WO2019232913A1

WO2019232913A1 - Method for controlling transportation means, device, and system

Info

Publication number: WO2019232913A1
Application number: PCT/CN2018/098944
Authority: WO
Inventors: 张志强
Original assignee: 北京洪泰同创信息技术有限公司
Priority date: 2018-06-08
Filing date: 2018-08-06
Publication date: 2019-12-12
Also published as: CN108766005A

Abstract

The present application provides a method for controlling a transportation means, a device, and a system. The method comprises: sending a first signal to a region of a transportation means; receiving a second signal sent by a target object in the region of the transportation means in response to the first signal, wherein the second signal carries feature information of the target object; acquiring, according to the first signal and the second signal, first position information of the target object; and controlling traveling of the transportation means according to the first position information and the feature information. The present application solves the problem of low control precision of a transportation means during an autopilot mode, thereby improving the control precision of the transportation means while autopilot is running.

Description

Control method, device and system of vehicle

Technical field

The present application relates to the field of computers, and in particular, to a method, a device, and a system for controlling a vehicle.

Background technique

Since the automobile is widely used as a means of transportation, the design of transportation facilities has been around the theme of driving cars. The signs, markings, signals and safety facilities that exist on the highway, such signs, markings and signals, etc. Facilities exist in the state of graphics or text, which makes people better understand and facilitate. With the advancement of technology, today people want to give the steering wheel to the machine to complete, then they are facing a huge change. The current autonomous driving technology is less secure and has less precise control over vehicles.

Summary of the Invention

The embodiments of the present application provide a method, a device, and a system for controlling a vehicle, so as to at least solve the problem that the control accuracy of the vehicle during automatic driving is low in related technologies.

According to an embodiment of the present application, a method for controlling a vehicle is provided, including: sending a first signal to an area where the vehicle is located; and receiving a target object in the area where the vehicle is located in response to the first signal sent by the first signal. Two signals, wherein the second signal carries characteristic information of the target object; obtaining first position information of the target object according to the first signal and the second signal; and according to the first position The information and the characteristic information control the vehicle to travel.

Optionally, controlling the travel of the vehicle according to the first location information and the feature information includes: obtaining, from the feature information, a target object type to which the target object belongs and object information of the target object; according to The target object type, the object information, and the first position information determine a driving strategy; and controlling the vehicle to drive according to the driving strategy.

Optionally, the target object type is a first type, and the first type is used to indicate that the target object is a first signal transmission device carried by a pedestrian in an area where the vehicle is located, and the object information includes all The identity information of the pedestrian, wherein determining the driving strategy according to the target object type, the object information, and the first location information includes: determining the first type corresponding from an object type and a driving strategy type that have a corresponding relationship. The type of driving strategy is an avoidance strategy, where the avoidance strategy is used to indicate a manner in which the vehicle avoids pedestrians during driving; and a target corresponding to the target object is determined according to the first position information and the identity information. Avoidance strategies.

Optionally, the target object type is a second type, and the second type is used to indicate that the target object is a second signal transmission device carried by a transportation facility in an area where the vehicle is located, and the object information includes The traffic information of the transportation facility, wherein determining a driving strategy according to the target object type, the object information, and the first location information includes: determining the second from an object type and a driving strategy type having a corresponding relationship. The type of driving strategy corresponding to the type is a traffic strategy, wherein the traffic strategy is used to indicate a manner in which the vehicle passes from an area where the transportation facility is located during driving; according to the first location information and the traffic information Determining a target traffic strategy corresponding to the target object.

Optionally, sending the first signal to the area where the vehicle is located includes: sending the first signal to the area where the vehicle is located through a plurality of third signal transmission devices provided on the vehicle, where The first signal sent by each of the third signal transmission devices in the plurality of third signal transmission devices carries identification information of each of the third signal transmission devices.

Optionally, receiving a second signal sent by a target object in an area where the vehicle is in response to the first signal includes receiving the target object response through a plurality of third signal transmission devices provided on the vehicle. A plurality of second signals sent by a plurality of the first signals, wherein each of the plurality of second signals carries the first signal to which each of the second signals responds The identification information carried by the signal.

Optionally, acquiring the first position information of the target object according to the first signal and the second signal includes: the first signal and the second signal that will carry the same identification information Determining a set of signal pairs to obtain a plurality of sets of signal pairs; and determining a distance between each of the plurality of third signal transmission devices and the target object according to the plurality of sets of signal pairs; The first position information is determined according to each of the distances and second position information of each of the third signal transmission devices.

According to another embodiment of the present application, a method for controlling a vehicle is provided, including: receiving a first signal sent by a vehicle; adding characteristic information of a target object to the first signal to obtain a second signal; Sending the second signal to the vehicle in response to the first signal, wherein the second signal and the second signal are used to obtain first position information of the target object, the first position information And the characteristic information is used to control the vehicle travel.

Optionally, adding characteristic information of a target object to the first signal to obtain a second signal includes adding a target object type to which the target object belongs and object information of the target object to the first signal. The second signal is obtained, wherein the type of the target object is the first type, and the first type is used to indicate that the target object is a first signal transmission carried by a pedestrian in the area where the vehicle is located In the case of a device, the object information includes identity information of the pedestrian, and in the case where the target object type is a second type, the second type is used to indicate that the target object is traffic in an area where the vehicle is located. In the case of a second signal transmission device carried by a facility, the object information includes traffic information of the traffic facility.

