Control method, device and equipment of autonomous vehicle, and storage medium

Abstract

The application discloses a control method and device of an automatic driving vehicle, equipment and a storage medium, and relates to the technical field of automatic driving. The specific implementation scheme is as follows: determining information of the automatic driving vehicle is acquired, the determining information includes at least one of the following information: vehicle information or surrounding environment information of the automatic driving vehicle; it is judged whether the determining information meets a preset condition; if it is judged that the determining information meets the preset condition, a preset dynamic parameter corresponding to the preset condition for controlling the automatic driving vehicle to drive is acquired; and the preset dynamic parameter is sent to an automatic driving system of the automatic driving vehicle. In the embodiment of the application, when the determining information of the automatic driving vehicle meets the preset condition, the automatic driving system no longer uses some initial parameters, but uses the preset dynamic parameter to control the automatic driving vehicle to drive, so that the automatic driving vehicle quickly adapts to various scenes to realize safe driving, and the cost of modifying or adjusting the algorithm itself is saved.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to autonomous driving technology. Background Technology

[0002] With the development of technology, autonomous vehicles have become an important direction for the future development of automobiles. Autonomous vehicles can not only help improve people's travel convenience and experience, but also greatly enhance travel efficiency. Autonomous driving requires extremely high safety and reliability, thus placing very high demands on the autonomous driving system.

[0003] During the operation of an autonomous vehicle, the autonomous driving system uses algorithms to control the vehicle. However, since the surrounding environment of the vehicle is constantly changing, the algorithms need to be dynamically modified or adjusted in different scenarios to ensure that the vehicle can drive safely in different scenarios.

[0004] In existing technologies, when the scene changes, the algorithm needs to be dynamically modified or adjusted, which is costly and time-consuming. Summary of the Invention

[0005] This application provides a control method, device, equipment, and storage medium for autonomous vehicles, enabling autonomous vehicles to adapt to various scenarios without requiring dynamic modification or adjustment of the algorithm itself, thus saving the cost of modifying or adjusting the algorithm.

[0006] The first aspect of this application provides a control method for an autonomous vehicle, comprising:

[0007] Obtain the determination information of the autonomous vehicle, the determination information including at least one of the following: vehicle information of the autonomous vehicle, or surrounding environment information of the autonomous vehicle;

[0008] Determine whether the determination information meets the preset conditions;

[0009] If it is determined that the determination information meets the preset conditions, then the preset dynamic parameters for controlling the autonomous vehicle to drive corresponding to the preset conditions are obtained.

[0010] The preset dynamic parameters are sent to the autonomous driving system of the autonomous vehicle.

[0011] Using the above method, when the vehicle information and / or the information of the vehicle's surrounding environment meet the preset conditions, the autonomous driving system can no longer use certain initial parameters, but instead use preset dynamic parameters to control the vehicle's driving. This allows the vehicle to quickly adapt to various scenarios and achieve safe driving without the need to dynamically modify or adjust the algorithm itself, thus saving the cost of modifying or adjusting the algorithm.

[0012] Furthermore, after sending the preset dynamic parameters to the autonomous driving system of the autonomous vehicle, the method further includes:

[0013] The relevant parameters of the autonomous driving system are modified according to the preset dynamic parameters;

[0014] The autonomous driving system, with its modified parameters, controls the autonomous vehicle's movement.

[0015] Furthermore, modifying the relevant parameters of the autonomous driving system according to the preset dynamic parameters includes:

[0016] The relevant parameters of at least one of the path planning module, control module, and perception module of the autonomous driving system are modified according to the preset dynamic parameters.

[0017] Furthermore, the preset dynamic parameters carry parameter types.

[0018] Furthermore, sending the preset dynamic parameters to the autonomous driving system of the autonomous vehicle includes:

[0019] The path planning module, control module, and perception module of the autonomous driving system receive the preset dynamic parameters according to the parameter type.

[0020] The above method enables the path planning module, control module, and perception module to accurately and timely receive the required preset dynamic parameters.

[0021] Furthermore, the preset conditions include at least one of the following: the road width meets the preset width, the road conditions meet the preset road conditions, the vehicle position is in the preset area, or the vehicle speed meets the preset speed.

[0022] A second aspect of this application provides a control device for an autonomous vehicle, comprising:

[0023] The acquisition module is used to acquire the determination information of the autonomous vehicle, the determination information including at least one of the following: vehicle information of the autonomous vehicle, or surrounding environment information of the autonomous vehicle.

