.

Correspondingly, in an embodiment, the vehicle, for example, the vehicle 110, may collect the roadside image by using the camera device mounted thereon, and the roadside image may include a traffic sign disposed on the side of the current driving road segment, for example, FIG. The traffic sign 130 shown in the example. Subsequently, the camera device can further identify the graphic symbol on the traffic sign included in the roadside image to obtain the location information of the traffic sign.

In an embodiment, the location information of the traffic sign may include at least one of the following: a GPS coordinate of the traffic sign, and a location number of the traffic sign.

In an embodiment, since the camera mounted on the vehicle can have a certain range of viewing angles, the collected roadside image may include a plurality of traffic signs, for example, a collected roadside image. Both the traffic sign 130 and the traffic sign 140 are included.

Correspondingly, after acquiring the roadside image, the camera device can identify the two-dimensional code on each traffic sign included in the roadside image to obtain the location information of each traffic sign.

Step 202: Determine the real-time location of the location according to the location information of the specified location.

In an embodiment, if the location information of the specified location includes the location number of the designated location, the location map may be first searched according to the location number of the designated location, and the location point of the location number is found on the map, and then Obtain the GPS coordinates of the location point, that is, find the GPS coordinates corresponding to the location number. Subsequently, the real-time position of the specified location is determined based on the GPS coordinates of the specified location.

It can be seen from the above description that it is possible to obtain the location information of multiple traffic signs in step 201. If only the real-time location of one of the traffic signs is determined according to the location information of one of the traffic signs, there may be one of the acquired ones. The location information of the traffic sign is noisy and inaccurate, and the final location of the real-time location is not accurate. Based on this, the embodiment of the present invention provides that if the location information of multiple traffic signs is obtained in step 201, Then, the vehicle, for example, the vehicle 110, can determine the relative positional relationship between itself and each traffic sign, and determine the position information of each traffic sign according to the relative positional relationship between itself and each traffic sign. Real time location.

In an embodiment, the process of determining the relative positional relationship between itself and each traffic sign comprises: determining the relative positional relationship between itself and one of the traffic signs, for example, determining that the traffic sign is Road side view In the embodiment of the present invention, the size and position of the traffic sign in the roadside image are referred to as the shooting size and the shooting position, and in the subsequent embodiment, the roadside image may be based on the traffic sign. The size of the shot, and the actual size of the known traffic sign, using a mathematical algorithm, such as the depth of field principle, calculates the relative distance between itself and the traffic sign. Correspondingly, according to the shooting position of the traffic sign in the roadside image, using a mathematical algorithm, such as an extended Kalman filter, or a particle filter, or a SLAM modeling method, etc., the self and the traffic sign can be calculated. Relative position.

In an embodiment, the process of determining the real-time location of each traffic sign according to the relative positional relationship between itself and each traffic sign comprises: first, for each traffic sign, according to itself a relative positional relationship with the traffic sign, and position information of the traffic sign, calculating a position possible for the traffic sign, which is referred to as a candidate position for convenience of description; Determining a candidate range according to the candidate location, for example, the candidate location may be centered, and the preset distance is a radius to determine a candidate range of a circle; according to the above processing, each time for a traffic sign, one can be obtained. Candidate range; finally, for example, a mathematical algorithm can be used to calculate the intersection between all candidate ranges, and the location of the intersection is determined as its own real-time position.

It should be noted that, if there are more than two intersections between all candidate ranges, in an optional implementation, one of the two or more intersections may be selected, and the location of the intersection is determined as itself. Real time location.

Through the above processing, the accuracy of the finalized real-time position of itself can be improved.

Step 203: Broadcast the real-time location through the radio transmitting device mounted on itself.

In an embodiment of the invention, a radio transmitting device may be mounted on a vehicle, such as vehicle 110, by which the real-time location determined in step 202 is broadcast. Since the radio is different from the ray, it can propagate within a certain range, so that in the curved scenes illustrated in FIG. 1, other vehicles, such as the vehicle 120, on the different side of the vehicle 110 as the vehicle 110 can detect the broadcast by the vehicle 110. Its own real-time location.

In an embodiment, the vehicle 110 may broadcast its own real-time location via a radio transmitter mounted on its own at a predetermined fixed frequency.

Further, in the embodiment of the present invention, the vehicle may acquire the traveling speed detected by the speed measuring device mounted thereon, and may broadcast the traveling speed through the radio transmitting device mounted thereon.

It can be understood by those skilled in the art that the vehicle can broadcast and transmit its own traveling speed while broadcasting and transmitting its own real-time position by the radio transmitting device carried by itself; or, the vehicle is different by the radio transmitting device mounted by itself. Frequency broadcast transmits its own real-time position and travel speed, the present invention is for real-time position and travel speed The specific broadcast time of the degree is not limited.