According to another embodiment of the present application, a vehicle control device is provided, including: a first sending module configured to send a first signal to an area where the vehicle is located; and a first receiving module configured to receive the vehicle A second signal sent by the target object in the area in response to the first signal, wherein the second signal carries characteristic information of the target object; and an acquisition module is configured to be configured according to the first signal and the first signal The second signal acquires first position information of the target object; a control module is configured to control the vehicle to travel according to the first position information and the characteristic information.

According to another embodiment of the present application, a control device for a vehicle is provided, including: a second receiving module configured to receive a first signal sent by the vehicle; and an adding module configured to add characteristic information of a target object to A second signal is obtained from the first signal; a second sending module is configured to send the second signal to the vehicle in response to the first signal, wherein the second signal and the second signal The first position information is used to obtain the target object, and the first position information and the feature information are used to control the vehicle to travel.

According to another embodiment of the present application, a vehicle control system is provided, including: a controller, a signal transmission device provided on the vehicle, and a signal transmission device provided on a target object, wherein the device is The signal transmission device on the vehicle is configured to send a first signal to an area where the vehicle is located, and receive a second signal sent by the signal transmission device provided on the target object in response to the first signal, wherein the second signal The signal carries characteristic information of the target object; the controller is configured to obtain first position information of the target object according to the first signal and the second signal, and according to the first position information and The characteristic information controls the running of the vehicle; the signal transmission device provided on the target object is configured to receive a first signal sent by the signal transmission device provided on the vehicle, and provide the characteristic information of the target object. Adding to the first signal to obtain a second signal, and responding to the first signal to the traffic operator Signal transmission means transmits the second signal.

According to still another embodiment of the present application, a storage medium is further provided. The storage medium stores a computer program, and the computer program is configured to execute the steps in any one of the foregoing method embodiments when running.

According to another embodiment of the present application, an electronic device is further provided, which includes a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to execute any one of the foregoing. Steps in a method embodiment.

According to the embodiment of the present application, since the second signal sent by the received target object in response to the first signal carries the characteristic information of the target object, after obtaining the first position information of the target object according to the first signal and the second signal The vehicle control strategy can be formulated based on the first position information and the target object's characteristic information, so that the vehicle can be controlled according to the characteristics of the target object, and the problem of low accuracy of vehicle control during automatic driving can be solved. To achieve the effect of improving the accuracy of vehicle control during autonomous driving.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and the descriptions thereof are used to explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

1 is a block diagram of a hardware structure of a terminal device of a method for controlling a vehicle according to an embodiment of the present application;

2 is a first flowchart of a method for controlling a vehicle according to an embodiment of the present application;

3 is a first schematic view of a method for controlling a vehicle according to an optional embodiment of the present application;

4 is a second flowchart of a method for controlling a vehicle according to an embodiment of the present application;

FIG. 5 is a first structural block diagram of a vehicle control device according to an embodiment of the present application; FIG.

6 is a second structural block diagram of a vehicle control device according to an embodiment of the present application;

7 is a schematic diagram of a vehicle control system according to an embodiment of the present application;

FIG. 8 is a second schematic diagram of a vehicle control method according to an optional embodiment of the present application; FIG.

9 is a third schematic diagram of a method for controlling a vehicle according to an optional embodiment of the present application;

FIG. 10 is a fourth schematic diagram of a vehicle control method according to an optional embodiment of the present application; FIG.

FIG. 11 is a fifth schematic diagram of a vehicle control method according to an optional embodiment of the present application.

Detailed ways

Hereinafter, the present application will be described in detail with reference to the drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that the terms “first” and “second” in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

Example 1

The method embodiments provided in the first embodiment of the present application may be executed in a terminal device, a computer terminal, or a similar computing device. Taking a terminal device as an example, FIG. 1 is a block diagram of a hardware structure of a terminal device of a method for controlling a vehicle according to an embodiment of the present application. As shown in FIG. 1, the terminal device 10 may include one or more (only one shown in FIG. 1) a processor 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) ) And a memory 104 configured to store data, optionally, the terminal device may further include a transmission device 106 and an input-output device 108 configured as a communication function. Persons of ordinary skill in the art can understand that the structure shown in FIG. 1 is only schematic, and it does not limit the structure of the terminal device. For example, the terminal device 10 may further include more or fewer components than those shown in FIG. 1, or have a configuration different from that shown in FIG. 1.

The memory 104 may be configured to store a computer program, for example, a software program and module of application software, such as a computer program corresponding to a method for controlling a vehicle in the embodiment of the present application. The processor 102 runs the computer program stored in the memory 104. Thus, various functional applications and data processing are performed, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may further include a non-volatile memory, such as one or more magnetic storage devices, a flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memories remotely set with respect to the processor 102, and these remote memories may be connected to the terminal device 10 through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The transmission device 106 is configured to receive or transmit data via a network. An optional example of the above-mentioned network may include a wireless network provided by a communication provider of the terminal device 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network equipment through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is configured to communicate with the Internet in a wireless manner.

