WO2021082483A1 - Procédé et appareil de commande de véhicule - Google Patents

Procédé et appareil de commande de véhicule Download PDF

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Publication number
WO2021082483A1
WO2021082483A1 PCT/CN2020/098217 CN2020098217W WO2021082483A1 WO 2021082483 A1 WO2021082483 A1 WO 2021082483A1 CN 2020098217 W CN2020098217 W CN 2020098217W WO 2021082483 A1 WO2021082483 A1 WO 2021082483A1
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WO
WIPO (PCT)
Prior art keywords
target vehicle
automatic control
target
path
road segment
Prior art date
Application number
PCT/CN2020/098217
Other languages
English (en)
Inventor
Xiao FANG
Lei Wang
Guangda HOU
Jingcai LI
Linlin Huang
Xiufeng Wang
Original Assignee
Suzhou Zhijia Science & Technologies Co., Ltd.
Plusai, Inc.
Priority date (The priority date 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 date listed.)
Filing date
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Application filed by Suzhou Zhijia Science & Technologies Co., Ltd., Plusai, Inc. filed Critical Suzhou Zhijia Science & Technologies Co., Ltd.
Publication of WO2021082483A1 publication Critical patent/WO2021082483A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0072—Controller asks driver to take over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/406—Traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • the present application relates to a method and apparatus for controlling a vehicle.
  • a target vehicle to be controlled enters an automatic driving mode
  • information of the surrounding environment of the target vehicle is acquired, and the target vehicle is automatically controlled based on the information of the surrounding environment.
  • the automatic driving mode is switched to a manual driving mode
  • the target vehicle is controlled according to a user's operation.
  • a more flexible control method than the conventional method is desirable to improve the safety of the vehicle and enhance the driving experience of the user.
  • Embodiments of the present application provide a method and apparatus for controlling a vehicle, an electronic device, and a storage medium, to solve the problem in the related art of being relatively limited and not flexible enough.
  • the technical solutions are as follows.
  • a first aspect of the present disclosure provides a method for controlling a vehicle, the method comprising: detecting an automatic control instruction for a target vehicle, and acquiring a target path according to the automatic control instruction; performing an automatic control over the target vehicle according to the target path; and if the target path includes a first road segment that is not suitable for automatic control, stopping the automatic control over the target vehicle and controlling the target vehicle according to a detected driving operation when it is detected that the target vehicle reaches the first road segment.
  • a second aspect of the present disclosure provides an apparatus for controlling a vehicle, the apparatus comprising: a detection module for detecting an automatic control instruction for a target vehicle, and acquiring a target path according to the automatic control instruction; a first control module for automatically controlling the target vehicle according to the target path; and a second control module for, if the target path includes a first road segment that is not suitable for automatic control, stopping the automatic control over the target vehicle and controlling the target vehicle according to a detected driving operation when it is detected that the target vehicle reaches the first road segment.
  • a third aspect of the present disclosure provides an electronic device, comprising a memory and a processor, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement a method for controlling a vehicle according to the first aspect of the present disclosure.
  • a fourth aspect of the present disclosure provides a machine readable non-transitory storage medium storing machine readable instructions which are executable by a processor to implement a method for controlling a vehicle according to the first aspect of the present disclosure.
  • the above described method for controlling the vehicle is relatively flexible and has a certain predictability. Therefore, it can improve driving safety, and enhance the user's driving experience.
  • Fig. 1 is a schematic diagram of a traffic environment in accordance with an exemplary embodiment of the disclosure
  • Fig. 2 is a schematic diagram of an implementation environment in accordance with an exemplary embodiment of the disclosure
  • Fig. 3 is a schematic structural diagram of a control system in accordance with an exemplary embodiment of the disclosure.
  • Fig. 4 is a schematic structural diagram of a control system in accordance with an exemplary embodiment of the disclosure.
  • Fig. 5 is a flowchart of a method for controlling a vehicle in accordance with an exemplary embodiment of the disclosure
  • Fig. 6 is a schematic flowchart of a method for controlling a vehicle in accordance with an exemplary embodiment of the disclosure
  • Fig. 7 is a schematic structural diagram of an apparatus for controlling a vehicle in accordance with an exemplary embodiment of the disclosure.
  • Fig. 8 is a schematic structural diagram of a terminal in accordance with an exemplary embodiment of the disclosure.
  • a target vehicle to be controlled enters an automatic driving mode
  • information of the surrounding environment of the target vehicle is acquired, and the target vehicle is automatically controlled based on the information of the surrounding environment.
  • the automatic driving mode is switched to a manual driving mode by a driver or another passenger in the target vehicle, the target vehicle is controlled according to a driving operation of the driver.
  • the target vehicle adopts a driving function of lane keeping and automated lane change after entering the automatic driving mode, the target vehicle keeps driving in the current lane by default. If it is detected that the speed of a front vehicle is too slow, automated lane change and overtaking are performed. In simple traffic scenarios with normal lane conditions, this driving function can ensure the driving efficiency of the target vehicle. However, in complex traffic scenarios such as lane construction or an accident, this driving function is relatively dangerous.