In addition, considering the positioning equipment carried on the vehicle, such as GNSS receivers, GPS receivers, Beidou satellite navigation system receivers, Galileo positioning system receivers, GLONASS satellite navigation system receivers, it is possible to locate In this case, in the embodiment of the present invention, after determining the real-time position of the vehicle itself in step 202, the positioning device mounted on the vehicle can be corrected according to the real-time position to improve the positioning device to the vehicle. The accuracy of the position detection results.

So far, the related description of the first embodiment is completed.

Next, the following embodiment 2 is shown to explain how the self-driving vehicle detects the traveling state information of the other vehicle, and controls the driving state of itself based on the traveling state information.

Embodiment 2:

3 is a flow chart of another embodiment of a method for controlling an autonomous vehicle according to the present invention. The method may include the following steps:

Step 301: Acquire driving state information of other vehicles detected by the radio receiving device mounted on the vehicle.

In the embodiment of the present invention, as can be seen from the description of the embodiment shown in FIG. 2, the vehicle broadcasts its own real-time position and/or traveling speed through the radio transmitting device carried by itself, and accordingly, the vehicle can be mounted. The radio receiving device detects the driving state information transmitted by other vehicle broadcasts.

In an embodiment, the driving state information may include at least one of the following: a real-time location, a traveling speed.

Step 302: Acquire driving state information of the vehicle.

In the embodiment of the present invention, the vehicle may acquire position information of the designated position, determine the real-time position of the vehicle itself according to the position information of the designated position, and/or acquire the traveling speed detected by the speed measuring device mounted on the vehicle.

As for how the vehicle determines its real-time position in this step, reference may be made to the description in the embodiment shown in FIG. 2 above, which will not be described in detail herein.

Step 303: Control the running state of the vehicle according to the driving state information of the other vehicle and the running state information of the vehicle.

In an embodiment, the distance between the vehicle itself and other vehicles may be calculated according to the real-time position of the other vehicles acquired in step 301 and the real-time position of the vehicle itself acquired in step 302. Further, if Below the set distance threshold, the vehicle can be controlled to decelerate itself to avoid collisions with other vehicles at corner bends.

Similarly, in an embodiment, the traveling speeds of the other vehicles acquired in step 301 can be compared with the driving speed of the vehicle itself obtained in step 302. If the comparison shows that the driving speed of the other vehicles is higher than the vehicle itself. The driving speed can control the vehicle to decelerate itself to avoid collision with other vehicles at the corner of the curve.

In an embodiment, the controlling the vehicle itself to decelerate the driving may include: controlling the vehicle itself to perform the decelerating driving at the set acceleration.

In an embodiment, the controlling the vehicle to decelerate by itself may include: first calculating an acceleration according to a distance between the other vehicle and the vehicle itself, and for convenience of description, the calculated acceleration is referred to as a target acceleration, and the vehicle is controlled by the The target acceleration is decelerated. By this kind of processing, it is possible to flexibly control the running state of the vehicle itself.

It can be seen from the above embodiment that the driving state information of other vehicles detected by the radio receiving device mounted on the self-acquisition device is acquired, the driving state information of the vehicle is acquired, and the driving state information of the other vehicle is controlled according to the driving state information of the other vehicle. The driving state can realize the timely and active control of the driving state of the vehicle and avoid collision with other vehicles at the corner of the curve.

So far, the relevant description of the second embodiment is completed.

Based on the inventive concept similar to the control method of the self-driving vehicle illustrated in FIG. 2 above, the embodiment of the present invention further provides a control method for the self-driving vehicle, which can be applied to a control terminal disposed at a corner of a curve. The control terminal may have at least one of an imaging device, a laser radar device, a millimeter wave radar device, and the like, and the control terminal may be used to detect a running state of the vehicle, where the driving state may include a real-time location of the vehicle and the vehicle. Driving speed. FIG. 4 is a flow chart showing still another embodiment of a method for controlling an autonomous vehicle according to the present invention, comprising the following steps:

Step 401: Detecting the first vehicle traveling on one side of the curve.

In an embodiment, if the control terminal for detecting the running state of the vehicle has an imaging device, the control terminal can acquire the road image through the imaging device, and then can adopt a mathematical algorithm, such as an algorithm for foreground detection and background filtering, The vehicle traveling on one side of the curve is determined on the road image, which is referred to herein as the first vehicle for convenience of description.

It will be understood by those skilled in the art that one or more first vehicles may be included on the road image, and the present invention is This is not a limitation.

Step 402: Determine a driving state of the first vehicle according to the position of the self.

In an embodiment, the size and position of the first vehicle in the road image may be determined on the road image described in the above step 401. For convenience of description, the size is referred to herein as the shooting size, and the position is called For shooting location.

Further, the relative distance between the self and the first vehicle may be determined according to the shooting size, and the relative position between the self and the first vehicle may be determined according to the shooting position. The manner of determining the relative distance and the relative position may refer to the prior art. A related description, for example, a triangulation algorithm can be used, which is not described in detail in the present invention.

