WO2022227572A1 - 车辆控制方法、装置及车辆 - Google Patents

车辆控制方法、装置及车辆 Download PDF

Info

Publication number
WO2022227572A1
WO2022227572A1 PCT/CN2021/135173 CN2021135173W WO2022227572A1 WO 2022227572 A1 WO2022227572 A1 WO 2022227572A1 CN 2021135173 W CN2021135173 W CN 2021135173W WO 2022227572 A1 WO2022227572 A1 WO 2022227572A1
Authority
WO
WIPO (PCT)
Prior art keywords
service
service component
vehicle
execution
function
Prior art date
Application number
PCT/CN2021/135173
Other languages
English (en)
French (fr)
Inventor
杨子
魏鹏飞
常松涛
宋佳
国佳帅
Original Assignee
北京百度网讯科技有限公司
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
Publication date
Application filed by 北京百度网讯科技有限公司 filed Critical 北京百度网讯科技有限公司
Priority to JP2022528352A priority Critical patent/JP7542618B2/ja
Priority to KR1020227015773A priority patent/KR20220070327A/ko
Publication of WO2022227572A1 publication Critical patent/WO2022227572A1/zh

Links

Images

Classifications

    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present disclosure relates to the field of artificial intelligence, in particular to the fields of automatic driving, autonomous parking, and intelligent transportation, and in particular, to a vehicle control method, device, and vehicle.
  • the vehicle can usually provide different service functions, such as the parking service function and the parking space search service function.
  • the service functions that the vehicle can provide increases, for example, the vehicle can provide a parking service function, a parking space search service function, etc., which will not be listed here.
  • the parking service function can be understood as the parking space parking function and the parking space parking function provided based on the automatic parking technology.
  • a vehicle control method, device and vehicle for improving the accuracy and reliability of vehicle control.
  • a vehicle control method comprising:
  • each of the service components is executed to perform vehicle control corresponding to the vehicle service function.
  • a vehicle control device comprising:
  • a retrieval unit configured to retrieve each service component corresponding to the vehicle service function in response to a vehicle service request for the vehicle service function
  • a determining unit configured to determine the execution logic between each of the service components
  • the execution unit is configured to execute each of the service components according to the execution logic between the service components, and perform vehicle control corresponding to the vehicle service function.
  • an electronic device comprising:
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method of the first aspect.
  • a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method of the first aspect.
  • a computer program product comprising: a computer program stored in a readable storage medium, from which at least one processor of an electronic device can Reading the storage medium reads the computer program, and executing the computer program by the at least one processor causes the electronic device to perform the method of the first aspect.
  • a vehicle comprising: the vehicle control device of the second aspect.
  • a computer program comprising program code, when a computer runs the computer program, the program code executes the method described in any of the above embodiments.
  • Fig. 1 is the principle schematic diagram of the vehicle control method in the related art
  • FIG. 2 is a schematic diagram according to a first embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of the principle of the parking service function of the present disclosure.
  • Fig. 4 is the principle schematic diagram of the parking space search service function of the present disclosure
  • FIG. 5 is a schematic diagram according to a second embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram 1 of a logical relationship of service components provided by an embodiment of the present disclosure
  • FIG. 7 is a second schematic diagram of a logical relationship of service components provided by an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of an execution principle of a service component provided by an embodiment of the present disclosure.
  • FIG. 9 is a schematic diagram according to a third embodiment of the present disclosure.
  • FIG. 10 is a schematic diagram of a fourth embodiment according to the present disclosure.
  • FIG. 11 is a schematic diagram of a fifth embodiment according to the present disclosure.
  • FIG. 12 is a schematic diagram of a sixth embodiment according to the present disclosure.
  • FIG. 13 is a schematic diagram of a seventh embodiment according to the present disclosure.
  • FIG. 14 is a block diagram of an electronic device used to implement the vehicle control method of the embodiment of the present disclosure.
  • the algorithm package of the vehicle service function can be called, and the algorithm package includes all the algorithms for completing the vehicle service function; then the algorithm package is executed, and then the vehicle is completed. service function.
  • the algorithm package corresponding to the parking service function is determined (the algorithm package integrates all the algorithms for completing the parking service function, such as the algorithm of lane line detection and the algorithm of parking space line detection. etc.), and control the vehicle to execute the algorithm package to realize the parking service function.
  • the parking service function is realized based on the automatic parking technology, which is the key link of the automatic driving technology.
  • the parking service function based on the automatic parking technology has undergone the development of various technical forms.
  • the parking service function starts from the semi-automatic parking service function and can be divided into six stages, and the six stages are the semi-automatic parking service function, the fully automatic parking service function, the integrated fully automatic parking service function, the remote Remote control automatic parking service function, family area parking assistance service function, valet (autonomous) parking service function.
  • the semi-automatic parking service function is a service function that can solve the lateral control of the vehicle
  • the fully automatic parking can be a service function that solves the longitudinal control of the vehicle
  • the integrated automatic parking can be a service function that solves the search for parking spaces on the line, while improving the display. interact.
  • the driver of the above functions needs to be in the vehicle.
  • the driver can realize remote control outside the vehicle. This process requires the driver to monitor the whole process.
  • the memory parking service function allows the vehicle to automatically go to the target parking space/autonomously call out of the warehouse according to the learned route in the subsequent use through the driver's learning and training of the route.
  • the valet parking service function does not require drivers to learn training routes in advance, and can be implemented based on high-precision maps.
  • a user may initiate a vehicle service request to the vehicle, for example, the user may initiate a parking service request to the vehicle, and may also initiate a parking space search service request to the vehicle.
  • the vehicle determines that the parking service function needs to be provided according to the parking service request, and then invokes the parking service algorithm package corresponding to the parking service function, and executes the parking service algorithm package, thereby completing the corresponding parking service function. vehicle control.
  • the vehicle determines that it needs to provide the parking space search service function, and then calls the parking space search service algorithm package corresponding to the parking space search service function, and executes the parking space search service algorithm package, so as to complete the parking space search service function. vehicle control.
  • the vehicle may include a functional layer of service functions that the vehicle can implement, as shown in FIG. 1 .
  • the functional layer includes a parking service function and a parking space search service function.
  • the vehicle may include an algorithm layer for completing the service function.
  • the algorithm layer includes a parking service algorithm package for realizing the parking service function, and also includes a parking space search service algorithm for the parking space search service function. Bag.
  • the vehicle receives a parking service request, it determines that a parking service function needs to be provided, and calls and executes the algorithm in the parking service algorithm package; if the vehicle receives a parking space search service request, it determines that a parking space search service needs to be provided function, and call and execute the algorithm in the parking space search service algorithm.
  • the algorithm package used to implement the vehicle service function integrates all the algorithms used to complete the vehicle service function (for example, in the parking service algorithm package used to implement the parking service function, it integrates all the algorithms used to complete the vehicle service function) All algorithms of the service function, including lane line detection algorithm and parking space line detection algorithm, etc.), then the complexity of the algorithm package used to realize the vehicle service function is too large and the coupling is too high, which may lead to accurate vehicle control. technical problems with low performance and reliability.
  • the algorithm resources between different vehicle service functions are independent of each other, that is, the algorithm resources between different vehicle service functions cannot be shared, which may lead to technical problems such as low resource reuse and low resource utilization.
  • some of the algorithms of the parking service function and the parking space search service function may be the same, for example, they may both include the lane line detection algorithm, etc., and since the algorithm packages between the parking service function and the parking space search service function are independent of each other, it may lead to parking The algorithm packages between the car service function and the parking space search service function cannot share the common algorithm resources, resulting in a technical problem of low resource reuse.
  • each functional item has an independent service component, and execution logic is also provided between each service component, so that when a vehicle service request is received, it can be The service component corresponding to the service request, and the execution logic between the components, execute the service component corresponding to the vehicle service request, and perform vehicle control corresponding to the vehicle service function.
  • the present disclosure provides a vehicle control method, device, electronic device, storage medium, program product and vehicle, and relates to the field of artificial intelligence, in particular to the fields of automatic driving, unmanned driving, autonomous parking, and intelligent transportation, so as to achieve accurate vehicle control.
  • FIG. 2 is a schematic diagram according to the first embodiment of the present disclosure. As shown in FIG. 2 , the vehicle control method provided by this embodiment includes:
  • each service component includes an instruction to implement the function item represented by the service component.
  • the execution body of this embodiment may be a vehicle control device, and may specifically be an in-vehicle terminal, a computer, a server, a processor, a chip, and the like provided in the vehicle.
  • a vehicle service function can be understood as a function that a vehicle can provide, such as a parking service function, and a parking space search service function.
  • the vehicle service request can be understood as a request for indicating a vehicle service function to be executed, for example, the vehicle service request is used to request the vehicle control device to execute the parking service function, and for example, the vehicle service request is used to request the vehicle control device to execute the parking space. Search service functions, etc.
  • the vehicle service request may be initiated by the user; or may be automatically triggered by the vehicle based on the vehicle driving environment, where the vehicle driving environment includes the vehicle driving speed and the vehicle driving direction.
  • one vehicle service function corresponds to a plurality of service components, and each service component includes an instruction to implement a function item.
  • a service component represents a function item, and the service component includes an instruction to realize the function item, and a plurality of function items are combined to obtain a vehicle service function. That is, a vehicle service function can be divided into multiple function items, each function item can be a service component, the service component includes instructions, and multiple function items can jointly complete a vehicle service function.
  • each service component includes: a lane line detection service component, a parking space detection service component, a steering wheel control service component, and a body control service component. .
  • the vehicle control device may, according to the vehicle service request for the parking service function, determine that each service component corresponding to the parking service function includes: a lane line detection service component, Parking space detection service components, and steering wheel control service components.
  • the functional item represented by the lane line detection service component is the lane line detection service function
  • the functional item represented by the parking space detection service component is the parking space detection service function
  • the functional item represented by the steering wheel control service component is the steering wheel control service function.
  • the lane line detection service component includes instructions for implementing the lane line detection service function
  • the parking space detection service component includes instructions for implementing the parking space detection service function
  • the steering wheel control service component includes instructions for implementing the steering wheel control service function.
  • each service component includes: a lane line detection service component, a parking space detection service component, a steering wheel control service component, and a body control component. service components.
  • the vehicle control device may, according to the vehicle service request for the parking space search service function, determine that each service component corresponding to the parking space search service function includes: a lane line detection service component and a parking space Detect service components.
  • the functional item represented by the lane line detection service component is the lane line detection service function
  • the functional item represented by the parking space detection service component is the parking space detection service function
  • the lane line detection service component includes instructions for implementing the lane line detection service function