  • Embodiments of the present disclosure provide a method and apparatus for controlling a vehicle, to solve at least some problems described above.
  • a method for controlling a vehicle comprises: detecting an automatic control instruction for a target vehicle, and acquiring a target path according to the automatic control instruction.
  • the automatic control instruction may be an instruction to engage an automatic driving mode of the vehicle.
  • the method further comprises: performing an automatic control over the target vehicle according to the target path; and if the target path comprises a first road segment that is not suitable for automatic control (such as a temporarily obstructed road lane) , stopping the automatic control over the target vehicle, and controlling the target vehicle according to a detected driving operation when it is detected that the target vehicle reaches the first road segment.
  • the detected driving operation may be a manual driving operation of the user or an instruction to continue automatic control of the vehicle.
  • the method before automatically controlling the target vehicle according to the target path, the method further comprises: if the target path includes the first road segment, outputting a prompt message, which indicates that a road segment, that is not suitable for automatic control, exists in the target path.
  • the prompt message may a prompt for a user (e.g. a human driver or passenger) of the vehicle; and if an automatic control instruction for the target vehicle is received in response to the prompt message, performing an automatic control on the target vehicle according to the target path.
  • the method further comprises: acquiring an automatic control function of the target vehicle, path restriction information corresponding to the automatic control function, and real-time traffic condition information of the target path; and determining whether the target path comprises the first road segment according to the automatic control function, the path restriction information and the real-time traffic condition information.
  • the method further comprises: acquiring updated traffic condition information of the target path; updating the first road segment according to the updated traffic condition information, to obtain an updated first road segment that is not suitable for automatic control; and if the target path includes the updated first road segment, stopping the automatic control over the target vehicle when it is detected that the target vehicle reaches the updated first road segment.
  • the method before stopping the automatic control over the target vehicle, the method further comprises: acquiring a real-time position of the target vehicle; determining whether a further path suitable for automatic control exists between the real-time position of the target vehicle and an end position of the target path; andif not, performing the stopping of the automatic control over the target vehicle.
  • the method further comprises: automatically controlling the target vehicle according to the further path.
  • the method further comprises: if it is detected that the target vehicle reaches an end position of the first road segment, re-performing an automatic control on the target vehicle.
  • the method further comprises: if it is detected that the target vehicle reaches an end position of the target path, stopping the automatic control over the target vehicle.
  • an apparatus for controlling a vehicle comprising: a detection module for detecting an automatic control instruction for a target vehicle, and acquiring a target path according to the automatic control instruction; a first control module for automatically controlling the target vehicle according to the target path; and a second control module for, if the target path includes a first road segment that is not suitable for automatic control, stopping the automatic control over the target vehicle and controlling the target vehicle according to a detected driving operation when it is detected that the target vehicle reaches the first road segment.
  • the apparatus further comprises: an output module for, if the target path comprises the first road segment, outputting a prompt message, which is used to prompt that a road segment, that is not suitable for automatic control, exists in the target path, wherein the first control module is used for, if an automatic control instruction for the target vehicle is detected based on the prompt message, performing an automatic control on the target vehicle according to the target path.
  • the apparatus further comprises: a first determination module for acquiring an automatic control function of the target vehicle, path restriction information corresponding to the automatic control function, and real-time traffic condition information of the target path; and determining whether the target path comprises the first road segment according to the automatic control function, the path restriction information and the real-time traffic condition information.
  • the apparatus further comprises: an update module for acquiring updated traffic condition information of the target path; and updating the first road segment according to the updated traffic condition information, to obtain the updated first road segment, wherein the second control module is used for, if the target path comprises the updated first road segment that is not suitable for automatic control, stopping the automatic control over the target vehicle when it is detected that the target vehicle reaches the updated first road segment.
  • the apparatus further comprises: a second determination module for acquiring a real-time position of the target vehicle; and determining whether a further path suitable for automatic control exists between the real-time position of the target vehicle and an end position of the target path, wherein the second control module is used for stopping the automatic control over the target vehicle if the further path does not exist.
  • the second control module is used for, if the further path exists, automatically controlling the target vehicle according to the further path.
  • the apparatus further comprises: a third control module for, if it is detected that the target vehicle reaches an end position of the first road segment, re-performing an automatic control on the target vehicle.
  • the apparatus further comprises: a fourth control module for, if it is detected that the target vehicle reaches an end position of the target path, stopping the automatic control over the target vehicle.
  • the automatic control over the target vehicle is actively stopped.
  • a user may then confirms whether to switch to a manual control mode or continue the automatic control mode.
  • This way control of the vehicle is relatively flexible, but also predictable. Not only does this enhance the user's driving safety, but also improves the user's driving experience.
  • Vehicle 1 is a target vehicle
  • Vehicle 2 is a vehicle in front of the target vehicle
  • Vehicle 3 is another surrounding vehicle.