In the following, the real-time position of the vehicle can be determined according to the relative position, the relative distance, and the position of the vehicle. For the specific manner of determining the real-time position of the first vehicle, refer to the related description in the embodiment shown in FIG. 2 above. No longer detailed.

Correspondingly, the traveling speed of the first vehicle can also be calculated according to the change of the shooting position of the first vehicle in the plurality of road images.

In addition, if the control terminal for detecting the running state of the vehicle has a laser radar device or a millimeter wave radar device, those skilled in the art can understand that the existing laser radar device and the millimeter wave radar device have speed measurement and measurement. From the function, then, after measuring the relative distance between itself and the first vehicle, the real-time position of the first vehicle can be derived from the position.

Step 403: Send the driving state of the first vehicle to the second vehicle traveling on the other side of the curve.

It can be seen from the above embodiment that by detecting the first vehicle traveling on one side of the curve, since the position of the first vehicle is known and fixed, the traveling state of the first vehicle can be determined according to the position of the first vehicle, so that the acquired first vehicle can be improved. Accuracy of the driving state, and, by transmitting the first vehicle driving state to the second vehicle traveling on the other side of the curve, the second vehicle can detect the driving state of the first vehicle, according to the first A vehicle's driving state is advanced to avoid evasive measures to avoid collision of the vehicle at the corner of the curve.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. 2, the embodiment of the present invention further provides a control terminal. As shown in FIG. 5, the control terminal 500 includes a memory 510 and a processor 520. a plurality of computer instructions are stored in the memory 510, the processor 520 is configured to: acquire location information of the specified location; determine a real-time location of the location according to the location information of the specified location; and transmit the real-time location to the radio transmitting device mounted by itself Broadcast.

In an embodiment, the processor 520 may be configured to: acquire a traffic sign disposed on a road side of a current driving section The location information of the card.

In an embodiment, the processor 520 may be configured to: collect a roadside image by using an image capturing device mounted thereon, where the roadside image includes a traffic sign disposed on a side of the current driving road section; and identifying the roadside The two-dimensional code on the traffic sign included in the image obtains the location information of the traffic sign.

In an embodiment, the location information includes at least one of the following: GPS coordinates, location numbers.

In an embodiment, the processor 520 may be configured to: search a set map according to the location number of the specified location to find a GPS coordinate corresponding to the location number; and determine a real-time according to the found GPS coordinates. position.

In an embodiment, the roadside image includes a plurality of the traffic signs;

The processor 520 may be configured to: determine a relative positional relationship between itself and each of the traffic signs, respectively; according to a relative positional relationship between the self and each of the traffic signs, and each The location information of the traffic sign determines the real-time location of itself.

In an embodiment, the processor 520 may be configured to: respectively determine a shooting size and a shooting position of each of the traffic signs in the roadside image; for each of the traffic signs, according to the Calculating the relative distance between the traffic sign and the actual size of the traffic sign in the roadside image, and calculating the relative distance between the traffic sign and the traffic sign, and according to the traffic sign in the roadside image The shooting position calculates the relative position of itself and the traffic sign.

In an embodiment, the processor 520 may be configured to: determine, for each of the traffic signs, location information of the traffic sign according to a relative positional relationship between itself and the traffic sign a candidate location; determining a candidate range according to the candidate location; calculating an intersection between each of the candidate ranges; determining the intersection as its own real-time location.

In an embodiment, the processor 520 may be configured to: acquire a traveling speed detected by a speed measuring device mounted thereon; and broadcast the traveling speed through a radio transmitting device mounted by itself.

In an embodiment, the processor 520 is further configured to: correct the positioning device that is mounted on the real-time location according to the real-time location.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. 3, the embodiment of the present invention further provides a control terminal. As shown in FIG. 6, the control terminal 600 includes a memory 610 and a processor 620. a plurality of computer instructions are stored in the memory 510, the processor 620 is configured to: acquire driving state information of other vehicles detected by the radio receiving device mounted on the vehicle; acquire driving state information of the vehicle; according to the other vehicle Driving The status information and the driving status information of the vehicle control the traveling state of the vehicle.

In an embodiment, the driving state information includes at least one of the following: a real-time location, a traveling speed.

In an embodiment, the processor 620 may be configured to: acquire location information of a specified location; determine a real-time location of the vehicle according to location information of the specified location; and/or acquire a speed measuring device mounted on the vehicle. The speed of travel.

In an embodiment, the processor 620 may be configured to: determine a distance between the other vehicle and the vehicle according to a real-time location of the other vehicle and a real-time location of the vehicle; if the distance is low At the set distance threshold, the vehicle is controlled to decelerate.

In an embodiment, the processor 620 may be configured to: compare a travel speed of the other vehicle with a travel speed of the vehicle; if the comparison shows that the travel speed of the other vehicle is higher than the travel speed of the vehicle Then, the vehicle is controlled to decelerate.

