Vehicle control method, vehicle and storage medium

Abstract

The invention provides a vehicle control method, a vehicle and a storage medium, and relates to the technical field of vehicle control, the method comprises the following steps: receiving sensing data transmitted by a sensing device outside the vehicle to obtain first sensing data; screening the first sensing data to obtain second sensing data; the vehicle is controlled according to the second sensing data and third sensing data, and the third sensing data is obtained by scanning the surrounding environment of the vehicle through the data acquisition module. The sensing range of the vehicle is expanded, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, a vehicle and a storage medium in the field of vehicle control technology. Background Art

[0002] With the rapid development of intelligent driving technology, it has made significant progress in recent years, driving the transformation of the automotive industry towards automation and intelligence. In the existing intelligent driving system, the vehicle mainly relies on its own sensors to perceive the surrounding environment. However, due to the physical limitations of the sensor (such as detection range, angle, accuracy, etc.), the vehicle may have a perception blind spot in some cases, so it can only obtain local environmental information and it is difficult to obtain environmental information in a larger range. This makes it impossible for the vehicle to respond in time when faced with emergencies (such as obstacles or accidents that suddenly appear in front), increasing the risk of traffic accidents. Summary of the invention

[0003] In order to improve the driving safety of a vehicle, the present application discloses a vehicle control method, a vehicle and a storage medium.

[0004] In a first aspect, a vehicle control method is provided, wherein the vehicle includes a data acquisition module, and the vehicle control method includes: Receiving sensing data transmitted by an external sensing device to obtain first sensing data; Screening the first sensed data to obtain second sensed data; The vehicle is controlled according to the second perception data and the third perception data, wherein the third perception data is obtained by the data acquisition module by scanning the surrounding environment of the vehicle.

[0005] On the one hand, by screening the first perception data, not only can unnecessary data processing be reduced to reduce unnecessary computing resource consumption, but also bandwidth load and network delay can be reduced to speed up response speed; on the other hand, by using the perception data transmitted by external perception devices, the limitations of the perception range of the data acquisition module can be effectively solved, thereby expanding the perception range of the vehicle and improving the driving safety of the vehicle.

[0006] In some embodiments, the receiving of perception data transmitted by an external perception device to obtain first perception data includes: determining a working state of the data acquisition module, wherein the working state includes an abnormal state and a normal state; when the working state is an abnormal state, receiving the perception data transmitted by the external perception device to obtain the first perception data; or when the working state is a normal state and there is a detection blind spot in the detection field of view corresponding to the data acquisition module, receiving the perception data transmitted by the external perception device to obtain the first perception data.

[0007] In some embodiments, the filtering of the first perception data to obtain the second perception data includes: determining a target filtering strategy from the first filtering strategy and the second filtering strategy, wherein the first filtering strategy is to filter the first perception data based on a first preset distance range, a second preset distance range and the speed of the vehicle, and the second filtering strategy is to filter the first perception data based on the first preset distance range, and the first preset distance range includes the second preset distance range; filtering the first perception data according to the target filtering strategy to obtain the second perception data.

[0008] In some embodiments, the target screening strategy is determined from the first screening strategy and the second screening strategy, including: when the working state is a normal state, and there is a detection blind spot in the detection field corresponding to the data acquisition module, the target screening strategy is determined according to the first screening strategy; or when the working state is an abnormal state, the second screening strategy is determined as the target screening strategy.

[0009] In some embodiments, the first screening strategy includes a first sub-screening strategy and a second sub-screening strategy; the first sub-screening strategy is to screen the first perception data based on the first preset distance range and the speed of the vehicle, and the second sub-screening strategy is to screen the first perception data based on the second preset distance range and the speed of the vehicle; determining the target screening strategy according to the first screening strategy includes: when the speed of the vehicle is greater than the preset speed, determining the first sub-strategy as the target screening strategy; or when the speed of the vehicle is less than or equal to the preset speed, determining the second sub-strategy as the target screening strategy.

[0010] In some embodiments, there is at least one external perception device, and the external perception device corresponds one-to-one to the first perception data. It is characterized in that the first perception data is filtered according to the target screening strategy to obtain the second perception data, including: determining a third preset distance range, wherein the third preset distance range is the preset distance range corresponding to the target screening strategy; filtering each of the first perception data according to the third preset distance range to obtain at least one fourth perception data; and obtaining the second perception data according to the at least one fourth perception data and the number of the external perception devices within the fourth preset distance range.

