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Vehicle control method and device, electronic equipment and medium

A vehicle control and vehicle technology, applied in the field of computer and automatic driving, can solve the problems of vehicle obstacles, uncertain safety, unreasonable methods, etc.

Active Publication Date: 2021-05-28
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003]However, most of the current self-driving vehicles are limited to driving on roads with a specific width, and the following two processing methods are used when the vehicle is driving on a narrow road : 1) Stop directly; 2) Reluctantly drive in a way with very uncertain safety
[0004]However, there are the following defects in the use of these two methods: 1) Although the first method is a safe way to deal with it, it needs It is not a reasonable way; 2) The second way is that the vehicle may be stuck by the road boundary or obstacles at any time, or there may be unexpected risks at any time

Method used

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  • Vehicle control method and device, electronic equipment and medium
  • Vehicle control method and device, electronic equipment and medium
  • Vehicle control method and device, electronic equipment and medium

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0045] figure 1 It is a flow chart of a vehicle control method provided according to the first embodiment of the present application. This embodiment is applicable to how to ensure the safe driving of vehicles on special roads, where the vehicles can be ordinary vehicles driving on roads, or It could be an autonomous vehicle. The method can be executed by a vehicle control device, which can be implemented in the form of software and / or hardware, and can be integrated into the autonomous vehicle, and further can be integrated into the decision planning module of the autonomous vehicle. Such as figure 1 As shown, the vehicle control method provided in this embodiment may include:

[0046] S110, in response to the acquired vehicle positioning data, vehicle perception data, and map data, determine whether the vehicle is in a special scene.

[0047] Optionally, a positioning system, a perception device, and a high-precision map module can be integrated in the vehicle. Among the...

no. 2 example

[0066] Figure 2A It is a flow chart of a vehicle control method provided according to the second embodiment of the present application. On the basis of the above embodiments, this embodiment provides a method for planning the target driving trajectory of the vehicle through a special scene based on the perception data of the vehicle. scheme. Such as Figure 2A As shown, the vehicle control method provided in this embodiment may include:

[0067] S210, in response to the acquired vehicle positioning data, vehicle perception data, and map data, determine whether the vehicle is in a special scene.

[0068] S220. If the vehicle is in a special scene, determine obstacle attribute information according to the perception data of the vehicle.

[0069] S230. Construct an obstacle boundary according to the obstacle attribute information, and plan a target driving trajectory of the vehicle through the special scene according to the obstacle boundary.

[0070] Optionally, for the sec...

no. 3 example

[0084] Figure 3A It is a flow chart of a vehicle control method provided according to the third embodiment of the present application. On the basis of the above embodiments, this embodiment also provides a method for planning the target driving of the vehicle through a special scene based on the perception data of the vehicle. trajectory scheme. Such as Figure 3A As shown, the vehicle control method provided in this embodiment may include:

[0085] S310, in response to the acquired vehicle positioning data, vehicle perception data, and map data, determine whether the vehicle is in a special scene.

[0086] S320. If the vehicle is in a special scene, determine obstacle attribute information according to the perception data of the vehicle.

[0087] S330. Planning candidate driving trajectories for the vehicle passing through the special scene.

[0088] In this embodiment, a conventional trajectory planning method such as a dynamic trajectory planning method or a secondary ...

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Abstract

The embodiment of the invention discloses a vehicle control method and device, electronic equipment and a medium, and belongs to the technical field of automatic driving. The vehicle control method comprises the steps of determining whether a vehicle is in a special scene or not in response to obtained positioning data of the vehicle and obtained sensing data of the vehicle; and if the vehicle is in the special scene, planning a target driving track of the vehicle passing through the special scene according to the sensing data of the vehicle. Through the vehicle control method and device, the electronic equipment and the medium of the technical schemes of the embodiment of the invention, safe and stable driving of an automatic driving vehicle on a special road can be accurately ensured.

Description

technical field [0001] The embodiments of the present application relate to the field of computer technology, in particular to the field of automatic driving technology, and specifically to a vehicle control method, device, electronic equipment, and medium. Background technique [0002] During the actual operation and use of self-driving vehicles, they will encounter various types of road environments, among which narrow roads are a very special road condition. Especially for closed or semi-closed scenarios, such as low-speed autonomous driving logistics vehicles in parks, industrial parks, campuses, large enterprise factories, etc. to perform tasks such as autonomous driving logistics distribution, autonomous driving commodity sales, autonomous driving security patrols, and autonomous driving road cleaning. in process. [0003] However, at present, the vast majority of self-driving vehicles are limited to driving on roads with a specific width, and the following two proces...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0246G05D1/0257G05D1/0223G05D1/0214G05D1/028G05D1/0276
Inventor 于宁
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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