In an embodiment, the processor 620 can be configured to: control the vehicle to perform deceleration driving at a set acceleration.

In an embodiment, the processor 620 may be configured to: calculate a target acceleration according to a distance between the other vehicle and the vehicle; and control the vehicle to perform a deceleration running at the target acceleration.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. 4 above, the embodiment of the present invention further provides a control terminal, which is located at a corner of a curve for detecting the running state of the vehicle, as shown in FIG. 7 . As shown, the control terminal 700 includes a memory 710 in which a plurality of computer instructions are stored, the processor 720 is configured to: detect a first vehicle traveling on one side of a curve; determine according to its own position a driving state of the first vehicle; transmitting a driving state of the first vehicle to a second vehicle traveling on the other side of the curve.

In an embodiment, the processor 720 is configured to: collect a road image; and detect, on the road image, a first vehicle traveling on a side of the curve.

In an embodiment, the processor 720 is configured to: determine a shooting size and a shooting position of the first vehicle in the road image; and determine a relative relationship between the first vehicle and the first vehicle according to the shooting size. a distance, and determining a relative position between itself and the first vehicle according to the photographing position; determining a real-time position of the first vehicle according to the relative distance, a relative position, and a self position, and according to the photographing position The traveling speed of the first vehicle is determined.

The embodiment of the present invention further provides a machine readable storage medium having a plurality of computer instructions stored thereon, the computer readable storage medium having the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. When the instruction is executed, the following processing is performed: acquiring location information of the specified location; determining the real-time location of the location according to the location information of the specified location; and broadcasting the real-time location by the radio transmitting apparatus mounted on the self.

In an embodiment, in the process of acquiring the location information of the specified location, when the computer instruction is executed, the following processing is performed: acquiring location information of the traffic sign disposed on the road side of the current driving section.

In an embodiment, in the process of acquiring the location information of the traffic sign disposed on the road side of the current travel section, when the computer command is executed, the following processing is performed: collecting the roadside image by the camera device mounted thereon The roadside image includes a traffic sign disposed on the road side of the current travel section; and the two-dimensional code on the traffic sign included in the roadside image is identified to obtain the location information of the traffic sign.

In an embodiment, if the location information includes the location number, and the determining, according to the location information of the specified location, the real-time location of the location, when the computer instruction is executed, performing the following processing: The location number of the specified location searches the setting map to find the GPS coordinates corresponding to the location number; and determines the real-time location of the location based on the found GPS coordinates.

In an embodiment, the roadside image includes a plurality of the traffic signs;

In the process of determining the real-time location of the specified location according to the location information of the specified location, the computer instruction is executed to perform a process of determining a relative positional relationship between itself and each of the traffic signs, respectively; The relative positional relationship between itself and each of the traffic signs is determined, and the position information of each of the traffic signs determines its own real-time position.

In an embodiment, in the process of determining the relative positional relationship between itself and each of the traffic signs, the computer instructions are executed as follows: each of the traffic signs is determined to be a shooting size and a shooting position in the roadside image; for each of the traffic signs, according to the shooting size of the traffic sign in the roadside image and the actual size of the traffic sign, The relative distance between itself and the traffic sign, and calculating the relative position of itself and the traffic sign according to the shooting position of the traffic sign in the roadside image.

In an embodiment, the computer is in accordance with a relative positional relationship between the self and each of the traffic signs, and a position of each of the traffic signs determining a real-time position of the traffic sign. When the instruction is executed, the following processing is performed: for each of the traffic signs, determining a candidate location according to the relative positional relationship between itself and the traffic sign, and the location information of the traffic sign; The candidate location determines a candidate range; calculates an intersection between each of the candidate ranges; and determines the intersection as its own real-time location.

In one embodiment, when the computer command is executed, processing is further performed to acquire a traveling speed detected by a speed measuring device mounted thereon, and to broadcast the traveling speed by a radio transmitting device mounted on itself.

In an embodiment, when the computer instruction is executed, the processing is further performed to correct the positioning device mounted on the real-time position according to the real-time position.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. 3 above, the embodiment of the present invention further provides a machine readable storage medium, where the computer readable storage medium stores a plurality of computer instructions, the computer When the instruction is executed, the following processing is performed: acquiring driving state information of other vehicles detected by the radio receiving device mounted on the vehicle; acquiring driving state information of the vehicle; and driving of the vehicle according to driving state information of the other vehicle The status information controls the driving state of the vehicle.

In an embodiment, in the process of acquiring the driving state information of the vehicle, when the computer instruction is executed, performing the following processing: acquiring location information of the specified location; determining real-time of the vehicle according to the location information of the specified location And/or acquiring a traveling speed detected by the speed measuring device mounted on the vehicle.