[0011] In some embodiments, filtering each of the first perception data according to the third preset distance range to obtain at least one fourth perception data includes: obtaining a first distance corresponding to each of the first perception data, wherein the first distance is the distance between the external perception device corresponding to the first perception data and the vehicle; when the first distance corresponding to the first perception data is within the third preset distance range, filtering the data in the first perception data that is within the third preset distance range to obtain the fourth perception data corresponding to the first perception data.

[0012] In some embodiments, the second perception data is obtained based on the at least one fourth perception data and the number of the external perception devices within the fourth preset distance range, including: when the number of the external perception devices within the fourth preset distance range is greater than or equal to the preset number, obtaining the detection range corresponding to each of the fourth perception data; and taking the fourth perception data with the largest detection range as the second perception data.

[0013] In a second aspect, a vehicle is provided, comprising a data acquisition module, a central controller and an off-vehicle communication module; the off-vehicle communication module is used to receive perception data transmitted by at least one off-vehicle perception device to obtain first perception data; wherein the vehicle and the off-vehicle perception device exchange data through the off-vehicle communication module; the central controller is used to filter the first perception data to obtain second perception data, and the central controller is also used to control the vehicle according to the second perception data and third perception data.

[0014] In a third aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0015] The embodiment of the present application provides a vehicle control method, a vehicle and a computer-readable storage medium. The embodiment of the present application configures an off-vehicle communication module based on vehicle-to-vehicle communication technology (V2V, Vehicle-to-Vehicle) for the vehicle, and receives the perception data of the off-vehicle environment transmitted by the off-vehicle perception device through the off-vehicle communication module during the driving process of the vehicle, and then the central controller of the vehicle screens the perception data transmitted by the off-vehicle perception device to obtain the perception data that cannot be collected by the vehicle's data acquisition module, which can not only reduce unnecessary data processing to reduce unnecessary computing resource consumption, but also reduce bandwidth load and network delay, and speed up response speed. In addition, the vehicle is controlled according to the perception data obtained by the screening and the perception data collected by the vehicle's data acquisition module, which not only expands the perception range of the vehicle, but also improves the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of a vehicle control method provided by an embodiment of the present application is shown; Figure 2 A schematic diagram of a vehicle driving scenario provided by an embodiment of the present application is shown; Figure 3 A schematic diagram showing a vehicle driving scenario provided by an embodiment of the present application Figure 4 A schematic structural diagram of a vehicle provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0017] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0018] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0019] In existing intelligent driving systems, vehicles mainly rely on their own sensors to perceive the surrounding environment. However, due to the physical limitations of sensors (such as detection range, angle, accuracy, etc.), vehicles may have perception blind spots in some cases, so they can only obtain local environmental information and find it difficult to obtain environmental information in a wider range. This makes it impossible for vehicles to respond in time when faced with emergencies (such as obstacles or accidents that suddenly appear in front of them), increasing the risk of traffic accidents.

[0020] The embodiments of the present application provide a vehicle control method, a vehicle and a computer-readable storage medium. The present application configures an off-vehicle communication module based on the vehicle-to-vehicle communication technology for the vehicle. During the driving process of the vehicle, the off-vehicle communication module receives the perception data of the off-vehicle environment transmitted by the off-vehicle perception device. Then, the central controller of the vehicle filters the perception data transmitted by the off-vehicle perception device to obtain the perception data that cannot be collected by the data acquisition module of the vehicle. This can not only reduce unnecessary data processing to reduce unnecessary computing resource consumption, but also reduce bandwidth load and network delay, and speed up the response speed. Then, the vehicle is controlled by using the perception data obtained by the screening and the perception data collected by the data acquisition module of the vehicle, which not only improves the perception range of the vehicle, but also improves the driving safety of the vehicle.

[0021] In one embodiment, Figure 1 A schematic flow chart of a vehicle control method provided by an embodiment of the present application is shown, such as Figure 1 As shown, the vehicle control method provided in the embodiment of the present application is applied to a vehicle, and the vehicle includes a data acquisition module, a central controller and an off-vehicle communication module, and the central controller is electrically connected to the data acquisition module and the off-vehicle communication module respectively. The off-vehicle communication module adopts the workshop communication technology, and the data acquisition module of the vehicle includes a combination of one or more sensors such as laser radar, millimeter wave radar, camera, etc. The vehicle exchanges data with the off-vehicle sensing device through the off-vehicle communication module. The off-vehicle sensing device includes a mobile vehicle (such as other vehicles, drones, robots) and / or roadside equipment (such as cameras and laser radars installed on the side of the road), wherein the mobile vehicle is installed with a combination of one or more sensors such as laser radar, millimeter wave radar, camera, etc. The off-vehicle sensing device is used to collect the sensing data of the surrounding environment and transmit the collected sensing data to the off-vehicle communication module of the vehicle.