A method for controlling a vehicle running on the terminal device is provided in this embodiment. FIG. 2 is a first flowchart of a method for controlling a vehicle according to an embodiment of the present application. As shown in FIG. 2, the flow includes the following steps: step:

Step S202: Send a first signal to the area where the vehicle is located;

Step S204: Receive a second signal sent by the target object in the area where the vehicle is located in response to the first signal, where the second signal carries characteristic information of the target object;

Step S206: Acquire first position information of the target object according to the first signal and the second signal;

In step S208, the vehicle is controlled to travel according to the first position information and the characteristic information.

Optionally, in this embodiment, the foregoing method for controlling a vehicle may be, but is not limited to, being applied to a scenario for controlling the automatic driving of a vehicle.

Optionally, in this embodiment, the foregoing method for controlling a vehicle may be, but is not limited to, a control terminal provided on a vehicle, and the control terminal may include, but is not limited to, a controller and a signal transmission device, the controller and a signal. The transmission device may be one device or multiple independent devices. The control end may include one or more signal transmission devices, and the multiple signal transmission devices may be, but are not limited to, installed at different locations of the vehicle. Multiple signal transmission devices can be mounted on vehicles in different planes to improve the accuracy of determining the position of the target object.

Optionally, in this embodiment, the vehicle may include, but is not limited to, a land vehicle (such as a motor vehicle, a non-motor vehicle, a balance vehicle, a scooter, etc.), and a water vehicle (such as a boat, a submarine, etc.) ), Aviation vehicles (such as airplanes, helicopters, etc.).

Optionally, in this embodiment, the target object may include, but is not limited to, living organisms (such as pedestrians, pets, etc.) and transportation facilities (such as road signs, road shoulders, zebra crossings, traffic lights, warnings, etc.) in the area where the vehicle is located. Cards, etc.).

Optionally, in this embodiment, the first signal and the second signal may be, but are not limited to, electromagnetic wave signals and the like.

Through the above steps, since the second signal sent by the received target object in response to the first signal carries the characteristic information of the target object, the first position information of the target object can be obtained based on the first signal and the second signal. The first position information and the characteristic information of the target object are used to formulate a control strategy for the vehicle, so that the vehicle can be controlled according to the characteristics of the target object, which can solve the problem of low accuracy of the vehicle control during automatic driving, and achieve an improvement. The effect of precision on vehicle control during autonomous driving.

Optionally, different types of target objects may have different characteristic information, and the characteristic information may include information indicating the type of the target object and object information of the target object. For example, if the target object type of the target object is a pedestrian, the object information may include identity information used to indicate the identity characteristics of the pedestrian, for example, information such as the age, gender, height, and weight of the pedestrian. If the target object type of the target object is a traffic facility (a road sign, a warning sign, a traffic light, etc.), the object information may include traffic information indicating the traffic meaning of the traffic facility. For example: the meaning of road signs, the color of traffic lights and the time of change, etc. Determine different driving strategies for the vehicle based on different target object types, object information, and first location information, which can make the vehicle's driving more consistent with its current environment at the time, and can also make the vehicle in the process of driving The driving strategy can be changed according to the change of the current environment, so that the control of the vehicle is more accurate.

For example, in the above step S208, the target object type to which the target object belongs and the object information of the target object are obtained from the characteristic information; the driving strategy is determined according to the target object type, the object information, and the first position information; and the vehicle is controlled to drive according to the driving strategy. .

Optionally, when the type of the target object is the first type, the first type is used to indicate that the target object is a first signal transmission device carried by a pedestrian in the area where the vehicle is located, and the object information includes the identity information of the pedestrian. The driving strategy is not limited to determining the driving strategy corresponding to the first type from an object type and a driving strategy type with a corresponding relationship as an avoidance strategy, wherein the avoidance strategy is used to instruct a vehicle to avoid pedestrians during the driving process. Method: A target avoidance strategy corresponding to the target object is determined according to the first position information and the identity information.

Optionally, when the target object type is a second type, the second type is used to indicate that the target object is a second signal transmission device carried by a transportation facility in the area where the vehicle is located, and the object information includes traffic information of the transportation facility, The driving strategy can be determined, but not limited to, by determining the driving strategy type corresponding to the second type from the object type and the driving strategy type with the corresponding relationship as the traffic strategy, wherein the traffic strategy is used to instruct the vehicle to drive from The mode of traffic in the area where the transportation facility is located; the target traffic strategy corresponding to the target object is determined according to the first location information and the traffic information.

Optionally, in the above step S202, the first signal may be sent to the area where the vehicle is located through a plurality of third signal transmission devices provided on the vehicle, wherein each third signal in the plurality of third signal transmission devices is The first signal sent by the transmission device carries identification information of each third signal transmission device.

Optionally, in the above step S204, the plurality of second signals sent by the target object in response to the plurality of first signals are received by the plurality of third signal transmission devices provided on the vehicle, wherein each of the plurality of second signals is The second signals carry identification information carried by the first signal to which each second signal responds.

