Method and device for adjusting driving path of autonomous vehicle
By acquiring navigation and image information to determine the vehicle's position and using machine learning models to assist in adjusting the driving path, the problem of autonomous vehicles deviating from their routes has been solved, thus improving driving safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GREE ALTAIRNANO NEW ENERGY INC
- Filing Date
- 2021-03-26
- Publication Date
- 2026-06-26
AI Technical Summary
When autonomous vehicles are traveling along a pre-planned route, they may deviate from the route, affecting driving safety.
By acquiring the vehicle's navigation information and the surrounding image information collected by the image acquisition device, the vehicle's current position is determined. Based on the position information, it is determined whether the driving route needs to be adjusted. Machine learning models are used to assist in position determination, and the vehicle is promptly adjusted to return to the pre-planned driving route.
It improves driving safety when autonomous vehicles travel along pre-planned routes, ensuring that vehicles follow the predetermined route and reducing the risk of deviation.
Smart Images
Figure CN113085890B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of autonomous driving, and more specifically, to a method and apparatus for adjusting the driving path of an autonomous vehicle. Background Technology
[0002] There is an application scenario in the field of autonomous driving where autonomous vehicles travel along pre-planned routes. For example, in an industrial park, autonomous vehicles used to transport goods need to travel back and forth along pre-set routes.
[0003] When autonomous vehicles travel along a pre-planned route, they may deviate from the route. If this happens, it may lead to unexpected traffic accidents and affect driving safety.
[0004] There is currently no effective solution to the above problems. Summary of the Invention
[0005] This application provides a method and apparatus for adjusting the driving path of an autonomous vehicle, so as to at least solve the technical problem that the autonomous vehicle may deviate from the route when driving according to the pre-planned route, which may affect driving safety.
[0006] According to one aspect of the embodiments of this application, a method for adjusting the driving path of an autonomous vehicle is provided, comprising: determining the driving route of the vehicle, wherein the driving route is a pre-planned route; controlling the vehicle to drive according to the driving route; and while the vehicle is driving according to the driving route, acquiring vehicle information, wherein the vehicle information includes at least one of the following: navigation information of the vehicle's navigation device and image information of the area where the vehicle is located collected by an image acquisition device installed on the vehicle; determining the current driving position information of the vehicle based on the vehicle information; and determining whether the current driving path of the vehicle needs to be adjusted based on the current driving position information of the vehicle.
[0007] Optionally, determining whether the vehicle's current driving path needs to be adjusted based on the vehicle's current location information includes: determining whether the vehicle's current driving path deviates from the driving route based on the location information; if the vehicle's current driving path deviates from the driving route, adjusting the vehicle's current driving path to return the vehicle to the driving route; if the vehicle's current driving path does not deviate from the driving route, controlling the vehicle to continue driving according to the current driving path.
[0008] Optionally, determining whether the vehicle's current driving path deviates from the driving route based on the location information includes: obtaining the vehicle's position at different times within a preset time period; connecting the positions at different times to obtain the vehicle's driving path within the preset time period; comparing the driving path within the preset time period with the driving route; if the driving route coincides with the driving path within the preset time period, determining that the vehicle's current driving path has not deviated from the driving route; if the driving route does not coincide with the driving path within the preset time period, determining that the vehicle's current driving path deviates from the driving route.
[0009] Optionally, determining the current location information of the vehicle based on the vehicle information includes: inputting image information into a machine learning model for processing to obtain the vehicle's location information. The machine learning model is trained by: acquiring a training dataset and training a neural network model based on the training dataset to generate the machine learning model. The training dataset includes: images of the vehicle's surroundings collected while the vehicle is in motion and location labels marked on the images.
[0010] Optionally, determining the vehicle's current location information based on vehicle information further includes: determining the vehicle's first location at the current moment based on navigation information; determining the vehicle's second location at the current moment based on image information; determining the distance between the first location and the second location, and determining the vehicle's current location based on the distance.