[0022] In one embodiment, the off-vehicle communication module receives the first perception data transmitted by the off-vehicle perception device. The central controller filters the received first perception data according to the target screening strategy to obtain the second perception data. During the driving of the vehicle, the data acquisition module installed on the vehicle scans the surrounding environment of the vehicle body to obtain the third perception data. Among them, one off-vehicle perception device corresponds to one first perception data. The first perception data includes a combination of one or more of the point cloud data collected by the laser radar, the image data collected by the camera, the millimeter wave data collected by the millimeter wave radar, the first obstacle information list, the position of the off-vehicle perception device and the device identification of the off-vehicle perception device. The first obstacle information list includes a combination of one or more of the parameters such as time information, the relative coordinate system of the off-vehicle perception device, the classification identification of the obstacle, the size and outline of the obstacle, the moving speed of the obstacle, and the driving direction of the obstacle. According to the relative coordinate system of the off-vehicle sensing device (a three-dimensional coordinate system established with any point on the off-vehicle sensing device as the origin) and the body coordinate system of the vehicle (a three-dimensional coordinate system established with any point on the vehicle as the origin), the coordinates corresponding to the obstacles measured by the off-vehicle sensing device (in the form of image coordinates or point cloud coordinates) can be converted to the body coordinate system of the vehicle. The image coordinates correspond to the two-dimensional coordinates of the pixel points in the camera image, and the point cloud coordinates correspond to the three-dimensional coordinates of the points in the point cloud. Obstacles refer to other vehicles, pedestrians, roadblocks, garbage or animals on the lane. An obstacle corresponds to one or more coordinates, which are used to characterize the spatial position or outline of the obstacle. If the off-vehicle sensing device corresponding to the first perception data is a mobile vehicle, the first perception data also includes the speed and direction of travel of the corresponding off-vehicle sensing device, the speed and direction of travel of the obstacle detected by the off-vehicle sensing device, etc. For example, the first obstacle information list is as follows: { Global time, relative coordinate system of external sensing devices, [Obstacle 1, coordinates, speed 1, direction 1]; [Obstacle2, coordinates, speed2, direction2]; ……; [Obstacle M, coordinates, speed M, direction M]; } The third perception data includes the working status of the data acquisition module, the point cloud data collected by the laser radar, the image data collected by the camera, the millimeter wave data collected by the millimeter wave radar, the second obstacle information list, the speed of the vehicle, and the direction of the vehicle. The second obstacle information list includes time information, the vehicle body coordinate system or the relative coordinate system of the data acquisition module, the location of the obstacle, the classification identification of the obstacle, the size and outline of the obstacle, the moving speed of the obstacle, the direction of the obstacle, etc. For example, the second obstacle information list obtained based on the GPS timestamp (global time) and the point cloud data is as follows: { Global time, vehicle body coordinate system, [Obstacle 1, coordinates, speed 1, direction 1]; [Obstacle2, coordinates, speed2, direction2]; ……; [Obstacle N, coordinates, speed N, direction N]; } The above M and N are both positive integers greater than or equal to 1. The global time is a GPS data timestamp, which is used to achieve time synchronization between the external sensing device and the data acquisition module of the vehicle.

[0023] In one embodiment, the vehicle control method includes steps S110 to S130.

[0024] S110: Receive perception data transmitted by an external perception device to obtain first perception data.

[0025] S120: Filter the first perception data to obtain second perception data.

[0026] S130: Control the vehicle according to the second perception data and the third perception data.

[0027] In one embodiment, step S110 includes steps S111 and S112.

[0028] S111, determining the working status of the data acquisition module; S112, when the working state is an abnormal state, receiving the sensing data transmitted by the sensing device outside the vehicle to obtain the first sensing data; or When the working state is normal and there is a detection blind spot in the detection field of view corresponding to the data acquisition module, the perception data transmitted by the external perception device is received to obtain the first perception data.

