Autonomous driving system, method, device, electronic device and storage medium

Abstract

Embodiments of the present application provide an automatic driving system, method, device, electronic equipment and storage medium. The automatic driving system comprises a signboard, a processor and a first information collection device, and a second information collection device and an information transmission device in communication connection with the processor, the information transmission device being in communication connection with the first information collection device; the signboard and the first information collection device are arranged at a turning position of a curved road, the information collection direction of the first information collection device and the orientation of the signboard form a preset angle, the second information collection device and the processor are arranged on a vehicle; the first information collection device is used to acquire actual road information; the second information collection device is used to acquire road attribute information recorded on the signboard; and the information transmission device is used to transmit the actual road information to the processor. The automatic driving system provided by the present application can clearly acquire all traffic information on the curved road, and thus the vehicle can reasonably formulate a driving route and realize safe turning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic driving, in particular, the present application relates to an automatic driving system, method, device, electronic equipment and storage medium. BACKGROUND

[0002] Vehicle driving exists straight driving and vehicle turning, and also exists high-speed uniform driving state, low-speed uniform driving state, acceleration state and turning state. With the continuous development of intelligent driving, unmanned driving is a future trend of vehicle driving, so it is necessary to provide various existing vehicle unmanned driving solutions in use scenarios. Among a series of problems to be solved in the field of unmanned driving, automatic valet parking is an important category that is relatively easy to achieve.

[0003] In the entire process of automatic valet parking, the vehicle usually needs to complete the processes of low-speed unmanned driving and unmanned parking. The application scenario of low-speed unmanned driving requires the vehicle to implement many complex driving actions, such as forward car-free lane cruising, low-speed following cruising, obstacle avoidance, emergency braking, turning, slope driving, slope parking, and slope starting, etc. Among these actions, turning is a very common driving action. Currently, parking lots usually have one or more large-angle turning sections, and the road on both sides may be a wall or a fence. The vehicle cannot directly identify the situation at the other end of the curve, even if there is a warning sound such as a person's shout or a car horn sound in the other section of the curve. The unmanned vehicle cannot implement safe turning actions. SUMMARY

[0004] The present application proposes an automatic driving system, method, device, electronic equipment and storage medium to solve the technical problem that the vehicle cannot safely and automatically turn in the prior art.

[0005] In a first aspect, embodiments of the present application provide an automatic driving system, comprising: a signboard, a processor and a first information collection device, and a second information collection device and an information transmission device in communication connection with the processor, the information transmission device being in communication connection with the first information collection device; the signboard and the first information collection device are arranged at the turning section of the curve, the information collection direction of the first information collection device and the orientation of the signboard form a preset angle, and the second information collection device and the processor are arranged on the vehicle;

[0006] The first information collection device is configured to acquire actual road information;

[0007] The second information collection device is configured to acquire road attribute information recorded on the signboard;

[0008] The information transmission device is configured to transmit the actual road information to the processor.

[0009] In some implementations of the first aspect, the signboard comprises an electronic identification code, the electronic identification code comprising connection verification information of the first information collection device; the information transmission device and the processor are connected through Bluetooth.

[0010] In some implementations of the first aspect, the first information collection device is a camera, and the second information collection device is a camera.

[0011] In a second aspect, embodiments of the present application provide an automatic driving method, comprising: an automatic driving system as described in the embodiments of the first aspect above; the method comprises:

[0012] Obtaining road attribute information of the curve;

[0013] According to the road attribute information, obtaining actual road information of an exit section of the curve;

[0014] According to the actual road information and the road attribute information, determining a driving route of the vehicle.

[0015] In some implementations of the second aspect, the road attribute information comprises road shape information, road size information, and vehicle identity verification information;

[0016] According to the road attribute information, obtaining the actual road information, comprises:

[0017] According to the vehicle identity verification information and the connection verification information pre-stored in the second information collection device, establishing a communication connection between the information transmission device and the processor;

[0018] Obtaining the actual road information collected by the first information collection device.

[0019] In some implementations of the second aspect, the actual road information further comprises vehicle speed information;

[0020] According to the actual road information and the road attribute information, determining the driving route of the vehicle, further comprises:

[0021] If the vehicle direction in the vehicle speed information is parallel to the information collection direction of the first information collection device, disconnecting the communication between the processor and the information transmission device.

[0022] In a third aspect, embodiments of the present application provide an automatic driving method, comprising: an automatic driving system as described in the first aspect of the present application above; the method comprises:

[0023] In response to a request for obtaining actual road information of the curve, establishing a communication connection with the second information collection device;

[0024] According to the acquisition request information, the actual road information of the exit section of the curved road is sent, so that the vehicle determines the driving route according to the actual road information and the road attribute information.

[0025] In a fourth aspect, embodiments of the present application provide an automatic driving device, comprising:

[0026] A first acquisition module is configured to acquire road attribute information of a curved road.