[0024] The judgment module is used to determine whether the judgment information meets the preset conditions;

[0025] The control module is configured to, if it is determined that the determination information meets the preset conditions, obtain the preset dynamic parameters corresponding to the preset conditions for controlling the autonomous vehicle to drive; and send the preset dynamic parameters to the autonomous driving system of the autonomous vehicle.

[0026] A third aspect of this application provides an electronic device, comprising:

[0027] At least one processor; and

[0028] A memory communicatively connected to the at least one processor; wherein,

[0029] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect.

[0030] A fourth aspect of this application provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the method described in the first aspect.

[0031] The fifth aspect of this application provides a computer program, including program code, which, when a computer runs the computer program, performs the method as described in the first aspect.

[0032] The sixth aspect of this application provides a control method for an autonomous vehicle, comprising:

[0033] Obtain preset dynamic parameters based on preset conditions;

[0034] The vehicle's movement is controlled according to the preset dynamic parameters.

[0035] A seventh aspect of this application provides a computer program product comprising: a computer program stored in a readable storage medium, wherein at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the electronic device to perform the method described in the first aspect.

[0036] An embodiment of the above application has the following advantages or beneficial effects: by acquiring the determination information of the autonomous vehicle, the determination information including at least one of the following: vehicle information of the autonomous vehicle, or surrounding environment information of the autonomous vehicle; determining whether the determination information meets preset conditions; if the determination information meets the preset conditions, acquiring preset dynamic parameters for controlling the autonomous vehicle to drive corresponding to the preset conditions; and sending the preset dynamic parameters to the autonomous driving system of the autonomous vehicle. In this embodiment of the application, when the determination information of the autonomous vehicle meets the preset conditions, the autonomous driving system can no longer use certain initial parameters, but instead use preset dynamic parameters to control the vehicle's driving, enabling the vehicle to quickly adapt to various scenarios and achieve safe driving without dynamically modifying or adjusting the algorithm itself, thus saving the cost of modifying or adjusting the algorithm.

[0037] Other effects of the above-mentioned alternative methods will be described below in conjunction with specific embodiments. Attached Figure Description

[0038] The accompanying drawings are provided for a better understanding of this solution and do not constitute a limitation of this application. Wherein:

[0039] Figure 1 This is a flowchart of a control method for an autonomous vehicle provided in an embodiment of this application;

[0040] Figure 2 This is a flowchart of a control method for an autonomous vehicle provided in another embodiment of this application;

[0041] Figure 3 This is a scenario diagram illustrating the implementation of an embodiment of this application.

[0042] Figure 4 This is a flowchart of a control method for an autonomous vehicle provided in another embodiment of this application;

[0043] Figure 5 This is a structural diagram of a control device for an autonomous vehicle provided in an embodiment of this application;

[0044] Figure 6 This is a block diagram of an electronic device used to implement the control method for an autonomous vehicle according to the embodiments of this application. Detailed Implementation

[0045] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0046] One embodiment of this application provides a control method for an autonomous vehicle. Figure 1 This is a flowchart illustrating a control method for an autonomous vehicle provided in an embodiment of the present invention. Figure 1 As shown, the specific steps of the control method for the autonomous vehicle are as follows:

[0047] S101. Obtain the determination information of the autonomous vehicle, wherein the determination information includes at least one of the following: vehicle information of the autonomous vehicle, or surrounding environment information of the autonomous vehicle.

[0048] In this embodiment, the vehicle information and / or the surrounding environment information of the autonomous vehicle can be obtained in real time through the perception module (including various sensors) of the autonomous vehicle as the judgment information. The vehicle information may include, but is not limited to, the location information, driving speed, driving direction, acceleration, etc. of the autonomous vehicle, and the surrounding environment information may include, but is not limited to, road width, road condition information, obstacles, etc.

[0049] S102. Determine whether the determination information meets the preset conditions.

[0050] In existing technologies, during the autonomous driving process of autonomous vehicles, the autonomous driving system employs algorithms to control the vehicle. These algorithms and their corresponding parameters are typically fixed, which becomes unsuitable in scenarios where the environment is constantly changing, such as when a vehicle parked on the side of the road narrows the road. Therefore, in this embodiment, at least one preset condition can be pre-configured, and each preset condition is configured with at least one preset dynamic parameter. This preset dynamic parameter is a parameter that the autonomous driving system needs to modify in certain special scenarios. The preset condition corresponding to the preset dynamic parameter is the condition under which the preset dynamic parameter takes effect. That is, when the autonomous vehicle's judgment information, such as vehicle information and / or surrounding environment information, meets the preset condition, the relevant parameters of the autonomous driving system are modified according to the corresponding preset dynamic parameter. If the autonomous vehicle's judgment information does not meet the preset condition, the autonomous driving system continues to control the autonomous vehicle with the initial parameters. The preset condition may include, but is not limited to, at least one of the following: road width meets a preset width, road conditions meet preset road condition conditions, vehicle position is within a preset area, and vehicle speed meets a preset speed.