[0029] The working status of the vehicle's data acquisition module includes abnormal status and normal status. For example: when the data acquisition module includes a laser radar, the presence of a detection blind area in the data acquisition module indicates that the detection field of view of the laser radar is limited. Common reasons include that the laser radar window is blocked by rain, fog, dust, dirt, etc., or there are obstacles close to the vehicle in the laser radar's detection field of view (such as animals, bridge piers, dense crowds or other vehicles), which affect the laser radar's scanning of the vehicle's surroundings. Abnormal states of the data acquisition module include: the laser radar is subject to external electromagnetic interference or external network attacks, the laser radar is underpowered, and the laser radar's internal transmitting unit, receiving unit or other electronic components are damaged. The above abnormal states will cause the data acquisition module to be unable to scan the vehicle's surroundings to obtain perception data, or the reliability of the data acquisition module's scanning is low.

[0030] When the working state of the data acquisition module is abnormal, in order to accurately control the vehicle, the vehicle's external communication module receives the sensing data transmitted by the external sensing device to obtain the first sensing data, and then executes step S120. The third sensing data is marked as invalid data, thereby improving driving safety.

[0031] When the working state of the data acquisition module is normal and it is detected that there is a detection blind spot in the detection field of view corresponding to the data acquisition module, the perception data transmitted by the external perception device is received through the vehicle's external communication module to obtain the first perception data, and then step S120 is executed.

[0032] When the working state of the data acquisition module is normal and there is no detection blind spot in the data acquisition module, there is no need to receive the first perception data, and the vehicle can be controlled according to the third perception data. Or continue to perform subsequent steps S120 and S130, thereby improving the vehicle's detection range of the surrounding environment and further improving the vehicle's driving safety.

[0033] In another embodiment, when the working state of the data acquisition module is normal and the data acquisition module does not have a detection blind spot, the central controller is also used to preprocess the third perception data (data verification, filtering, data compression and other data processing) to obtain preprocessed third perception data; the preprocessed third perception data is broadcast based on the off-vehicle communication module so that other vehicles receive the preprocessed third perception data.

[0034] In one embodiment, step S120 includes step S121 and step S122.

[0035] S121, determining a target screening strategy from the first screening strategy and the second screening strategy; S122. Filter the first perception data according to the target screening strategy to obtain second perception data.

[0036] For the screening of the first perception data, a plurality of different screening strategies are set in advance, and the screening strategies are switched in real time according to the vehicle's driving distance (such as 1 km interval for each driving mileage), the working state of the laser radar, the change of the detection field of view corresponding to the data acquisition module, and the vehicle speed. The plurality of different screening strategies include a first screening strategy and a second screening strategy. The first screening strategy is to screen the first perception data based on the first preset distance range, the second preset distance range, and the vehicle's speed. The second screening strategy is to screen the first perception data based on the first preset distance range. The first preset distance range includes the second preset distance range. For example, the first preset distance range is 0-200m, and the second preset distance range is 0-100m, that is, the first preset distance range corresponds to environmental targets within a larger detection range.

[0037] The first screening strategy involves screening the first perception data at different distance ranges and vehicle speeds. The screening of data is more flexible and the screening criteria can be adjusted according to the actual operation of the vehicle (such as vehicle speed). The refined screening of data can be achieved, thereby improving the vehicle's ability to adapt to environmental changes, helping to provide more accurate risk assessment and decision support under different driving conditions, and enhancing driving safety. The second screening strategy only involves screening the first perception data at a distance range. The screening process is relatively simple and can reduce the amount of complex calculations.

[0038] By determining the target screening strategy from the first screening strategy and the second screening strategy, and then using the target screening strategy to screen the perception data transmitted by the external perception device, not only is the flexibility of the vehicle in screening the perception data transmitted by the external perception device improved, but it also helps the vehicle reduce unnecessary data processing burden and improve response speed.

[0039] In one embodiment, step S121 includes the following steps: when the working state of the data acquisition module is normal and there is a detection blind spot in the detection field corresponding to the data acquisition module, determining a target screening strategy according to a first screening strategy; or When the working state is an abnormal state, the second screening strategy is determined as the target screening strategy.

[0040] For example, if the working state of the data acquisition module is normal, and there is a detection blind spot in the detection field of view corresponding to the data acquisition module, it means that the vehicle's data acquisition module can scan reliable perception data, and can itself collect perception data containing environmental information within a larger distance range, but because the detection field of view is blocked and a certain range of visual blind spots are generated, only the perception data corresponding to the environmental area between the vehicle and the obstacle can be collected. At this time, it is necessary to screen the perception data within different preset distance ranges in combination with the vehicle's speed.

[0041] When the working state of the data acquisition module is abnormal, or the first perception data collected by the data acquisition module is unreliable, in order to ensure the driving safety of the vehicle, the vehicle mainly pays attention to the perception data within the first preset distance range, that is, pays attention to the perception data within a larger distance range. Therefore, the second screening strategy is determined as the target screening strategy.