Optionally, in the above step S206, the first position information may be determined in the following manner, and the first signal and the second signal carrying the same identification information are determined as a set of signal pairs to obtain multiple sets of signal pairs; Determine the distance between each third signal transmission device and the target object in the plurality of third signal transmission devices according to multiple sets of signal pairs; determine the first position according to each distance and the second position information of each third signal transmission device information.

In an optional embodiment, FIG. 3 is a schematic diagram of a method for controlling a vehicle according to an optional embodiment of the present application. As shown in FIG. 3, the electromagnetic wave ranging base station A (equivalent to the control end) It includes one host (equivalent to the above-mentioned controller) and N (N≥1) electromagnetic wave transmitting and receiving devices (equivalent to the above-mentioned first signal transmission device). Take four first signal transmission devices, which are respectively 1, 2, 3, 4, and four first signal transmission devices are not coplanar. The electromagnetic wave transmitting base station A transmits a first electromagnetic wave (equivalent to the above-mentioned first signal) in a broadcast manner, and the first electromagnetic wave can be loaded with information such as the identity of the car itself. The pedestrian wears an electromagnetic wave receiving and transmitting device 5 (equivalent to the above-mentioned second signal transmission device), and the device 5 has a unique code. The vehicle-mounted electromagnetic wave transmitting and receiving device transmits the first electromagnetic wave in the form of broadcasting. After receiving the first electromagnetic wave, the device 5 forwards it back, and loads the code of the device itself and other pedestrian information (equivalent to the above identity information) on the first electromagnetic wave. . The

devices

1, 2, 3, and 4 receive the second electromagnetic wave that is transmitted back to obtain the distances R1, R2, R3, and R4 from 1, 2, 3, and 4 to 5 o'clock. The precise position of the device 5 (equivalent to the above-mentioned first position information) and necessary related information are obtained through four-point positioning.

Optionally, the position of the point where the device 5 is located may be given, but not limited to, using the following formula:

Let the position coordinates of 5 points be: (x, y, z), the coordinates of 1 point are (x ₁ , y ₁ , z ₁ ), the coordinates of 2 points are (x ₂ , y ₂ , z ₂ ), and the coordinates of 3 points Is (x ₃ , y ₃ , z ₃ ) and the coordinates of 4 points are (x ₄ , y ₄ , z ₄ ), then 1, 2, 3, ₄ , 5 points satisfy the following equations.

This equation can be derived to obtain the following matrix equations:

among them:

Points

1, 2, 3, and 4 are all known points. The distance to 5 points is known through measurement, that is, R ₁ , R ₂ , R ₃ , and R ₄ are known. Thus, the coordinates (x, y, z) of 5 points can be obtained.

In this embodiment, another method for controlling a vehicle is provided. FIG. 4 is a second flowchart of a method for controlling a vehicle according to an embodiment of the present application. As shown in FIG. 4, the flow includes the following steps:

Step S402, receiving a first signal sent by a vehicle;

Step S404, adding characteristic information of the target object to the first signal to obtain a second signal;

In step S406, a second signal is sent to the vehicle in response to the first signal, wherein the second signal and the second signal are used to obtain first location information of the target object, and the first location information and feature information are used to control the vehicle to travel.

Optionally, in this embodiment, the foregoing method for controlling a vehicle may be applied to, but not limited to, a signal transmission device provided on a target object. The signal transmission device may include, but is not limited to, one or more signal transmission devices. Each signal transmission device can be installed in different locations of the target object, but is not limited to it. Multiple signal transmission devices can be mounted on the target object in different planes to improve the accuracy of determining the position of the target object.

Optionally, in this embodiment, the target object may include, but is not limited to, living organisms (such as pedestrians, pets, etc.) and transportation facilities (such as road signs, road shoulders, zebra crossings, traffic lights, and warnings) Cards, etc.).

Through the above steps, since the second signal carries the characteristic information of the target object, after obtaining the first position information of the target object according to the first signal and the second signal, it can be formulated based on the first position information and the characteristic information of the target object. The control strategy of the vehicle, so that the vehicle can be controlled according to the characteristics of the target object, can solve the problem of low accuracy of the control of the vehicle during automatic driving, and achieve the effect of improving the accuracy of the control of the vehicle during automatic driving. .

Optionally, different feature information may be added to the first signal according to the type of the target object. For example, in the above step S404, the target object type to which the target object belongs and the object information of the target object are added to the first signal to obtain a second signal, where the target object type is the first type, and the first type is used for In the case that the target object is a first signal transmission device carried by a pedestrian in the area where the vehicle is located, the object information includes the identity information of the pedestrian. When the target object type is the second type, the second type is used to indicate that the target object is a vehicle In the case of the second signal transmission device carried by a transportation facility in the area, the object information includes traffic information of the transportation facility.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary universal hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is Better implementation. Based on this understanding, the technical solutions of the embodiments of the present application that are essentially or contribute to the existing technology can be embodied in the form of software products, which are stored in a storage medium (such as ROM / RAM, magnetic (Disc, optical disc) includes a number of instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in the embodiments of the present application.

Example 2

In this embodiment, a control device for a vehicle is also provided. The device is used to implement the foregoing embodiments and optional implementation manners, and the descriptions will not be repeated. As used below, the term "module" may implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and conceived.