[0051] Optionally, the preset conditions and their corresponding preset dynamic parameters can be pre-stored in the local storage unit of the autonomous vehicle, or dynamically obtained from a server connected to the autonomous vehicle and stored in the local storage unit of the autonomous vehicle. A judgment module can determine whether there are effective preset conditions based on the obtained vehicle information and / or vehicle surrounding environment information. Alternatively, the obtained vehicle information and / or vehicle surrounding environment information can be sent to the server, which can then determine whether the preset conditions are met. If the preset conditions are met, the server will send the preset dynamic parameters corresponding to the preset conditions to the autonomous vehicle.

[0052] S103. If it is determined that the determination information meets the preset conditions, then obtain the preset dynamic parameters for controlling the autonomous vehicle to drive corresponding to the preset conditions.

[0053] S104. Send the preset dynamic parameters to the autonomous driving system of the autonomous vehicle.

[0054] In this embodiment, after determining that the judgment information meets the preset conditions, the preset dynamic parameters corresponding to the preset conditions are obtained, and then the autonomous driving system is controlled to control the autonomous vehicle to drive according to the preset dynamic parameters. This allows the autonomous vehicle to cope with the constantly changing environment simply by modifying the parameters, thus achieving safe driving without modifying the algorithm itself or writing corresponding algorithms for these scenarios, saving algorithm development costs.

[0055] The autonomous vehicle control method provided in this embodiment obtains determination information of the autonomous vehicle, which includes at least one of the following: vehicle information of the autonomous vehicle or surrounding environment information of the autonomous vehicle; determines whether the determination information meets preset conditions; if the determination information meets the preset conditions, obtains preset dynamic parameters for controlling the autonomous vehicle's driving corresponding to the preset conditions; and sends the preset dynamic parameters to the autonomous vehicle's autonomous driving system. In this embodiment, when the determination information of the autonomous vehicle meets the preset conditions, the autonomous driving system can no longer use certain initial parameters, but instead use preset dynamic parameters to control the autonomous vehicle's driving. This allows the autonomous vehicle to quickly adapt to various scenarios and achieve safe driving without dynamically modifying or adjusting the algorithm itself, saving the cost of modifying or adjusting the algorithm.

[0056] Based on the above embodiments, such as Figure 2 As shown, after sending the preset dynamic parameters to the autonomous driving system of the autonomous vehicle as described in S104, it also includes...

[0057] S201. Modify the relevant parameters of the autonomous driving system according to the preset dynamic parameters;

[0058] S202, The autonomous driving system with modified parameters controls the autonomous driving vehicle.

[0059] In this embodiment, the relevant parameters of the autonomous driving system can be modified according to the preset dynamic parameters corresponding to the obtained preset conditions. Specifically, the relevant parameters in the algorithm used to control the autonomous vehicle can be modified. One of the algorithms may correspond to at least one preset condition and at least one preset dynamic parameter.

[0060] Specifically, modifying the relevant parameters of the autonomous driving system according to the preset dynamic parameters includes modifying the relevant parameters of at least one of the path planning module, control module, and perception module of the autonomous driving system according to the preset dynamic parameters. The path planning module is used to plan the driving path of the autonomous vehicle; the control module is used to control the autonomous vehicle to drive automatically according to the planned driving path and electronic maps; the perception module is used to perceive the environmental information around the autonomous vehicle and can also obtain the vehicle information of the autonomous vehicle. By modifying the relevant parameters of at least one of the above modules, each module can perform corresponding operations according to the preset dynamic parameters. That is, the modified path planning module can plan a driving route according to the preset dynamic parameters, the modified control module can control the autonomous vehicle to drive automatically according to the preset dynamic parameters, and the modified perception module can perceive the environmental information around the autonomous vehicle and obtain the vehicle information of the autonomous vehicle according to the preset dynamic parameters.

