WO2020258602A1 - 智能汽车的控制方法、装置及存储介质 - Google Patents

智能汽车的控制方法、装置及存储介质 Download PDF

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Publication number
WO2020258602A1
WO2020258602A1 PCT/CN2019/111877 CN2019111877W WO2020258602A1 WO 2020258602 A1 WO2020258602 A1 WO 2020258602A1 CN 2019111877 W CN2019111877 W CN 2019111877W WO 2020258602 A1 WO2020258602 A1 WO 2020258602A1
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WO
WIPO (PCT)
Prior art keywords
smart car
path
information
initial driving
route
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/111877
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English (en)
French (fr)
Inventor
李海峰
周俊杰
郝家余
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Chery Automobile Co Ltd
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Chery Automobile Co Ltd
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Filing date
Publication date
Application filed by Chery Automobile Co Ltd filed Critical Chery Automobile Co Ltd
Publication of WO2020258602A1 publication Critical patent/WO2020258602A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Definitions

  • This application relates to the technical field of smart cars, and in particular to a control method, device and storage medium of a smart car.
  • a smart car may include an automatic driving system, which is a system that includes environmental perception, planning and decision-making, and multi-level assisted driving.
  • the smart car can realize automatic driving through the control of the automatic driving system.
  • smart cars can perceive the current traffic environment information and vehicle status information and other multi-source information according to the installed sensors, and can plan the driving route of the smart car based on the perceived traffic environment information and vehicle status information and other multi-source information information. And control the smart car to drive according to the planned driving route to realize automatic driving.
  • the embodiments of the present application provide a control method, device, and storage medium of a smart car, which are used to solve the problem of inaccurate control of the smart car caused by inaccurate path planning in related technologies.
  • the technical solution is as follows:
  • a method for controlling a smart car includes:
  • the smart car is controlled.
  • the controlling the smart car based on the traffic condition information includes:
  • the smart car When the smart car receives the road congestion information sent by the roadside device, it determines path information based on the road congestion information, and controls the smart car based on the path information; and/or,
  • the smart car When the smart car receives the signal light status information sent by the roadside device, control the smart car based on the signal light status information; and/or,
  • the smart car When the smart car receives the obstacle information sent by the roadside device, the smart car is controlled based on the obstacle information.
  • the determining path information based on the road congestion information and controlling the smart car based on the path information includes:
  • the initial driving path is determined as the driving path of the smart car, and the smart car is controlled to drive according to the initial driving path ;
  • the alternative route is that the current location is the starting address, the destination address is the same as the initial driving route, and A path with a road condition better than the initial driving path road condition;
  • control the smart car to brake and wait and/or drive according to the initial travel route.
  • the controlling the smart car based on the status information of the signal light includes:
  • the smart car is controlled to perform a stop and start operation.
  • the controlling the smart car based on the obstacle information includes:
  • control the smart car When there is an obstacle in the driving direction of the smart car, and the distance between the smart car and the obstacle is less than or equal to the safe distance, control the smart car to decelerate, brake and/or change lanes .
  • the obtaining the initial driving path of the smart car includes:
  • a path acquisition request is sent to the background server, the path acquisition request carries a start address and a destination address, and the path acquisition request is used to instruct the background server to base on the start address and Planning the initial driving path with a destination address, and sending the initial driving path to the smart car;
  • the method further includes:
  • a control device for a smart car includes:
  • the acquisition module is used to acquire the initial driving path of the smart car
  • a receiving module configured to receive traffic condition information sent by a roadside device when the smart car is traveling according to the initial driving route
  • the control module is used to control the smart car based on the traffic road condition information.
  • control module is used to:
  • the smart car When the smart car receives the road congestion information sent by the roadside device, it determines path information based on the road congestion information, and controls the smart car based on the path information; and/or,
  • the smart car When the smart car receives the signal light status information sent by the roadside device, control the smart car based on the signal light status information; and/or,
  • the smart car When the smart car receives the obstacle information sent by the roadside device, the smart car is controlled based on the obstacle information.
  • control module is also used to:
  • the initial driving path is determined as the driving path of the smart car, and the smart car is controlled to drive according to the initial driving path ;
  • the alternative route is that the current location is the starting address, the destination address is the same as the initial driving route, and A path with a road condition better than the initial driving path road condition;
  • control the smart car to brake and wait and/or drive according to the initial travel route.
  • control module is also used to:
  • the smart car is controlled to perform a stop and start operation.
  • control module is also used to:
  • control the smart car When there is an obstacle in the driving direction of the smart car, and the distance between the smart car and the obstacle is less than or equal to the safe distance, control the smart car to decelerate, brake and/or change lanes .
  • the acquisition module includes:
  • the sending sub-module is used to send a path acquisition request to the background server when a path acquisition instruction is received.
  • the path acquisition request carries a start address and a destination address, and the path acquisition request is used to instruct the background server to Planning the initial driving path by the start address and the destination address, and sending the initial driving path to the smart car;
  • the receiving sub-module is used to receive the initial driving path sent by the background server.
  • the device further includes:
  • the update module is used to update the local route during the driving process according to the initial driving route
  • the driving module is used for driving according to the local path.
  • a computer-readable storage medium is provided, and a computer program is stored in the storage medium.
  • the computer program is executed by a processor, the method for controlling a smart car provided above is realized.
  • a smart car in another aspect, and the smart car includes:
  • a memory for storing processor executable instructions
  • the processor is configured to execute the steps of the smart car control method provided above.
  • a computer program product containing instructions which when running on a computer, causes the computer to execute the steps of the smart car control method provided above.
  • the traffic condition information sent by the roadside device can also be obtained during driving according to the obtained initial driving route, and the smart car can be controlled according to the traffic condition information, because the roadside device can be combined with the roadside device during driving.
  • the sent traffic condition information controls the smart car, which improves the inaccuracy of the smart car control caused by the inaccurate driving path, thereby improving the accuracy of controlling the smart car.
  • FIG. 1 is a schematic structural diagram of a control system of a smart car provided by an embodiment of the present application
  • FIG. 2 is a flowchart of a control method for a smart car provided by an embodiment of the present application
  • FIG. 3 is a flowchart of another smart car control method provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a control device for a smart car provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an acquisition module provided by an embodiment of the present application.
  • Fig. 6 is a schematic structural diagram of another smart car control device provided by an embodiment of the present application.
  • Fig. 7 is a schematic structural diagram of a smart car provided by an embodiment of the present application.
  • smart cars can realize automatic driving under the control of the installed automatic driving system.
  • smart cars can perceive the current traffic environment information and vehicle status information and other multi-source information according to the installed sensors, and can plan smart cars based on the perceived traffic environment information and vehicle status information and other multi-source information Information Driving route, and control the smart car to follow the planned driving route to realize automatic driving.
  • Driving route the perceived traffic environment information and vehicle status information and other multi-source information information Driving route
  • the smart car to follow the planned driving route to realize automatic driving.
  • a large number of sensors need to be installed on each smart car, and even with a large number of sensors, due to restrictions on viewing angles and height, the sensors installed on smart cars cannot cover all blind areas. This leads to inaccurate path planning and inaccurate autonomous driving control of smart cars.
  • embodiments of the present application provide a method for controlling a smart car that can improve the accuracy of path planning and the accuracy of smart car control.
  • Fig. 1 is a schematic structural diagram of a control system for a smart car provided by an embodiment of the application.
  • the system includes a smart car 1, a roadside device 2 and an acquired server 3.
  • the smart car 1 is in communication connection with the roadside device 2.
  • the smart car 1 and the roadside device 2 can be connected through V2X technology communication, and the smart car 1 and the roadside device 2 can be respectively connected to the background server 3 in communication.
  • the background server 3 is used to plan the driving path of the smart car 1.
  • the roadside device 2 is used to obtain traffic road condition information and send the traffic road condition information to the smart car 1.
  • the smart car 1 is used to obtain the initial driving path, and when receiving the traffic condition information sent by the roadside device 2 during driving according to the initial driving path, the smart car is controlled based on the traffic condition information.
  • the smart car 1 may include an in-vehicle communication system 11, a positioning system 12, a vehicle control system 13, etc.