  • the parking space detection service component includes instructions for implementing the parking space detection service function
  • this step can be understood as: determining the execution logic between the lane line detection service component, the parking space detection service component, and the steering wheel control service component.
  • each service component can be understood as the order in which each service component is executed. That is, this step can be understood as: determining the sequence of executing the lane line detection service component, the parking space detection service component, and the steering wheel control service component.
  • this step can be understood as: determining the execution logic between the lane line detection service component and the parking space detection service component.
  • each service component can be understood as the order in which each service component is executed. That is, this step can be understood as: determining the sequence of executing the lane line detection service component and the parking space detection service component.
  • S203 Execute the service components according to the execution logic between the service components, so as to complete the vehicle control corresponding to the vehicle service function.
  • the execution logic between the lane line detection service component, the parking space detection service component, and the steering wheel control service component is: the lane line detection service component and the parking space detection service component are executed first, and The two are executed in parallel, and the steering wheel control service component is executed later, so this step can be understood as: the vehicle control device first executes the lane line detection service component and the parking space detection service component in parallel (specifically, executes the instructions in the lane line detection service component in parallel, and the instruction in the parking space detection service component), and then execute the steering wheel control service component (specifically, execute the instruction in the steering wheel control service component).
  • the vehicle control device executes the lane line detection service component and the parking space detection service component in parallel (specifically, executes the instructions in the lane line detection service component and the parking space detection service component in parallel).
  • FIG. 5 is a schematic diagram according to a second embodiment of the present disclosure. As shown in FIG. 5 , the vehicle control method provided by this embodiment includes:
  • each service sub-function constitutes a complete function of the vehicle service function.
  • the service components corresponding to each service sub-function constitute the complete execution process of the service sub-function.
  • the feature of the service sub-function is further introduced.
  • one vehicle service function corresponds to multiple service sub-functions, that is, one vehicle service function is implemented by multiple service sub-functions;
  • one service sub-function corresponds to multiple service components, that is, one service sub-function Implemented by multiple service components.
  • the vehicle control device can be understood as a three-layer structure
  • the first layer can be understood as a functional layer, that is, the functional layer includes vehicle service functions
  • the second layer can be understood as a service layer, that is, the service layer includes services.
  • Sub-function the third layer can be understood as the component layer, that is, the component layer includes service components.
  • the functional layer may include multiple vehicle service functions. As shown in FIG. 6 , the functional layer includes vehicle service function 1, vehicle service function 2, and vehicle service function N, where N is a positive integer greater than or equal to 2 .
  • the service layer includes multiple service sub-functions. As shown in FIG. 6 , the service layer includes service sub-function 1, service sub-function 2, and service sub-function M, where M is a positive integer greater than or equal to 2.
  • the component layer includes multiple service components. As shown in FIG. 6 , the component layer includes service component 1, service component 2, and service component K, where K is a positive integer greater than or equal to 2.
  • the vehicle service functions may include: a cruise service function, a parking space service function, a parking space service function, and a parking space search service function.
  • each service sub-function may include: perception service sub-function, positioning service sub-function, environment modeling service sub-function, decision planning service sub-function, vehicle control service sub-function, and map construction service sub-function.
  • each service sub-function in the service layer can be obtained by the vehicle control device by analyzing each vehicle service function in the function layer. For example, for any vehicle service function, the vehicle control device analyzes the any vehicle service function, determines a smaller granularity for obtaining the any vehicle service function, and obtains each vehicle service function for completing the any vehicle service function. Service sub-function.
  • the positioning service sub-function can provide IMU (Inertial Measurement Unit, inertial measurement unit, also known as inertial measurement sensor) six-axis information, so that the vehicle control device or the automatic driving control device can perform fusion positioning algorithms and improve positioning accuracy.
  • IMU Inertial Measurement Unit, inertial measurement unit, also known as inertial measurement sensor
  • the service components corresponding to the perception sub-service include: parking space detection service component, lane line detection service component, traffic sign recognition service component, traffic sign detection service component, pedestrian detection service component, vehicle Detection service components, ground lock detection service components, and vehicle arrester detection service components;
  • the service components corresponding to the vehicle control sub-services include: gear control service components, steering wheel control service components, drive control service components, and brake control service components , and body service components.
  • each service component function in the component layer can be obtained by analyzing each service sub-function in the service layer by the vehicle control device. For example, for any service sub-function, the vehicle control device parses the any service sub-function, determines a smaller granularity for obtaining the any service sub-function, and obtains each service sub-function for completing the any service sub-function. Service sub-function.
  • the lane line detection service component can provide lane line information within a preset range in front of the vehicle (for example, within 6 meters), and can also provide high-speed assisted driving functions (HWA), such as Lane Keeping Assist (LKA), etc. Perceptual fusion and front-view camera blind spot compensation are performed.
  • HWA high-speed assisted driving functions
  • LKA Lane Keeping Assist
  • vehicle control device may include vehicle service functions, service sub-functions, and service components, and should not be construed as limitations on the vehicle service functions, service sub-functions, and service components .
  • each service sub-function corresponding to the vehicle service function by determining each service sub-function corresponding to the vehicle service function and determining the service component corresponding to each service sub-function, it is equivalent to dividing the vehicle service function into multiple service sub-functions. function, and each service sub-function has corresponding multiple service components, so that each service sub-function can be implemented independently, which can reduce the pressure of the algorithm package for developing vehicle service functions, and can avoid the coupling of each service sub-function in the vehicle service function.
  • the problem is that the accuracy of the vehicle control is too low, so the technical effect of the accuracy and reliability of the vehicle control is improved, and the driving experience of the user is improved.
  • a mapping relationship between vehicle service functions and service sub-functions may be constructed, and a mapping relationship between service sub-functions and service components may be constructed, so as to complete the mapping relationship corresponding to the vehicle service function based on the two constructed mapping relationships vehicle control.
  • the corresponding relationship between the vehicle service function and each service component can also be constructed based on the corresponding relationship between the vehicle service function and the service sub-function, and the corresponding relationship between the service sub-function and the service component, In order to complete the vehicle control corresponding to the vehicle service function based on the corresponding relationship between the constructed vehicle service function and each service component.
  • the corresponding relationship between the vehicle service function and each service component can also be constructed based on the corresponding relationship between the vehicle service function and the service sub-function, and the corresponding relationship between the service sub-function and the service component, And based on the correspondence between the vehicle service function and each service component, a call link between the vehicle service function and each service component is constructed, so as to complete the vehicle control corresponding to the vehicle service function based on the call link.
  • the service components belonging to the same service sub-function have an execution order; wherein, the execution order is a parallel execution order, or the execution order is a sequential execution order.
  • the parking space detection service component and the lane line detection service component belong to the perception sub-service, and in some embodiments, the parking space detection service component and the lane line detection service component are executed in parallel, that is, the parking space detection service component and the lane line detection service component are executed in parallel.
  • the detection service component and the lane line detection service component do not interfere with each other and are independent of each other; in other embodiments, the parking space detection service component and the lane line detection service component are executed in sequence, for example, the parking space detection service component is executed first, and then the lane detection service component is executed. Line detection service component, or, execute the lane line detection service component first, and then execute the parking space detection service component.
  • S504 Execute each service component according to the execution logic between each service component, so as to complete the vehicle control corresponding to the vehicle service function.
  • the service component includes a first service component and a second service component, and in the execution logic between the service components, the priority of the first service component is higher than the priority of the second service component, then S504 Can include the following steps:
  • Step 1 Execute the first service component to obtain an execution result.
  • the second step according to the execution result, execute the second service component.
  • first service component and the second service component described in this embodiment cannot be construed as a limitation on the quantity of the service components, nor as a limitation on the content of the service components.
  • the vehicle control device implements the principle of each service component. See Figure 8.
  • the vehicle control device executes the parking space detection service component and the lane line detection service component in parallel, and then executes the steering wheel control service component.
  • the service components include: a parking space detection service component, a lane line detection service component, a pedestrian detection service component, a ground lock detection, a gear position control component, a brake control component, and a steering wheel control service component.
  • the lane line detection service component, the pedestrian detection service component, the gear position control component, and the steering wheel control service component are the first services.
  • the assembly, the gear control assembly and the steering wheel control service assembly are the second service assembly.
  • the pedestrian detection service component is the first service component
  • the brake control component is the second service component
  • each service component is a parallel execution service component.
  • the vehicle control device executes the parking space detection service component, the lane line detection service component, the pedestrian detection service component, and the ground lock detection in parallel, and executes the parking space detection service component, the lane line detection service component, and the pedestrian detection service component after executing the parking space detection service component, the lane line detection service component, and the pedestrian detection service component.
  • the gear control assembly and the steering wheel control service assembly execute the brake control assembly after the pedestrian detection service assembly is executed.
  • the second step may include: determining parameters for executing the second service component according to the execution result, and executing the second service component according to the parameters for executing the second service component.
  • the vehicle control device may, according to the execution result of the parking space detection service component, and the execution result of the lane line detection service component, determine parameters for executing the steering wheel control service component, and execute the steering wheel control service component based on the determined parameters.
  • the execution logic of each service component can be combined to determine the The execution result, and based on the execution result of the previously executed service component, execute the later executed service component (ie, the service component with low priority), which can make the execution of each service component highly fit and related. , fully considering the mutual influence and cooperation between service components with different priorities, thus achieving the technical effect of improving the reliability and accuracy of vehicle control.
  • determining the parameters for executing the second service component according to the execution result may be implemented by using any one of the following embodiments.
  • the vehicle control device may acquire preset execution parameters of the second service component, and adjust the preset execution parameters according to the execution result to obtain parameters for executing the second service component.