[0061] For example, if a preset condition is that the road width is 5 meters, the corresponding preset dynamic parameter is a speed limit of 20 km / h, while the initial parameter of a certain algorithm in the control module is a speed limit of 30 km / h. Figure 3 As shown, when the autonomous vehicle reaches road segment S0, it finds the road width to be 10 meters, which does not meet the preset conditions. Therefore, the control module controls the autonomous vehicle to travel at a speed limit of 30 km / h based on the initial parameters. When the autonomous vehicle reaches road segment S1, it finds the road width to be 5 meters (e.g., due to parked cars on the side of the road or vegetation encroaching on the road, narrowing the road width). This meets the preset conditions, so the control module can obtain the preset dynamic parameter corresponding to the preset conditions, which is a speed limit of 20 km / h. Then, it modifies the speed limit in the control module's algorithm based on the preset dynamic parameter, allowing the control module to control the autonomous vehicle to travel at the speed limit of 20 km / h. Furthermore, the path planning module can also plan the autonomous vehicle's path based on changes in road width to ensure the autonomous vehicle safely passes through the road segment. In the above example, it is not necessary to modify the map; instead, the parameters of the control module and / or the path planning module can be directly modified to ensure the autonomous vehicle safely passes through the road segment, saving costs.

[0062] Based on any of the above embodiments, when obtaining the preset dynamic parameters corresponding to the preset conditions, the preset dynamic parameters can be sent to at least one of the path planning module, the control module, and the perception module.

[0063] In this embodiment, when the determination information of the autonomous vehicle meets the preset conditions, it may only be necessary to modify the relevant parameters of at least one of the path planning module, control module, and perception module. Therefore, it is only necessary to send the preset dynamic parameters to the module whose parameters need to be modified.

[0064] In one alternative embodiment, the preset dynamic parameter carries a parameter type.

[0065] Furthermore, sending the preset dynamic parameters to the autonomous driving system of the autonomous vehicle includes:

[0066] The path planning module, control module, and perception module of the autonomous driving system receive the preset dynamic parameters according to the parameter type.

[0067] In one alternative embodiment, preset dynamic parameters can be sent using a publish / subscribe (pub / sub) method, such as... Figure 4 As shown, the specific steps are as follows:

[0068] S301. Broadcast the preset dynamic parameters to the path planning module, the control module, and the sensing module, wherein the preset dynamic parameters carry parameter types;

[0069] S302, Control the path planning module, the control module, and the perception module to receive the preset dynamic parameters according to the pre-subscribed parameter types.

[0070] In this embodiment, since different modules may require different parameter types, the parameter types received by the path planning module, control module, and perception module can be pre-configured. Then, when the preset dynamic parameters are released, the preset dynamic parameters can be broadcast to the path planning module, control module, and perception module, along with the parameter types. Each module can determine whether the parameter type is the one it needs based on the parameter type. If it is, it receives the preset dynamic parameters; otherwise, it discards the preset dynamic parameters.

[0071] The control methods for autonomous vehicles provided in the above embodiments can enable the autonomous driving system to no longer use certain initial parameters when the determination information of the autonomous vehicle meets the preset conditions, but instead use preset dynamic parameters to control the autonomous vehicle to drive. This allows the autonomous vehicle to quickly adapt to various scenarios and achieve safe driving without the need to dynamically modify or adjust the algorithm itself, thus saving the cost of modifying or adjusting the algorithm.

[0072] One embodiment of this application provides a control device for an autonomous vehicle. Figure 5 This is a structural diagram of the control device for an autonomous vehicle provided in an embodiment of the present invention. Figure 5As shown, the control device 500 for the autonomous vehicle specifically includes: an acquisition module 501, a judgment module 502, and a control module 503.

[0073] The acquisition module 501 is used to acquire the determination information of the autonomous vehicle, and the determination information includes at least one of the following: vehicle information of the autonomous vehicle, or surrounding environment information of the autonomous vehicle.

[0074] The judgment module 502 is used to determine whether the judgment information meets the preset conditions;

[0075] The control module 503 is used to obtain preset dynamic parameters for controlling the autonomous vehicle to drive corresponding to the preset conditions if the determination information is satisfied with the preset conditions; and to send the preset dynamic parameters to the autonomous driving system of the autonomous vehicle.

[0076] Based on the above embodiments, the control module 503 is used for:

[0077] The relevant parameters of the autonomous driving system are modified according to the preset dynamic parameters;

[0078] The autonomous driving system, with its modified parameters, controls the autonomous vehicle's movement.

[0079] Based on the above embodiments, the control module 503 is used for:

[0080] The relevant parameters of at least one of the following modules in the autonomous driving system—the path planning module, the control module, and the perception module—are modified according to the preset dynamic parameters.