FIG. 5 is a structural block diagram of a vehicle control device according to an embodiment of the present application. As shown in FIG. 5, the device includes:

A first sending module 52 configured to send a first signal to an area where a vehicle is located;

The first receiving module 54 is configured to receive a second signal sent by a target object in a region where the vehicle is located in response to the first signal, where the second signal carries characteristic information of the target object;

The obtaining module 56 is configured to obtain first position information of a target object according to a first signal and a second signal;

The control module 58 is configured to control the vehicle to travel according to the first position information and the characteristic information.

Optionally, in this embodiment, the foregoing control device for a vehicle may be, but is not limited to, being applied to a scenario for controlling the automatic driving of a vehicle.

Optionally, in this embodiment, the above-mentioned vehicle control device may be, but is not limited to, a control terminal provided on the vehicle. The control terminal may include, but is not limited to, a controller and a signal transmission device, and the controller and the signal. The transmission device may be one device or multiple independent devices. The control end may include one or more signal transmission devices, and the multiple signal transmission devices may be, but are not limited to, installed at different locations of the vehicle. Multiple signal transmission devices can be mounted on vehicles in different planes to improve the accuracy of determining the position of the target object.

With the above device, since the second signal sent by the received target object in response to the first signal carries the characteristic information of the target object, the first position information of the target object can be obtained based on the first signal and the second signal. The first position information and the characteristic information of the target object are used to formulate a control strategy for the vehicle, so that the vehicle can be controlled according to the characteristics of the target object, which can solve the problem of low accuracy of the vehicle control during automatic driving, and achieve an improvement. The effect of precision on vehicle control during autonomous driving.

Optionally, the control module includes: an obtaining unit configured to obtain the target object type to which the target object belongs and the object information of the target object from the characteristic information; and a first determining unit configured to obtain the target object type, the object information, and the first position according to the target information. The information determines the driving strategy; the control unit is configured to control the vehicle to drive according to the driving strategy.

Optionally, the type of the target object is a first type, and the first type is used to indicate that the target object is a first signal transmission device carried by a pedestrian in the area where the vehicle is located, and the object information includes identity information of the pedestrian, wherein the first determining unit It is set as follows: determining the type of the driving strategy corresponding to the first type from the object type and the driving strategy type with the corresponding relationship is the avoidance strategy, wherein the avoidance strategy is used to instruct the vehicle to avoid the pedestrian during the driving process; according to the first position The information and identity information determine the target avoidance strategy corresponding to the target object.

Optionally, the type of the target object is a second type, and the second type is used to indicate that the target object is a second signal transmission device carried by a transportation facility in the area where the vehicle is located, and the object information includes traffic information of the transportation facility, where the first The determining unit is configured to determine a driving strategy type corresponding to the second type from the object type and the driving strategy type having a corresponding relationship as a traffic strategy, wherein the traffic strategy is used to instruct a vehicle to pass from an area where the transportation facility is located during the driving process. Method: Determine a target traffic strategy corresponding to the target object according to the first location information and the traffic information.

Optionally, the first sending module includes: a sending unit configured to send the first signal to the area where the vehicle is located through a plurality of third signal transmission devices provided on the vehicle, wherein each of the plurality of third signal transmission devices The first signals sent by the third signal transmission devices carry identification information of each third signal transmission device.

Optionally, the first receiving module includes: a receiving unit configured to receive a plurality of second signals sent by the target object in response to the plurality of first signals through a plurality of third signal transmission devices provided on the vehicle, wherein a plurality of Each second signal in the second signal carries identification information carried by the first signal to which each second signal responds.

Optionally, the obtaining module includes: a second determining unit configured to determine the first signal and the second signal carrying the same identification information as a set of signal pairs to obtain multiple sets of signal pairs; and a third determining unit configured to be based on Multiple sets of signal pairs determine the distance between each third signal transmission device and the target object in the plurality of third signal transmission devices; the fourth determination unit is configured to be based on each distance and the second of each third signal transmission device The position information determines the first position information.

This embodiment also provides another vehicle control device. FIG. 6 is a second structural block diagram of the vehicle control device according to the embodiment of the present application. As shown in FIG. 6, the device includes:

A second receiving module 62, configured to receive a first signal sent by a vehicle;

The adding module 64 is configured to add feature information of the target object to the first signal to obtain a second signal;

The second sending module 66 is configured to send a second signal to the vehicle in response to the first signal, wherein the second signal and the second signal are used to obtain first position information of the target object, and the first position information and characteristic information are used for control Transportation.

Optionally, in this embodiment, the foregoing vehicle control device may be applied to, but not limited to, a signal transmission device provided on a target object, and the signal transmission device may include, but is not limited to, one or more signal transmission devices. Each signal transmission device can be installed in different locations of the target object, but is not limited to it. Multiple signal transmission devices can be mounted on the target object in different planes to improve the accuracy of determining the position of the target object.

With the above device, because the second signal carries the characteristic information of the target object, after obtaining the first position information of the target object according to the first signal and the second signal, it can be formulated based on the first position information and the characteristic information of the target object. The control strategy of the vehicle, so that the vehicle can be controlled according to the characteristics of the target object, can solve the problem of low accuracy of the control of the vehicle during automatic driving, and achieve the effect of improving the accuracy of the control of the vehicle during automatic driving. .