  • the vehicle control apparatus may acquire preset execution parameters of the second service component, and replace the preset execution parameters with parameters for executing the second service component.
  • the vehicle control apparatus may determine the field position of the preset execution parameter of the second service component, and fill the field position with the parameter for executing the second service component.
  • different strategies can be used to determine the parameters for executing the second service component, such as a strategy of adjusting preset execution parameters, a strategy of replacement, and a strategy of filling,
  • a strategy of adjusting preset execution parameters such as a strategy of adjusting preset execution parameters, a strategy of replacement, and a strategy of filling
  • FIG. 9 is a schematic diagram according to a third embodiment of the present disclosure. As shown in FIG. 9 , the vehicle control method provided by this embodiment includes:
  • each service component includes instructions to implement the functional item represented by the service component.
  • S902 Determine the execution logic between each service component.
  • S903 Execute each service component according to the execution logic between each service component, and perform vehicle control corresponding to the vehicle service function.
  • S904 Acquire a service component update request, and perform update processing on a service component corresponding to the service component update request.
  • the service component update request is used to instruct the service component to be updated.
  • the service component can be independently updated.
  • the algorithm package used to realize the vehicle service function is the algorithm package for the parking service function.
  • the overall update is relatively difficult, and the time cost and labor cost are high.
  • the vehicle service function includes a plurality of service sub-functions, and each service sub-function includes a plurality of service components.
  • each service sub-function includes a plurality of service components.
  • a single service component can be updated based on requirements, without the need for the overall algorithm package. The update is carried out, thereby achieving the technical effect of improving the update efficiency and saving the update cost.
  • the service component update request carries the identifier of the service component to be updated.
  • performing update processing on the service component corresponding to the service component update request may include: determining from each service component the service component corresponding to the identifier , and update the service component corresponding to the ID.
  • the vehicle control device may assign an identifier to each service component in advance, so that when a service component update request is received, the identifier of the service component to be updated is read from the service component update request, and based on the identifier, the identifiers of the service components are retrieved from each service component.
  • a service component to be updated is determined in the components, so as to perform update processing on the determined service component to be updated.
  • the efficiency of determining the service component to be updated can be improved, thereby improving the more targeted update, and improving the accuracy and reliability of the update. technical effect.
  • FIG. 10 is a schematic diagram according to a fourth embodiment of the present disclosure. As shown in FIG. 10 , the vehicle control method provided by this embodiment includes:
  • each service component includes instructions to implement the functional item represented by the service component.
  • S1002 Determine the execution logic between each service component.
  • S1003 Execute each service component according to the execution logic between each service component, obtain a detection result, and determine a driving strategy of the vehicle according to the detection result.
  • the driving strategy and the driving environment of the vehicle can have a high degree of fit, so that the determined driving strategy can have strong driving pertinence. , and then when the vehicle is controlled to execute the driving strategy, the technical effect of the accuracy, reliability, and safety of the vehicle's driving can be improved.
  • this embodiment can also be combined with the embodiment of updating each service component in the third embodiment to obtain a new embodiment, which will not be repeated here.
  • FIG. 11 is a schematic diagram according to a fifth embodiment of the present disclosure. As shown in FIG. 11 , a vehicle control device 1100 provided by this embodiment includes:
  • the retrieving unit 1101 is configured to retrieve each service component corresponding to the vehicle service function in response to the vehicle service request for the vehicle service function.
  • each service component includes instructions to implement the functional item represented by the service component.
  • the determining unit 1102 is configured to determine the execution logic between each service component.
  • the execution unit 1103 is configured to execute each service component according to the execution logic between each service component, and perform vehicle control corresponding to the vehicle service function.
  • FIG. 12 is a schematic diagram according to a sixth embodiment of the present disclosure. As shown in FIG. 12 , a vehicle control device 1200 provided by this embodiment includes:
  • the retrieving unit 1201 is configured to retrieve each service component corresponding to the vehicle service function in response to the vehicle service request for the vehicle service function.
  • each service component includes instructions to implement the functional item represented by the service component.
  • the retrieval unit 1201 may include:
  • the first determination is in unit 12011, which is used to determine each service sub-function corresponding to the vehicle service function.
  • each service sub-function constitutes a complete function of the vehicle service function.
  • the second determination subunit 12012 is configured to determine, according to each service subfunction, a service component corresponding to each service subfunction.
  • each service component corresponding to each service sub-function constitutes a complete execution process of the service sub-function.
  • different service components corresponding to the same service sub-function have an execution order, and the execution order is a parallel execution order or a sequential execution order.
  • the determining unit 1202 is configured to determine the execution logic between each service component.
  • the execution unit 1203 is configured to execute each service component according to the execution logic between each service component, and execute the vehicle control corresponding to the vehicle service function.
  • the service components include a first service component and a second service component;
  • the execution unit 1203 includes:
  • the first execution subunit 12031 is configured to execute the first service component according to the execution logic between the service components to obtain an execution result.
  • the second execution subunit 12032 is configured to execute the second service component according to the execution result.
  • the second execution subunit 12032 may include:
  • a determination module configured to determine parameters for executing the second service component according to the execution result.
  • the determining module is configured to obtain preset execution parameters of the second service component, and adjust the preset execution parameters according to the execution result to obtain parameters for executing the second service component.
  • the determining module is configured to acquire preset execution parameters of the second service component, and replace the preset execution parameters with parameters for executing the second service component. or,
  • the determining module is used for determining the field position of the preset execution parameter of the second service component, and filling the field position with the parameter for executing the second service component.
  • the execution module is configured to execute the second service component according to the parameter for executing the second service component.
  • the obtaining unit 1204 is configured to obtain a service component update request.
  • the service component update request is used to instruct the service component to be updated.
  • the update unit 1205 is configured to perform update processing on the service component corresponding to the service component update request.
  • FIG. 13 is a schematic diagram according to a seventh embodiment of the present disclosure. As shown in FIG. 13 , a vehicle control device 1300 provided by this embodiment includes:
  • the retrieving unit 1301 is configured to retrieve each service component corresponding to the vehicle service function in response to the vehicle service request for the vehicle service function.
  • each service component includes instructions to implement the functional item represented by the service component.
  • the determining unit 1302 is configured to determine the execution logic between each service component.
  • the execution unit 1303 is configured to execute each service component according to the execution logic between each service component, and execute the vehicle control corresponding to the vehicle service function.
  • the execution unit 1303 includes:
  • the third execution sub-unit 13031 is configured to execute each service component according to the execution logic between each service component to obtain the detection result.
  • the fourth determination subunit 13032 is configured to determine the driving strategy of the vehicle according to the detection result.
  • the control subunit 13033 is used to control the vehicle to execute the driving strategy.
  • the present disclosure also provides an electronic device and a readable storage medium.
  • the present disclosure also provides a computer program product, the computer program product includes: a computer program, the computer program is stored in a readable storage medium, and at least one processor of the electronic device can read from the readable storage medium A computer program is taken, and at least one processor executes the computer program so that the electronic device executes the solution provided by any of the foregoing embodiments.
  • Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers.
  • Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
  • the electronic device 1400 includes a computing unit 1401 that can be generated according to a computer program stored in a read only memory (ROM) 1402 or a computer program loaded from a storage unit 1408 into a random access memory (RAM) 1403 Various appropriate actions and processes are performed. In the RAM 1403, various programs and data required for the operation of the device 1400 can also be stored.
  • the computing unit 1401, the ROM 1402, and the RAM 1403 are connected to each other through a bus 1404.
  • An input/output (I/O) interface 1405 is also connected to bus 1404 .
  • Various components in the device 1400 are connected to the I/O interface 1405, including: an input unit 1406, such as a keyboard, mouse, etc.; an output unit 1407, such as various types of displays, speakers, etc.; a storage unit 1408, such as a magnetic disk, an optical disk, etc. ; and a communication unit 1409, such as a network card, a modem, a wireless communication transceiver, and the like.
  • the communication unit 1409 allows the device 1400 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.
  • Computing unit 1401 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computing units 1401 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc.
  • the computing unit 1401 executes the various methods and processes described above, such as a vehicle control method.
  • the vehicle control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1408.
  • part or all of the computer program may be loaded and/or installed on device 1400 via ROM 1402 and/or communication unit 1409.
  • the computer program When the computer program is loaded into RAM 1403 and executed by computing unit 1401, one or more steps of the vehicle control method described above may be performed.
  • the computing unit 1401 may be configured to perform the vehicle control method by any other suitable means (eg, by means of firmware).
  • Various implementations of the systems and techniques described herein above may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips system (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOC systems on chips system
  • CPLD load programmable logic device
  • computer hardware firmware, software, and/or combinations thereof.
  • These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that
  • the processor which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.
  • Program instructions for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program instructions may be provided to a processor or controller of a general purpose computer, special purpose computer or other programmable data processing apparatus such that the program instructions, when executed by the processor or controller, cause the functions/functions specified in the flowcharts and/or block diagrams Action is implemented.
  • the program instructions may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device.
  • the machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.
  • the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer.
  • a display device eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor
  • a keyboard and pointing device eg, a mouse or trackball
  • Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.
  • the systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system.
  • the components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
  • a computer system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other.
  • the server can be a cloud server, also known as a cloud computing server or a cloud host. It is a host product in the cloud computing service system to solve the traditional physical host and VPS service ("Virtual Private Server", or "VPS" for short) , there are the defects of difficult management and weak business expansion.
  • the server can also be a server of a distributed system, or a server combined with a blockchain.
  • the embodiments of the present disclosure further provide a vehicle, which includes the vehicle control device described in any of the above embodiments.
  • the vehicle may further include a sensor, and the sensor is connected to the vehicle control device, wherein the sensor is used for collecting sensor data and sending the sensor data to the vehicle control device, and the vehicle control device can control the vehicle based on the sensor data drive.
  • the embodiments of the present application further provide a computer program, including program code, when the computer runs the computer program, the program code executes the method described in any of the above embodiments.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种车辆控制方法、装置（1100、1200、1300）、电子设备（1400）、存储介质、程序产品及车辆，涉及人工智能领域，尤其涉及自动驾驶、自主泊车、智能交通领域。车辆控制方法包括：响应于针对车辆服务功能的车辆服务请求，调取与车辆服务功能对应的各服务组件，确定各服务组件之间的执行逻辑，根据各服务组件之间的执行逻辑，执行各服务组件，进行与车辆服务功能对应的车辆控制。