[0011] Optionally, determining the vehicle's position at the current moment based on distance includes: if the distance is less than a preset threshold, taking the midpoint between the first position and the second position as the vehicle's position at the current moment; if the distance is greater than the preset threshold, re-determining the vehicle's first position based on navigation information and determining the vehicle's second position based on image information, until the distance between the first position and the second position is less than the preset threshold.
[0012] According to another aspect of the embodiments of this application, a method for adjusting the driving path of an autonomous vehicle is also provided, comprising: displaying a driving route on the vehicle's human-machine interface and controlling the vehicle to drive according to the driving route, wherein the driving route is a pre-planned route; while the vehicle is driving according to the driving route, displaying vehicle information in real time on the human-machine interface, wherein the vehicle information includes at least one of the following: navigation information of the vehicle's navigation device and image information of the area where the vehicle is located collected by an image acquisition device installed on the vehicle; displaying the vehicle's current driving position information determined based on the vehicle information on the human-machine interface; and displaying prompt information on the human-machine interface based on the vehicle's current driving position information, wherein the prompt information is used to remind whether the vehicle's current driving path needs to be adjusted.
[0013] According to another aspect of the embodiments of this application, an adjustment device for the driving path of an autonomous vehicle is also provided, comprising: a first determining module, configured to determine the driving route of the vehicle, wherein the driving route is a pre-planned route; a processing module, configured to control the vehicle to drive according to the driving route, and to acquire vehicle information while the vehicle is driving according to the driving route, wherein the vehicle information includes at least one of the following: navigation information of the vehicle's navigation device and image information of the area where the vehicle is located acquired by an image acquisition device installed on the vehicle; a second determining module, configured to determine the current driving position information of the vehicle based on the vehicle information; and a third determining module, configured to determine whether the current driving path of the vehicle needs to be adjusted based on the current driving position information of the vehicle.
[0014] According to another aspect of the embodiments of this application, an autonomous driving vehicle is also provided, including: a navigation device, an image acquisition device, and a controller, wherein the navigation device is used to display navigation information during vehicle operation; the image acquisition device is used to acquire image information of the area where the vehicle is located during vehicle operation; the controller communicates with the navigation device and the image acquisition device to acquire navigation information and / or image information; determine the current driving position information of the vehicle based on the navigation information and / or image information; and determine whether the current driving path of the vehicle needs to be adjusted based on the position information.
[0015] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein, when the program is running, the device where the non-volatile storage medium is located executes the above-mentioned method for adjusting the driving path of an autonomous vehicle.
[0016] According to another aspect of the embodiments of this application, a processor is also provided, which is used to run a program stored in a memory, wherein the program executes the above-described method for adjusting the driving path of an autonomous vehicle.
[0017] In this embodiment, a method is employed to determine the vehicle's driving route, which is a pre-planned route; control the vehicle to drive according to the driving route; while the vehicle is driving according to the driving route, acquire vehicle information, which includes at least one of the following: navigation information from the vehicle's navigation device and image information of the area where the vehicle is located, acquired by an image acquisition device installed on the vehicle; determine the vehicle's current driving position information based on the vehicle information; and determine whether the vehicle's current driving path needs to be adjusted based on the vehicle's current driving position information. By acquiring the vehicle's navigation information and the image information collected around the vehicle during the autonomous driving process to determine the vehicle's position information, and then determining whether the vehicle has deviated from the preset driving route based on the vehicle's position information, the technical effect of improving the driving safety of autonomous vehicles when driving according to the pre-planned route is achieved. This solves the technical problem that autonomous vehicles may deviate from the route when driving according to the pre-planned route, which affects driving safety. Attached Figure Description
[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:
[0019] Figure 1 This is a flowchart of a method for adjusting the driving path of an autonomous vehicle according to an embodiment of this application;
[0020] Figure 2 This is a flowchart of another method for adjusting the driving path of an autonomous vehicle according to an embodiment of this application;
[0021] Figure 3 This is a structural block diagram of a device for adjusting the driving path of an autonomous vehicle according to an embodiment of this application;
[0022] Figure 4 This is a structural block diagram of an autonomous vehicle according to an embodiment of this application. Detailed Implementation
[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.