[0042] In one embodiment, the first screening strategy includes a first sub-screening strategy and a second sub-screening strategy. The target screening strategy is determined according to the first screening strategy, including: when the vehicle speed is greater than a preset speed, the first sub-strategy is determined as the target screening strategy; when the vehicle speed is less than or equal to the preset speed, the second sub-strategy is determined as the target screening strategy.

[0043] Exemplarily, when the vehicle speed is greater than a preset speed (such as 60, 80 or 100 kilometers per hour), it indicates that the vehicle is in a high-speed driving scenario (for example, driving on a highway). When the vehicle is driving at high speed, in order to facilitate the vehicle to react in advance, it is necessary to pay attention to the perception data within a larger distance range. Therefore, the first sub-strategy is determined as the target screening strategy. When the vehicle speed is less than or equal to the preset speed, it indicates that the vehicle is in a low-speed driving scenario. For example: in driving scenarios such as road congestion, urban roads, and many pedestrians outside the vehicle, the vehicle needs to perform a more detailed scan of objects close to the vehicle, so the second sub-strategy is determined as the target screening strategy.

[0044] In one embodiment, step S122 includes the following steps: S1221. Determine a third preset distance range, wherein the third preset distance range is a preset distance range corresponding to the target screening strategy; S1222. Filter each first sensed data according to a third preset distance range to obtain at least one fourth sensed data; S1223. Obtain second perception data based on at least one fourth perception data and the number of external vehicle perception devices within a fourth preset distance range.

[0045] In step S1221, the third preset distance range is the preset distance range corresponding to the target screening strategy. If the target screening strategy is the first sub-screening strategy, the third preset distance range is the first preset distance range, such as 0-200m; if the target screening strategy is the second sub-screening strategy, the third preset distance range is the second preset distance range, such as 0-100m; if the target screening strategy is the second screening strategy, the third preset distance range is the first preset distance range.

[0046] In one embodiment, when there are Q external sensing devices, there are Q first sensing data, where Q is a positive integer greater than or equal to 1. The external sensing devices correspond one-to-one to the first sensing data Qi, that is, each external sensing device corresponds to one first sensing data. Assume that Q=3, that is, the external sensing devices include, for example, 3 external sensing devices, namely external sensing device 1, external sensing device 2, and external sensing device 3. The sensing data transmitted by external sensing device 1 is the first sensing data Q1, then the external sensing device 1 corresponds to the first sensing data Q1; the sensing data transmitted by external sensing device 2 is the first sensing data Q2, then the external sensing device 2 corresponds to the first sensing data Q2; the sensing data transmitted by external sensing device 3 is the first sensing data Q3, then the external sensing device 3 corresponds to the first sensing data Q3.

[0047] Step S1222 includes: obtaining the first distance corresponding to each first perception data, wherein the first distance is the distance between the external perception device corresponding to the first perception data and the vehicle; when the first distance corresponding to the first perception data is within a third preset distance range, filtering the data in each first perception data that is within the third preset distance range to obtain fourth perception data corresponding to each first perception data.

[0048] For example: the third preset distance range is 0-100m. Since the coordinate systems corresponding to the first perception data Qi and the third perception data are not unified, the first perception data Qi and the third perception data are converted to the vehicle body coordinate system (the coordinate system where the vehicle is located) to obtain the converted first perception data Qi and the converted third perception data. The first position coordinates of the external perception device i corresponding to the first perception data Qi in the vehicle body coordinate system are obtained from the converted first perception data Qi, and the second position coordinates of the vehicle in the vehicle body coordinate system are obtained from the third perception data. The first distance is obtained by calculating the distance between the first position coordinates and the second position coordinates. If the first distance corresponding to the first perception data Qi is within the third preset distance range, the data in the first perception data Qi that is within the third preset distance range is filtered to obtain the fourth perception data corresponding to the first perception data Qi. Only retaining the detection distance range corresponding to the target screening strategy can reduce the data processing amount of the central controller while meeting the detection requirements.

[0049] When the first distance corresponding to the first perception data Qi is greater than 100m, it indicates that the distance between the corresponding external perception device i and the vehicle is too far, and the first perception data Qi is less helpful for the vehicle to perceive the surrounding environment. The central controller can delete the group of first perception data Qi, thereby reducing the amount of data calculation and speeding up the vehicle's response to different first perception data Qi.