  • Lane C and Lane D are lanes in a first direction
  • Lane A and Lane B are lanes in a second direction
  • Vehicle 1 and Vehicle 2 are driving on Lane C in the first direction
  • Vehicle 3 is driving on Lane A in the second direction.
  • Vehicle 1 performs the automated lane change and overtaking
  • the lane thereof will be changed from Lane C to Lane D.
  • Vehicle 1 After Vehicle 1 performs the lane change and overtaking, Vehicle 1, Vehicle 2 and Vehicle 3 can all drive normally.
  • Lane A is still the lane in the second direction, and Vehicle 3 still drives on Lane A in the second direction.
  • Lane B is temporarily changed into the lane in the first direction, Vehicle 1 and Vehicle 2 need to drive on Lane B in the first direction.
  • Vehicle 1 detects that the speed of Vehicle 2 is too slow, the vehicle performs the automated lane change and overtaking by default according to the driving function, and Vehicle 1 changes the lane thereof from Lane B to Lane A, thereby causing the collision of Vehicle 1 and Vehicle 3.
  • the driver needs to determine whether to switch the automatic driving mode to the manual driving mode based on personal driving experience. However, this determination is greatly affected by the driver's subjective consciousness and is not reliable enough. Moreover, the driver needs to observe and analyze the surrounding environment after the target vehicle enters the complex traffic environment, to determine whether to switch the automatic driving mode, so that the way to control the vehicle has a certain delay. It can be seen that the way to control the vehicle in the prior art is not only limited and not flexible enough, but also affects the user's safety and driving experience.
  • An embodiment of the present application provides a method for controlling a vehicle, which method can be applied to an implementation environment shown in Fig. 2.
  • Fig. 2 an automatic control system 201, a target vehicle 202, and a server 203 are depicted.
  • the automatic control system 201 may be communicatively connected to the target vehicle 202 to automatically control the target vehicle 202.
  • the automatic control system 201 may also be communicatively connected to the server 203 to acquire real-time traffic condition information and a travel path from the server 203.
  • the server 203 may be a single server, a server cluster composed of multiple servers, or a cloud computing service center.
  • the automatic control system 201 includes a road restriction module 1, a sensing module 2, a decision module 3, and an execution module 4.
  • the road restriction module 1 is communicatively connected to the server 203, so as to realize the communication connection between the automatic control system 201 and the server 203.
  • the server 203 comprises a map data unit 2031, a data processing unit 2032, and a communication unit 2033.
  • the map data unit 2031 is used to determine map data
  • the data processing unit 2032 is used to determine the real-time traffic condition information and plan the travel path based on the map data.
  • the communication unit 2033 is used to interact with a communication unit 13 in the road restriction module 1 to transmit the real-time traffic condition information and the planned travel path to the road restriction module 1.
  • the road restriction module 1 comprises a positioning unit 11, a computing and storage unit 12, the communication unit 13 and a user interface 14.
  • the positioning unit 11 is used to position the target vehicle 202 in real time.
  • the computing and storage unit 12 is used to store automatic control functions configured for the target vehicle and a path restriction condition corresponding to each of the automatic control functions, and to determine, with reference to the real-time traffic condition information, a first road segment on the travel path that is not suitable for automatic control, and can also be used to store the determined first road segment.
  • the communication unit 13 is also used to interact with a communication unit 31 in the decision module 3 to transmit the computed first road segment to the decision module 3.
  • the user interface 14 is used to interact with the driver or passenger in the target vehicle.
  • the sensing module 2 comprises a detection hardware unit 21, a detection software unit 22, and a communication unit 23.
  • the detection hardware unit 21 may be one or more of a laser radar, a millimeter wave radar, and a camera apparatus, and is used to acquire a state of the surrounding environment of the target vehicle in real time.
  • the detection software unit 22 is used to convert the acquired state of the surrounding environment into the form of a numerical value for representation.
  • the communication unit 23 interacts with the communication unit 31 in the decision module 3 to transmit the numerical value to the decision module 3.
  • the decision module 3 comprises a computing hardware unit 31, a computing software unit 32, and a communication unit 33.
  • a decision algorithm program is included in the computing hardware unit 31 and the computing software unit 32.
  • a control action for the target vehicle can be computed using the decision algorithm program based on the received first road segment and the numerical value used to represent the state of the surrounding environment.
  • the communication unit 33 also interacts with a communication unit 43 in the execution module 4, and the computed control action is transmitted to the execution module 4.
  • the execution module 4 comprises an execution hardware unit 41, an execution software unit 42, and the communication unit 43.
  • the execution hardware unit 41 and the execution software unit 42 can automatically control the target vehicle according to the control action received by the communication unit 43.
  • the execution hardware unit 41 includes, but is not limited to, a steer-by-wire subunit for controlling a rotation angle of a steering wheel of the target vehicle 202, a brake-by-wire subunit for controlling a braking amount of the target vehicle 202, a throttle-by-wire subunit for controlling a throttle amount of the target vehicle 202, a shift-by-wire subunit for controlling a shift position of the target vehicle 202, etc.
  • the automatic control system 201 may operate on a terminal.