Description

车辆控制方法、装置及车辆
本公开要求于2021年04月30日提交中国专利局、申请号为CN 202110486003.0、申请名称为“车辆控制方法、装置及车辆”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及人工智能领域，尤其涉及自动驾驶、自主泊车、智能交通领域，尤其涉及一种车辆控制方法、装置及车辆。
背景技术
为了提高车辆的自动驾驶性能，车辆通常可以提供不同的服务功能，如泊车服务功能和车位搜索服务功能等。
随着自动驾驶技术地发展，车辆可以提供的服务功能相较增加，如车辆可以提供泊车服务功能，也可以提供车位搜索服务功能，等等，此处不再一一列举。
其中，泊车服务功能可以理解为基于自动泊车技术而提供的车位泊入功能和车位泊出功能。
发明内容
提供了一种用于提高车辆控制的准确性和可靠性的车辆控制方法、装置及车辆。
根据本公开的第一方面，提供了一种车辆控制方法，包括：
响应于针对车辆服务功能的车辆服务请求，调取与所述车辆服务功能对应的各服务组件；
确定各所述服务组件之间的执行逻辑；
根据各所述服务组件之间的执行逻辑，执行各所述服务组件，进行与所述车辆服务功能对应的车辆控制。
根据本公开的第二方面，提供了一种车辆控制装置，包括：
调取单元，用于响应于针对车辆服务功能的车辆服务请求，调取与所述车辆服务功能对应的各服务组件；
确定单元，用于确定各所述服务组件之间的执行逻辑；
执行单元，用于根据各所述服务组件之间的执行逻辑，执行各所述服务组件，进行与所述车辆服务功能对应的车辆控制。
根据本公开的第三方面，提供了一种电子设备，包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行第一方面所述的方法。
根据本公开的第四方面，提供了一种存储有计算机指令的非瞬时计算机可读存储介质，其中，所述计算机指令用于使所述计算机执行第一方面所述的方法。
根据本公开的第五方面，提供了一种计算机程序产品，所述计算机程序产品包括：计算机程序，所述计算机程序存储在可读存储介质中，电子设备的至少一个处理器可以从所述可读存储介质读取所述计算机程序，所述至少一个处理器执行所述计算机程序使得电子设备执行第一方面所述的方法。
根据本公开的第六方面，提供了一种车辆，包括：如第二方面所述的车辆控制装置。
根据本公开的第六方面，提供了一种计算机程序，包括程序代码，当计算机运行所述计算机程序时，所述程序代码执行如上任一实施例所述的方法。应当理解，本部分所描述的内容并非旨在标识本公开的实施例的关键或重要特征，也不用于限制本公开的范围。本公开的其它特征将通过以下的说明书而变得容易理解。
附图说明
附图用于更好地理解本方案，不构成对本公开的限定。其中：
图1是相关技术中的车辆控制方法的原理示意图；
图2是根据本公开第一实施例的示意图；
图3是本公开泊车服务功能的原理示意图；
图4是本公开车位搜索服务功能的原理示意图；
图5是根据本公开第二实施例的示意图；
图6是本公开实施例提供的服务组件的逻辑关系示意图一；
图7是本公开实施例提供的服务组件的逻辑关系示意图二；
图8是本公开实施例提供的服务组件的执行原理示意图；
图9是根据本公开第三实施例的示意图；
图10是根据本公开第四实施例的示意图；
图11是根据本公开第五实施例的示意图；
图12是根据本公开第六实施例的示意图；
图13是根据本公开第七实施例的示意图；
图14是用来实现本公开实施例的车辆控制方法的电子设备的框图。
具体实施方式
以下结合附图对本公开的示范性实施例做出说明，其中包括本公开实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本公开的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。
相关技术中，在进行车辆控制的每一项车辆服务功能时，可以调取车辆服务功能的算法包，算法包中包括了完成该车辆服务功能的所有算法；然后执行该算法包，进而完成车辆服务功能。例如，在需要完成泊车服务功能时，确定与泊车服务功能对应的算法包(该算法包中集成了为完成泊车服务功能的全部算法，如车道线检测的算法和车位线检测的算法等)，并控制车辆执行该算法包，从而实现泊车服务功能。
然而，由于算法包中集成了车辆服务功能的全部算法，复杂程度偏大，耦合性偏高，可能导致车辆控制的准确性和可靠性偏低。
其中，泊车服务功能是基于自动泊车技术实现的，自动泊车技术是自动驾驶技术的关键环节，基于自动泊车技术而产生的泊车服务功能经历了多种技术形态的发展。如，泊车服务功能从半自动泊车服务功能开始，可以分为六个阶段，且六个阶段分别为半自动泊车服务功能、全自动泊车服务功能、融合的全自动泊车服务功能、远程遥控自动泊车服务功能、家庭区域泊车辅助服务功能、代客(自主)泊车服务功能。
半自动泊车服务功能为可以解决车辆的横向控制的服务功能，全自动泊车可以为解决车辆的纵向控制的服务功能，融合的全自动泊车可以为解决线车位搜索的服务功能，同时提升显示交互。
以上功能驾驶员均需在车辆内，从遥控泊车服务功能开始，驾驶员可以在车辆外实现远程控制，此过程需要驾驶员全程监控。例如，记忆泊车服务功能通过驾驶员对路线的学习训练，车辆即可在后续使用中根据已学习的路线实现自动前往目标车位/自主召唤出库。代客泊车服务功能无需驾驶员提前学习训练路线，具体可以基于高精度地图实现。
现以服务功能包括泊车服务功能和车位搜索服务功能为例，对相关技术中，车辆为提供服务功能时的车辆控制方法的原理进行阐述如下。
用户(如驾驶员)可以向车辆发起车辆服务请求，例如，用户可以向车辆发起泊车服务请求，也可以向车辆发起车位搜索服务请求。
相应地，车辆根据泊车服务请求，确定需要提供泊车服务功能，进而调用与泊车服务功能对应的泊车服务算法包，并执行泊车服务算法包，从而完成与泊车服务功能对应的车辆控制。
同理，车辆根据车位搜索服务请求，确定需要提供车位搜索服务功能，进而调用与车位搜索服务功能对应的车位搜索服务算法包，并执行车位搜索服务算法包，从而完成与车位搜索服务功能对应的车辆控制。
示例性地，车辆中可以包括车辆可以实现的服务功能的功能层，如图1所示，如功能层中包括泊车服务功能和车位搜索服务功能。
车辆中可以包括用于完成服务功能的算法层，如图1所示，算法层中包括用于实现泊车服务功能的泊车服务算法包，还包括用于车位搜索服务功能的车位搜索服务算法包。
具体地，若车辆接收到泊车服务请求，则确定需要提供泊车服务功能，且调用并执行泊车服务算法包中的算法；若车辆接收到车位搜索服务请求，则确定需要提供车位搜索服务功能，且调用并执行车位搜索服务算法中的算法。
然而，一方面，如果用于实现车辆服务功能的算法包中，集成了完成车辆服务功能的全部算法(如用于实现泊车服务功能的泊车服务算法包中，集成了用于完成泊车服务功能的所有算法，具体可以包括车道线检测算法和车位线检测算法等)，那么，用于实现车辆服务功能的算法包的复杂程度偏大，耦合性偏高，从而可能导致车辆控制的准确性和可靠性偏低的技术问题。
另一方面，由于不同的车辆服务功能之间的算法资源相互独立，即不同的车辆服务功能之间的算法资源无法实现共享，从而可能导致资源复用偏低，资源利用率偏低的技术问题。例如，泊车服务功能和车位搜索服务功能的部分算法可能相同，如可能都包括车道线检测算法等，而由于泊车服务功能和车位搜索服务功能之间的算法包相互独立，因此，导致泊车服务功能和车位搜索服务功能之间的算法包无法共享共有的算法资源，从而造成资源复用偏低的技术问题。
为了解决上述技术问题中的至少一种，本公开提出：每一功能项均有独立的服务组件，各服务组件之间还具有执行逻辑，以便在接收到车辆服务请求时，可以基于与 该车辆服务请求对应的服务组件，以及各组件之间的执行逻辑，执行与该车辆服务请求对应的服务组件，进行与车辆服务功能对应的车辆控制。
本公开提供一种车辆控制方法、装置、电子设备、存储介质、程序产品及车辆，涉及人工智能领域，尤其涉及自动驾驶、无人驾驶、自主泊车、智能交通领域，以达到车辆控制的准确性和可靠性的技术效果。
图2是根据本公开第一实施例的示意图，如图2所示，本实施例提供的车辆控制方法包括：
S201：响应于针对车辆服务功能的车辆服务请求，调取与车辆服务功能对应的各服务组件。
其中，每一服务组件包括实现服务组件所表征的功能项的指令。
示例性地，本实施例的执行主体可以为车辆控制装置，且具体可以为设置于车辆的车载终端、计算机、服务器、处理器、以及芯片等。
结合上述实施例可知，车辆服务功能可以理解为车辆可以提供的功能，如泊车服务功能，又如车位搜索服务功能等。
相应地，车辆服务请求可以理解为用于请求指示待执行的车辆服务功能，如车辆服务请求用于请求车辆控制装置执行泊车服务功能，又如，车辆服务请求用于请求车辆控制装置执行车位搜索服务功能等。
需要说明地是，车辆服务请求可以为由用户发起的；也可以为车辆基于车辆行驶环境而自动触发的，其中，车辆行驶环境包括车辆行驶速度和车辆行驶方向等。
示例性地，一个车辆服务功能对应多个服务组件，且每一服务组件包括实现功能项的指令。
也就是说，一个服务组件表征了一个功能项，且该服务组件中包括实现该功能项的指令，多个功能项相结合得到一个车辆服务功能。即，一个车辆服务功能可以划分为多个功能项，每一功能项可以为一个服务组件，该服务组件包括了指令，多个功能项可以共同完成一个车辆服务功能。
一个示例中，如图3(图3为本泊车服务功能的原理示意图)所示，各服务组件中包括：车道线检测服务组件、车位检测服务组件、方向盘控制服务组件、以及车身控制服务组件。
若车辆服务请求为针对泊车服务功能的车辆服务请求，则车辆控制装置可以根据针对泊车服务功能的车辆服务请求，确定与泊车服务功能对应的各服务组件包括：车道线检测服务组件、车位检测服务组件、以及方向盘控制服务组件。
其中，车道线检测服务组件表征的功能项为车道线检测服务功能，车位检测服务组件表征的功能项为车位检测服务功能，方向盘控制服务组件表征的功能项为方向盘控制服务功能。
车道线检测服务组件中包括实现车道线检测服务功能的指令，车位检测服务组件包括实现车位检测服务功能的指令，方向盘控制服务组件包括实现方向盘控制服务功能的指令。
另一个示例中，如图4(图4为本公开车位搜索服务功能的原理示意图)所示，各服务组件中包括：车道线检测服务组件、车位检测服务组件、方向盘控制服务组件、以及车身控制服务组件。
若车辆服务请求为针对车位搜索服务功能的车辆服务请求，则车辆控制装置可以根据针对车位搜索服务功能的车辆服务请求，确定车位搜索服务功能对应的各服务组件包括：车道线检测服务组件和车位检测服务组件。
同理，车道线检测服务组件表征的功能项为车道线检测服务功能，车位检测服务组件表征的功能项为车位检测服务功能。
车道线检测服务组件中包括实现车道线检测服务功能的指令，车位检测服务组件包括实现车位检测服务功能的指令。
S202：确定各服务组件之间的执行逻辑。
一个示例中，结合上述分析和图3可知，该步骤可以理解为：确定车道线检测服务组件、车位检测服务组件、以及方向盘控制服务组件之间的执行逻辑。
其中，各服务组件之间的执行逻辑可以理解为执行各服务组件的顺序。也即，该步骤可以理解为：确定执行车道线检测服务组件、车位检测服务组件、以及方向盘控制服务组件的顺序。
另一个示例中，结合上述分析和图4可知，该步骤可以理解为：确定车道线检测服务组件和车位检测服务组件之间的执行逻辑。
其中，各服务组件之间的执行逻辑可以理解为执行各服务组件的顺序。也即，该步骤可以理解为：确定执行车道线检测服务组件和车位检测服务组件的顺序。