In an embodiment, in the process of controlling the running state of the vehicle according to the driving state information of the other vehicle and the driving state information of the vehicle, when the computer instruction is executed, performing the following processing: according to the The real-time position of the other vehicle and the real-time position of the vehicle determine a distance between the other vehicle and the vehicle; if the distance is lower than a set distance threshold, the vehicle is controlled to decelerate.

In an embodiment, in the process of controlling the running state of the vehicle according to the driving state information of the other vehicle and the traveling state information of the vehicle, when the computer instruction is executed, performing the following processing: comparing the The traveling speed of the other vehicle and the traveling speed of the vehicle; if the comparison shows that the traveling speed of the other vehicle is higher than the traveling speed of the vehicle, the vehicle is controlled to decelerate.

In an embodiment, in the process of controlling the deceleration driving of the vehicle, when the computer instruction is executed, the following processing is performed: controlling the vehicle to perform deceleration driving with a set acceleration.

In an embodiment, in the process of controlling the deceleration driving of the vehicle, when the computer instruction is executed, performing processing of: calculating a target acceleration according to a distance between the other vehicle and the vehicle; and controlling the The vehicle travels at a reduced speed with the target acceleration.

Based on the same inventive concept as the control method of the self-driving vehicle illustrated in FIG. 4 above, the embodiment of the present invention further provides a machine readable storage medium, where the computer readable storage medium stores a plurality of computer instructions, the computer When the instruction is executed, the following processing is performed: detecting the first vehicle traveling on one side of the curve; determining the first according to the position of the own a running state of a vehicle; transmitting the traveling state of the first vehicle to a second vehicle traveling on the other side of the curve.

In an embodiment, in the process of detecting the first vehicle traveling on one side of the curve, the computer instruction is executed to perform: processing a road image; detecting the driving on the road image First vehicle on one side of the road

In an embodiment, in the process of determining the running state of the first vehicle according to the self position, the computer instruction is executed to perform processing of determining a shooting size of the first vehicle in the road image And a photographing position; determining a relative distance between itself and the first vehicle according to the photographing size, and determining a relative position between itself and the first vehicle according to the photographing position; according to the relative distance, relative The position, and the position of the self determine the real-time position of the first vehicle, and determine the traveling speed of the first vehicle based on the photographing position.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these entities or operations. There is any such actual relationship or order between them. The terms "comprising," "comprising," or "include" or "include" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that includes a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The method and apparatus provided by the embodiments of the present invention are described in detail above, and the principles and implementation manners of the present invention are described herein by using specific examples. The description of the above embodiments is only used to help understand the method of the present invention and At the same time, there will be changes in the specific embodiments and the scope of application according to the idea of the present invention, and the contents of the present specification should not be construed as limiting the present invention. .

Claims

A method for controlling an autonomous vehicle, characterized in that the method comprises:

Get location information of the specified location;

Determining a real-time location of the location according to the location information of the specified location;

The real-time location is broadcasted by a radio transmitter mounted on itself.
The method according to claim 1, wherein the obtaining the location information of the specified location comprises:

Obtain the position information of the traffic signs disposed on the road side of the current driving section.
The method according to claim 2, wherein the obtaining location information of the traffic sign disposed on the road side of the current driving section includes:

The roadside image is collected by an imaging device mounted thereon, and the roadside image includes a traffic sign disposed on the side of the current traveling section;

Identifying a graphic symbol for recording data on a traffic sign included in the roadside image to obtain position information of the traffic sign.
The method of claim 3 wherein said graphical symbol comprises at least one of:

QR code, barcode, digital sign, AprilTag mark tracking.
The method according to any one of claims 1 to 3, wherein the location information comprises at least one of the following:

GPS coordinates, location number.
The method according to claim 5, wherein if the location information includes the location number, the determining the real-time location of the location according to the location information of the specified location comprises:

Finding a setting map according to the location number of the specified location to find a GPS coordinate corresponding to the location number;

Determine its real-time location based on the GPS coordinates found.
The method according to claim 3, wherein said roadside image includes a plurality of said traffic signs;

Determining the real-time location of the user according to the location information of the specified location, including:

Determining a relative positional relationship between itself and each of the traffic signs;

Based on the relative positional relationship between the self and each of the traffic signs, the position information of each of the traffic signs determines its own real-time position.
The method according to claim 7, wherein said determining a relative positional relationship between itself and each of said traffic signs respectively comprises:

Determining, respectively, a shooting size and a shooting position of each of the traffic signs in the roadside image;

For each of the traffic signs, according to the shooting size of the traffic sign in the roadside image and the Calculating the relative distance between itself and the traffic sign, and calculating the relative position of the traffic sign according to the shooting position of the traffic sign in the roadside image. .
The method according to claim 7, wherein said determining a real-time position of each of said traffic signs based on said relative positional relationship between said self and each of said traffic signs ,include:

Determining a candidate location for each of the traffic signs according to a relative positional relationship between itself and the traffic sign, and position information of the traffic sign;