  • the terminal may be any electronic product, such as a PC (Personal Computer) , a mobile phone, a smart phone, a PDA (Personal Digital Assistant) , a wearable device, a PPC (Pocket PC) , a tablet computer, an intelligent car machine, or a smart television, that can interact with the user by means of one or more of a keyboard, a touch pad, a touch screen, a remote controller, a voice interaction or handwriting device, etc.
  • PC Personal Computer
  • PDA Personal Digital Assistant
  • PPC Personal Computer
  • tablet computer an intelligent car machine
  • smart television that can interact with the user by means of one or more of a keyboard, a touch pad, a touch screen, a remote controller, a voice interaction or handwriting device, etc.
  • terminal and the server 203 are only examples, and other existing or future terminals or servers that may be suitable to the present application should also be included in the scope of protection of the present application, and are hereby incorporated by reference.
  • an embodiment of the present application provides a method for controlling a vehicle, which method can be applied to the automatic control system shown in Fig. 2.
  • the method comprises: block 501: detecting an automatic control instruction for a target vehicle, and acquiring a target path according to the automatic control instruction.
  • the target vehicle may be a commercial vehicle or a passenger vehicle.
  • a start instruction for the target vehicle may be used as the automatic control instruction for the target vehicle, so as to directly enter the automatic control mode after detecting that the target vehicle is started.
  • an automatic control switch may be provided for the target vehicle, and a switching-on instruction for the automatic control switch is used as the automatic control instruction for the target vehicle.
  • the vehicle enters the manual control mode by default, and is controlled according to the driving operation of the user. If it is detected that the automatic control switch is turned on, the manual control mode is switched to the automatic control mode.
  • the automatic control switch may be a physical element provided on the target vehicle, and the user may turn on or off the automatic control switch by pressing or toggling.
  • the automatic control switch may also be a virtual option displayed on a vehicle-mounted terminal, and the user may turn on or off the automatic control switch by means of clicking the vehicle-mounted terminal.
  • the automatic control switch may also be a voice control switch, and the automatic control switch can be turned on and off by performing voice recognition on the voice uttered by the user. For example, the automatic control switch can be turned on when the voice of "help me drive automatically" from the user is detected.
  • one or more reference paths for the target vehicle to travel can be acquired according to the automatic control instruction.
  • a start position and a destination position of the target vehicle can be determined first, and a path between the start position and the destination position is then determined according to the map data as the reference path, so as to acquire the reference path.
  • the determined start position and destination position may be sent to the server, and the server determines the reference path according to the map data and returns the reference path.
  • the map data may be downloaded from the server, and the reference path may be determined locally in the target vehicle.
  • an input box of the start position and an input box of the destination position may be displayed by the vehicle-mounted terminal. Thereafter, the content typed or voice input by the user in each input box is detected respectively. The start position and the destination position are determined according to the detected content. Alternatively, only an input box of the destination position may be displayed, and the destination position may be determined by the content in the input box.
  • the current position of the target vehicle is determined by means of positioning, and the current position is directly used as the start position of the target vehicle.
  • the reference path can be directly used as the target path. If the number of acquired reference paths is more than one, one of the reference paths can be determined as the target path. In an exemplary embodiment, one reference path can be automatically determined as the target path based on the relevant information such as the length and estimated travel time of each reference path. For example, the reference path with the shortest length or the shortest estimated travel time is determined as the target path. Alternatively, the length, the estimated travel time, etc. of each reference path can be displayed by the vehicle-mounted terminal, and the user is prompted to make a selection therefrom, such that the reference path selected by the user is used as the target path. This embodiment does not limit the way to determine the target path.
  • Block 502 automatically controlling the target vehicle according to the target path.
  • the target vehicle can be automatically controlled according to the target path.
  • the state of the surrounding environment of the target vehicle can be acquired.
  • the state of the surrounding environment includes, but is not limited to, states of obstacles and other vehicles surrounding the target vehicle.
  • the state of the surrounding environment can be converted into a state value, which is used to indicate the state of the surrounding environment of the target vehicle.
  • the control action for the target vehicle can be determined according to the state value.
  • the control action includes, but is not limited to, a control action for one or more of the rotation angle of the steering wheel, the throttle amount, the braking amount, and the shift position of the target vehicle.
  • the correspondence relationship between multiple environmental states and state values can be acquired, and the acquired correspondence relationship is used as training data. Training is performed to obtain a target model from the training data.
  • the target model has the ability to output a state value for the input environmental state. Therefore, after the state of the surrounding environment of the target vehicle is acquired, the state of the surrounding environment can be input to the target model, thereby acquiring the state value output by the target model.
  • the method before automatically controlling the target vehicle according to the target path, the method further comprises: if the target path comprises the first road segment, outputting a prompt message, which is used to prompt that a road segment, that is not suitable for automatic control, exists in the target path; and if an automatic control instruction for the target vehicle is detected due to or in response to the prompt message, performing an automatic control on the target vehicle according to the target path.
  • the first road segment is not suitable for automatic control, that is, a road segment that requires the user to manually control the target vehicle.