[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0025] According to an embodiment of this application, an embodiment of a method for adjusting the driving path of an autonomous vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.
[0026] Figure 1 This is a flowchart of a method for adjusting the driving path of an autonomous vehicle according to an embodiment of this application, as shown below. Figure 1 As shown, the method includes the following steps:
[0027] Step S102: Determine the vehicle's driving route, wherein the driving route is a pre-planned route;
[0028] It should be noted that the driving route in step S102 is a pre-planned route, such as the route taken by an autonomous vehicle transporting goods in an industrial park, as mentioned in the background section.
[0029] Step S104: Control the vehicle to travel along the driving route. While the vehicle is traveling along the driving route, acquire vehicle information, which includes at least one of the following: navigation information from the vehicle's navigation device and image information of the area where the vehicle is located, acquired by the image acquisition device installed on the vehicle.
[0030] Step S106: Determine the current location information of the vehicle based on the vehicle information;
[0031] Step S108: Determine whether the vehicle's current driving path needs to be adjusted based on the vehicle's current location information.
[0032] Through the above steps, the vehicle's position information is determined by acquiring navigation information and image information of the vehicle's surroundings during the autonomous vehicle's operation. Then, based on the vehicle's position information, it is determined whether the vehicle has deviated from the preset driving route, thereby achieving the technical effect of improving the driving safety of autonomous vehicles when driving along the pre-planned route.
[0033] According to an optional embodiment of this application, step S108 is implemented by the following method: determining whether the current driving path of the vehicle deviates from the driving route based on the location information; if the current driving path of the vehicle deviates from the driving route, adjusting the current driving path of the vehicle to return the vehicle to the driving route; if the current driving path of the vehicle does not deviate from the driving route, controlling the vehicle to continue driving according to the current driving path.
[0034] If the vehicle's current driving path deviates from the preset driving route, the vehicle's driving path will be adjusted in a timely manner to bring the vehicle back to the preset driving route.
[0035] According to another optional embodiment of this application, when determining whether the current driving path of the vehicle deviates from the driving route based on the location information, the positions of the vehicle at different times within a preset time period are obtained; the positions at different times are connected to obtain the driving path of the vehicle within the preset time period; the driving path within the preset time period is compared with the driving route; if the driving route coincides with the driving path within the preset time period, it is determined that the current driving path of the vehicle has not deviated from the driving route; if the driving route does not coincide with the driving path within the preset time period, it is determined that the current driving path of the vehicle deviates from the driving route.
[0036] To determine whether a vehicle has deviated from the preset driving path, the vehicle's position can be taken at different times within a preset time period (e.g., 10 minutes) (the vehicle's position is taken every two minutes within the 10 minutes). These positions are then connected to obtain the vehicle's driving path within the preset time period. The vehicle's driving path within the preset time period is compared with the preset driving route in step S102. If the vehicle's driving path within the preset time period coincides with the preset driving route, it means that the vehicle has not deviated from the preset driving route; otherwise, it is said that the vehicle has deviated from the preset driving route.
[0037] It should be noted that the overlap mentioned here does not mean that the vehicle's driving path within the preset time period is completely consistent with the preset driving route. If the deviation between the two routes is within a certain range, it can also be considered that the vehicle is driving normally and has not deviated from the preset driving route.
[0038] In some optional embodiments of this application, when performing step S104, the current driving position information of the vehicle is determined based on the vehicle information, which is achieved by the following method: inputting image information into a machine learning model for processing to obtain the vehicle's position information. The machine learning model is trained in the following way: obtaining a training dataset and training a neural network model based on the training dataset to generate a machine learning model. The training dataset includes: images of the vehicle's surroundings collected when the vehicle is driving and location labels marked on the images.
[0039] In this step, the collected image information around the vehicle is input into a pre-trained machine learning model for processing, which yields the vehicle's current location information.