[0050] Step S1223 includes: when the number of external sensing devices within the fourth preset distance range is greater than or equal to the preset number, obtaining the detection range corresponding to each fourth sensing data; and using the fourth sensing data with the largest detection range as the second sensing data.

[0051] In one embodiment, the fourth preset distance range is 0-10m, 0-15m or 0-20m, etc. The number of external sensing devices within the fourth preset distance range is used to determine the density of external sensing devices within the fourth preset distance range. Exemplarily, the at least one fourth sensing data obtained in step S1222 includes P pieces, and the P fourth sensing data are screened according to the number of external sensing devices within the fourth preset distance range to obtain the second sensing data. Each fourth sensing data corresponds to a detection distance range. After obtaining P fourth sensing data, it is determined whether the number of external sensing devices within the fourth preset distance range is greater than or equal to a preset number, and the preset number is 1, 2 or 3, etc. If the number of external sensing devices within the fourth preset distance range is less than the preset number, it means that the density of external sensing devices within the fourth preset distance range is small, that is, the external sensing devices within the fourth preset distance range are relatively sparse. In order to help the vehicle obtain sufficient sensing data, any one or more fourth sensing data can be fused as the second sensing data; if the number of external sensing devices within the fourth preset distance range is greater than or equal to the preset number, it means that the density of external sensing devices within the fourth preset distance range is large, that is, the external sensing devices within the fourth preset distance range are relatively dense. The vehicle does not necessarily need to use all the P fourth sensing data for vehicle control. In order to reduce the amount of data calculation, the P fourth sensing data are screened, that is, the detection range corresponding to each fourth sensing data is obtained to obtain P detection ranges, and the fourth sensing data corresponding to the maximum detection range among the P detection ranges is used as the second sensing data. If there are at least two maximum detection ranges among the P detection ranges, the fourth sensing data corresponding to any one of the maximum detection ranges is used as the second sensing data, which can further reduce unnecessary data processing and reduce the computing power requirements for the central controller.

[0052] In another embodiment, when the number of off-vehicle sensing devices within the fourth preset distance range is greater than or equal to the preset number, the reliability of each fourth sensing data is calculated, and the fourth sensing data with the highest reliability is used as the second sensing data. If there is more than one fourth sensing data with the highest reliability, the one with the largest detection distance range among the several fourth sensing data with the highest reliability is used as the second sensing data; or the several fourth sensing data with the highest reliability are fused to obtain the second sensing data. The evaluation dimensions of reliability include ranging accuracy, data packet loss rate, data bit error rate, etc.

[0053] In one embodiment, step S130 includes: after the central controller screens the first perception data to obtain the second perception data, since the coordinate system where the second perception data is located (the relative coordinate system of the external perception device) is different from the coordinate system where the third perception data is located (the body coordinate system of the vehicle), the central controller can obtain the coordinate conversion matrix between the relative coordinate system corresponding to the second perception data and the body coordinate system corresponding to the third perception data through calculation, and then based on the coordinate conversion matrix, the coordinates, speed, direction and other parameters of the obstacle contained in the second perception data are converted to the body coordinate system to obtain the converted second perception data. Then, the converted second perception data and the third perception data are subjected to data fusion processing such as point cloud registration, image registration or data deduplication to obtain fused perception data; and the vehicle is controlled according to the fused perception data, for example, high-speed driving control, low-speed driving control, obstacle avoidance control, parking control, etc., so as to improve the safety and reliability of autonomous driving.

[0054] By controlling the vehicle based on the second perception data and the third perception data, the perception data transmitted by the external perception device is used to make up for the limitations of the perception range of the vehicle's data acquisition module, thereby expanding the perception range of the vehicle's data acquisition module. This is equivalent to building a more comprehensive and accurate vehicle surrounding environment model for the vehicle, which can accurately control the vehicle and is conducive to improving the driving safety of the vehicle.

[0055] The embodiment of the present application adopts a technical solution for controlling the vehicle by receiving perception data transmitted by an off-vehicle perception device to obtain first perception data, filtering out perception data that cannot be collected by the vehicle's data acquisition module from the first perception data to obtain second perception data, and scanning the vehicle's surrounding environment according to the second perception data and the vehicle's data acquisition module to obtain third perception data. On the one hand, by filtering the first perception data, not only can unnecessary data processing be reduced to reduce unnecessary computing resource consumption, but also bandwidth load and network delay can be reduced to speed up response speed; on the other hand, by controlling the vehicle according to the second perception data and the third perception data, the perception data transmitted by the off-vehicle perception device is used to make up for the limitations of the perception range of the vehicle's data acquisition module, thereby expanding the perception range of the vehicle's data acquisition module, and being able to accurately control the vehicle, which is beneficial to improving the driving safety of the vehicle.