  • the first road segment may be a road segment in the target path where one or more of congestion, construction, or a traffic accident exists. If the target path comprises the first road segment, a prompt message is output in one or more forms of text, image, or presentation video, such that the user in the target vehicle knows that a road segment that is not suitable for automatic control exists in the target path.
  • an automatic control instruction for the target vehicle is detected in response to the output prompt message, it indicates that the user in the target vehicle still wishes to adopt the automatic control mode despite that he/she has learned that a road segment that is not suitable for automatic control exists in the target path. Therefore, the automatic control over the target vehicle is continued according to the target path. If no automatic control instruction for the target vehicle is detected in response to the output prompt message, the automatic control mode may be automatically switched to the manual control mode, or a further path can be re-acquired as the target path.
  • the method provided in this embodiment further comprises: acquiring an automatic control function of the target vehicle, path restriction information corresponding to the automatic control function, and real-time traffic condition information of the target path; and determining whether the target path comprises the first road segment according to the automatic control function, the path restriction information and the real-time traffic condition information.
  • the automatic control function of the target vehicle includes, but is not limited to, automatic emergency braking, lane departure warning, lane keeping, automated lane change, automated following, automated parking and other functions.
  • Path restriction information corresponding to different automatic control functions is also different.
  • the path restriction information corresponding to the automated following function is not suitable for a path with a traffic congestion
  • the path restriction information corresponding to the automated lane change function is not suitable for a path under construction or having a traffic accident.
  • the path restriction information may be determined according to the automatic control function currently being used by the target vehicle, and based on the path restriction information, it can be determined which traffic condition is not suitable for automatic control. Thereafter, according to the real-time traffic condition information of the target path, the traffic condition existing on any road segment in the target path can be determined, so that the road segment in the target path that has a traffic condition that is not suitable for automatic control can be determined as the first road segment. For example, if the automatic control function currently being used by the target vehicle is automated following, it can be determined according to the path restriction information that the congested traffic state is not suitable for automatic control using the automated following function. Therefore, according to the real-time traffic condition information of the target path, it can be determined which road segments in the target path have congested traffic conditions, such that the road segment with the congested traffic condition is taken as the first road segment.
  • the automatic control function of the target vehicle and the corresponding path restriction information may be stored locally in the target vehicle, so that the automatic control function of the automatic target vehicle and the path restriction information can be acquired locally.
  • the real-time traffic status information of the target vehicle may be acquired from the server.
  • the above way to determine whether the target path comprises the first road segment may also be used to determine whether each reference path acquired in step 501 comprises the first road segment.
  • the reference path comprising the shortest first road segment may be used as the target path, or each reference path may be displayed by the vehicle-mounted terminal, and the first road segment can be marked in the displayed paths, for example, marked by a color or a line shape (dashed line, double-dashed line, etc. ) or both, such that the user can select one of the reference paths as the target path based on the length of the first road segment.
  • the method further comprises: if it is detected that the target vehicle reaches an end position of the target path, stopping the automatic control over the target vehicle.
  • the target vehicle starts to travel along the target path. During traveling, the location of the target vehicle can be detected.
  • the end position of the target path that is, when the target vehicle passes through the entire target path, it means that the target vehicle has reached the destination position set by the user. Therefore, the automatic control over the target vehicle can be stopped.
  • Block 503 if the target path comprises a first road segment that is not suitable for automatic control, stopping the automatic control over the target vehicle and controlling the target vehicle according to a detected driving operation when it is detected that the target vehicle reaches the first road segment.
  • the positional information of the first road segment may be stored. Referring to steps 612-614 in Fig. 6, after the target vehicle is automatically controlled, that is, after the target vehicle starts to travel, the location of the target vehicle during the traveling is detected. If the location of the target vehicle is detected to be at the start position of a first road segment, or the distance between the location of the target vehicle and the start position of the first road segment is less than a reference threshold, it means that the target vehicle has reached a first road segment.
  • the automatic control of the target vehicle can be stopped directly, and the target vehicle can be driven by the user, such that the target vehicle can be controlled according to the detected driving operation of the user.
  • the user Before stopping the automatic control over the target vehicle, the user may also be prompted to take over the target vehicle.
  • a prompt message for prompting that a road segment that is not suitable for automatic control exists in the target path may be output, and an input instruction is detected, which is input by the user in response to the prompt message.
  • the input instruction uses the input instruction as a driving operation to control the target vehicle. If the input instruction is to switch to the manual control mode, the user takes over the target vehicle and drives same. If the input instruction is to maintain the automatic control mode, the automatic control over the target vehicle is continued.
  • the method further comprises: acquiring updated traffic condition information of the target path; and updating the first road segment according to the updated traffic condition information, to obtain the updated first road segment.
  • the first road segment is determined before automatically controlling the target vehicle, that is, before the target vehicle has yet been controlled to travel.
  • the traffic condition information of the target path may be updated, so that the first road segment is also updated.
  • the previously determined first road segment is updated to be a road segment suitable for automatic control, or the previously determined road segment suitable for automatic control is updated to be a first road segment.