  • the in-vehicle communication system 11 is used to communicate with the roadside equipment 2 and a background server
  • the positioning system 12 is used to locate the smart car
  • the vehicle control system 13 is used to control the smart car 1.
  • the roadside equipment 2 may include a roadside laser radar 21, a roadside visual inspection system 22, a roadside communication system 23, a roadside server 24, and the like.
  • the roadside lidar 21 can be installed at intersections or specific road sections to identify and classify surrounding obstacles, assist smart cars in accurate positioning, track the state of moving objects, etc.; roadside visual inspection system 22 can be installed on the road The side is used for vehicle flow detection, target recognition and tracking, etc.; the roadside communication system 23 is used for connecting with the smart car 1 and the background server.
  • FIG. 2 is a flowchart of a method for controlling a smart car provided by an embodiment of the application. Referring to FIG. 2, the method is applied to a smart car and includes the following steps.
  • Step 201 Obtain the initial driving path of the smart car.
  • Step 202 Receive the traffic condition information sent by the roadside device while the smart car is traveling according to the initial driving route.
  • Step 203 Control the smart car based on the traffic information.
  • the traffic condition information sent by the roadside device can also be obtained during driving according to the obtained initial driving route, and the smart car can be controlled according to the traffic condition information, because the roadside device can be combined with the roadside device during driving.
  • the sent traffic condition information controls the smart car, which improves the inaccuracy of the smart car control caused by the inaccurate driving path, thereby improving the accuracy of controlling the smart car.
  • controlling the smart car based on the traffic information includes:
  • the smart car When the smart car receives the road congestion information sent by the roadside device, it determines the path information based on the road congestion information, and controls the smart car based on the path information; and/or,
  • the smart car When the smart car receives the signal light status information sent by the roadside device, control the smart car based on the signal light status information; and/or,
  • the smart car When the smart car receives the obstacle information sent by the roadside device, the smart car is controlled based on the obstacle information.
  • determining path information based on the road congestion information, and controlling the smart car based on the path information includes:
  • the initial driving path is determined as the driving path of the smart car, and the smart car is controlled to drive according to the initial driving path;
  • the alternative route is that the current location is the starting address, the destination address is the same as the initial driving route, and the road conditions are better than this.
  • the smart car is controlled to brake and wait and/or drive according to the initial travel route.
  • controlling the smart car based on the status information of the signal light includes:
  • the smart car is controlled to stop and start.
  • controlling the smart car based on the obstacle information includes:
  • the smart car When there is an obstacle in the driving direction of the smart car, and the distance between the smart car and the obstacle is less than or equal to the safe distance, the smart car is controlled to decelerate, brake and/or change lanes.
  • obtaining the initial driving path of the smart car includes:
  • a path acquisition request is sent to the background server.
  • the path acquisition request carries a start address and a destination address, and the path acquisition request is used to instruct the background server to plan the path based on the start address and destination address.
  • Initial driving path and sending the initial driving path to the smart car;
  • the smart car after obtaining the initial driving path of the smart car, it further includes:
  • FIG. 3 is a flowchart of a method for controlling a smart car according to an embodiment of the application. Referring to FIG. 3, the method includes the following steps.
  • Step 301 The smart car obtains the initial driving path.
  • a smart car When a smart car is performing autonomous driving, it usually needs to drive according to a planned driving path. If there is no driving path, the smart car cannot perform automatic driving. Therefore, the smart car needs to obtain the initial driving path.
  • the operation of the smart car to obtain the initial driving path may be: when receiving the path obtaining instruction, send a path obtaining request to the background server, the path obtaining request carries the start address and the destination address, and the path obtaining request is used Yu instructs the background server to plan the initial driving path based on the start address and the destination address, and send the initial driving path to the smart car. That is, after the smart car sends a route acquisition request to the background server, the background server can plan the initial driving route based on the start address and destination address carried in the route acquisition request after receiving the route acquisition request, and send the initial driving route to Smart car: The smart car receives the initial driving path sent by the background server.
  • the path acquisition instruction is used to acquire the initial driving path of the smart car.
  • the path acquisition instruction can be triggered by the passenger or the driver in the smart car through the first designated operation.
  • the designated operation can be a click operation, a voice operation, Sliding operation and so on.
  • start address and destination address can also be entered into the smart car by the passenger or the driver in the smart car through a second designated operation.
  • the second designated operation can be an input operation, a click operation, or a voice operation. , Sliding operation, etc.
  • the driver can input the start address and the destination address in the vehicle terminal of the smart car through input operations.
  • the starting address can also be automatically obtained by the smart car after positioning through the positioning system.
  • the smart car since the initial driving path obtained by the smart car is usually the global path, when the smart car drives according to the global path, it usually needs to obtain the local path and drive according to the local path. Therefore, the smart car is acquiring After learning the initial driving route, you can also update the local route and follow the local route during the process of driving according to the initial driving route.
  • Step 302 The smart car receives the traffic road condition information sent by the roadside device during the process of driving according to the initial driving route.
  • the roadside equipment can obtain traffic and road condition information at the current location, and the roadside equipment can communicate with the smart car in close range.
  • the roadside device can send traffic information to the smart car within the communication range of the short-range communication technology, so that the smart car can receive the traffic road condition information sent by the roadside device during the initial driving route. .
  • the traffic road condition information may include at least one of road congestion information, signal light status information, obstacle information, and the like.
  • the road congestion information can be determined by the roadside equipment through the installed visual sensors, lidar, etc. to obtain the traffic volume and distance between vehicles, or it can be the roadside equipment will recognize the traffic volume, vehicle
  • the back-end server determines that the road condition and congestion information is sent to the roadside equipment
  • the signal light status information can be obtained by the roadside equipment and the traffic signal light through information interaction, the signal light status information can include the color of the signal light, the remaining time of the color, etc.
  • Obstacle information can be obtained by identifying objects near the roadside equipment through installed visual sensors, lidar, etc., after the roadside equipment generates map information based on the junction environment model built.
  • the roadside device after acquiring the traffic condition information, can not only send the traffic condition information to the smart car, but also can send the traffic condition information to the background server through wireless communication technology.
  • Step 303 The smart car controls the smart car based on the traffic information.
  • the traffic condition information may include at least one of congestion information, signal light status information, obstacle information, etc.
  • the smart car is controlled in different ways according to different information.
  • a smart car can control the smart car based on traffic conditions information: when the smart car receives the road congestion information sent by the roadside device, it determines the path information based on the road congestion information, and performs a pair based on the path information.
  • the smart car controls; and/or, when the smart car receives the signal light status information sent by the roadside device, it controls the smart car based on the signal light status information; and/or when the smart car receives the obstacle sent by the roadside device When information, the smart car is controlled based on obstacle information.
  • the operation of the smart car to control the smart car based on the signal lamp status information may be: controlling the smart car to stop and start according to the signal lamp status information. For example, when the color of the signal light is green, the smart car is controlled to maintain the current driving speed; when the color of the signal light is red, the smart car is controlled to stop driving; when the color of the signal light changes from red to green, and the smart car is driven by the previous red signal light After stopping, control the smart car to restart at the speed before stopping.
  • the operation of the smart car to control the smart car based on the signal lamp state information may also be: the smart car obtains the current driving state of the car, and controls the smart car based on the driving state and the signal lamp state information. For example, when the color of the signal light is green and the driving speed of the smart car is greater than 0, the smart car is controlled to drive according to the current driving state, and the smart car is controlled to maintain the current light state; when the color information of the signal light is red, and the remaining time of the signal light When it is greater than or equal to the first duration threshold and the driving speed is 0, control the smart car to stop driving, control the low beam and/or high beam of the smart car to turn off, and turn on the width light; when the signal light color information is red When it turns green and the driving speed is greater than 0, the smart car is controlled to start driving again at the driving speed before stopping, and the smart car is controlled to restore the state of the lights before stopping.
  • the smart car obtains the current driving state of the car, and controls the smart car based on the driving state and the
  • the operation of the smart car to control the smart car based on the obstacle information can be: when there is an obstacle in the driving direction of the smart car, and the distance between the smart car and the obstacle is less than or equal to the safe distance, control Smart cars slow down, brake and/or change lanes.