[0056] The following describes the control of a vehicle during highway driving in conjunction with the accompanying drawings. Figure 2 and Figure 3 As shown, Figure 2 A schematic diagram of a vehicle driving scenario is shown. Figure 3A schematic diagram of a vehicle driving scene is shown, wherein 101 represents a vehicle with a relatively large obstruction (such as a large truck), 102 represents vehicle F equipped with an off-vehicle communication module, 103 represents the sensing range of vehicle A, 104 represents the communication range of vehicle A, 105 represents other types of vehicles, 106 represents a data communication link, 107 represents a highway, 108 represents the sensing range of vehicle D, 109 represents the sensing range of vehicle B, and vehicles A to F are all equipped with off-vehicle communication modules.

[0057] like Figure 2 As shown, the vehicles around vehicle A are densely packed, and there are many large trucks around vehicle A, which makes the detection field corresponding to the data acquisition module of vehicle A appear a detection "blind spot" due to the obstruction of the large trucks. In order to perceive a wider range of road information, vehicle A receives multiple first perception data transmitted from vehicle B to vehicle F through the off-vehicle communication module. In one example, after the central controller on vehicle A screens the multiple first perception data transmitted from vehicle B to vehicle F, the second perception data obtained includes the first perception data transmitted by vehicle B and the first perception data transmitted by vehicle D, including the perception data that cannot be collected by the data acquisition module of vehicle A. The perception data collected by vehicles B and D in the second perception data makes up for the limitations of the perception range of vehicle A, thereby effectively expanding the perception range of vehicle A. Vehicle A performs intelligent driving control based on the second perception data and the third perception data, provides more information for intelligent driving decisions, and can accurately control vehicle A, which is conducive to improving the driving safety of vehicle A.

[0058] like Figure 3 As shown, the vehicles around vehicle A are relatively sparse, and other vehicles do not block the detection field of view of the data acquisition module of vehicle A. Vehicle A does not need to receive multiple first perception data transmitted from vehicle B to vehicle F through the external communication module. Vehicle A only performs intelligent driving control based on the third perception data to provide information for intelligent driving decisions, which is conducive to reducing data processing time and network load.

[0059] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0060] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application is shown. Figure 4 As shown, the vehicle 400 includes: a data acquisition module 410, a central controller 420 and an off-vehicle communication module 430; The off-vehicle communication module 430 is used to receive the sensing data transmitted by at least one off-vehicle sensing device to obtain the first sensing data; wherein the vehicle 400 and the off-vehicle sensing device exchange data through the off-vehicle communication module 430. The central controller 420 is used to filter the first sensing data to obtain the second sensing data, and the central controller 420 is also used to control the vehicle 400 according to the second sensing data and the third sensing data; wherein the third sensing data includes the sensing data in the first sensing data that cannot be collected by the data collection module 410.

[0061] In some embodiments, the central controller is a field programmable gate array (FPGA), a system on chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit, a micro controller unit (MCU), an application-specific integrated circuit (ASIC), or any combination thereof for implementing relevant functions.

[0062] The embodiment of the present application adopts an off-vehicle communication module to receive the perception data transmitted by the off-vehicle perception device to obtain the first perception data, and uses the central controller to filter out the perception data that cannot be collected by the vehicle's data acquisition module from the first perception data to obtain the second perception data, and scans the vehicle's surrounding environment according to the second perception data and the vehicle's data acquisition module to obtain the third perception data, thereby controlling the vehicle. On the one hand, by filtering the first perception data, it is possible to reduce not only unnecessary data processing, thereby reducing unnecessary computing resource consumption, but also bandwidth load and network delay, thereby accelerating response speed; on the other hand, by controlling the vehicle according to the second perception data and the third perception data, it is possible to make up for the limitations of the perception range of the vehicle's data acquisition module by using the perception data transmitted by the off-vehicle perception device, thereby expanding the perception range of the vehicle's data acquisition module, and being able to accurately control the vehicle, which is beneficial to improving the driving safety of the vehicle.

[0063] It should be noted that when the vehicle provided in the above embodiment executes the vehicle control method, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle and vehicle control method embodiments provided in the above embodiment belong to the same concept. Therefore, for details not disclosed in the device embodiments of the present application, please refer to the above-mentioned vehicle control method embodiments of the present application, which will not be repeated here.