Optionally, the adding module includes: an adding unit configured to add a target object type and object information of the target object to the first signal to obtain a second signal, where the target object type is the first type, The first type is used to indicate that the target object is a first signal transmission device carried by a pedestrian in the area where the vehicle is located. The object information includes the identity information of the pedestrian. When the target object type is the second type, the second type is used to indicate When the target object is a second signal transmission device carried by a transportation facility in the area where the vehicle is located, the object information includes traffic information of the transportation facility.

In this embodiment, a vehicle control system is also provided. FIG. 7 is a schematic diagram of a vehicle control system according to an embodiment of the present application. As shown in FIG. 7, the system includes a controller 72 and is provided in the traffic. The signal transmission device 74 on the tool and the signal transmission device 76 provided on the target object, wherein:

The signal transmission device 74 provided on the vehicle is configured to send a first signal to the area where the vehicle is located, and receive a second signal sent by the signal transmission device 76 provided on the target object in response to the first signal. Carry the characteristic information of the target object;

The controller 72 is configured to acquire the first position information of the target object according to the first signal and the second signal, and control the vehicle to travel according to the first position information and characteristic information;

The signal transmission device 76 provided on the target object is configured to receive the first signal sent by the signal transmission device 74 provided on the vehicle, add characteristic information of the target object to the first signal, obtain a second signal, and respond to the first signal. A signal sends a second signal to the signal transmission device 74 provided on the vehicle.

In an optional embodiment, in addition to the current Advanced Driver Assistance System (ADAS), another set of driver assistance solutions is proposed. This solution is an automatic driver assistance system based on the external environment of the vehicle. (Outside Driver Assistant System, ODAS for short). This system uses electromagnetic wave equipment to connect people, cars, and roads to each other to achieve the purpose of improving the safety of unmanned driving. As a necessary complement to current autonomous driving assistance systems. FIG. 8 is a second schematic diagram of a vehicle control method according to an optional embodiment of the present application. As shown in FIG. 8, the ODAS system is measured by a vehicle-mounted electromagnetic wave ranging base station A (equivalent to the signal transmission provided on the vehicle). Device), a vehicle-mounted control computer B (equivalent to the above-mentioned controller), and an electromagnetic wave receiving and transmitting terminal C (equivalent to the above-mentioned signal transmission device provided on the target object).

Optionally, the position information of the terminal C measured by the base station A is transmitted to the on-board control computer B, and the on-board control computer B issues an instruction to the car to execute the driving command according to this information. The terminal C may be a portable device, which may be installed on a mobile phone, or on a bracelet, or independently installed on an article such as a school bag which is often worn by individuals.

Optionally, FIG. 9 is a schematic diagram of a method for controlling a vehicle according to an optional embodiment of the present application. As shown in FIG. 9, the terminal C may also be installed on a device such as a road sign, such as red and green. 6. Speed limit, sharp turn and other signs, or the outline of the highway contour line 7. The identity of the terminal is used to determine the uniqueness of the sign and convey the meaning of the sign to the vehicle. The information formed by these signs and symbols was transmitted to computer B, and the car and the road were connected. Allows the car to drive safely according to the prompts of the sign.

Optionally, the terminal A may also establish a connection with terminals of other cars, and measure the distance and other information of each other. This information was transmitted to computer B, and car-to-car communication was achieved.

The following describes the control process of the vehicle as an example.

The self-driving car is installed with a vehicle-mounted electromagnetic wave ranging base station A and travels on the road. A sends electromagnetic waves in the form of broadcasting. The pedestrian wears an electromagnetic wave receiving and forwarding terminal C. After receiving the signal from the base station A, the terminal C forwards the electromagnetic waves back to the base station A. Through electromagnetic wave positioning, the car accurately determined the position of the pedestrian, and transmitted this information to the on-board control computer B. Terminal C can also load personal information such as the age of pedestrians, so that the car can take more reasonable evasive measures.

The self-driving car is installed with a vehicle-mounted electromagnetic wave ranging base station A and travels on the road. A sends electromagnetic waves in the form of broadcasting. The road traffic facilities are equipped with an electromagnetic wave receiving and forwarding terminal C. After C receives the signal from A, the electromagnetic waves are forwarded back to A, and the meaning information of the traffic facilities is also sent to A. Autonomous vehicles accurately determine the location of transportation facilities and immediately understand the meaning of transportation facilities so that the car can better take corresponding driving measures.

For example, FIG. 10 is a schematic diagram 4 of a method for controlling a vehicle according to an optional embodiment of the present application. As shown in FIG. 10, a terminal C is installed on a traffic light, and C is connected to a control source of a traffic signal. It not only sends the location of traffic lights to the car, notifying where the car stopped or passed. Also, because the electric control signals that control the traffic lights are controlled according to time, C can also transmit the time when the traffic lights are about to change to the car, and the car can be fully prepared to select and execute driving measures. If the yellow light flashes, it will inform the car how long it will turn into a red light so that the car can take braking measures from a distance. If it is the current video recognition scheme, the yellow light, the car cannot discern the color and time of the signal change, and can only slow down. If the signal light turns red before passing the intersection, the car will be braked urgently, and there is safety. Hidden danger. If it turns green, deceleration reduces traffic efficiency.