[0040] According to another optional embodiment of this application, determining the current driving position information of a vehicle based on vehicle information can also be achieved by the following method: determining the first position of the vehicle at the current moment based on navigation information; determining the second position of the vehicle at the current moment based on image information; determining the distance between the first position and the second position, and determining the current position of the vehicle based on the distance.
[0041] In some optional embodiments of this application, determining the vehicle's position at the current moment based on distance includes: if the distance is less than a preset threshold, taking the midpoint between the first position and the second position as the vehicle's position at the current moment; if the distance is greater than the preset threshold, re-determining the vehicle's first position based on navigation information and determining the vehicle's second position based on image information, until the distance between the first position and the second position is less than the preset threshold.
[0042] First, navigation information is used to determine the vehicle's initial position at a given moment. Then, image information of the vehicle's surroundings is input into the machine learning model mentioned above to obtain the vehicle's second position at the same moment. Next, it is determined whether these two positions are the same, or whether the distance between them is within a preset range. If the distance is within the preset range, it means that the vehicle's position determined by both methods is correct. In practice, to improve the accuracy of determining the vehicle's position, the midpoint between these two distances is taken as the vehicle's final position information.
[0043] If the distance between these two locations exceeds the preset range, it means that at least one of the vehicle's positions determined using these two methods is incorrect. In this case, it is necessary to repeat the above steps again, that is, to use the navigation information to determine the vehicle's first position at a certain moment again, and to input the collected image information of the vehicle's surroundings into the machine learning model mentioned above to obtain the vehicle's second position at the same moment, until the distance between the two positions is within the preset range.
[0044] By using the above method, the location of a vehicle at a certain moment is determined by navigation information, and the location of the vehicle at the same moment is verified by inputting the collected image information of the vehicle's surroundings into the machine learning model mentioned above. This can improve the accuracy of determining the vehicle's location.
[0045] Figure 2 This is a flowchart of another method for adjusting the driving path of an autonomous vehicle according to an embodiment of this application, such as... Figure 2 As shown, the method includes the following steps:
[0046] Step S202: Display the driving route on the vehicle's human-machine interface and control the vehicle to drive according to the driving route, wherein the driving route is a pre-planned route.
[0047] Step S204: When the vehicle is traveling along the driving route, vehicle information is displayed in real time on the human-machine interface. The vehicle information includes at least one of the following: navigation information from the vehicle's navigation device and image information of the area where the vehicle is located collected by the image acquisition device installed on the vehicle.
[0048] Step S206: Display the vehicle's current location information, determined based on the vehicle information, on the human-machine interface;
[0049] Step S208: Based on the vehicle's current location information, display a prompt message on the human-machine interface. The prompt message is used to remind whether the vehicle's current driving path needs to be adjusted.
[0050] The method provided in steps S202 to S208 displays the vehicle's driving route and location information in real time on the human-machine interaction device of the autonomous vehicle, and issues a reminder message on the human-machine interaction device when the vehicle's current driving path deviates from the preset driving route, so as to remind the user to adjust the vehicle's driving path in time and make the vehicle return to the pre-planned route.
[0051] It should be noted that, Figure 2 Preferred embodiments of the shown examples can be found in [reference needed]. Figure 1 The relevant descriptions of the embodiments shown will not be repeated here.
[0052] Figure 3 This is a structural block diagram of a device for adjusting the driving path of an autonomous vehicle according to an embodiment of this application, as shown below. Figure 3 As shown, the device includes:
[0053] The first determining module 30 is used to determine the vehicle's driving route, wherein the driving route is a pre-planned route;
[0054] Processing module 32 is used to control the vehicle to travel according to the driving route. When the vehicle is traveling according to the driving route, it acquires vehicle information, wherein the vehicle information includes at least one of the following: navigation information of the vehicle's navigation device and image information of the area where the vehicle is located acquired by the image acquisition device installed on the vehicle.
[0055] The second determining module 34 is used to determine the current location information of the vehicle based on the vehicle information;
[0056] The third determining module 36 is used to determine whether the vehicle's current driving path needs to be adjusted based on the vehicle's current driving location information.