[0064] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0065] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method in the above-mentioned embodiment.

[0066] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0067] In addition, the vehicle provided in the embodiments of the present application may specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor may call and execute instructions so that the chip executes a vehicle control method in the above embodiments.

[0068] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be repeated here.

[0069] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0070] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0071] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, wherein the vehicle comprises a data acquisition module, characterized in that: The vehicle control method comprises: Receiving sensing data transmitted by an external sensing device to obtain first sensing data; Screening the first sensed data to obtain second sensed data; The vehicle is controlled according to the second perception data and the third perception data, wherein the third perception data is obtained by the data acquisition module by scanning the surrounding environment of the vehicle.

2. The vehicle control method according to claim 1, characterized in that: The receiving the sensing data transmitted by the external sensing device to obtain the first sensing data includes: Determining the working state of the data acquisition module, wherein the working state includes an abnormal state and a normal state; When the working state is an abnormal state, receiving the sensing data transmitted by the external sensing device to obtain the first sensing data; or When the working state is normal and there is a detection blind spot in the detection field of view corresponding to the data acquisition module, the perception data transmitted by the external perception device is received to obtain the first perception data.

3. The vehicle control method according to claim 2, characterized in that: The step of screening the first sensed data to obtain second sensed data includes: Determining a target screening strategy from a first screening strategy and a second screening strategy, wherein the first screening strategy is to screen the first perception data based on a first preset distance range, a second preset distance range and a speed of the vehicle, and the second screening strategy is to screen the first perception data based on the first preset distance range, and the first preset distance range includes the second preset distance range; The first perception data is screened according to the target screening strategy to obtain the second perception data.

4. The vehicle control method according to claim 3, characterized in that: Determining the target screening strategy from the first screening strategy and the second screening strategy includes: When the working state is normal and there is a detection blind spot in the detection field corresponding to the data acquisition module, the target screening strategy is determined according to the first screening strategy; or When the working state is an abnormal state, the second screening strategy is determined as the target screening strategy.

5. The vehicle control method according to claim 4, characterized in that: The first screening strategy includes a first sub-screening strategy and a second sub-screening strategy; The first sub-screening strategy is to screen the first perception data based on the first preset distance range and the vehicle speed, and the second sub-screening strategy is to screen the first perception data based on the second preset distance range and the vehicle speed; The determining the target screening strategy according to the first screening strategy includes: when the vehicle speed is greater than a preset speed, determining the first sub-strategy as the target screening strategy; or When the speed of the vehicle is less than or equal to the preset speed, the second sub-strategy is determined as the target screening strategy.

6. The vehicle control method according to claim 3, wherein there is at least one external sensing device, and the external sensing device corresponds to the first sensing data in a one-to-one manner, and is characterized in that: The step of screening the first sensed data according to the target screening strategy to obtain the second sensed data includes: Determine a third preset distance range, wherein the third preset distance range is a preset distance range corresponding to the target screening strategy; Filter each of the first sensed data according to the third preset distance range to obtain at least one fourth sensed data; The second perception data is obtained according to the at least one fourth perception data and the number of the external vehicle perception devices within a fourth preset distance range.

7. The vehicle control method according to claim 6, characterized in that: The step of screening each of the first sensed data according to the third preset distance range to obtain at least one fourth sensed data includes: Acquire a first distance corresponding to each first perception data, wherein the first distance is the distance between the external perception device corresponding to the first perception data and the vehicle; When the first distance corresponding to the first perception data is within the third preset distance range, data in the first perception data that is within the third preset distance range is filtered to obtain the fourth perception data corresponding to the first perception data.

8. The vehicle control method according to claim 6, characterized in that: The obtaining the second perception data according to the at least one fourth perception data and the number of the external perception devices within a fourth preset distance range includes: When the number of the external sensing devices within the fourth preset distance range is greater than or equal to a preset number, obtaining a detection range corresponding to each of the fourth sensing data; The fourth perception data with the largest detection range is used as the second perception data.

9. A vehicle, characterized in that: The vehicle includes a data acquisition module, a central controller and an off-vehicle communication module; The off-vehicle communication module is used to receive the sensing data transmitted by at least one off-vehicle sensing device to obtain the first sensing data; wherein the vehicle and the off-vehicle sensing device exchange data through the off-vehicle communication module; The central controller is used to filter the first perception data to obtain second perception data, and the central controller is also used to control the vehicle according to the second perception data and third perception data.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 8 is implemented.

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