For another example, FIG. 11 is a schematic diagram of a method for controlling a vehicle according to an optional embodiment of the present application. As shown in FIG. 11, a sign on a wading road. The current automatic driving is identified by video here as a Wading the road, but the depth of the water cannot be judged, and the correct instructions cannot be given. Or add water depth sensors to cars to increase costs. If terminal C is added to a sign on a wading road, in addition to notifying the car that the road is a wading road, it can also tell the depth of the water, so that the car can easily issue instructions. Since people read the traffic sign on a high-speed car The content is very short, so the signage cannot be loaded with a lot of information. At present, the automatic driving assistance system recognizes the signage through video, so it cannot read a lot of information. The use of the above-mentioned electronic signs and labels can easily increase the information volume of traffic facilities such as signs and markings.

Optionally, the terminal C can use a unified machine language with the control computer B of the self-driving car, which can eliminate many intermediate links such as video recognition, translation, and conversion to machine language, so that the transmission of information has a higher efficiency.

Optionally, the above-mentioned vehicle control method is more accurate and reliable than video recognition because it uses electromagnetic wave ranging and communication, and is not affected by weather such as wind, rain, snow, and fog.

The above-mentioned vehicle control system has established an automatic driving assistance system based on the external environment of the car. Using this system enables people, cars, and roads to automatically exchange data with the car, improves the man-car evasion strategy, enables road-vehicle coordination, and increases auto Driving safety level. And for the first time, the identification information of the target object and the traffic information of traffic facilities such as traffic signs, marking lines, and safety facilities are loaded on the ranging electromagnetic waves. Formed on the road are electronic signs, electronic markings, and electronic safety facilities. These facilities interact with self-driving cars in the form of electronic information, increasing the capacity of information and improving communication efficiency and accuracy.

It should be noted that each of the above modules can be implemented by software or hardware. For the latter, it can be implemented by the following methods, but is not limited to this: the above modules are all located in the same processor; or the above modules are arbitrarily combined The forms are located in different processors.

Example 3

An embodiment of the present application further provides a storage medium. The storage medium stores a computer program, and the computer program is configured to execute the steps in any one of the foregoing method embodiments when running.

Optionally, in this embodiment, the foregoing storage medium may be configured to store a computer program for performing the following steps:

S1. Send a first signal to the area where the vehicle is located;

S2. Receive a second signal sent by the target object in the area where the vehicle is in response to the first signal, where the second signal carries characteristic information of the target object;

S3. Acquire first position information of the target object according to the first signal and the second signal.

S4. Control the vehicle to travel according to the first position information and the characteristic information.

The embodiment of the present application further provides another storage medium, where a computer program is stored, wherein the computer program is configured to execute the steps in any one of the foregoing method embodiments when running.

S1. Receive a first signal sent by a vehicle;

S2. Add characteristic information of the target object to the first signal to obtain a second signal.

S3: Send a second signal to the vehicle in response to the first signal, wherein the second signal and the second signal are used to obtain first position information of the target object, and the first position information and characteristic information are used to control the vehicle to travel.

Optionally, in this embodiment, the foregoing storage medium may include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (Random Access Memory, RAM), A variety of media that can store computer programs, such as removable hard disks, magnetic disks, or optical disks.

An embodiment of the present application further provides an electronic device including a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the foregoing method embodiments.

Optionally, the electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the processor, and the input-output device is connected to the processor.

Optionally, in this embodiment, the foregoing processor may be configured to execute the following steps by a computer program:

S1. Send a first signal to the area where the vehicle is located;

An embodiment of the present application further provides another electronic device, including a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to perform the steps in any one of the foregoing method embodiments.

S1. Receive a first signal sent by a vehicle;

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementation manners, and details are not described herein again in this embodiment.

Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present application may be implemented by a general-purpose computing device, and they may be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Above, optionally, they may be implemented with program code executable by a computing device, so that they may be stored in a storage device and executed by the computing device, and in some cases, may be in a different order than here The steps shown or described are performed, or they are separately made into individual integrated circuit modules, or multiple modules or steps in them are made into a single integrated circuit module for implementation. As such, this application is not limited to any particular combination of hardware and software.

The above description is only an optional embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, or improvement made within the principles of this application shall be included in the protection scope of this application.

Industrial applicability:

It can be known from the foregoing description that, since the second signal sent by the received target object in response to the first signal carries the characteristic information of the target object, the first position information of the target object is obtained according to the first signal and the second signal. Later, the vehicle control strategy can be formulated based on the first location information and the target object's characteristic information, so that the vehicle can be controlled according to the characteristics of the target object, which can solve the problem of low accuracy of vehicle control during automatic driving. To achieve the effect of improving the accuracy of vehicle control during autonomous driving.