  • the smart car Since there are obstacles in the direction of the smart car, and the distance between the smart car and the obstacle is less than or equal to the safe distance, if the smart car is still driving in the current driving state, the smart car is likely to be in contact with the obstacle A collision occurs. Therefore, in order to reduce the possibility of a collision accident, the smart car can be controlled to decelerate, brake and/or change lanes.
  • a smart car determines route information based on road congestion information, and controls the smart car based on the route information may be: when it is determined that there is no congestion in the driving direction of the smart car based on the road congestion information, the initial driving route is determined It is the driving path of the smart car, and controls the smart car to drive according to the initial driving path; when it is determined that there is congestion in the driving direction of the smart car based on the road congestion information, determine whether there is an alternative route, and the alternative route is the current location as the starting address , The destination address is the same as the initial driving route, and the road conditions are better than the road conditions of the preset initial route; when there is an alternative route, the smart car is controlled to follow the alternative route; when there is no alternative route, the smart car is controlled Brake waiting and/or follow the initial driving route.
  • the initial driving path can be determined as the smart car And control the smart car to follow the initial driving path.
  • the smart car can determine whether there is an alternative route.
  • the alternative route is the current location as the starting address, the destination address and the initial driving route.
  • the same, and the road conditions are better than the initial driving path road conditions; when there is an alternative route, the smart car is controlled to drive along the alternative route.
  • the smart car can be controlled to brake and wait and/or drive according to the initial driving route.
  • the operation of the smart car to determine whether there is an alternative path may be: locating the current location through the positioning system, determining the current location as the starting address, and continuing to determine the destination address obtained in step 301 as the destination Address, send an alternate path acquisition request to the background server, the alternate path acquisition request carries the start address, destination address, and current road condition information; after the background server receives the alternate path acquisition request, it will follow the start address and destination Address planning path, determine the road conditions of the planned path, compare the road conditions of the planned path with the road conditions of the initial driving path, when there is a path in the planned path that has better road conditions than the initial driving path, the planned path The path in the path whose road conditions are better than the initial driving path is determined as the alternate path, and the alternate path is sent to the smart car; when there is no path with road conditions better than the initial driving path in the planned path, it is determined that there is no alternate path , And send the planned route, the road condition of the route and the message that there is no backup route to the smart car.
  • Step 304 The smart car prompts the control result of the smart car through the prompt message.
  • the driver may not understand the situation of the smart car, and may control the smart car at will, which may increase the possibility of accidents. Therefore, in order to improve the driving safety of the smart car, After control, the smart car can prompt the control result of the smart car through prompt information, thereby reducing the risk of accidents caused by the driver's operation of the smart car.
  • the smart car can prompt the control result of the smart car by playing prompt information and/or displaying prompt information.
  • the smart car can also obtain the traffic condition information sent by the roadside device during the process of driving according to the obtained initial driving route, and the smart car can be controlled according to the traffic condition information.
  • the traffic condition information sent by the side device controls the smart car, which improves the inaccuracy of the smart car control caused by the inaccurate driving path, thereby improving the accuracy of controlling the smart car.
  • Fig. 4 is a block diagram of a control device for a smart car provided by an embodiment of the present disclosure.
  • the device can be implemented by software, hardware or a combination of both.
  • the device includes: an acquisition module 401, a receiving module 402, and a control module 403.
  • the obtaining module 401 is used to obtain the initial driving path of the smart car
  • the receiving module 402 is configured to receive traffic condition information sent by a roadside device when the smart car is traveling according to the initial driving route;
  • the control module 403 is used to control the smart car based on the traffic information.
  • control module 403 is used to:
  • the smart car When the smart car receives the road congestion information sent by the roadside device, it determines path information based on the road congestion information, and controls the smart car based on the path information; and/or,
  • the smart car When the smart car receives the signal light status information sent by the roadside device, control the smart car based on the signal light status information; and/or,
  • the smart car When the smart car receives the obstacle information sent by the roadside device, the smart car is controlled based on the obstacle information.
  • control module 403 is also used to:
  • the initial driving path is determined as the driving path of the smart car, and the smart car is controlled to drive according to the initial driving path ;
  • the alternative route is that the current location is the starting address, the destination address is the same as the initial driving route, and A path with a road condition better than the initial driving path road condition;
  • control the smart car to brake and wait and/or drive according to the initial travel route.
  • control module 403 is also used to:
  • the smart car is controlled to perform a stop and start operation.
  • control module is also used to:
  • control the smart car When there is an obstacle in the driving direction of the smart car, and the distance between the smart car and the obstacle is less than or equal to the safe distance, control the smart car to decelerate, brake and/or change lanes .
  • the acquiring module 401 includes:
  • the sending submodule 4011 is configured to send a path obtaining request to the background server when a path obtaining instruction is received, the path obtaining request carries a start address and a destination address, and the path obtaining request is used to instruct the background server Plan the initial travel path based on the start address and the destination address, and send the initial travel path to the smart car;
  • the receiving sub-module 4012 is configured to receive the initial driving path sent by the background server.
  • the device further includes:
  • the update module 404 is configured to update the local route during the driving process according to the initial driving route;
  • the driving module 405 is used for driving according to the local path.
  • the smart car can also obtain the traffic condition information sent by the roadside device during the process of driving according to the acquired initial driving route, and the smart car can be controlled according to the traffic condition information.
  • the smart car can be controlled in combination with the traffic condition information sent by the roadside device, which improves the inaccuracy of the smart car control caused by the inaccurate driving path, thereby improving the accuracy of controlling the smart car.
  • control device of the smart car provided in the above embodiment controls the smart car
  • only the division of the above functional modules is used as an example.
  • the above functions can be allocated to different functional modules as needed.
  • Complete that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above.
  • the control device of the smart car provided in the above-mentioned embodiment belongs to the same concept as the embodiment of the control method of the smart car.
  • the specific implementation process please refer to the method embodiment, which will not be repeated here.
  • Fig. 7 shows a structural block diagram of a smart car 700 provided by an exemplary embodiment of the present application.
  • the smart car 700 includes a processor 701 and a memory 702.
  • the processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on.
  • the processor 701 can adopt DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, Field Programmable Gate Array), PLA (Programmable Logic Array, Programmable Logic Array) at least one hardware form to achieve.
  • the processor 701 may also include a main processor and a coprocessor.
  • the main processor is a processor used to process data in the awake state, also called a CPU (Central Processing Unit, central processing unit); the coprocessor is A low-power processor used to process data in the standby state.
  • the processor 701 may be integrated with a GPU (Graphics Processing Unit, image processor), the GPU is used to render and draw the content that needs to be displayed on the display screen.
  • the processor 701 may further include an AI (Artificial Intelligence, artificial intelligence) processor, and the AI processor is used to process calculation operations related to machine learning.
  • AI Artificial Intelligence, artificial intelligence
  • the memory 702 may include one or more computer-readable storage media, which may be non-transitory.
  • the memory 702 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices.
  • the non-transitory computer-readable storage medium in the memory 702 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 701 to implement the smart car provided in the method embodiment of the present application. Control method.
  • the smart car 700 may optionally further include: a peripheral device interface 703 and at least one peripheral device.
  • the processor 701, the memory 702, and the peripheral device interface 703 may be connected by a bus or a signal line.
  • Each peripheral device can be connected to the peripheral device interface 703 through a bus, a signal line or a circuit board.
  • the peripheral device includes: at least one of a radio frequency circuit 704, a touch display screen 705, a camera 706, an audio circuit 707, a positioning component 708, and a power supply 709.
  • the peripheral device interface 703 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 701 and the memory 702.
  • the processor 701, the memory 702, and the peripheral device interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one of the processor 701, the memory 702, and the peripheral device interface 703 or The two can be implemented on separate chips or circuit boards, which are not limited in this embodiment.
  • the radio frequency circuit 704 is used for receiving and transmitting RF (Radio Frequency, radio frequency) signals, also called electromagnetic signals.
  • the radio frequency circuit 704 communicates with a communication network and other communication devices through electromagnetic signals.
  • the radio frequency circuit 704 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals.