[0057] It needs to be explained that, Figure 3 Preferred embodiments of the shown examples can be found in [reference needed]. Figure 1 The relevant methods of the illustrated embodiments will not be described again here.
[0058] Figure 4 This is a structural block diagram of an autonomous vehicle according to an embodiment of this application, such as... Figure 4 As shown, the autonomous vehicle includes: a navigation device 40, an image acquisition device 42, and a controller 44, wherein,
[0059] Navigation device 40, used to display navigation information while the vehicle is in motion;
[0060] Image acquisition device 42 is used to acquire image information of the area where the vehicle is located during the vehicle's movement.
[0061] The controller 44 communicates with the navigation device 40 and the image acquisition device 42 to acquire navigation information and / or image information; determine the current driving position of the vehicle based on the navigation information and / or image information; and determine whether the current driving path of the vehicle needs to be adjusted based on the position information.
[0062] It should be noted that, Figure 4 Preferred embodiments of the shown examples can be found in [reference needed]. Figure 1 The relevant methods of the illustrated embodiments will not be described again here.
[0063] This application also provides a non-volatile storage medium, which includes a stored program, wherein, when the program is running, the device where the non-volatile storage medium is located executes the above-mentioned method for adjusting the driving path of an autonomous vehicle.
[0064] The aforementioned non-volatile storage medium is used to store a program that performs the following functions: determining the vehicle's driving route, wherein the driving route is a pre-planned route; controlling the vehicle to drive according to the driving route; and while the vehicle is driving according to the driving route, acquiring vehicle information, wherein the vehicle information includes at least one of the following: navigation information from the vehicle's navigation device and image information of the area where the vehicle is located, acquired by an image acquisition device installed on the vehicle; determining the vehicle's current driving position information based on the vehicle information; and determining whether the vehicle's current driving path needs to be adjusted based on the vehicle's current driving position information.
[0065] This application embodiment also provides a processor for running a program stored in a memory, wherein the program executes the above-described method for adjusting the driving path of an autonomous vehicle.
[0066] The processor described above is used to run a program that performs the following functions: determining the vehicle's driving route, wherein the driving route is a pre-planned route; controlling the vehicle to drive according to the driving route; and acquiring vehicle information while the vehicle is driving according to the driving route, wherein the vehicle information includes at least one of the following: navigation information from the vehicle's navigation device and image information of the area where the vehicle is located collected by an image acquisition device installed on the vehicle; determining the vehicle's current driving position information based on the vehicle information; and determining whether the vehicle's current driving path needs to be adjusted based on the vehicle's current driving position information.
[0067] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0068] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.
[0069] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.
[0070] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0071] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0072] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.
[0073] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.
Claims
1. A method for adjusting the driving path of an autonomous vehicle, characterized in that, include: Determine the vehicle's driving route, wherein the driving route is a pre-planned route; The vehicle is controlled to travel along the driving route. While the vehicle is traveling along the driving route, vehicle information is acquired. The vehicle information includes: navigation information from the vehicle's navigation device and image information of the area where the vehicle is located, acquired by the image acquisition device installed on the vehicle. The current location of the vehicle is determined based on the vehicle information; Determine whether the vehicle's current travel path needs to be adjusted based on the vehicle's current location information; Determining the current location information of the vehicle based on the vehicle information further includes: determining the first location of the vehicle at the current moment based on the navigation information; determining the second location of the vehicle at the current moment based on the image information; determining the distance between the first location and the second location, and determining the location of the vehicle at the current moment based on the distance.
2. The method according to claim 1, characterized in that, Determining whether the vehicle's current travel path needs to be adjusted based on the vehicle's current location information includes: Based on the location information, determine whether the vehicle's current driving path deviates from the driving route; If the vehicle's current driving path deviates from the driving route, adjust the vehicle's current driving path to bring the vehicle back to the driving route; If the vehicle's current driving path does not deviate from the driving route, control the vehicle to continue driving along the current driving path.