  • stopping the automatic control over the target vehicle when it is detected that the target vehicle reaches the first road segment comprises: if the target path comprises the updated first road segment that is not suitable for automatic control, stopping the automatic control over the target vehicle when it is detected that the target vehicle reaches the updated first road segment.
  • the target vehicle in addition to determining whether a first road segment is comprised in the target path before automatically controlling the target vehicle according to the target path, it is also possible to, after automatically controlling the target vehicle according to the target path, acquire the automatic control function of the target vehicle, the path restriction information corresponding to the automatic control function, and the real-time traffic condition information of the target path, so as to determine whether the first road segment is comprised in the target path.
  • the target vehicle is automatically controlled while determining whether a first road segment is comprised in the target path.
  • the automatic control over the target vehicle can be stopped when it is detected that the target vehicle reaches the first road segment.
  • the method further comprises: if it is detected that the target vehicle reaches an end position of the first road segment, re-performing an automatic control on the target vehicle.
  • the location of the target vehicle may continue to be detected. If the location of the target vehicle is detected to be at the end position of a first road segment, or the distance between the location of the target vehicle and the end position of the first road segment is less than a reference threshold, it means that the target vehicle has passed through the entire first road segment, and the next is a road segment suitable for automatic control. Therefore, the automatic control over the target vehicle can be re-performed.
  • the method before stopping the automatic control over the target vehicle, further comprises: acquiring a real-time position of the target vehicle; determining whether a further path suitable for automatic control exists between the real-time position of the target vehicle and an end position of the target path; and if not, performing the stopping of the automatic control over the target vehicle. Accordingly, if there is a further path, the target vehicle can be automatically controlled according to the further path.
  • the automatic control over the target vehicle may be stopped, and the target vehicle may be controlled according to the detected driving operation. If a further path exists, the target vehicle can be automatically controlled according to the further path.
  • the automatic control over the target vehicle is deliberately stopped, and a user confirms whether to switch to a manual control mode or continue the automatic control mode.
  • the way to control the vehicle is relatively flexible and has a certain predictability. Therefore, the user's driving safety is better guaranteed, and the user's driving experience is improved.
  • an embodiment of the present application provides an apparatus for controlling a vehicle.
  • the apparatus comprises: a detection module 701 for detecting an automatic control instruction for a target vehicle, and acquiring a target path according to the automatic control instruction; a first control module 702 for automatically controlling the target vehicle according to the target path; and a second control module 703 for, if the target path comprises a first road segment that is not suitable for automatic control, stopping the automatic control over the target vehicle and controlling the target vehicle according to a detected driving operation when it is detected that the target vehicle reaches the first road segment.
  • the apparatus further comprises: an output module for, if the target path comprises the first road segment, outputting a prompt message, which is used to prompt that a road segment, that is not suitable for automatic control, exists in the target path, wherein the first control module 702 is used for, if an automatic control instruction for the target vehicle is detected in response to the prompt message, performing an automatic control on the target vehicle according to the target path.
  • the apparatus further comprises: a first determination module for acquiring an automatic control function of the target vehicle, path restriction information corresponding to the automatic control function, and real-time traffic condition information of the target path; and determining whether the target path comprises the first road segment according to the automatic control function, the path restriction information and the real-time traffic condition information.
  • the apparatus further comprises: an update module for acquiring updated traffic condition information of the target path; and updating the first road segment according to the updated traffic condition information, to obtain the updated first road segment, wherein the second control module 703 is used for, if the target path comprises the updated first road segment that is not suitable for automatic control, stopping the automatic control over the target vehicle when it is detected that the target vehicle reaches the updated first road segment.
  • the apparatus further comprises: a second determination module for acquiring a real-time position of the target vehicle; and determining whether a further path suitable for automatic control exists between the real-time position of the target vehicle and an end position of the target path, wherein the second control module 703 is used for stopping the automatic control over the target vehicle if a further path does not exist.
  • the second control module 703 is used for, if a further path exists, performing an automatic control over the target vehicle according to the further path.
  • the apparatus further comprises: a third control module for, if it is detected that the target vehicle reaches an end position of the first road segment, re-performing an automatic control on the target vehicle.
  • the apparatus further comprises: a fourth control module for, if it is detected that the target vehicle reaches an end position of the target path, stopping the automatic control over the target vehicle.
  • the automatic control over the target vehicle is actively stopped, and a user is prompted to confirm whether to switch to a manual control mode or continue the automatic control mode.
  • the way to control the vehicle is relatively flexible and has a certain predictability. Not only the user's driving safety is enhanced, but also the user's driving experience is improved.
  • the functional modules provided in the apparatus of the above embodiments are for examples only. In practical applications, the above functions may be allocated to different functional modules according to requirements, that is, the internal structure of the device is divided into different functional modules to complete all or some of the functions described above.
  • the apparatus and method embodiments provided in the above embodiments belong to the same concept. For the specific implementation process, see the method embodiments, and details are not described here.