  • the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and so on.
  • the radio frequency circuit 704 can communicate with other terminals through at least one wireless communication protocol.
  • the wireless communication protocol includes but is not limited to: metropolitan area network, various generations of mobile communication networks (2G, 3G, 4G and 5G), wireless local area network and/or WiFi (Wireless Fidelity, wireless fidelity) network.
  • the radio frequency circuit 704 may also include NFC (Near Field Communication, short-range wireless communication) related circuits, this application does not limit this.
  • the display screen 705 is used to display a UI (User Interface, user interface).
  • the UI can include graphics, text, icons, videos, and any combination thereof.
  • the display screen 705 also has the ability to collect touch signals on or above the surface of the display screen 705.
  • the touch signal may be input to the processor 701 as a control signal for processing.
  • the display screen 705 may also be used to provide virtual buttons and/or virtual keyboards, also called soft buttons and/or soft keyboards.
  • the display screen 705 may be a flexible display screen, which is set on the curved surface or folding surface of the smart car 700. Furthermore, the display screen 705 can also be set as a non-rectangular irregular figure, that is, a special-shaped screen.
  • the display screen 705 can adopt LCD (Liquid Crystal Display, liquid crystal display), OLED (Organic Light-Emitting Diode, organic light-emitting diode) and other materials.
  • the camera assembly 706 is used to capture images or videos.
  • the audio circuit 707 may include a microphone and a speaker.
  • the microphone is used to collect sound waves of the user and the environment, and convert the sound waves into electrical signals and input them to the processor 701 for processing, or input to the radio frequency circuit 704 to implement voice communication. For the purpose of stereo collection or noise reduction, there may be multiple microphones, which are respectively set in different parts of the smart car 700.
  • the microphone can also be an array microphone or an omnidirectional acquisition microphone.
  • the speaker is used to convert the electrical signal from the processor 701 or the radio frequency circuit 704 into sound waves.
  • the speaker can be a traditional membrane speaker or a piezoelectric ceramic speaker.
  • the speaker When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into human audible sound waves, but also convert the electrical signal into human inaudible sound waves for purposes such as distance measurement.
  • the audio circuit 707 may also include a headphone jack.
  • the positioning component 708 is used to locate the current geographic location of the smart car 700 to achieve navigation or LBS (Location Based Service, location-based service).
  • the positioning component 708 may be a positioning component based on the GPS (Global Positioning System, Global Positioning System) of the United States, the Beidou system of China, the Granus system of Russia, or the Galileo system of the European Union.
  • the power supply 709 is used to supply power to various components in the smart car 700.
  • the smart car 700 further includes one or more sensors 710.
  • the embodiment of the present application not only provides a smart car, but also includes a processor and a memory for storing executable instructions of the processor, wherein the processor is configured to execute the embodiments shown in FIG. 2 and FIG. 3
  • the embodiment of the present application also provides a computer-readable storage medium in which a computer program is stored. When the computer program is executed by a processor, the embodiment shown in FIG. 2 and FIG. Control method of smart car.