[0027] A second acquisition module is configured to acquire actual road information of an exit section of the curved road according to the road attribute information.

[0028] A vehicle control module is configured to determine a driving route of the vehicle according to the actual road information and the road attribute information.

[0029] In a fifth aspect, embodiments of the present application provide a vehicle, comprising:

[0030] A processor, a memory and a bus;

[0031] The bus is configured to connect the processor and the memory.

[0032] The memory is configured to store operation instructions.

[0033] The processor is configured to realize the method of automatic driving in a curve as described in the second aspect of the present application by calling the operation instructions.

[0034] In a sixth aspect, the present application provides a computer readable storage medium, and the computer storage medium is configured to store computer instructions, when the computer instructions are run on a computer, the method of automatic driving in a curve as described in the second aspect of the present application is realized.

[0035] The technical scheme provided by the embodiments of the present application has the following beneficial technical effects:

[0036] The automatic driving system and the related automatic driving method provided by the present application can realize information intercommunication by relying on information collection devices at different positions and after identifying and authenticating the information of the signboard, so that the vehicle can clearly and timely acquire all the traffic information on the curved road, and then the vehicle can reasonably determine the driving route and realize automatic and safe passing on the curved road.

[0037] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0038] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0039] Figure 1 A structural framework schematic diagram of an automatic driving system provided for an embodiment of the present application;

[0040] Figure 2 A method flow schematic diagram of an automatic driving method provided for an embodiment of the present application;

[0041] Figure 3 A structural framework schematic diagram of an automatic driving device provided for an embodiment of the present application;

[0042] Figure 4 A vehicle automatic turning process schematic diagram provided for an embodiment of the present application;

[0043] Figure 5 A method flow schematic diagram of a vehicle automatic turning method provided for an embodiment of the present application;

[0044] Figure 6 A structural framework schematic diagram of a vehicle provided for an embodiment of the present application. DETAILED DESCRIPTION

[0045] The present application is described in detail below, examples of embodiments of the present application are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar components or components having the same or similar functions throughout. In addition, if a detailed description of known technology is unnecessary for the features of the present application shown, it is omitted. The embodiments described below by reference to the accompanying drawings are exemplary and are for the purpose of explaining the present application only, and cannot be interpreted as a limitation on the present application.

[0046] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as generally understood by those skilled in the art to which the present application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have meanings consistent with meanings in the context of the prior art, and unless specifically defined as such herein, should not be interpreted in an idealized or overly formal sense.

[0047] Those skilled in the art can understand that, unless otherwise stated, the singular forms "a", "an" and "the" used herein also include the plural forms. It should be further understood that the phrase "comprising" used in the specification of the present application means that the features, integers, steps, operations, elements and / or components exist, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or their combinations. It should be understood that the phrase "and / or" used herein includes all or any single unit and all combinations of the associated listed items.

[0048] Automatic driving is the development direction of future cars, which can greatly reduce traffic accidents and traffic jams and revolutionize people's travel mode. However, in order to realize automatic driving, engineers need to make a lot of efforts to find and solve problems one by one in the actual driving process. In the current driving process, vehicle turning is an important driving action, but due to the road visibility, the front camera of the vehicle cannot detect the traffic situation of the exit section of the curve, and the vehicle radar cannot obtain the temporary obstacles that may appear in the exit section because it can only collect traffic information in the forward direction of the vehicle driving direction, so the vehicle turning cannot realize the vehicle self-turning safely by using the current automatic driving mode.

[0049] Firstly, several terms related to the present application are introduced and explained:

[0050] A curve is a road with a certain angle between the entry direction and the exit direction. A curve has an entry section and an exit section, and both the entry section and the exit section are straight sections.

[0051] The information collection direction refers to the direction in which the information collection device sends signals or collects signals.

[0052] The automatic driving system, method, device, electronic equipment and storage medium provided by the present application aim to solve the above technical problems of the prior art.

[0053] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments.

[0054] The first aspect of the embodiments of the present application provides an automatic driving system, as shown in the formula: Figure 1 The automatic driving system comprises a signboard, a processor and a first information collection device, and a second information collection device and an information transmission device in communication connection with the processor, the information transmission device being in communication connection with the first information collection device; the signboard and the first information collection device are arranged at the turning section of the curve, the information collection direction of the first information collection device and the orientation of the signboard form a preset angle, and the second information collection device and the processor are arranged on the vehicle.

[0055] The first information collection device is used to obtain actual road information. The second information collection device is used to obtain road attribute information recorded on the signboard. The information transmission device is used to transmit the actual road information to the processor.

[0056] The automatic driving system provided by the embodiments of the present application not only includes the devices on the vehicle, but also includes the devices arranged on the road, of course, the devices arranged on the road refer to the devices arranged at some positions on the road which do not affect the smoothness of the road. Through the cooperation of these devices, information collection and processing are realized, a safe driving route is obtained, and safe turning of the vehicle is realized.