Determining a candidate range according to the candidate location;

Calculating an intersection between each of the candidate ranges;

The intersection is determined as its own real-time location.
The method of claim 1 further comprising:

Acquiring the traveling speed detected by the speed measuring device mounted thereon;

The traveling speed is broadcasted by a radio transmitting device mounted on itself.
The method according to claim 1, wherein after the determining the real-time location of the self-position based on the location information of the at least one fixed location, the method further comprises:

The positioning device mounted on itself is corrected according to the real-time position.
A method for controlling an autonomous vehicle, characterized in that the method comprises:

Acquiring driving state information of other vehicles detected by the radio receiving device mounted on the vehicle;

Obtaining driving state information of the vehicle;

The traveling state of the vehicle is controlled based on the traveling state information of the other vehicle and the traveling state information of the vehicle.
The method according to claim 12, wherein said driving state information comprises at least one of: a real-time position, a traveling speed.
The method according to claim 13, wherein the obtaining the driving state information of the vehicle comprises:

Get location information of the specified location;

Determining a real-time location of the vehicle based on the location information of the specified location; and/or,

The traveling speed detected by the speed measuring device mounted on the vehicle is acquired.
The method according to claim 13, wherein the controlling the driving state of the vehicle according to the driving state information of the other vehicle and the traveling state information of the vehicle comprises:

Determining the other vehicle and the vehicle based on a real-time location of the other vehicle and a real-time location of the vehicle Distance between

If the distance is lower than the set distance threshold, the vehicle is controlled to decelerate.
The method according to claim 13, wherein the controlling the driving state of the vehicle according to the driving state information of the other vehicle and the traveling state information of the vehicle comprises:

Comparing the travel speed of the other vehicle with the travel speed of the vehicle;

If it is found that the traveling speed of the other vehicle is higher than the traveling speed of the vehicle, the vehicle is controlled to decelerate.
The method according to claim 15 or 16, wherein said controlling said vehicle to decelerate driving comprises:

The vehicle is controlled to decelerate at a set acceleration.
The method according to claim 15 or 16, wherein said controlling said vehicle to decelerate driving comprises:

Calculating a target acceleration according to a distance between the other vehicle and the vehicle;

The vehicle is controlled to perform decelerating travel with the target acceleration.
A control method for an autonomously driven vehicle, characterized in that it is applied to a control terminal for detecting a running state of a vehicle disposed at a corner of a curve, the method comprising:

Detecting the first vehicle traveling on one side of the curve;

Determining a driving state of the first vehicle according to a position thereof;

The driving state of the first vehicle is transmitted to the second vehicle traveling on the other side of the curve.
The method of claim 19 wherein said detecting said first vehicle traveling on one side of the curve comprises:

Collect road images;

A first vehicle traveling on one side of the curve is detected on the road image.
The method according to claim 20, wherein the determining the driving state of the first vehicle according to the position thereof comprises:

Determining a shooting size and a shooting position of the first vehicle in the road image;

Determining a relative distance between itself and the first vehicle according to the photographing size, and determining a relative position between itself and the first vehicle according to the photographing position;

Determining a real-time position of the first vehicle according to the relative distance, a relative position, and a self position, and determining a traveling speed of the first vehicle according to the photographing position.
A control terminal, comprising: a memory, a processor, wherein the memory stores a plurality of computer instructions, wherein the processor is configured to:

Get location information of the specified location;

Determining a real-time location of the location according to the location information of the specified location;

The real-time location is broadcasted by a radio transmitter mounted on itself.
The control terminal according to claim 22, wherein the processor is configured to:

Obtain the position information of the traffic signs disposed on the road side of the current driving section.
The control terminal according to claim 23, wherein the processor is configured to:

The roadside image is collected by an imaging device mounted thereon, and the roadside image includes a traffic sign disposed on the side of the current traveling section;

Identifying a graphic symbol for recording data on a traffic sign included in the roadside image to obtain position information of the traffic sign.
The method of claim 24 wherein said graphical symbol comprises at least one of:

QR code, barcode, digital sign, AprilTag mark tracking.
The control terminal according to any one of claims 22 to 24, wherein the location information comprises at least one of the following:

GPS coordinates, location number.
The control terminal according to claim 26, wherein said processor is configured to:

Finding a setting map according to the location number of the specified location to find a GPS coordinate corresponding to the location number;

Determine its real-time location based on the GPS coordinates found.
The control terminal according to claim 24, wherein the roadside image includes a plurality of the traffic signs;

The processor is used to:

Determining a relative positional relationship between itself and each of the traffic signs;

Based on the relative positional relationship between the self and each of the traffic signs, the position information of each of the traffic signs determines its own real-time position.
The control terminal according to claim 28, wherein the processor is configured to:

Determining, respectively, a shooting size and a shooting position of each of the traffic signs in the roadside image;