  • FIG. 7 does not constitute a limitation on the smart car 700, and may include more or less components than those shown in the figure, or combine certain components, or adopt different component arrangements.

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Abstract

一种智能汽车的控制方法、装置及存储介质，属于智能汽车技术领域，该方法包括：获取智能汽车的初始行驶路径（201）；在该智能汽车按照该初始行驶路径行驶过程中接收路侧设备发送的交通路况信息（202）；基于该交通路况信息，对该智能汽车进行控制（203）。该方法在智能汽车（1）按照获取的初始行驶路径行驶过程中还可以获取路侧设备（2）发送的交通路况信息，根据交通路况信息可以对智能汽车（1）进行控制，由于在行驶过程中可以结合路侧设备（2）发送的交通路况信息对智能汽车（1）进行控制，改善了因行驶路径不准确而导致对智能汽车（1）控制的不准确性，从而提高了控制智能汽车（1）的准确性。

Description

智能汽车的控制方法、装置及存储介质 技术领域
本申请涉及智能汽车技术领域，特别涉及一种智能汽车的控制方法、装置及存储介质。
 背景技术
随着技术的发展，汽车智能化程度越来越高。其中，智能汽车可以包括自动驾驶系统，自动驾驶系统为包括环境感知、规划决策、多等级辅助驾驶等功能于一体的系统，智能汽车通过自动驾驶系统的控制可以实现自动驾驶。
目前，智能汽车可以根据安装的传感器感知当前所处的交通环境信息和车辆状态信息等多源信息，根据感知到的交通环境信息和车辆状态信息等多源信息信息可以对智能汽车规划行驶路线，并控制智能汽车按照规划的行驶路线行驶，以实现自动驾驶。
 技术问题
但是，为了实现智能汽车的自动驾驶，每辆智能汽车上都需要安装大量的传感器，且即使具备大量的传感器，由于视角、高度等限制，智能汽车上安装的传感器也无法覆盖到所有盲区，从而导致路径规划不准确，进而对智能汽车进行自动驾驶控制也不准确。
 技术解决方案
本申请实施例提供了一种智能汽车的控制方法、装置及存储介质，用于解决相关技术中路径规划不准确导致智能汽车控制不准确的问题。所述技术方案如下：
一方面，提供了一种智能汽车的控制方法，所述方法包括：
获取智能汽车的初始行驶路径；
在所述智能汽车按照所述初始行驶路径行驶过程中接收路侧设备发送的交通路况信息；
基于所述交通路况信息，对所述智能汽车进行控制。
在一些实施例中，所述基于所述交通路况信息，对所述智能汽车进行控制，包括：
当所述智能汽车接收到所述路侧设备发送的路况拥堵信息时，基于所述路况拥堵信息确定路径信息，并基于所述路径信息对所述智能汽车进行控制；和/或，
当所述智能汽车接收到所述路侧设备发送的信号灯状态信息时，基于所述信号灯状态信息对所述智能汽车进行控制；和/或，
当所述智能汽车接收到所述路侧设备发送的障碍物信息时，基于所述障碍物信息对所述智能汽车进行控制。
在一些实施例中，所述基于所述路况拥堵信息确定路径信息，并基于所述路径信息对所述智能汽车进行控制，包括：
当基于所述路况拥堵信息确定所述智能汽车行驶方向上不存在拥堵时，将所述初始行驶路径确定为所述智能汽车的行驶路径，并控制所述智能汽车按照所述初始行驶路径进行行驶；
当基于所述路况拥堵信息确定所述智能汽车行驶方向上存在拥堵时，确定是否存在备选路径，所述备选路径为当前位置为起始地址、目的地址与所述初始行驶路径相同，且路况优于所述初始行驶路径路况的路径；
当存在所述备选路径时，控制所述智能汽车按照所述备选路径进行行驶；
当不存在所述备选路径时，控制所述智能汽车制动等待和/或按照所述初始行驶路径进行行驶。
在一些实施例中，所述基于所述信号灯状态信息对所述智能汽车进行控制，包括：
按照所述信号灯状态信息控制所述智能汽车进行停启操作。
在一些实施例中，所述基于所述障碍物信息对所述智能汽车进行控制，包括：
当所述智能汽车的行驶方向上存在障碍物，且所述智能汽车与所述障碍物之间的距离小于或等于安全距离时，控制所述智能汽车减速行驶、制动和/或变道行驶。
在一些实施例中，所述获取智能汽车的初始行驶路径，包括：
当接收到路径获取指令时，向后台服务器发送路径获取请求，所述路径获取请求中携带起始地址和目的地址，且所述路径获取请求用于指示所述后台服务器基于所述起始地址和目的地址规划所述初始行驶路径，并将所述初始行驶路径发送至所述智能汽车；
接收所述后台服务器发送的所述初始行驶路径。
在一些实施例中，所述获取智能汽车的初始行驶路径之后，还包括：
在按照所述初始行驶路径进行行驶过程中，更新局部路径；
按照所述局部路径进行行驶。
另一方面，提供了一种智能汽车的控制装置，所述装置包括：
获取模块，用于获取智能汽车的初始行驶路径；
接收模块，用于在所述智能汽车按照所述初始行驶路径行驶过程中接收路侧设备发送的交通路况信息；
控制模块，用于基于所述交通路况信息，对所述智能汽车进行控制。
在一些实施例中，所述控制模块用于：
当所述智能汽车接收到所述路侧设备发送的路况拥堵信息时，基于所述路况拥堵信息确定路径信息，并基于所述路径信息对所述智能汽车进行控制；和/或，
当所述智能汽车接收到所述路侧设备发送的信号灯状态信息时，基于所述信号灯状态信息对所述智能汽车进行控制；和/或，
当所述智能汽车接收到所述路侧设备发送的障碍物信息时，基于所述障碍物信息对所述智能汽车进行控制。
在一些实施例中，所述控制模块还用于：
当基于所述路况拥堵信息确定所述智能汽车行驶方向上不存在拥堵时，将所述初始行驶路径确定为所述智能汽车的行驶路径，并控制所述智能汽车按照所述初始行驶路径进行行驶；
当基于所述路况拥堵信息确定所述智能汽车行驶方向上存在拥堵时，确定是否存在备选路径，所述备选路径为当前位置为起始地址、目的地址与所述初始行驶路径相同，且路况优于所述初始行驶路径路况的路径；
当存在所述备选路径时，控制所述智能汽车按照所述备选路径进行行驶；
当不存在所述备选路径时，控制所述智能汽车制动等待和/或按照所述初始行驶路径进行行驶。
在一些实施例中，所述控制模块还用于：
按照所述信号灯状态信息控制所述智能汽车进行停启操作。
在一些实施例中，所述控制模块还用于：
当所述智能汽车的行驶方向上存在障碍物，且所述智能汽车与所述障碍物之间的距离小于或等于安全距离时，控制所述智能汽车减速行驶、制动和/或变道行驶。
在一些实施例中，所述获取模块包括：
发送子模块，用于当接收到路径获取指令时，向后台服务器发送路径获取请求，所述路径获取请求中携带起始地址和目的地址，且所述路径获取请求用于指示所述后台服务器基于所述起始地址和目的地址规划所述初始行驶路径，并将所述初始行驶路径发送至所述智能汽车；
接收子模块，用于接收所述后台服务器发送的所述初始行驶路径。
在一些实施例中，所述装置还包括：
更新模块，用于在按照所述初始行驶路径进行行驶过程中，更新局部路径；
行驶模块，用于按照所述局部路径进行行驶。
另一方面，提供了一种计算机可读存储介质，所述存储介质内存储有计算机程序，所述计算机程序被处理器执行时实现上述提供的一种智能汽车的控制方法。
另一方面，提供了一种智能汽车，所述智能汽车包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为执行上述提供的一种智能汽车的控制方法的步骤。
另一方面，提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述提供的一种智能汽车的控制方法的步骤。
 有益效果
本申请实施例提供的技术方案带来的有益效果至少包括：
在本申请实施例中，在按照获取的初始行驶路径行驶过程中还可以获取路侧设备发送的交通路况信息，根据交通路况信息可以对智能汽车进行控制，由于在行驶过程中可以结合路侧设备发送的交通路况信息对智能汽车进行控制，改善了因行驶路径不准确而导致对智能汽车控制的不准确性，从而提高了控制智能汽车的准确性。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种智能汽车的控制系统结构示意图；
图2是本申请实施例提供的一种智能汽车的控制方法流程图；
图3是本申请实施例提供的另一种智能汽车的控制方法流程图；
图4是本申请实施例提供的一种智能汽车的控制装置结构示意图；
图5是本申请实施例提供的一种获取模块的结构示意图；
图6是本申请实施例提供的另一种智能汽车的控制装置结构示意图；
图7是本申请实施例提供的一种智能汽车的结构示意图。
 本发明的实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
在对本申请实施例进行详细的解释说明之前，先对本申请实施例中涉及到的应用场景及系统架构分别进行解释说明。
首先，对本申请实施例涉及的应用场景进行介绍。