S203：根据各服务组件之间的执行逻辑，执行服务组件，以完成与车辆服务功能对应的车辆控制。
一个示例中，结合上述分析和图3可知，若车道线检测服务组件、车位检测服务组件、以及方向盘控制服务组件之间的执行逻辑为：车道线检测服务组件和车位检测服务组件先执行，且二者并行执行，方向盘控制服务组件在后执行，则该步骤可以理 解为：车辆控制装置先并列执行车道线检测服务组件和车位检测服务组件(具体为并列执行车道线检测服务组件中的指令、以及车位检测服务组件中的指令)，然后执行方向盘控制服务组件(具体为执行方向盘控制服务组件中的指令)。
一个示例中，结合上述分析和图4可知，若车道线检测服务组件和车位检测服务组件之间的执行逻辑为：车道线检测服务组件和车位检测服务组件先执行，且二者并行执行，则该步骤可以理解为：车辆控制装置并列执行车道线检测服务组件和车位检测服务组件(具体为并列执行车道线检测服务组件中的指令、以及车位检测服务组件中的指令)。
结合图1、图3、以及图4所示的车辆控制方法的原理可知，在相关技术中，一个车辆服务功能对应一个算法包，各车辆服务功能之间的指令资源无法共享，且算法包内部的耦合较为严重，从而可能导致消耗资源，车辆控制的准确性偏低的技术问题，而在本实施例中，通过引入：根据车辆服务请求确定车辆服务功能对应的各服务组件，并基于各服务组件之间的执行逻辑，执行各服务组件的特征，可以提高车辆控制装置对各服务组件的资源的复用，如结合图3和图4可知，泊车服务功能和车位搜索服务功能可以共用车道线检测服务组件和车位检测服务组件，且由于各服务组件之间相互独立，耦合性相对较低，从而可以提高车辆控制的准确性和可靠性的技术效果。
图5是根据本公开第二实施例的示意图，如图5所示，本实施例提供的车辆控制方法包括：
S501：响应于针对车辆服务功能的车辆服务请求，确定与车辆服务功能对应的各服务子功能。
其中，各服务子功能构成了车辆服务功能的完整功能。
示例性地，关于车辆服务请求地描述，可以参见第一实施例地描述，此处不再赘述。
S502：根据每一服务子功能，确定与每一服务子功能对应的服务组件。
其中，与每一服务子功能对应的各服务组件构成了服务子功能的完整执行过程。
在本实施例中，在第一实施例的基础上，进一步引入了服务子功能的特征。一方面，一个车辆服务功能对应多个服务子功能，也即，一个车辆服务功能由多个服务子功能实现；另一方面，一个服务子功能对应多个服务组件，也即，一个服务子功能由多个服务组件实现。
例如，结合图6可知，车辆控制装置可以理解为三层结构，第一层可以理解为功能层，即功能层中包括车辆服务功能；第二层可以理解为服务层，即服务层中包括服 务子功能；第三层可以理解为组件层，即组件层中包括服务组件。
其中，功能层中可以包括多个车辆服务功能，如图6所示，功能层中包括车辆服务功能1、车辆服务功能2，直至车辆服务功能N，其中，N为大于或等于2的正整数。
服务层中包括多个服务子功能，如图6所示，服务层中包括服务子功能1、服务子功能2，直至服务子功能M，其中，M为大于或等于2的正整数。
组件层中包括多个服务组件，如图6所示，组件层中包括服务组件1、服务组件2，直至服务组件K，其中，K为大于或等于2的正整数。
应该理解地是，N、M、以及K三者之间，并无必然的大小顺序关系。
在一些具体实施例中，如图7所示，在功能层中，车辆服务功能可以包括：巡航服务功能、泊入车位服务功能、泊车车位服务功能、以及车位搜索服务功能。
在服务层中，各服务子功能可以包括：感知服务子功能、定位服务子功能、环境建模服务子功能、决策规划服务子功能、车辆控制服务子功能、以及地图构建服务子功能。
其中，服务层中的各服务子功能，可以为车辆控制装置对功能层中的各车辆服务功能进行解析得到的。如，针对任一车辆服务功能，车辆控制装置对该任一车辆服务功能进行解析，确定用于得到该任一车辆服务功能的更小粒度，从而得到用于完成该任一车辆服务功能的各服务子功能。
示例性地，定位服务子功能可以提供IMU(Inertial Measurement Unit，惯性测量单元，也可以称为惯性测量传感器)六轴信息，以便车辆控制装置或者自动驾驶控制装置进行融合定位算法、提高定位精度。
在组件层中，如图7所示，感知子服务对应的各服务组件包括：车位检测服务组件、车道线检测服务组件、交通标志识别服务组件、交通标示检测服务组件、行人检测服务组件、车辆检测服务组件、地锁检测服务组件、以及阻车器检测服务组件；车辆控制子服务对应的各服务组件包括：档位控制服务组件、方向盘控制服务组件、驱动控制服务组件、制动控制服务组件、以及车身服务组件。
同理，组件层中的各服务组件能，可以为车辆控制装置对服务层中的各服务子功能进行解析得到的。如，针对任一服务子功能，车辆控制装置对该任一服务子功能进行解析，确定用于得到该任一服务子功能的更小粒度，从而得到用于完成该任一服务子功能的各服务子功能。
其中，车道线检测服务组件可以提供车辆前方预设范围内(例如6米范围内)车道线信息，还可以提供至高速辅助驾驶功能(HWA)，如车道保持辅助(Lane Keeping  Assist，LKA)等进行感知融合及前视摄像头盲区补偿。
应该理解地是，上述示例只是用于示范性地说明，车辆控制装置可能包括车辆服务功能、服务子功能、以及服务组件，而不能理解为对车辆服务功能、服务子功能、以及服务组件的限定。
值得说明地是，在本实施例中，通过确定与车辆服务功能对应的各服务子功能，并确定与每一服务子功能对应的服务组件，相当于将车辆服务功能拆分为了多个服务子功能，且每一服务子功能具有对应的多个服务组件，可以使得各服务子功能独立实现，可以减小开发车辆服务功能的算法包压力，可以避免因车辆服务功能中各服务子功能的耦合性太强，而造成的车辆控制的准确性偏低的问题，从而提高了车辆控制的准确性和可靠性的技术效果，提高了用户的驾驶体验。
在一些实施例中，可以构建车辆服务功能与服务子功能之间的映射关系，并构建服务子功能与服务组件之间的映射关系，以便基于构建的两种映射关系完成与车辆服务功能对应的车辆控制。
在另一些实施例中，也可以基于车辆服务功能与服务子功能之间的对应关系，以及服务子功能与服务组件之间的对应关系，构建车辆服务功能与各服务组件之间的对应关系，以便基于构建的车辆服务功能与各服务组件之间的对应关系完成与车辆服务功能对应的车辆控制。
在另一些实施例中，也可以基于车辆服务功能与服务子功能之间的对应关系，以及服务子功能与服务组件之间的对应关系，构建车辆服务功能与各服务组件之间的对应关系，并基于车辆服务功能与各服务组件之间的对应关系，构建车辆服务功能与各服务组件之间的调用链路，以便基于调用链路完成与车辆服务功能对应的车辆控制。
S503：确定各服务组件之间的执行逻辑。
示例性地，关于S503地描述，可以参见S202地描述，此处不再赘述。
在一些实施例中，归属于同一服务子功能的服务组件具有执行次序；其中，执行次序为并行执行次序，或者，执行次序为先后执行次序。
示例性地，结合上述实施例，车位检测服务组件和车道线检测服务组件归属于感知子服务，则在一些实施例中，车位检测服务组件和车道线检测服务组件为并行执行次序，即执行车位检测服务组件和执行车道线检测服务组件互不干扰，彼此独立；在另一些实施例中，车位检测服务组件和车道线检测服务组件为先后执行次序，如先执行车位检测服务组件，而后执行车道线检测服务组件，或者，先执行车道线检测服务组件，而后执行车位检测服务组件。
S504：根据各服务组件之间的执行逻辑，执行各服务组件，以完成与车辆服务功能对应的车辆控制。
在一些实施例中，服务组件中包括第一服务组件和第二服务组件，在各服务组件之间的执行逻辑中，第一服务组件的优先级高于第二服务组件的优先级，则S504可以包括如下步骤：
第一步骤：执行第一服务组件，得到执行结果。
第二步骤：根据执行结果，执行第二服务组件。
应该理解地是，本实施例中所述的第一服务组件和第二服务组件不能理解为对服务组件在数量上的限定，也不能理解为对服务组件在内容上的限定。
一个示例中，结合图6和上述实施例，若第一服务组件包括：车位检测服务组件和车道线检测服务组件，第二服务组件包括方向盘控制服务组件，则车辆控制装置执行各服务组件的原理可以参阅图8。
如图8所示，车辆控制装置并行执行车位检测服务组件和车道线检测服务组件，而后执行方向盘控制服务组件。
另一个示例中，若服务组件包括：车位检测服务组件、车道线检测服务组件、行人检测服务组件、地锁检测、档位控制组件、制动控制组件、以及方向盘控制服务组件。
且在车位检测服务组件、车道线检测服务组件、行人检测服务组件、档位控制组件、以及方向盘控制服务组件中，车位检测服务组件、车道线检测服务组件、以及行人检测服务组件为第一服务组件，档位控制组件和方向盘控制服务组件为第二服务组件。
在行人检测服务组件和制动控制组件中，行人检测服务组件为第一服务组件，制动控制组件为第二服务组件。
在车位检测服务组件、车道线检测服务组件、行人检测服务组件、以及地锁检测中，每一服务组件均为并列执行的服务组件。
相应地，车辆控制装置并行执行车位检测服务组件、车道线检测服务组件、行人检测服务组件、地锁检测，且在执行车位检测服务组件、车道线检测服务组件、以及行人检测服务组件之后，执行档位控制组件和方向盘控制服务组件，在执行行人检测服务组件之后，执行制动控制组件。
值得说明地是，在本实施例中，通过根据各服务组件之间的执行逻辑，分别执行第一服务组件和第二服务组件，而通过基于执行逻辑完成对不同服务组件的执行，可 以提高执行各服务组件的准确性和可靠性，进而实现对车辆控制的准确性和可靠性的技术效果。
在一些实施例中，第二步骤可以包括：根据执行结果确定用于执行第二服务组件的参数，并根据用于执行第二服务组件的参数，执行第二服务组件。
示例性地，结合上述示例，若第一服务组件包括：车位检测服务组件和车道线检测服务组件，第二服务组件包括方向盘控制服务组件，则车辆控制装置可以根据车位检测服务组件的执行结果、以及车道线检测服务组件的执行结果，确定用于执行方向盘控制服务组件的参数，并基于确定出的参数执行方向盘控制服务组件。
值得说明地是，在本实施例中，针对存在先后执行逻辑的各服务组件，可以结合各服务组件之间的执行逻辑，确定在前执行的服务组件(即优先级偏高的服务组件)的执行结果，并基于在前执行的服务组件的执行结果，执行在后执行的服务组件(即优先级偏低的服务组件)，可以使得各服务组件之间的执行具有高度贴合性和关联性，充分考虑了不同优先级的各服务组件之间的相互影响和配合，从而实现了提高车辆控制的可靠性和准确性的技术效果。
在一些实施例中，根据执行结果确定用于执行第二服务组件的参数可以采用下述任意一种实施例实现。
一个示例中，车辆控制装置可以获取第二服务组件的预设执行参数，根据执行结果对预设执行参数进行调整，得到用于执行第二服务组件的参数。
另一个示例中，车辆控制装置可以获取第二服务组件的预设执行参数，将预设执行参数替换为用于执行第二服务组件的参数。
再一个示例中，车辆控制装置可以确定第二服务组件的预设执行参数的字段位置，并将用于执行第二服务组件的参数填充至字段位置。
也就是说，在本实施例中，可以采用不同的策略确定用于执行第二服务组件的参数，如通过调整预设执行参数的策略，又如通过替换的策略，再如通过填充的策略，通过采用不同的策略确定用于执行第二服务组件的参数，可以提高确定用于执行第二服务组件的参数的灵活性和多样性的技术效果。
图9是根据本公开第三实施例的示意图，如图9所示，本实施例提供的车辆控制方法包括：
S901：响应于针对车辆服务功能的车辆服务请求，调取与车辆服务功能对应的各服务组件。