For each of the traffic signs, calculating a relative distance between the traffic sign and the traffic sign according to the shooting size of the traffic sign in the roadside image and the actual size of the traffic sign, and according to The traffic sign At the photographing position in the roadside image, the relative position of itself and the traffic sign is calculated.
The control terminal according to claim 28, wherein the processor is configured to:

Determining a candidate location for each of the traffic signs according to a relative positional relationship between itself and the traffic sign, and position information of the traffic sign;

Determining a candidate range according to the candidate location;

Calculating an intersection between each of the candidate ranges;

The intersection is determined as its own real-time location.
The control terminal according to claim 22, wherein the processor is further configured to:

Acquiring the traveling speed detected by the speed measuring device mounted thereon;

The traveling speed is broadcasted by a radio transmitting device mounted on itself.
The control terminal according to claim 22, wherein the processor is further configured to:

The positioning device mounted on itself is corrected according to the real-time position.
A control terminal, comprising: a memory, a processor, wherein the memory stores a plurality of computer instructions, wherein the processor is configured to:

Acquiring driving state information of other vehicles detected by the radio receiving device mounted on the vehicle;

Obtaining driving state information of the vehicle;

The traveling state of the vehicle is controlled based on the traveling state information of the other vehicle and the traveling state information of the vehicle.
The control terminal according to claim 33, wherein said driving state information comprises at least one of: a real time position, a traveling speed.
The control terminal according to claim 34, wherein the processor is configured to:

Get location information of the specified location;

Determining a real-time location of the vehicle based on the location information of the specified location; and/or,

The traveling speed detected by the speed measuring device mounted on the vehicle is acquired.
The control terminal according to claim 34, wherein the processor is configured to:

Determining a distance between the other vehicle and the vehicle based on a real-time location of the other vehicle and a real-time location of the vehicle;

If the distance is lower than the set distance threshold, the vehicle is controlled to decelerate.
The control terminal according to claim 34, wherein the processor is configured to:

Comparing the travel speed of the other vehicle with the travel speed of the vehicle;

If it is found that the traveling speed of the other vehicle is higher than the traveling speed of the vehicle, the vehicle is controlled to decelerate.
The control terminal according to claim 36 or 37, wherein the processor is configured to:

The vehicle is controlled to decelerate at a set acceleration.
The control terminal according to claim 36 or 37, wherein the processor is configured to:

Calculating a target acceleration according to a distance between the other vehicle and the vehicle;

The vehicle is controlled to perform decelerating travel with the target acceleration.
A control terminal, wherein the control terminal is located at a corner of a curve for detecting a running state of the vehicle, the control terminal includes a memory, a processor, and the memory stores a plurality of computer instructions, and the processor uses to:

Detecting the first vehicle traveling on one side of the curve;

Determining a driving state of the first vehicle according to a position thereof;

The driving state of the first vehicle is transmitted to the second vehicle traveling on the other side of the curve.
The control terminal according to claim 40, wherein the processor is configured to:

Collect road images;

A first vehicle traveling on one side of the curve is detected on the road image.
The control terminal according to claim 41, wherein the processor is configured to:

Determining a shooting size and a shooting position of the first vehicle in the road image;

Determining a relative distance between itself and the first vehicle according to the photographing size, and determining a relative position between itself and the first vehicle according to the photographing position;

Determining a real-time position of the first vehicle according to the relative distance, a relative position, and a self position, and determining a traveling speed of the first vehicle according to the photographing position.
A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:

Get location information of the specified location;

Determining a real-time location of the location according to the location information of the specified location;

The real-time location is broadcasted by a radio transmitter mounted on itself.
The machine-readable storage medium according to claim 43, wherein in the process of acquiring the location information of the specified location, the computer instruction is executed as follows:

Obtain the position information of the traffic signs disposed on the road side of the current driving section.
The machine-readable storage medium according to claim 44, wherein in the process of acquiring the position information of the traffic sign disposed on the road side of the current travel section, the computer instruction is executed as follows:

The roadside image is collected by an imaging device mounted thereon, and the roadside image includes a traffic sign disposed on the side of the current traveling section;

Identifying a graphic symbol for recording data on a traffic sign included in the roadside image to obtain position information of the traffic sign.
A machine readable storage medium according to claim 45, wherein said graphical symbol comprises at least one of the following:

QR code, barcode, digital sign, AprilTag mark tracking.
A machine readable storage medium according to any one of claims 43 to 45, wherein said location information comprises at least one of the following:

GPS coordinates, location number.
A machine-readable storage medium according to claim 47, wherein said computer is in the process of determining its own real-time location based on said location information of said designated location, said location information comprising said location number When the instruction is executed, the following processing is performed:

Finding a setting map according to the location number of the specified location to find a GPS coordinate corresponding to the location number;