目前，智能汽车可以在安装的自动驾驶系统的控制下可以实现自动驾驶。为了实现自动驾驶，智能汽车可以根据安装的传感器感知当前所处的交通环境信息和车辆状态信息等多源信息，根据感知到的交通环境信息和车辆状态信息等多源信息信息可以对智能汽车规划行驶路线，并控制智能汽车按照规划的行驶路线行驶，以实现自动驾驶。但是，为了实现智能汽车的自动驾驶，每辆智能汽车上都需要安装大量的传感器，且即使具备大量的传感器，由于视角、高度等限制，智能汽车上安装的传感器也无法覆盖到所有盲区，从而导致路径规划不准确，进而对智能汽车进行自动驾驶控制也不准确。
基于这样的应用场景，本申请实施例提供了一种能够提高路径规划准确性以及智能汽车控制准确性的智能汽车的控制方法。
接下来，对本申请实施例涉及的系统架构进行介绍。
图1为本申请实施例提供的一种智能汽车的控制系统结构示意图，参见图1，该系统包括智能汽车1、路侧设备2和后天服务器3，智能汽车1与路侧设备2通信连接，且智能汽车1与路侧设备2可以通过V2X技术通信连接、智能汽车1与路侧设备2可以分别与后台服务器3通信连接。其中，后台服务器3用于对智能汽车1规划行驶路径。路侧设备2用于获取交通路况信息并向智能汽车1发送交通路况信息。智能汽车1用于获取初始行驶路径，并在按照初始行驶路径行驶过程中接收到路侧设备2发送的交通路况信息时，基于交通路况信息，对智能汽车进行控制。
需要说明的是，智能汽车1可以包括车载通信系统11、定位系统12、车辆控制系统13等，车载通信系统11用于与路侧设备2和后台服务器进行通信，定位系统12用于定位智能汽车的位置，车辆控制系统13用于对智能汽车1进行控制。路侧设备2可以包括路侧激光雷达21、路侧视觉检测系统22、路侧通信系统23、路侧服务器24等。其中，路侧激光雷达21可以安装在路口或特定路段，用于对周边障碍物进行目标识别和分类，辅助智能汽车进行准确定位，跟踪移动物体状态等；路侧视觉检测系统22可以安装在路侧，用于进行车流量检测和目标识别与跟踪等；路侧通信系统23用于与智能汽车1和后台服务器连接。
在对本申请实施例的应用场景和系统架构进行介绍之后，接下来将结合附图对本申请实施例提供的智能汽车的控制方法进行详细介绍。
图2为本申请实施例提供的一种智能汽车的控制方法的流程图，参见图2，该方法应用于智能汽车中，包括如下步骤。
步骤 201 ：获取智能汽车的初始行驶路径。
步骤 202 ：在该智能汽车按照该初始行驶路径行驶过程中接收路侧设备发送的交通路况信息。
步骤 203 ：基于该交通路况信息，对该智能汽车进行控制。
在本申请实施例中，在按照获取的初始行驶路径行驶过程中还可以获取路侧设备发送的交通路况信息，根据交通路况信息可以对智能汽车进行控制，由于在行驶过程中可以结合路侧设备发送的交通路况信息对智能汽车进行控制，改善了因行驶路径不准确而导致对智能汽车控制的不准确性，从而提高了控制智能汽车的准确性。
在一些实施例中，基于该交通路况信息，对该智能汽车进行控制，包括：
当该智能汽车接收到该路侧设备发送的路况拥堵信息时，基于该路况拥堵信息确定路径信息，并基于该路径信息对该智能汽车进行控制；和/或，
当该智能汽车接收到该路侧设备发送的信号灯状态信息时，基于该信号灯状态信息对该智能汽车进行控制；和/或，
当该智能汽车接收到该路侧设备发送的障碍物信息时，基于该障碍物信息对该智能汽车进行控制。
在一些实施例中，基于该路况拥堵信息确定路径信息，并基于该路径信息对该智能汽车进行控制，包括：
当基于该路况拥堵信息确定该智能汽车行驶方向上不存在拥堵时，将该初始行驶路径确定为该智能汽车的行驶路径，并控制该智能汽车按照该初始行驶路径进行行驶；
当基于该路况拥堵信息确定该智能汽车行驶方向上存在拥堵时，确定是否存在备选路径，该备选路径为当前位置为起始地址、目的地址与该初始行驶路径相同，且路况优于该初始行驶路径路况的路径；
当存在该备选路径时，控制该智能汽车按照该备选路径进行行驶；
当不存在该备选路径时，控制该智能汽车制动等待和/或按照该初始行驶路径进行行驶。
在一些实施例中，基于该信号灯状态信息对该智能汽车进行控制，包括：
按照该信号灯状态信息控制该智能汽车进行停启操作。
在一些实施例中，该基于该障碍物信息对该智能汽车进行控制，包括：
当该智能汽车的行驶方向上存在障碍物，且该智能汽车与该障碍物之间的距离小于或等于安全距离时，控制该智能汽车减速行驶、制动和/或变道行驶。
在一些实施例中，获取智能汽车的初始行驶路径，包括：
当接收到路径获取指令时，向后台服务器发送路径获取请求，该路径获取请求中携带起始地址和目的地址，且该路径获取请求用于指示该后台服务器基于该起始地址和目的地址规划该初始行驶路径，并将该初始行驶路径发送至该智能汽车；
接收该后台服务器发送的该初始行驶路径。
在一些实施例中，获取智能汽车的初始行驶路径之后，还包括：
在按照该初始行驶路径进行行驶过程中，更新局部路径；
按照该局部路径进行行驶。
上述所有可选技术方案，均可按照任意结合形成本申请的可选实施例，本申请实施例对此不再一一赘述。
图3为本申请实施例提供的一种智能汽车的控方法的流程图，参见图3，该方法包括如下步骤。
步骤 301 ：智能汽车获取初始行驶路径。
由于当智能汽车在进行自动驾驶时，通常需要按照规划的行驶路径进行行驶，如果没有行驶路径，智能汽车无法进行自动驾驶，因此，智能汽车需要获取初始行驶路径。
作为一种示例，智能汽车获取初始行驶路径的操作可以为：当接收到路径获取指令时，向后台服务器发送路径获取请求，该路径获取请求中携带起始地址和目的地址，且路径获取请求用于指示后台服务器基于起始地址和目的地址规划初始行驶路径，并将初始行驶路径发送至智能汽车。也即是，智能汽车向后台服务器发送路径获取请求后，后台服务器接收到路径获取请求后，可以基于路径获取请求中携带的起始地址和目的地址规划初始行驶路径，并将初始行驶路径发送至智能汽车；智能汽车接收后台服务器发送的初始行驶路径。
需要说明的是，路径获取指令用于获取智能汽车的初始行驶路径，该路径获取指令可以为乘坐智能汽车乘客或驾驶员通过第一指定操作触发得到，该指定操作可以为点击操作、语音操作、滑动操作等等。
还需要说明的是，该起始地址和目的地址同样可以是乘坐智能汽车乘客或驾驶员通过第二指定操作输入至智能汽车中的，该第二指定操作可以为输入操作、点击操作、语音操作、滑动操作等等。比如，驾驶员可以在启动智能汽车后，在智能汽车的车载终端中通过输入操作输入起始地址和目的地址。该起始地址还可以为智能汽车通过定位系统进行定位后自动得到的。
在本申请实施例中，由于智能汽车获取的初始行驶路径通常为全局路径，智能汽车在按照全局路径进行行驶时，通常还需要获取局部路径，并按照局部路径进行行驶，因此，智能汽车在获取智初始行驶路径之后，还可以在按照初始行驶路径进行行驶过程中，更新局部路径，并按照局部路径进行行驶。
步骤 302 ：智能汽车在按照初始行驶路径行驶过程中接收路侧设备发送的交通路况信息。
由于智能汽车在行驶过程中可能会靠近设置在路侧的路侧设备，路侧设备可以获取当前位置的交通路况信息，且路侧设备可以与智能汽车进行近距离通信。为了提高智能汽车行驶准确性，路侧设备可以向近距离通信技术的通信范围内的智能汽车发送交通路况信息，从而智能汽车可以在按照初始行驶路径行驶过程中接收路侧设备发送的交通路况信息。
需要说明的是，交通路况信息可以包括路况拥堵信息、信号灯状态信息和障碍物信息等中的至少一个。
作为一种示例，路况拥堵信息可以是路侧设备通过安装的视觉传感器、激光雷达等进行识别得到车流量、车间距后，确定得到，也可以是路侧设备将识别的到的车流量、车间距发送至后台服务器后，后台服务器确定得到路况拥堵信息后发送至路侧设备；信号灯状态信息可以是路侧设备与交通信号灯进行信息交互获取得到，信号灯状态信息可以包括信号灯颜色、颜色剩余时长等等；障碍物信息可以是路侧设备在搭建的路口环境模型基础上生成地图信息后，通过安装的视觉传感器、激光雷达等对路侧设备附近的物体进行识别得到。
在一些实施例中，路侧设备在获取到交通路况信息后，不仅可以向智能汽车发送交通路况信息，还可以通过无线通信技术向后台服务器发送交通路况信息。
步骤 303：智能汽车基于交通路况信息，对智能汽车进行控制。
由于交通路况信息可以包括况拥堵信息、信号灯状态信息和障碍物信息等中的至少一个，根据不同的信息，对智能汽车进行控制的方式也不相同。
作为一个种示例，智能汽车基于交通路况信息，对智能汽车进行控制的操作可以为：当智能汽车接收到路侧设备发送的路况拥堵信息时，基于路况拥堵信息确定路径信息，并基于路径信息对智能汽车进行控制；和/或，当智能汽车接收到路侧设备发送的信号灯状态信息时，基于信号灯状态信息对智能汽车进行控制；和/或，当智能汽车接收到路侧设备发送的障碍物信息时，基于障碍物信息对智能汽车进行控制。
作为一种示例，智能汽车基于信号灯状态信息对智能汽车进行控制的操作可以为：按照信号灯状态信息控制智能汽车进行停启操作。比如，当信号灯颜色为绿色，控制智能汽车保持当前的行驶速度进行行驶；当信号灯颜色为红色时，控制智能汽车停止行驶；当信号灯颜色由红色变为绿色后，且智能汽车因之前的红色信号灯停止行驶后，控制智能汽车重新按照停止之前的行驶速度启动行驶。