示例性地，每一服务组件包括实现服务组件所表征的功能项的指令。
S902：确定各服务组件之间的执行逻辑。
S903：根据各服务组件之间的执行逻辑，执行各服务组件，进行与车辆服务功能对应的车辆控制。
示例性地，关于S901至S903的原理，可以参见第一实施例的原理，也可以参见第二实施例的原理，此处不再赘述。
S904：获取服务组件更新请求，并对服务组件更新请求对应的服务组件进行更新处理。
其中，服务组件更新请求用于指示对服务组件进行更新。
值得说明地是，在本实施例中，可以针对服务组件进行独立更新。
结合上述分析可知，在相关技术中，用于实现车辆服务功能的算法包为针对如泊车服务功能的算法包，若需要对某车辆服务功能进行更新时，需要对该车辆服务功能的算法包进行整体更新，相对而言，更新难度较大，消耗的时间成本和人力成本均较高。
但是，在本实施例中，车辆服务功能包括多个服务子功能，每一服务子功能包括多个服务组件，在更新阶段时，可以基于需求对单个服务组件进行更新，而无需对整体算法包进行更新，从而实现了提高更新效率，节约更新成本的技术效果。
在一些实施例中，服务组件更新请求中携带待更新的服务组件的标识，相应地，对服务组件更新请求对应的服务组件进行更新处理可以包括：从各服务组件中确定与标识对应的服务组件，并对与标识对应的服务组件进行更新处理。
示例性地，车辆控制装置可以预先为每一服务组件分配标识，以便在接收到服务组件更新请求时，从服务组件更新请求中读取待更新的服务组件的标识，并基于该标识从各服务组件中确定待更新的服务组件，以便对确定出的待更新的服务组件进行更新处理。
值得说明地是，在本实施例中，通过基于标识确定待更新的服务组件，可以提高确定待更新的服务组件的效率，从而提高针对性较强的更新，提高更新的准确性和可靠性的技术效果。
图10是根据本公开第四实施例的示意图，如图10所示，本实施例提供的车辆控制方法包括：
S1001：响应于针对检测服务功能的车辆服务请求，调取与车辆服务功能对应的各服务组件。
示例性地，每一服务组件包括实现服务组件所表征的功能项的指令。
S1002：确定各服务组件之间的执行逻辑。
S1003：根据各服务组件之间的执行逻辑，执行各服务组件，得到检测结果，根据检测结果确定车辆的行驶策略。
S1004：控制车辆执行行驶策略。
值得说明地是，在本实施例中，通过基于检测结果确定行驶策略，可以使得行驶策略与车辆行驶环境具有较高的贴合性，从而可以使得确定出的行驶策略具有较强的行驶针对性，进而当控制车辆执行行驶策略时，可以提高车辆行驶的准确性、可靠性、以及安全性的技术效果。
示例性地，关于S1001至S1003的原理，可以参见第一实施例的原理，也可以参见第二实施例的原理，此处不再赘述。
在一些实施例中，本实施例也可以结合第三实施例中，对各服务组件进行更新处理的实施例，得到新的实施例，此处不再赘述。
图11是根据本公开第五实施例的示意图，如图11所示，本实施例提供的车辆控制装置1100包括：
调取单元1101，用于响应于针对车辆服务功能的车辆服务请求，调取与车辆服务功能对应的各服务组件。
示例性地，每一服务组件包括实现服务组件所表征的功能项的指令。
确定单元1102，用于确定各服务组件之间的执行逻辑。
执行单元1103，用于根据各服务组件之间的执行逻辑，执行各服务组件，进行与车辆服务功能对应的车辆控制。
图12是根据本公开第六实施例的示意图，如图12所示，本实施例提供的车辆控制装置1200包括：
调取单元1201，用于响应于针对车辆服务功能的车辆服务请求，调取与车辆服务功能对应的各服务组件。
示例性地，每一服务组件包括实现服务组件所表征的功能项的指令。
结合图12可知，在一些实施例中，调取单元1201可以包括：
第一确定在单元12011，用于确定与车辆服务功能对应的各服务子功能。
示例性地，各服务子功能构成了车辆服务功能的完整功能。
第二确定子单元12012，用于根据每一服务子功能，确定与每一服务子功能对应的服务组件。
示例性地，与每一服务子功能对应的各服务组件构成了服务子功能的完整执行过 程。
在一些实施例中，相同服务子功能对应的不同服务组件具有执行次序，执行次序为并行执行次序或先后执行次序。
确定单元1202，用于确定各服务组件之间的执行逻辑。
执行单元1203，用于根据各服务组件之间的执行逻辑，执行各服务组件，执行与车辆服务功能对应的车辆控制。
结合图12可知，在一些实施例中，服务组件中包括第一服务组件和第二服务组件；执行单元1203，包括：
第一执行子单元12031，用于根据各服务组件之间的执行逻辑，执行第一服务组件，得到执行结果。
第二执行子单元12032，用于根据执行结果，执行第二服务组件。
在一些实施例中，第二执行子单元12032可以包括：
确定模块，用于根据执行结果确定用于执行第二服务组件的参数。
在一些实施例中，确定模块用于，获取第二服务组件的预设执行参数，根据执行结果对预设执行参数进行调整，得到用于执行所述第二服务组件的参数。或者，
确定模块用于，获取第二服务组件的预设执行参数，将预设执行参数替换为用于执行第二服务组件的参数。或者，
确定模块用于，确定第二服务组件的预设执行参数的字段位置，并将用于执行所述第二服务组件的参数填充至字段位置。
执行模块，用于根据用于执行第二服务组件的参数，执行第二服务组件。
获取单元1204，用于获取服务组件更新请求。
示例性地，服务组件更新请求用于指示对服务组件进行更新。
更新单元1205，用于对服务组件更新请求对应的服务组件进行更新处理。
图13是根据本公开第七实施例的示意图，如图13所示，本实施例提供的车辆控制装置1300包括：
调取单元1301，用于响应于针对车辆服务功能的车辆服务请求，调取与车辆服务功能对应的各服务组件。
示例性地，每一服务组件包括实现服务组件所表征的功能项的指令。
确定单元1302，用于确定各服务组件之间的执行逻辑。
执行单元1303，用于根据各服务组件之间的执行逻辑，执行各服务组件，执行与车辆服务功能对应的车辆控制。
结合图13可知，若车辆服务功能为检测服务功能，则执行单元1303，包括：
第三执行子单元13031，用于根据各服务组件之间的执行逻辑，执行各服务组件，得到检测结果。
第四确定子单元13032，用于根据检测结果确定车辆的行驶策略。
控制子单元13033，用于控制车辆执行行驶策略。
根据本公开的实施例，本公开还提供了一种电子设备和一种可读存储介质。
根据本公开的实施例，本公开还提供了一种计算机程序产品，计算机程序产品包括：计算机程序，计算机程序存储在可读存储介质中，电子设备的至少一个处理器可以从可读存储介质读取计算机程序，至少一个处理器执行计算机程序使得电子设备执行上述任一实施例提供的方案。
图14示出了可以用来实施本公开的实施例的示例电子设备1400的示意性框图。电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本公开的实现。
如图14所示，电子设备1400包括计算单元1401，其可以根据存储在只读存储器(ROM)1402中的计算机程序或者从存储单元1408加载到随机访问存储器(RAM)1403中的计算机程序，来执行各种适当的动作和处理。在RAM 1403中，还可存储设备1400操作所需的各种程序和数据。计算单元1401、ROM 1402以及RAM 1403通过总线1404彼此相连。输入/输出(I/O)接口1405也连接至总线1404。
设备1400中的多个部件连接至I/O接口1405，包括：输入单元1406，例如键盘、鼠标等；输出单元1407，例如各种类型的显示器、扬声器等；存储单元1408，例如磁盘、光盘等；以及通信单元1409，例如网卡、调制解调器、无线通信收发机等。通信单元1409允许设备1400通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。
计算单元1401可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元1401的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元1401执行上文所描述的各个方法和处理，例如车辆控制方法。例如，在一些实施例中，车 辆控制方法可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元1408。在一些实施例中，计算机程序的部分或者全部可以经由ROM 1402和/或通信单元1409而被载入和/或安装到设备1400上。当计算机程序加载到RAM 1403并由计算单元1401执行时，可以执行上文描述的车辆控制方法的一个或多个步骤。备选地，在其他实施例中，计算单元1401可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行车辆控制方法。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。
用于实施本公开的方法的程序指令可以采用一个或多个编程语言的任何组合来编写。这些程序指令可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序指令当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序指令可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本公开的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
为了提供与用户的交互，可以在计算机上实施此处描述的系统和技术，该计算机具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过 该键盘和该指向装置来将输入提供给计算机。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)和互联网。
计算机系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以解决了传统物理主机与VPS服务("Virtual Private Server"，或简称"VPS")中，存在的管理难度大，业务扩展性弱的缺陷。服务器也可以为分布式系统的服务器，或者是结合了区块链的服务器。
根据本公开实施例的另一个方面，本公开实施例还提供了一种车辆，车辆包括如上任一实施例所述的车辆控制装置。
在一些实施例中，车辆还可以包括传感器，传感器与车辆控制装置连接，其中，传感器用于采集传感数据，并将传感数据发送给车辆控制装置，车辆控制装置可以基于传感数据控制车辆行驶。
根据本申请实施例的另一个方面，本申请实施例还提供了一种计算机程序，包括程序代码，当计算机运行所述计算机程序时，所述程序代码执行如上任一实施例所述的方法。
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本发公开中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本公开提供的技术方案所期望的结果，本文在此不进行限制。
上述具体实施方式，并不构成对本公开保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本公开的精神和原则之内所作的修改、等同替换和改进等，均应包含在本公开保护 范围之内。