Claims

A vehicle control method includes:

Sending a first signal to the area where the vehicle is located;

Receiving a second signal sent by a target object in an area where the vehicle is located in response to the first signal, wherein the second signal carries characteristic information of the target object;

Acquiring first position information of the target object according to the first signal and the second signal;

Controlling the vehicle to travel based on the first position information and the characteristic information.
The method according to claim 1, wherein controlling the vehicle to travel based on the first location information and the characteristic information comprises:

Obtaining the target object type to which the target object belongs and the object information of the target object from the characteristic information;

Determining a driving strategy according to the target object type, the object information, and the first position information;

Controlling the vehicle to travel in accordance with the driving strategy.
The method according to claim 2, wherein the target object type is a first type, and the first type is used to indicate that the target object is a first signal transmission device carried by a pedestrian in an area where the vehicle is located The object information includes identity information of the pedestrian, wherein determining a driving strategy according to the target object type, the object information, and the first location information includes:

Determining the type of the driving strategy corresponding to the first type from an object type and a driving strategy type that have a corresponding relationship is an avoidance strategy, wherein the avoidance strategy is used to indicate a manner in which the vehicle avoids pedestrians during driving;

Determining a target avoidance policy corresponding to the target object according to the first position information and the identity information.
The method according to claim 2, wherein the target object type is a second type, and the second type is used to indicate that the target object is a second signal transmission carried by a transportation facility in the area where the vehicle is located Device, the object information includes traffic information of the transportation facility, wherein determining a driving strategy according to the target object type, the object information, and the first location information includes:

It is determined from the object type and the driving strategy type that have a corresponding relationship that the driving strategy type corresponding to the second type is a traffic strategy, wherein the traffic strategy is used to instruct the vehicle to move from the transportation facility during the driving process. Regional traffic patterns;

Determining a target traffic strategy corresponding to the target object according to the first location information and the traffic information.
The method according to claim 1, wherein sending the first signal to an area where the vehicle is located comprises:

Sending the first signal to an area where the vehicle is located through a plurality of third signal transmission devices provided on the vehicle, wherein each of the plurality of third signal transmission devices transmits the third signal The first signal sent by the device carries identification information of each of the third signal transmission devices.
The method according to claim 5, wherein receiving a second signal sent by a target object in an area where the vehicle is located in response to the first signal comprises:

Receiving a plurality of second signals sent by the target object in response to a plurality of the first signals through a plurality of third signal transmission devices provided on the vehicle, wherein each of the plurality of second signals is The second signal carries the identification information carried by the first signal to which each of the second signals responds.
The method according to claim 6, wherein acquiring the first position information of the target object according to the first signal and the second signal comprises:

Determining the first signal and the second signal carrying the same identification information as a set of signal pairs to obtain multiple sets of signal pairs;

Determining a distance between each of the plurality of third signal transmission devices and the target object according to the plurality of sets of signal pairs;

The first position information is determined according to each of the distances and second position information of each of the third signal transmission devices.
A vehicle control method includes:

Receiving a first signal sent by a vehicle;

Adding feature information of a target object to the first signal to obtain a second signal;

Sending the second signal to the vehicle in response to the first signal, wherein the second signal and the second signal are used to obtain first position information of the target object, the first position information And the characteristic information is used to control the vehicle travel.
The method according to claim 8, wherein adding characteristic information of a target object to the first signal to obtain a second signal comprises:

Adding the target object type to which the target object belongs and the object information of the target object to the first signal to obtain the second signal, where the target object type is the first type, the first When a type is used to indicate that the target object is a first signal transmission device carried by a pedestrian in the area where the vehicle is located, the object information includes identity information of the pedestrian, and when the target object type is the first Two types, where the second type is used to indicate that the target object is a second signal transmission device carried by a transportation facility in an area where the vehicle is located, the object information includes traffic information of the transportation facility.
A control device for a vehicle, including:

A first sending module configured to send a first signal to an area where a vehicle is located;

A first receiving module configured to receive a second signal sent by a target object in an area where the vehicle is located in response to the first signal, wherein the second signal carries characteristic information of the target object;

An acquisition module, configured to acquire first position information of the target object according to the first signal and the second signal;

And a control module configured to control the vehicle to travel according to the first position information and the characteristic information.
A control device for a vehicle includes:

A second receiving module configured to receive a first signal sent by a vehicle;

An adding module configured to add characteristic information of a target object to the first signal to obtain a second signal;

A second sending module configured to send the second signal to the vehicle in response to the first signal, wherein the second signal and the second signal are used to obtain first position information of the target object , The first position information and the characteristic information are used to control the vehicle to travel.
A vehicle control system includes a controller, a signal transmission device provided on the vehicle, and a signal transmission device provided on a target object, wherein:

The signal transmission device provided on the vehicle is configured to send a first signal to an area where the vehicle is located, and receive a second signal sent by the signal transmission device provided on the target object in response to the first signal, wherein: The second signal carries characteristic information of the target object;

The controller is configured to obtain first position information of the target object according to the first signal and the second signal, and control the vehicle to travel according to the first position information and the characteristic information;

The signal transmission device provided on the target object is configured to receive a first signal sent by the signal transmission device provided on a vehicle, and add characteristic information of the target object to the first signal to obtain a first signal. Two signals, and sending the second signal to the signal transmission device provided on the vehicle in response to the first signal.
A storage medium stores a computer program therein, wherein the computer program is configured to execute the method described in any one of claims 1 to 9 when running.
An electronic device includes a memory and a processor, and a computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 9.