作为一种示例，智能汽车基于信号灯状态信息对智能汽车进行控制的操作还可以为：智能汽车获取汽车当前行驶状态，基于行驶状态和信号灯状态信息对智能汽车进行控制。比如，当信号灯颜色为绿色，且智能汽车的行驶速度大于0，则控制智能汽车按照当前行驶状态进行行驶，并控制智能汽车保持当前的车灯状态；当信号灯颜色信息为红色，且信号灯剩余时长大于或等于第一时长阈值，且行驶速度为0时，控制智能汽车停止行驶，并控制智能汽车的近光灯和/或远光灯关闭，并打开示宽灯；当信号灯颜色信息为由红色变为绿色，且行驶速度大于0时，控制智能汽车重新按照停止之前的行驶速度启动行驶，并控制智能汽车恢复停止行驶之前的车灯状态。
作为一种示例，智能汽车基于障碍物信息对智能汽车进行控制的操作可以为：当智能汽车的行驶方向上存在障碍物，且智能汽车与障碍物之间的距离小于或等于安全距离时，控制智能汽车减速行驶、制动和/或变道行驶。
由于当智能汽车的行驶方向上存在障碍物，且智能汽车与障碍物之间的距离小于或等于安全距离时，如果智能汽车依旧按照当前行驶状态进行行驶，则智能汽车很够可能会与障碍物发生碰撞，因此，为了较低碰撞事故发生的可能性，可以控制智能汽车减速行驶、制动和/或变道行驶。
作为一种示例，智能汽车基于路况拥堵信息确定路径信息，并基于路径信息对智能汽车进行控制的操作可以为：当基于路况拥堵信息确定智能汽车行驶方向上不存在拥堵时，将初始行驶路径确定为智能汽车的行驶路径，并控制智能汽车按照初始行驶路径进行行驶；当基于路况拥堵信息确定智能汽车行驶方向上存在拥堵时，确定是否存在备选路径，备选路径为当前位置为起始地址、目的地址与该初始行驶路径相同，且路况优于预设初始路径路况的路径；当存在备选路径时，控制智能汽车按照备选路径进行行驶；当不存在备选路径时，控制智能汽车制动等待和/或按照初始行驶路径进行行驶。
由于当基于路况拥堵信息确定智能汽车行驶方向上不存在拥堵，说明智能汽车按照初始行驶路径行驶时，可能并不会给智能汽车的行驶带来影响，因此，可以将初始行驶路径确定为智能汽车的行驶路径，并控制智能汽车按照初始行驶路径进行行驶。当基于路况拥堵信息确定智能汽车行驶方向上存在拥堵时，如果智能汽车按照初始行驶路径继续进行行驶，则可能会因拥堵导致乘车人员迟到，或者，因拥堵导致发生交通事故可能性增加。因此，为了降低对智能汽车的行驶带来的影响以及降低发生交通事故的可能性，智能汽车可以确定是否存在备选路径，备选路径为当前位置为起始地址、目的地址与该初始行驶路径相同，且路况优于初始行驶路径路况的路径；当存在备选路径时，控制智能汽车按照备选路径进行行驶。当不存在备选路径时，说明其他路径与初始行驶路径路况相同或相似，没有必要更换路径，因此，可以控制智能汽车制动等待和/或按照初始行驶路径进行行驶。
作为一种示例，智能汽车确定是否存在备选路径的操作可以为：通过定位系统定位当前所处位置，将当前所处位置确定为起始地址，将步骤301中获取的目的地址继续确定为目的地址，向后台服务器发送备用路径获取请求，该备用路径获取请求中携带起始地址、目的地址以及当前所处的路况信息；后台服务器接收到该备用路径获取请求后，按照该起始地址和目的地址规划路径，确定规划后的路径的路况，将规划后的路径的路况与初始行驶路径的路况进行比较，当规划后的路径中存在路况优于初始行驶路径路况的路径时，将规划后的路径中路况优于初始行驶路径路况的路径确定为备用路径，并将该备用路径发送至智能汽车；当规划后的路径中不存在路况优于初始行驶路径路况的路径时，确定不存在备用路径，并向智能汽车发送规划后的路径、路径的路况及不存在备用路径的消息。智能汽车接收规划后的路径、路径的路况及不存在备用路径的消息，确定不存在备用路径。
步骤 304 ：智能汽车通过提示信息提示对智能汽车的控制结果。
由于在对智能汽车进行控制后，驾驶员可能没有了解到智能汽车的情况，可能会随意控制智能汽车，导致发生事故的可能性增加，因此，为了提高智能汽车行驶安全性，在对智能汽车进行控制后，智能汽车可以通过提示信息提示对智能汽车的控制结果，从而降低智能汽车因驾驶员的操作带来的事故风险。
作为一种示例，智能汽车可以通过播放提示信息和/或显示提示信息的方式提示对智能汽车的控制结果。
在本申请实施例中，智能汽车在按照获取的初始行驶路径行驶过程中还可以获取路侧设备发送的交通路况信息，根据交通路况信息可以对智能汽车进行控制，由于在行驶过程中可以结合路侧设备发送的交通路况信息对智能汽车进行控制，改善了因行驶路径不准确而导致对智能汽车控制的不准确性，从而提高了控制智能汽车的准确性。
在对本申请实施例提供的智能汽车的控制方法进行解释说明之后，接下来，对本申请实施例提供的智能汽车的控制装置进行介绍。
图4是本公开实施例提供的一种智能汽车的控制装置的框图，参见图4，该装置可以由软件、硬件或者两者的结合实现。该装置包括：获取模块401、接收模块402和控制模块403。
获取模块401，用于获取智能汽车的初始行驶路径；
接收模块402，用于在所述智能汽车按照所述初始行驶路径行驶过程中接收路侧设备发送的交通路况信息；
控制模块403，用于基于所述交通路况信息，对所述智能汽车进行控制。
在一些实施例中，所述控制模块403用于：
当所述智能汽车接收到所述路侧设备发送的路况拥堵信息时，基于所述路况拥堵信息确定路径信息，并基于所述路径信息对所述智能汽车进行控制；和/或，
当所述智能汽车接收到所述路侧设备发送的信号灯状态信息时，基于所述信号灯状态信息对所述智能汽车进行控制；和/或，
当所述智能汽车接收到所述路侧设备发送的障碍物信息时，基于所述障碍物信息对所述智能汽车进行控制。
在一些实施例中，所述控制模块403还用于：
当基于所述路况拥堵信息确定所述智能汽车行驶方向上不存在拥堵时，将所述初始行驶路径确定为所述智能汽车的行驶路径，并控制所述智能汽车按照所述初始行驶路径进行行驶；
当基于所述路况拥堵信息确定所述智能汽车行驶方向上存在拥堵时，确定是否存在备选路径，所述备选路径为当前位置为起始地址、目的地址与所述初始行驶路径相同，且路况优于所述初始行驶路径路况的路径；
当存在所述备选路径时，控制所述智能汽车按照所述备选路径进行行驶；
当不存在所述备选路径时，控制所述智能汽车制动等待和/或按照所述初始行驶路径进行行驶。
在一些实施例中，所述控制模块403还用于：
按照所述信号灯状态信息控制所述智能汽车进行停启操作。
在一些实施例中，所述控制模块还用于：
当所述智能汽车的行驶方向上存在障碍物，且所述智能汽车与所述障碍物之间的距离小于或等于安全距离时，控制所述智能汽车减速行驶、制动和/或变道行驶。
在一些实施例中，参见图5，所述获取模块401包括：
发送子模块4011，用于当接收到路径获取指令时，向后台服务器发送路径获取请求，所述路径获取请求中携带起始地址和目的地址，且所述路径获取请求用于指示所述后台服务器基于所述起始地址和目的地址规划所述初始行驶路径，并将所述初始行驶路径发送至所述智能汽车；
接收子模块4012，用于接收所述后台服务器发送的所述初始行驶路径。
在一些实施例中，参见图6，所述装置还包括：
更新模块404，用于在按照所述初始行驶路径进行行驶过程中，更新局部路径；
行驶模块405，用于按照所述局部路径进行行驶。
综上所述，在本申请实施例中，智能汽车在按照获取的初始行驶路径行驶过程中还可以获取路侧设备发送的交通路况信息，根据交通路况信息可以对智能汽车进行控制，由于在行驶过程中可以结合路侧设备发送的交通路况信息对智能汽车进行控制，改善了因行驶路径不准确而导致对智能汽车控制的不准确性，从而提高了控制智能汽车的准确性。
需要说明的是：上述实施例提供的智能汽车的控制装置在控制智能汽车时，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。另外，上述实施例提供的智能汽车的控制装置与智能汽车的控制方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。
图7示出了本申请一个示例性实施例提供的智能汽车700的结构框图。通常，智能汽车700包括有：处理器701和存储器702。
处理器701可以包括一个或多个处理核心，比如4核心处理器、8核心处理器等。处理器701可以采用DSP（Digital Signal Processing，数字信号处理）、FPGA（Field－Programmable Gate Array，现场可编程门阵列）、PLA（Programmable Logic Array，可编程逻辑阵列）中的至少一种硬件形式来实现。处理器701也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU（Central Processing Unit，中央处理器）；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器701可以在集成有GPU（Graphics Processing Unit，图像处理器）， GPU用于负责显示屏所需要显示的内容的渲染和绘制。一些实施例中，处理器701还可以包括AI（Artificial Intelligence，人工智能）处理器，该AI处理器用于处理有关机器学习的计算操作。