Determine its real-time location based on the GPS coordinates found.
A machine-readable storage medium according to claim 45, wherein said roadside image includes a plurality of said traffic signs;

In the process of determining the real-time location of the location according to the location information of the specified location, when the computer instruction is executed, the following processing is performed:

Determining a relative positional relationship between itself and each of the traffic signs;

Based on the relative positional relationship between the self and each of the traffic signs, the position information of each of the traffic signs determines its own real-time position.
A machine-readable storage medium according to claim 49, wherein said process of determining a relative positional relationship between itself and each of said traffic signages is performed as follows when said computer instructions are executed :

Determining, respectively, a shooting size and a shooting position of each of the traffic signs in the roadside image;

For each of the traffic signs, calculating a relative distance between the traffic sign and the traffic sign according to the shooting size of the traffic sign in the roadside image and the actual size of the traffic sign, and according to The traffic sign calculates the relative position of itself and the traffic sign in the shooting position in the roadside image.
A machine-readable storage medium according to claim 49, wherein said determining location information of each of said traffic signs is based on a relative positional relationship between said self and each of said traffic signs In the process of its own real-time location, when the computer instructions are executed, the following processing is performed:

Determining a candidate location for each of the traffic signs according to a relative positional relationship between itself and the traffic sign, and position information of the traffic sign;

Determining a candidate range according to the candidate location;

Calculating an intersection between each of the candidate ranges;

The intersection is determined as its own real-time location.
A machine-readable storage medium according to claim 43, wherein said computer instructions are further processed as follows when executed:

Acquiring the traveling speed detected by the speed measuring device mounted thereon;

The traveling speed is broadcasted by a radio transmitting device mounted on itself.
A machine-readable storage medium according to claim 43, wherein said computer instructions are further processed as follows when executed:

The positioning device mounted on itself is corrected according to the real-time position.
A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:

Acquiring driving state information of other vehicles detected by the radio receiving device mounted on the vehicle;

Obtaining driving state information of the vehicle;

The traveling state of the vehicle is controlled based on the traveling state information of the other vehicle and the traveling state information of the vehicle.
A machine readable storage medium according to claim 54, wherein said driving state information comprises at least one of: a real time position, a traveling speed.
The machine-readable storage medium according to claim 55, wherein in the process of acquiring the driving state information of the vehicle, when the computer instruction is executed, the following processing is performed:

Get location information of the specified location;

Determining a real-time location of the vehicle based on the location information of the specified location; and/or,

The traveling speed detected by the speed measuring device mounted on the vehicle is acquired.
A machine-readable storage medium according to claim 55, wherein said computer is in the process of controlling the traveling state of said vehicle based on driving state information of said other vehicle and driving state information of said vehicle Means When the order is executed, the following processing is performed:

Determining a distance between the other vehicle and the vehicle based on a real-time location of the other vehicle and a real-time location of the vehicle;

If the distance is lower than the set distance threshold, the vehicle is controlled to decelerate.
A machine-readable storage medium according to claim 55, wherein said computer is in the process of controlling the traveling state of said vehicle based on driving state information of said other vehicle and driving state information of said vehicle When the instruction is executed, the following processing is performed:

Comparing the travel speed of the other vehicle with the travel speed of the vehicle;

If it is found that the traveling speed of the other vehicle is higher than the traveling speed of the vehicle, the vehicle is controlled to decelerate.
A machine-readable storage medium according to claim 57 or claim 58 wherein, in said controlling said vehicle to decelerate, said computer instructions are executed as follows when said computer instructions are executed:

The vehicle is controlled to decelerate at a set acceleration.
A machine-readable storage medium according to claim 57 or claim 58 wherein, in said controlling said vehicle to decelerate, said computer instructions are executed as follows when said computer instructions are executed:

Calculating a target acceleration according to a distance between the other vehicle and the vehicle;

The vehicle is controlled to perform decelerating travel with the target acceleration.
A machine readable storage medium, wherein the machine readable storage medium stores a plurality of computer instructions that, when executed, perform the following processing:

Detecting the first vehicle traveling on one side of the curve;

Determining a driving state of the first vehicle according to a position thereof;

The driving state of the first vehicle is transmitted to the second vehicle traveling on the other side of the curve.
A machine-readable storage medium according to claim 61, wherein said detecting said driving on a first vehicle on one side of a curve performs the following processing when said computer instruction is executed:

Collect road images;

A first vehicle traveling on one side of the curve is detected on the road image.
The machine-readable storage medium according to claim 62, wherein said determining, when said driving state of said first vehicle is based on its own position, said computer instruction is executed as follows:

Determining a shooting size and a shooting position of the first vehicle in the road image;

Determining a relative distance between itself and the first vehicle according to the shooting size, and determining according to the shooting position a relative position between itself and the first vehicle;

Determining a real-time position of the first vehicle according to the relative distance, a relative position, and a self position, and determining a traveling speed of the first vehicle according to the photographing position.