[0081] Based on the above embodiments, the preset dynamic parameters carry parameter types.

[0082] Based on the above embodiments, the control module 503 is used for:

[0083] At least one of the path planning module, the control module, and the perception module of the autonomous driving system receives the preset dynamic parameters according to the parameter type.

[0084] Based on the above embodiments, the preset conditions include at least one of the following: the road width meets the preset width, the road conditions meet the preset road conditions, the vehicle position is in the preset area, or the vehicle speed meets the preset speed.

[0085] The control of the autonomous vehicle provided in this embodiment can be specifically used to execute the above-mentioned... Figure 1 , 2The specific functions of the method embodiments provided in sections 4 and 5 will not be elaborated here.

[0086] The control device for an autonomous vehicle provided in this embodiment acquires determination information of the autonomous vehicle, which includes at least one of the following: vehicle information of the autonomous vehicle or surrounding environment information of the autonomous vehicle; determines whether the determination information meets preset conditions; if the determination information meets the preset conditions, acquires preset dynamic parameters for controlling the autonomous vehicle to drive corresponding to the preset conditions; and sends the preset dynamic parameters to the autonomous driving system of the autonomous vehicle. In this embodiment, when the determination information of the autonomous vehicle meets the preset conditions, the autonomous driving system can no longer use certain initial parameters, but instead use preset dynamic parameters to control the autonomous vehicle to drive. This allows the autonomous vehicle to quickly adapt to various scenarios and achieve safe driving without dynamically modifying or adjusting the algorithm itself, saving the cost of modifying or adjusting the algorithm.

[0087] According to embodiments of this application, this application also provides an electronic device and a readable storage medium.

[0088] like Figure 6 The diagram shown is a block diagram of an electronic device for a control method of an autonomous vehicle according to an embodiment of this application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present application described and / or claimed herein.

[0089] like Figure 6 As shown, the electronic device includes one or more processors 601, a memory 602, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components are interconnected via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 6Take the 601 processor as an example.

[0090] The memory 602 is the non-transitory computer-readable storage medium provided in this application. The memory stores instructions executable by at least one processor to cause the at least one processor to perform the autonomous vehicle control method provided in this application. The non-transitory computer-readable storage medium of this application stores computer instructions for causing a computer to perform the autonomous vehicle control method provided in this application.

[0091] Memory 602, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the control method for an autonomous vehicle in the embodiments of this application (e.g., attached). Figure 5 The acquisition module 501, judgment module 502, and control module 503 are shown. The processor 601 executes various functional applications and data processing of the server by running non-transient software programs, instructions, and modules stored in the memory 602, thereby realizing the control method of the autonomous vehicle in the above method embodiment.

[0092] Memory 602 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by the use of electronic devices in the control method of the autonomous vehicle. Furthermore, memory 602 may include high-speed random access memory and may also include non-transient memory, such as at least one disk storage device, flash memory device, or other non-transient solid-state storage device. In some embodiments, memory 602 may optionally include memory remotely located relative to processor 601, and these remote memories can be connected to electronic devices in the control method of the autonomous vehicle via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0093] The electronic equipment for controlling an autonomous vehicle may further include an input device 603 and an output device 604. The processor 601, memory 602, input device 603, and output device 604 may be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0094] Input device 603 can receive input digital or character information, as well as key signal inputs related to user settings and function control of electronic devices for the control method of the autonomous vehicle, such as touch screens, keypads, mice, trackpads, touchpads, joysticks, one or more mouse buttons, trackballs, joysticks, etc. Output device 604 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The display device may include, but is not limited to, liquid crystal displays (LCDs), light-emitting diode (LED) displays, and plasma displays. In some embodiments, the display device may be a touch screen.

[0095] Various implementations of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, application-specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include: implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0096] These computational programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms “machine-readable medium” and “computer-readable medium” refer to any computer program product, device, and / or apparatus (e.g., disk, optical disk, memory, programmable logic device (PLD)) used to provide machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term “machine-readable signal” refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0097] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0098] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0099] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other.

[0100] According to the technical solution of this application embodiment, by obtaining the determination information of the autonomous vehicle, the determination information includes at least one of the following: vehicle information of the autonomous vehicle, or surrounding environment information of the autonomous vehicle; determining whether the determination information meets preset conditions; if the determination information meets the preset conditions, obtaining preset dynamic parameters for controlling the autonomous vehicle to drive corresponding to the preset conditions; and sending the preset dynamic parameters to the autonomous driving system of the autonomous vehicle. In this embodiment, when the determination information of the autonomous vehicle meets the preset conditions, the autonomous driving system can no longer use certain initial parameters, but instead use preset dynamic parameters to control the autonomous vehicle to drive, enabling the autonomous vehicle to quickly adapt to various scenarios and achieve safe driving without dynamically modifying or adjusting the algorithm itself, thus saving the cost of modifying or adjusting the algorithm.