  • the terminal 800 may be a portable mobile terminal, such as a smart phone, a tablet computer, a notebook computer, or a desktop computer.
  • the terminal 800 may also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal, or another name.
  • the terminal 800 comprises a processor 801 and a memory 802.
  • the processor 801 may comprise one or more processing cores, such as a 4-core processor, and an 8-core processor.
  • the processor 801 may be implemented in the hardware form of at least one of a group consisting of DSP (Digital Signal Processing) , FPGA (Field-Programmable Gate Array) , and PLA (Programmable Logic Array) .
  • the processor 801 may also comprise a main processor and a coprocessor.
  • the main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit) .
  • the coprocessor is a low-power-consumption processor for processing data in a standby state.
  • the processor 801 may be integrated with a GPU (Graphics Processing Unit) .
  • the GPU is used to be responsible for rendering and drawing content that the display screen 805 needs to display.
  • the processor 801 may further comprise an AI (Artificial Intelligence) processor.
  • the AI processor is used to process computing operations related to machine learning.
  • the memory 802 may comprise one or more computer-readable storage media, which may be non-transitory.
  • the memory 802 may also comprise a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices and flash storage devices.
  • the non-transitory computer-readable storage medium in the memory 802 is used to store at least one instruction, which is executed by the processor 801 to implement the method for controlling a vehicle provided in the method embodiment of the present application.
  • the terminal 800 may optionally comprise a peripheral device interface 803 and at least one peripheral device.
  • the processor 801, the memory 802, and the peripheral device interface 803 may be connected via a bus or signal lines.
  • Each peripheral device may be connected to the peripheral device interface 803 via a bus, a signal line, or a circuit board.
  • the peripheral device comprises at least one of a group consisting of a radio frequency circuit 804, a display screen 805, a camera 806, an audio circuit 807, a positioning component 808, and a power supply 809.
  • the peripheral device interface 803 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 801 and the memory 802.
  • the processor 801, the memory 802, and the peripheral device interface 803 are integrated on the same chip or circuit board.
  • any one or two of the processor 801, the memory 802, and the peripheral device interface 803 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
  • the radio frequency circuit 804 is used to receive and transmit RF (Radio Frequency) signals, also called electromagnetic signals.
  • the radio frequency circuit 804 communicates with a communication network and other communication devices through the electromagnetic signals.
  • the radio frequency circuit 804 converts electrical signals into electromagnetic signals for transmission, or converts the received electromagnetic signals into electrical signals.
  • the radio frequency circuit 804 comprises: 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, etc.
  • the radio frequency circuit 804 may communicate with other terminals through at least one wireless communication protocol.
  • the wireless communication protocol includes, but is not limited to: a metropolitan area network, various generations of mobile communication networks (2G, 3G, 4G and 5G) , a wireless local area network, and/or a WiFi (Wireless Fidelity) network.
  • the radio frequency circuit 804 may further comprise a circuit related to NFC (Near Field Communication) , which is not limited in the present application.
  • the display screen 805 is used to display a UI (User Interface) .
  • the UI may comprise graphics, a text, icons, a video, and any combination thereof.
  • the display screen 805 also has the ability to collect touch signals on or above a surface of the display screen 805.
  • the touch signals may be input to the processor 801 as control signals for processing.
  • the display screen 805 can also be used to provide virtual buttons and/or a virtual keyboard, also called soft buttons and/or a soft keyboard.
  • the display screen 805 may be a flexible display screen, which is provided on a curved surface or a folding surface of the terminal 800.
  • the display screen 805 may even be configured to have a non-rectangular irregular shape, that is, a specially-shaped screen.
  • the display screen 805 may be prepared by using a material such as LCD (Liquid Crystal Display) and OLED (Organic Light-Emitting Diode) .
  • the camera component 806 is used to collect images or videos.
  • the camera component 806 comprises a front camera and a rear camera.
  • the front camera is provided at the front panel of the terminal, and the rear camera is provided on the back of the terminal.
  • the camera component 806 may also comprise a flashlight.
  • the flashlight may be a single-color-temperature flashlight or a dual-color-temperature flashlight.
  • the dual-color-temperature flashlight refers to the combination of a warm-light flashlight and a cold-light flashlight, which can be used for light compensation at different color temperatures.
  • the audio circuit 807 may comprise a microphone and a speaker.
  • the microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input same to the processor 801 for processing, or input same to the radio frequency circuit 804 to implement voice communication.
  • the microphone may also be an array of microphones or an omnidirectional collection-type microphone.
  • the speaker is used to convert electrical signals from the processor 801 or the radio frequency circuit 804 into sound waves.
  • the speaker may be a traditional thin-film speaker or a piezoelectric ceramic speaker.
  • the speaker When the speaker is a piezoelectric ceramic speaker, it can not only convert electrical signals into sound waves audible by humans, but also convert the electrical signals into sound waves inaudible to humans for distance measurement and other purposes.
  • the audio circuit 807 may also comprise a headphone jack.
  • the positioning component 808 is used to locate the current geographic location of the terminal 800 to implement navigation or LBS (Location Based Service) .