Claims (23)

  1. 一种车辆控制方法，包括：
    响应于针对车辆服务功能的车辆服务请求，调取与所述车辆服务功能对应的各服务组件；
    确定各所述服务组件之间的执行逻辑；
    根据各所述服务组件之间的执行逻辑，执行各所述服务组件，进行与所述车辆服务功能对应的车辆控制。
  2. 根据权利要求1所述的方法，其中，调取与所述车辆服务功能对应的各服务组件，包括：
    确定与所述车辆服务功能对应的各服务子功能；
    确定与每一所述服务子功能对应的服务组件。
  3. 根据权利要求2所述的方法，其中，相同服务子功能对应的不同服务组件具有执行次序，所述执行次序为并行执行次序或先后执行次序。
  4. 根据权利要求1至3中任一项所述的方法，其中，所述服务组件包括第一服务组件和第二服务组件；
    根据各所述服务组件之间的执行逻辑，执行所述各服务组件，包括：
    执行所述第一服务组件，得到执行结果；
    根据所述执行结果，执行所述第二服务组件。
  5. 根据权利要求4所述的方法，其中，根据所述执行结果，执行所述第二服务组件，包括：
    根据所述执行结果确定用于执行所述第二服务组件的参数；
    根据用于执行所述第二服务组件的参数，执行所述第二服务组件。
  6. 根据权利要求5所述的方法，其中，根据所述执行结果确定用于执行所述第二服务组件的参数，包括下述任意一种：
    获取所述第二服务组件的预设执行参数，根据所述执行结果对所述预设执行参数进行调整，得到所述用于执行所述第二服务组件的参数；
    获取所述第二服务组件的预设执行参数，将所述预设执行参数替换为所述用于执行所述第二服务组件的参数；
    确定所述第二服务组件的预设执行参数的字段位置，并将所述用于执行所述第二服务组件的参数填充至所述字段位置。
  7. 根据权利要求1至6中任一项所述的方法，还包括：
    获取服务组件更新请求，并对所述服务组件更新请求对应的服务组件进行更新处理。
  8. 根据权利要求7所述的方法，其中，所述服务组件更新请求中携带待更新的服务组件的标识；
    对所述服务组件更新请求对应的服务组件进行更新处理，包括：
    从各服务组件中确定与所述标识对应的服务组件，并对与所述标识对应的服务组件进行更新处理。
  9. 根据权利要求1至8中任一项所述的方法，其中，根据各所述服务组件之间的执行逻辑，执行各所述服务组件，进行与所述车辆服务功能对应的车辆控制，包括：
    在所述车辆服务功能为检测服务功能的情况下，根据各所述服务组件之间的执行逻辑，执行各所述服务组件，得到检测结果；
    根据所述检测结果确定车辆的行驶策略；
    控制车辆执行所述行驶策略。
  10. 一种车辆控制装置，包括：
    调取单元，用于响应于针对车辆服务功能的车辆服务请求，调取与所述车辆服务功能对应的各服务组件；
    确定单元，用于确定各所述服务组件之间的执行逻辑；
    执行单元，用于根据各所述服务组件之间的执行逻辑，执行各所述服务组件，进行与所述车辆服务功能对应的车辆控制。
  11. 根据权利要求10所述的装置，其中，所述调取单元，包括：
    第一确定在单元，用于确定与所述车辆服务功能对应的各服务子功能；
    第二确定子单元，用于确定与每一所述服务子功能对应的服务组件。
  12. 根据权利要求11所述的装置，其中，相同服务子功能对应的不同服务组件具有执行次序，所述执行次序为并行执行次序或先后执行次序。
  13. 根据权利要求10至12中任一项所述的装置，其中，所述服务组件中包括第一服务组件和第二服务组件；所述执行单元，包括：
    第一执行子单元，用于执行所述第一服务组件，得到执行结果；
    第二执行子单元，用于根据所述执行结果，执行所述第二服务组件。
  14. 根据权利要求13所述的装置，其中，所述第二执行子单元，包括：
    确定模块，用于根据所述执行结果确定用于执行所述第二服务组件的参数；
    执行模块，用于根据用于执行所述第二服务组件的参数，执行所述第二服务组件。
  15. 根据权利要求14所述的装置，其中，所述确定模块用于，获取所述第二服务组件的预设执行参数，根据所述执行结果对所述预设执行参数进行调整，得到所述用于执行所述第二服务组件的参数；或者，
    所述确定模块用于，获取所述第二服务组件的预设执行参数，将所述预设执行参数替换为所述用于执行所述第二服务组件的参数；或者，
    所述确定模块用于，确定所述第二服务组件的预设执行参数的字段位置，并将所述用于执行所述第二服务组件的参数填充至所述字段位置。
  16. 根据权利要求10至15中任一项所述的装置，所述装置还包括：
    获取单元，用于获取服务组件更新请求；
    更新单元，用于对所述服务组件更新请求对应的服务组件进行更新处理。
  17. 根据权利要求16所述的装置，其中，所述服务组件更新请求中携带待更新的服务组件的标识；所述更新单元，包括：
    第三确定子单元，用于从各服务组件中确定与所述标识对应的服务组件；
    更新子单元，用于对与所述标识对应的服务组件进行更新处理。
  18. 根据权利要求10至17中任一项所述的装置，其中，所述执行单元，包括：
    第三执行子单元，用于在所述车辆服务功能为检测服务功能的情况下，根据各所述服务组件之间的执行逻辑，执行各所述服务组件，得到检测结果；
    第四确定子单元，用于根据所述检测结果确定车辆的行驶策略；
    控制子单元，用于控制车辆执行所述行驶策略。
  19. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-9中任一项所述的方法。
  20. 一种存储有计算机指令的非瞬时计算机可读存储介质，其中，所述计算机指令用于使所述计算机执行权利要求1-9中任一项所述的方法。
  21. 一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现根据权利要求1-9中任一项所述的方法。
  22. 一种车辆，包括：如权利要求10至18中任一项所述的车辆控制装置。
  23. 一种计算机程序，包括程序代码，当计算机运行所述计算机程序时，所述程 序代码执行如权利要求1-9中任一项所述的方法。
PCT/CN2021/135173 2021-04-30 2021-12-02 车辆控制方法、装置及车辆 WO2022227572A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2022528352A JP7542618B2 (ja) 2021-04-30 2021-12-02 車両制御方法、装置及び車両
KR1020227015773A KR20220070327A (ko) 2021-04-30 2021-12-02 차량 제어 방법, 장치 및 차량