[0101] This application also provides a computer program, including program code, which, when a computer runs the computer program, executes the control method for an autonomous vehicle as described in the above embodiments.

[0102] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this is not limited herein.

[0103] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method for an autonomous vehicle, characterized in that, include: Obtain the determination information of the autonomous vehicle, the determination information including at least one of the following: vehicle information of the autonomous vehicle, or surrounding environment information of the autonomous vehicle; Determine whether the determination information meets preset conditions; the preset conditions include at least one of the following: the road width meets the preset width, the road conditions meet the preset road conditions, or the vehicle position is in a preset area; If the determination information is determined to meet the preset condition, then the preset dynamic parameters for controlling the autonomous vehicle to drive corresponding to the preset condition are obtained; the preset dynamic parameters carry a parameter type. At least one of the path planning module, control module, and perception module of the autonomous driving system receives the preset dynamic parameters according to the parameter type. Each module has its own required parameter type; the at least one module receives the preset dynamic parameter according to the parameter type, including: the at least one module determines whether the parameter type is the parameter type it needs; if so, it receives the preset dynamic parameter; if not, it discards the preset dynamic parameter. The relevant parameters in the algorithm used to control the autonomous vehicle in the autonomous driving system are modified according to the preset dynamic parameters; the autonomous driving system with modified parameters controls the autonomous vehicle to drive.

2. The method according to claim 1, characterized in that, The step of modifying relevant parameters in the algorithm used to control the autonomous vehicle in the autonomous driving system according to the preset dynamic parameters includes: The relevant parameters of at least one of the path planning module, control module, and perception module of the autonomous driving system are modified according to the preset dynamic parameters.

3. A control device for an autonomous vehicle, characterized in that, include: The acquisition module is used to acquire the determination information of the autonomous vehicle, the determination information including at least one of the following: vehicle information of the autonomous vehicle, or surrounding environment information of the autonomous vehicle. The judgment module is used to determine whether the judgment information meets preset conditions; the preset conditions include at least one of the following: the road width meets the preset width, the road conditions meet the preset road conditions, or the vehicle position is in a preset area. A control module is configured to, if the determination information satisfies the preset condition, acquire preset dynamic parameters for controlling the autonomous vehicle's movement corresponding to the preset condition; the preset dynamic parameters carry parameter types; at least one module among the path planning module, control module, and perception module of the autonomous driving system receives the preset dynamic parameters according to the parameter types; wherein, each module has its own required parameter types; the at least one module receiving the preset dynamic parameters according to the parameter types includes: the at least one module determining whether the parameter type is its required parameter type; if so, receiving the preset dynamic parameters; if not, discarding the preset dynamic parameters; modifying relevant parameters in the algorithm of the autonomous driving system for controlling the autonomous vehicle according to the preset dynamic parameters; and the autonomous driving system controlling the autonomous vehicle's movement by modifying the parameters.

4. The apparatus according to claim 3, characterized in that, The control module is used for: The relevant parameters of at least one of the following modules in the autonomous driving system—the path planning module, the control module, and the perception module—are modified according to the preset dynamic parameters.

5. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of claim 1 or 2.

6. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method of claim 1 or 2.

7. A control method for an autonomous vehicle, characterized in that, include: Preset dynamic parameters are obtained according to preset conditions; the preset conditions include at least one of the following: the road width meets the preset width, the road conditions meet the preset road conditions, or the vehicle position is in a preset area; The autonomous vehicle is controlled to drive according to the preset dynamic parameters; the preset dynamic parameters carry parameter types. At least one of the path planning module, control module, and perception module of the autonomous driving system receives the preset dynamic parameters according to the parameter type. Each module has its own required parameter type; the at least one module receives the preset dynamic parameter according to the parameter type, including: the at least one module determines whether the parameter type is the parameter type it needs; if so, it receives the preset dynamic parameter; if not, it discards the preset dynamic parameter. The relevant parameters in the algorithm used to control the autonomous vehicle in the autonomous driving system are modified according to the preset dynamic parameters; the autonomous driving system with modified parameters controls the autonomous vehicle to drive.

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