  • the positioning component 808 may be a positioning component based on the GPS (Global Positioning System) of the United States, the Beidou system of China, the Grenas system of Russia, or the Galileo system of the European Union.
  • the power supply 809 is used to supply power to various components in the terminal 800.
  • the power supply 809 may be alternating current, direct current, a disposable battery, or a rechargeable battery.
  • the rechargeable battery may support wired charging or wireless charging.
  • the rechargeable battery can also be used to support fast charging technology.
  • the terminal 800 further comprises one or more sensors 810.
  • the one or more sensors 810 comprise, but are not limited to: an acceleration sensor 811, a gyro sensor 812, a pressure sensor 813, a fingerprint sensor 814, an optical sensor 815, and a proximity sensor 816.
  • the acceleration sensor 810 may detect the magnitudes of accelerations on three coordinate axes of a coordinate system established with the terminal 800.
  • the acceleration sensor 811 may be used to detect the components of gravity acceleration on the three coordinate axes.
  • the processor 801 may control, according to the gravity acceleration signals collected by the acceleration sensor 811, the display screen 805 to display the user interface in a landscape view or a portrait view.
  • the acceleration sensor 811 may also be used to collect data of a game or a movement of the user.
  • the gyro sensor 812 may detect an orientation and a rotation angle of the body of the terminal 800, and the gyro sensor 812 may cooperate with the acceleration sensor 811 to collect a 3D action of the user on the terminal 800.
  • the processor 801 can implement the following functions based on the data collected by the gyro sensor 812: motion sensing (such as changing the UI according to a tilt operation of the user) , image stabilization during photographing, game control, and inertial navigation.
  • the pressure sensor 813 may be provided at a side frame of the terminal 800 and/or a lower layer of the display screen 805.
  • the pressure sensor 813 can detect a grip signal of the user on the terminal 800, and the processor 801 performs a left/right hand recognition or shortcut operation according to the grip signal collected by the pressure sensor 813.
  • the processor 801 controls an operable control on the UI interface according to a pressure operation of the user on the display screen 805.
  • the operable control includes at least one of a group consisting of a button control, a scroll bar control, an icon control, and a menu control.
  • the fingerprint sensor 814 is used to collect the user's fingerprint, and the processor 801 identifies the user's identity according to the fingerprint collected by the fingerprint sensor 814, or the fingerprint sensor 814 identifies the user's identity based on the collected fingerprint. When the user's identity is identified as a trusted identity, the processor 801 authorizes the user to perform related sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, paying, changing settings, etc.
  • the fingerprint sensor 814 may be provided on a front face, a back face or a side face of the terminal 800. When a physical button or manufacturer logo is provided on the terminal 800, the fingerprint sensor 814 may be integrated with the physical button or manufacturer logo.
  • the optical sensor 815 is used to collect the ambient light intensity.
  • the processor 801 may control the display brightness of the display screen 805 according to the ambient light intensity collected by the optical sensor 815. Specifically, when the ambient light intensity is high, the display brightness of the display screen 805 is increased; and when the ambient light intensity is low, the display brightness of the touch display screen 808 is decreased.
  • the processor 801 may also dynamically adjust photographing parameters of the camera component 806 according to the ambient light intensity collected by the optical sensor 815.
  • the proximity sensor 816 also called a distance sensor, is generally provided at the front panel of the terminal 800.
  • the proximity sensor 816 is used to collect the distance between the user and the front face of the terminal 800.
  • the processor 801 controls the display screen 805 to switch from a screen-on state to a screen-off state.
  • the processor 801 controls the display screen 805 to switch from the screen-off state to the screen-on state.
  • Fig. 8 does not constitute a limitation on the terminal 800, and may comprise more or fewer components than shown, or combine some components, or adopt different component arrangements.
  • an embodiment of the present application provides an electronic device, which comprises a memory and a processor. At least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement a method for controlling a vehicle provided in any one of the exemplary embodiments of the present application.
  • an embodiment of the present application provides a computer-readable storage medium, wherein at least one instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to implement a method for controlling a vehicle provided in any one of the exemplary embodiments of the present application.
  • the program may be stored in a computer-readable storage medium.
  • the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Procédé de commande d'un véhicule. Le procédé comprend : la détection d'une instruction de commande automatique pour un véhicule cible, et l'acquisition d'un trajet cible selon l'instruction de commande automatique ; la réalisation d'une commande automatique sur le véhicule cible selon le trajet cible ; et l'arrêt de la commande automatique sur le véhicule cible lorsque le véhicule cible atteint un premier segment de route inclus dans le trajet cible qui n'est pas approprié pour une commande automatique, et la commande du véhicule cible en fonction d'une opération d'entraînement détectée.
PCT/CN2020/098217 2019-10-31 2020-06-24 Procédé et appareil de commande de véhicule WO2021082483A1 (fr)

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CN201911050046.3A CN110884500A (zh) 2019-10-31 2019-10-31 控制车辆的方法、装置、电子设备及存储介质

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