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Vehicle control method, device, device and storage medium

A vehicle control and vehicle technology, applied in control devices, vehicle position/route/height control, vehicle components, etc., can solve the problems of large data volume and low efficiency, improve processing efficiency, reduce data volume requirements, and avoid excessive Fitting effect

Active Publication Date: 2021-04-20
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a vehicle control method, device, device, and storage medium to solve the problem that the existing driving trajectory determination method relies on a large amount of data and low efficiency

Method used

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  • Vehicle control method, device, device and storage medium
  • Vehicle control method, device, device and storage medium
  • Vehicle control method, device, device and storage medium

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0028] figure 1 It is a flow chart of a vehicle control method provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the car in the unmanned driving mode determines the driving track of the vehicle. The method can be executed by the vehicle control device provided in the embodiment of the present invention, and specifically includes the following steps:

[0029] S101. During the driving process of the vehicle, collect the image of the environment of the vehicle through the image collector.

[0030] Wherein, at least one image collector is arranged on the periphery of the vehicle, for example, at least one image collector can be arranged on the front, the rear and both sides of the vehicle. During the driving process of the vehicle, the image of the vehicle environment is collected by the image collector arranged on the periphery of the vehicle. There are not only static objects such as traffic lights, road signs, road surfac...

Embodiment 2

[0042] figure 2 It is a flow chart of a vehicle control method provided in Embodiment 2 of the present invention, and this embodiment is further optimized on the basis of the foregoing embodiments. Such as figure 2 As shown, the method may include:

[0043] S201. During the driving process of the vehicle, collect an image of the vehicle environment through an image collector.

[0044] S202. Identify dynamic objects included in the vehicle environment image.

[0045] Wherein, the dynamic objects may include: vehicles, pedestrians and animals. For example, the vehicle environment image can be compared with the historical dynamic objects in the pre-established neural network model according to the characteristics, and the objects in the vehicle environment image greater than the credibility threshold can be determined as dynamic objects, that is, the vehicle environment can be recognized Dynamic objects included in the image.

[0046] S203. Filter out dynamic objects in th...

Embodiment 3

[0057] image 3 It is a schematic structural diagram of a vehicle control device provided in Embodiment 3 of the present invention. The device can execute the vehicle control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. Such as image 3 As shown, the device may include:

[0058] The vehicle environment image acquisition module 31 is used for collecting the vehicle environment image through the image collector during the running of the vehicle;

[0059] A static environment image extraction module 32, configured to extract the static environment image included in the vehicle environment image;

[0060] The vehicle travel trajectory acquisition module 33 is used to use the static environment image as the input of the trajectory planning model to obtain the planned vehicle travel trajectory;

[0061] The vehicle control module 34 is configured to control the vehicle to trav...

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Abstract

The embodiment of the invention discloses a vehicle control method, device, equipment and storage medium, and relates to the technical field of unmanned driving. The method includes: collecting vehicle environment images through an image collector during vehicle driving; extracting a static environment image included in the vehicle environment image; using the static environment image as an input of a trajectory planning model to obtain a planned vehicle Driving trajectory: controlling the vehicle to travel according to the vehicle driving trajectory. The embodiment of the present invention extracts the static environment image in the vehicle environment image, plans the vehicle driving trajectory according to the static environment image, avoids over-fitting caused by dynamic objects, and reduces the data volume requirement, thereby improving the processing efficiency.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of unmanned driving, and in particular to a vehicle control method, device, device and storage medium. Background technique [0002] In recent years, in addition to manual driving based on the user's driving operation as a driving form of the vehicle, an unmanned vehicle that assists the user's posture of the vehicle by performing part or all of the user's driving operation on the vehicle side has been newly proposed. driver assistance systems. [0003] At present, in the field of unmanned driving, the driving trajectory of the vehicle is mainly determined by the following methods: the vehicle environment data is collected through the perception module, and the collected vehicle environment data is transmitted to the planning decision-making module. The planning decision-making module determines the vehicle environment information by semantic recognition of the vehicle environment d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W50/00G06K9/00
CPCB60W50/00B60W2556/45B60W2050/0075G06V20/56G06N3/08G06V20/58G06V10/82G05D1/0212B60W60/00259B60W40/02B60W2050/0005B60W2420/403
Inventor 郁浩
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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