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110486003.0A CN113085842B (zh) 2021-04-30 2021-04-30 车辆控制方法、装置及车辆
CN202110486003.0 2021-04-30

Publications (1)

Publication Number Publication Date
WO2022227572A1 true WO2022227572A1 (zh) 2022-11-03

Family

ID=76681161

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/135173 WO2022227572A1 (zh) 2021-04-30 2021-12-02 车辆控制方法、装置及车辆

Country Status (2)

Country Link
CN (1) CN113085842B (zh)
WO (1) WO2022227572A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116394958A (zh) * 2023-06-09 2023-07-07 禾多科技（北京）有限公司 驾驶功能切换方法、装置、电子设备和计算机可读介质

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113085842B (zh) * 2021-04-30 2023-06-06 北京百度网讯科技有限公司 车辆控制方法、装置及车辆
CN114285691A (zh) * 2021-12-22 2022-04-05 重庆金康赛力斯新能源汽车设计院有限公司 车辆功能实现方法、装置和电子设备
CN114613180A (zh) * 2022-02-22 2022-06-10 恒大新能源汽车投资控股集团有限公司 自主泊车方法、设备、车辆及停车场端服务器

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107614344A (zh) * 2015-03-27 2018-01-19 歌乐株式会社 车辆控制装置
WO2020139396A1 (en) * 2018-12-28 2020-07-02 Didi Research America, Llc Writing messages in a shared memory architecture for a vehicle
CN111645671A (zh) * 2019-03-03 2020-09-11 维布络有限公司 车辆自动停放方法及其自动驾驶车辆
CN112562407A (zh) * 2020-11-30 2021-03-26 北京停简单信息技术有限公司 Odd状态预判的方法、装置及自主代客泊车系统
CN112562409A (zh) * 2020-12-04 2021-03-26 上海淞泓智能汽车科技有限公司 一种基于多接入边缘计算的自主泊车系统及方法
CN113085842A (zh) * 2021-04-30 2021-07-09 北京百度网讯科技有限公司 车辆控制方法、装置及车辆

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109969192B (zh) * 2017-12-28 2021-06-11 郑州宇通客车股份有限公司 一种车辆及自动驾驶控制系统
CN111208974A (zh) * 2018-11-21 2020-05-29 北京京东尚科信息技术有限公司 组件管理方法和装置
CN110288847B (zh) * 2019-06-28 2021-01-19 浙江吉利控股集团有限公司 一种自动驾驶决策方法、装置、系统、存储介质及终端

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107614344A (zh) * 2015-03-27 2018-01-19 歌乐株式会社 车辆控制装置
WO2020139396A1 (en) * 2018-12-28 2020-07-02 Didi Research America, Llc Writing messages in a shared memory architecture for a vehicle
CN111645671A (zh) * 2019-03-03 2020-09-11 维布络有限公司 车辆自动停放方法及其自动驾驶车辆
CN112562407A (zh) * 2020-11-30 2021-03-26 北京停简单信息技术有限公司 Odd状态预判的方法、装置及自主代客泊车系统
CN112562409A (zh) * 2020-12-04 2021-03-26 上海淞泓智能汽车科技有限公司 一种基于多接入边缘计算的自主泊车系统及方法
CN113085842A (zh) * 2021-04-30 2021-07-09 北京百度网讯科技有限公司 车辆控制方法、装置及车辆

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116394958A (zh) * 2023-06-09 2023-07-07 禾多科技（北京）有限公司 驾驶功能切换方法、装置、电子设备和计算机可读介质
CN116394958B (zh) * 2023-06-09 2023-09-12 禾多科技（北京）有限公司 驾驶功能切换方法、装置、电子设备和计算机可读介质

Also Published As

Publication number Publication date
CN113085842B (zh) 2023-06-06
CN113085842A (zh) 2021-07-09

Similar Documents

Publication Publication Date Title
WO2022227572A1 (zh) 车辆控制方法、装置及车辆
JP2022043216A (ja) ターゲット検出方法、電子機器、路側機器、及びクラウド制御プラットフォーム
EP3842745B1 (en) Method and apparatus for updating point cloud
US11447153B2 (en) Method and apparatus for annotating virtual lane at crossing
JP7483781B2 (ja) 情報をプッシュするための方法、装置、電子機器、コンピュータ可読記憶媒体及びコンピュータプログラム
CN115265559B (zh) 地图自动生成方法、装置、设备及介质
CN114413920B (zh) 车道数据处理方法、导航方法及装置
US20230139187A1 (en) Method and apparatus for determining information, electronic device and storage medium
CN114506343B (zh) 轨迹规划方法、装置、设备、存储介质及自动驾驶车辆
CN113844463B (zh) 基于自动驾驶系统的车辆控制方法、装置及车辆
CN114116941A (zh) 高精地图数据处理方法、装置、电子设备以及存储介质
CN114047760B (zh) 路径规划方法、装置、电子设备及自动驾驶车辆
JP2023027233A (ja) 道路データ融合の地図生成方法、装置及び電子機器
US20220204000A1 (en) Method for determining automatic driving feature, apparatus, device, medium and program product
CN115953414A (zh) 基于语义分割的低矮障碍物检测方法和自动驾驶车辆
CN114491269A (zh) 出行服务的推荐方法及装置、设备和介质
JP2019028506A (ja) 車両制御装置
US20230211776A1 (en) Method for determining attribute value of obstacle in vehicle infrastructure cooperation, device and autonomous driving vehicle
US20230123671A1 (en) Localization and mapping
JP7542618B2 (ja) 車両制御方法、装置及び車両
CN115235487B (zh) 数据处理方法及装置、设备和介质
CN113276888B (zh) 基于自动驾驶的乘车方法、装置、设备和存储介质
US20230019719A1 (en) Method and apparatus for constructing lane-level navigation map, device and storage medium
CN114659511B (zh) 一种基于自动驾驶高精地图的局部地图动态加载方法
EP4134843A2 (en) Fusion and association method and apparatus for traffic objects in driving environment, and edge computing device

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 20227015773

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2022528352

Country of ref document: JP

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21939031

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21939031

Country of ref document: EP

Kind code of ref document: A1