3. The method according to claim 2, characterized in that, Determining whether the vehicle's current travel path deviates from the travel route based on the location information includes: Obtain the location of the vehicle at different times within a preset time period; By connecting the positions at different times, the travel path of the vehicle within the preset time period can be obtained; Compare the driving path within the preset time period with the driving route; If the driving route coincides with the driving path within the preset time period, it is determined that the vehicle's current driving path has not deviated from the driving route; if the driving route does not coincide with the driving path within the preset time period, it is determined that the vehicle's current driving path deviates from the driving route.
4. The method according to claim 1, characterized in that, Determining the current location information of the vehicle based on the vehicle information includes: The image information is input into a machine learning model for processing to obtain the vehicle's location information. The machine learning model is trained in the following manner: A training dataset is obtained, and a neural network model is trained based on the training dataset to generate the machine learning model. The training dataset includes: images of the vehicle's surroundings collected while the vehicle is in motion, and location labels marked on the images.
5. The method according to claim 1, characterized in that, Determining the vehicle's position at the current moment based on the distance includes: If the distance is less than a preset threshold, the midpoint between the first position and the second position is taken as the position of the vehicle at the current moment; If the distance is greater than the preset threshold, the first position of the vehicle is re-determined based on the navigation information, and the second position of the vehicle is re-determined based on the image information, until the distance between the first position and the second position is less than the preset threshold.
6. A method for adjusting the driving path of an autonomous vehicle, characterized in that, include: The driving route is displayed on the vehicle's human-machine interface, and the vehicle is controlled to drive according to the driving route, wherein the driving route is a pre-planned route. When the vehicle is traveling along the driving route, vehicle information is displayed in real time on the human-machine interface. The vehicle information includes: navigation information from the vehicle's navigation device and image information of the area where the vehicle is located, collected by the image acquisition device installed on the vehicle. The current location information of the vehicle, determined based on the vehicle information, is displayed on the human-computer interaction interface. Based on the vehicle's current location information, a prompt message is displayed on the human-machine interface, wherein the prompt message is used to remind whether the vehicle's current driving path needs to be adjusted; Determining the current location information of the vehicle based on the vehicle information further includes: determining the first location of the vehicle at the current moment based on the navigation information; determining the second location of the vehicle at the current moment based on the image information; determining the distance between the first location and the second location, and determining the location of the vehicle at the current moment based on the distance.
7. A device for adjusting the driving path of an autonomous vehicle, characterized in that, include: The first determining module is used to determine the vehicle's driving route, wherein the driving route is a pre-planned route; The processing module is used to control the vehicle to travel according to the driving route, and to acquire vehicle information while the vehicle is traveling according to the driving route. The vehicle information includes: navigation information of the vehicle's navigation device and image information of the area where the vehicle is located, acquired by the image acquisition device installed on the vehicle. The second determining module is used to determine the current location information of the vehicle based on the vehicle information; The third determining module is used to determine whether the current driving path of the vehicle needs to be adjusted based on the current driving location information of the vehicle. The second determining module is further configured to determine the first position of the vehicle at the current time based on the navigation information; determine the second position of the vehicle at the current time based on the image information; determine the distance between the first position and the second position, and determine the position of the vehicle at the current time based on the distance.
8. An autonomous vehicle, characterized in that, include: Navigation equipment, image acquisition equipment, and controller, among which, The navigation device is used to display navigation information while the vehicle is in motion; The image acquisition device is used to acquire image information of the area where the vehicle is located during the vehicle's movement. The controller communicates with the navigation device and the image acquisition device to acquire the navigation information and the image information; determine the current location information of the vehicle based on the navigation information and the image information; and determine whether the current driving path of the vehicle needs to be adjusted based on the location information. The controller is further configured to determine a first position of the vehicle at the current time based on the navigation information; determine a second position of the vehicle at the current time based on the image information; determine the distance between the first position and the second position, and determine the position of the vehicle at the current time based on the distance.
9. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the non-volatile storage medium to perform the method for adjusting the driving path of the autonomous vehicle as described in any one of claims 1 to 6.