存储器702可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器702还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器702中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器701所执行以实现本申请中方法实施例提供的智能汽车的控制方法。
在一些实施例中，智能汽车700还可选包括有：外围设备接口703和至少一个外围设备。处理器701、存储器702和外围设备接口703之间可以通过总线或信号线相连。各个外围设备可以通过总线、信号线或电路板与外围设备接口703相连。具体地，外围设备包括：射频电路704、触摸显示屏705、摄像头706、音频电路707、定位组件708和电源709中的至少一种。
外围设备接口703可被用于将I/O（Input /Output，输入/输出）相关的至少一个外围设备连接到处理器701和存储器702。在一些实施例中，处理器701、存储器702和外围设备接口703被集成在同一芯片或电路板上；在一些其他实施例中，处理器701、存储器702和外围设备接口703中的任意一个或两个可以在单独的芯片或电路板上实现，本实施例对此不加以限定。
射频电路704用于接收和发射RF（Radio Frequency，射频）信号，也称电磁信号。射频电路704通过电磁信号与通信网络以及其他通信设备进行通信。射频电路704将电信号转换为电磁信号进行发送，或者，将接收到的电磁信号转换为电信号。可选地，射频电路704包括：天线系统、RF收发器、一个或多个放大器、调谐器、振荡器、数字信号处理器、编解码芯片组、用户身份模块卡等等。射频电路704可以通过至少一种无线通信协议来与其它终端进行通信。该无线通信协议包括但不限于：城域网、各代移动通信网络（2G、3G、4G及5G）、无线局域网和/或WiFi(Wireless Fidelity，无线保真）网络。在一些实施例中，射频电路704还可以包括NFC（Near Field Communication，近距离无线通信）有关的电路，本申请对此不加以限定。
显示屏705用于显示UI（User Interface，用户界面）。该UI可以包括图形、文本、图标、视频及其它们的任意组合。当显示屏705是触摸显示屏时，显示屏705还具有采集在显示屏705的表面或表面上方的触摸信号的能力。该触摸信号可以作为控制信号输入至处理器701进行处理。此时，显示屏705还可以用于提供虚拟按钮和/或虚拟键盘，也称软按钮和/或软键盘。在一些实施例中，显示屏705可以为一个，设置智能汽车700的前面板；在另一些实施例中，显示屏705可以为至少两个，分别设置在智能汽车700的不同表面或呈折叠设计；在再一些实施例中，显示屏705可以是柔性显示屏，设置在智能汽车700的弯曲表面上或折叠面上。甚至，显示屏705还可以设置成非矩形的不规则图形，也即异形屏。显示屏705可以采用LCD(Liquid Crystal Display，液晶显示屏)、OLED(Organic Light-Emitting Diode,有机发光二极管)等材质制备。
摄像头组件706用于采集图像或视频。
音频电路707可以包括麦克风和扬声器。麦克风用于采集用户及环境的声波，并将声波转换为电信号输入至处理器701进行处理，或者输入至射频电路704以实现语音通信。出于立体声采集或降噪的目的，麦克风可以为多个，分别设置在智能汽车700的不同部位。麦克风还可以是阵列麦克风或全向采集型麦克风。扬声器则用于将来自处理器701或射频电路704的电信号转换为声波。扬声器可以是传统的薄膜扬声器，也可以是压电陶瓷扬声器。当扬声器是压电陶瓷扬声器时，不仅可以将电信号转换为人类可听见的声波，也可以将电信号转换为人类听不见的声波以进行测距等用途。在一些实施例中，音频电路707还可以包括耳机插孔。
定位组件708用于定位智能汽车700的当前地理位置，以实现导航或LBS（Location Based Service，基于位置的服务）。定位组件708可以是基于美国的GPS（Global Positioning System，全球定位系统）、中国的北斗系统、俄罗斯的格雷纳斯系统或欧盟的伽利略系统的定位组件。
电源709用于为智能汽车700中的各个组件进行供电。
在一些实施例中，智能汽车700还包括有一个或多个传感器710。
也即是，本申请实施例不仅提供了一种智能汽车，包括处理器和用于存储处理器可执行指令的存储器，其中，处理器被配置为执行图2和图3所示的实施例中的方法，而且，本申请实施例还提供了一种计算机可读存储介质，该存储介质内存储有计算机程序，该计算机程序被处理器执行时可以实现图2和图3所示的实施例中的智能汽车的控制方法。
本领域技术人员可以理解，图7中示出的结构并不构成对智能汽车700的限定，可以包括比图示更多或更少的组件，或者组合某些组件，或者采用不同的组件布置。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
以上所述仅为本申请的较佳实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种智能汽车的控制方法，其特征在于，所述方法包括：
    获取智能汽车的初始行驶路径；
    在所述智能汽车按照所述初始行驶路径行驶过程中接收路侧设备发送的交通路况信息；
    基于所述交通路况信息，对所述智能汽车进行控制。
  2. 如权利要求1所述的方法，其特征在于，所述基于所述交通路况信息，对所述智能汽车进行控制，包括：
    当所述智能汽车接收到所述路侧设备发送的路况拥堵信息时，基于所述路况拥堵信息确定路径信息，并基于所述路径信息对所述智能汽车进行控制；和/或，
    当所述智能汽车接收到所述路侧设备发送的信号灯状态信息时，基于所述信号灯状态信息对所述智能汽车进行控制；和/或，
    当所述智能汽车接收到所述路侧设备发送的障碍物信息时，基于所述障碍物信息对所述智能汽车进行控制。
  3. 如权利要求1或2所述的方法，其特征在于，所述基于所述路况拥堵信息确定路径信息，并基于所述路径信息对所述智能汽车进行控制，包括：
    当基于所述路况拥堵信息确定所述智能汽车行驶方向上不存在拥堵时，将所述初始行驶路径确定为所述智能汽车的行驶路径，并控制所述智能汽车按照所述初始行驶路径进行行驶；
    当基于所述路况拥堵信息确定所述智能汽车行驶方向上存在拥堵时，确定是否存在备选路径，所述备选路径为当前位置为起始地址、目的地址与所述初始行驶路径相同，且路况优于所述初始行驶路径路况的路径；
    当存在所述备选路径时，控制所述智能汽车按照所述备选路径进行行驶；
    当不存在所述备选路径时，控制所述智能汽车制动等待和/或按照所述初始行驶路径进行行驶。
  4. 如权利要求1或2所述的方法，其特征在于，所述基于所述信号灯状态信息对所述智能汽车进行控制，包括：
    按照所述信号灯状态信息控制所述智能汽车进行停启操作。
  5. 如权利要求1或2所述的方法，其特征在于，所述基于所述障碍物信息对所述智能汽车进行控制，包括：
    当所述智能汽车的行驶方向上存在障碍物，且所述智能汽车与所述障碍物之间的距离小于或等于安全距离时，控制所述智能汽车减速行驶、制动和/或变道行驶。
  6. 如权利要求1所述的方法，其特征在于，所述获取智能汽车的初始行驶路径，包括：
    当接收到路径获取指令时，向后台服务器发送路径获取请求，所述路径获取请求中携带起始地址和目的地址，且所述路径获取请求用于指示所述后台服务器基于所述起始地址和目的地址规划所述初始行驶路径，并将所述初始行驶路径发送至所述智能汽车；
    接收所述后台服务器发送的所述初始行驶路径。
  7. 如权利要求1或6所述的方法，其特征在于，所述获取智能汽车的初始行驶路径之后，还包括：
    在按照所述初始行驶路径进行行驶过程中，更新局部路径；
    按照所述局部路径进行行驶。
  8. 一种智能汽车的控制装置，其特征在于，所述装置包括：
    获取模块，用于获取智能汽车的初始行驶路径；
    接收模块，用于在所述智能汽车按照所述初始行驶路径行驶过程中接收路侧设备发送的交通路况信息；
    控制模块，用于基于所述交通路况信息，对所述智能汽车进行控制。
  9. 如权利要求8所述的装置，其特征在于，所述控制模块用于：
    当所述智能汽车接收到所述路侧设备发送的路况拥堵信息时，基于所述路况拥堵信息确定路径信息，并基于所述路径信息对所述智能汽车进行控制；和/或，
    当所述智能汽车接收到所述路侧设备发送的信号灯状态信息时，基于所述信号灯状态信息对所述智能汽车进行控制；和/或，
    当所述智能汽车接收到所述路侧设备发送的障碍物信息时，基于所述障碍物信息对所述智能汽车进行控制。
  10. 一种计算机可读存储介质，其特征在于，所述存储介质内存储有计算机程序，所述计算机程序被处理器执行时实现权利要求1-7中任一所述的方法。
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