[0057] As to the automatic driving system provided by the above-mentioned embodiments of the present application, the automatic driving system can rely on information collection devices at different positions, and after the information of the signboard is identified and authenticated, information intercommunication is realized, so that the vehicle in travel can clearly and timely obtain all the traffic information on the curve, and then the vehicle can reasonably make a travel route and realize automatic and safe passing at the curve.

[0058] In the automatic driving system provided by the above-mentioned embodiments of the present application, the signboard, the processor, the first information collection device, the second information collection device and the information transmission device are respectively arranged at different specific positions, wherein the signboard, the first information collection device and the information transmission device are arranged outside the vehicle and are fixed at appropriate positions of the road, and the second information collection device and the processor are arranged on the vehicle and can move with the vehicle. Specifically, the signboard is arranged at the curve passing position of the curve and can be captured by the vehicle moving towards the signboard, the second information collection device on the vehicle can conveniently identify the information on the signboard, collect the road attribute information about the curve where the signboard is located, and can establish a communication connection with the first information collection device through the information on the signboard to timely receive the actual road information collected by the first information collection device.

[0059] The information collection direction of the first information collection device and the orientation of the signboard are at a preset angle. The orientation of the signboard is usually the same as the driving direction of the vehicle for the convenience of the vehicle to read, and the first information collection device is to collect the actual traffic condition on the out-curve segment of the curve, which is not reached by the vehicle, so at the curve, the information collection direction of the first information collection device and the orientation of the signboard are at a preset angle, and the information collection direction of the first information collection device and the driving direction of the vehicle towards the first information collection device are also at a preset angle. The specific value of the preset angle is set according to the turning size of the curve of the specific road.

[0060] Feasibly, in an implementation manner of the above-mentioned embodiments of the present application, the signboard comprises an electronic identification code, the electronic identification code comprises the connection authentication information of the first information collection device; and the information transmission device and the processor are connected through Bluetooth. The electronic identification code such as a two-dimensional code, a bar code and the like can be used on the signboard. The electronic identification code can contain more information, one of which is the inherent road attribute information of the first information collection device and the curve where the signboard is located, and the road attribute information comprises the road width of the curve, the turning size, the in-curve segment length, the out-curve segment length and the like. The electronic identification code can also comprise the connection authentication information of the first information collection device, and the connection authentication information is used for identity authentication to allow the relevant devices passing the authentication to establish a communication connection with the first information collection device.

[0061] For the information transmission device, a common wireless communication connection mode can be adopted, one of which is Bluetooth connection. Both parties establishing Bluetooth connection need to have Bluetooth devices, that is, the vehicle also has a communication device capable of establishing Bluetooth connection with the information transmission device. After the communication device on the vehicle establishes communication connection with the information transmission device, the information collected by the first information collection device can be downloaded and transmitted to the processor for further processing.

[0062] Feasibly, in one feasible implementation manner of the embodiment of the application, the first information collection device is a camera, and the second information collection device is a camera head. Specifically, the first information collection device and the second information collection device capable of acquiring image information can be adopted. Since the first information collection device usually needs to collect dynamic traffic conditions, a camera is adopted to dynamically collect traffic video of the exit section of the curve. The second information collection device is arranged on the vehicle and is used to sense and identify the information on the signboard. Therefore, a camera head can be adopted to acquire the image of the signboard.

[0063] The embodiment of the second aspect of the application provides an automatic driving method, as shown in the embodiment of the second aspect of the application, the automatic driving method comprises the steps of: Figure 2

[0064] S100: acquiring road attribute information of the curve.

[0065] S200: acquiring actual road information of the exit section of the curve according to the road attribute information.

[0066] S300: determining a driving route of the vehicle according to the actual road information and the road attribute information.

[0067] The processor on the vehicle in the automatic driving system acquires the road attribute information of the curve through the second information collection device, then acquires the actual road information of the exit section of the curve according to the road attribute information, and then determines the driving route of the vehicle on the curve by relying on the road attribute information and the actual road information. The automatic driving method provided by the application can make the vehicle reasonably determine the driving route by relying on the traffic information from different positions of the curve, so as to realize automatic and safe passing at the curve.

[0068] Feasibly, in one feasible implementation manner of the embodiment of the application, the road attribute information comprises road shape information, road size information and vehicle identity verification information. The specific method of acquiring the actual road information according to the road attribute information comprises:

[0069] S210: establishing communication connection between the information transmission device and the processor according to the vehicle identity verification information and the connection verification information pre-stored in the second information collection device.​

[0070] S220: acquiring actual road information collected by the first information collection device.

[0071] After the second information collection device on the vehicle collects the road attribute information, the vehicle identity verification information in the road attribute information is matched with the pre-stored connection verification information in the second information collection device. When the two can be matched with each other, the information transmission device on the road is allowed to be in communication connection with the processor, so that the processor on the vehicle receives the actual road information collected by the first information collection device through the information transmission device. The communication connection verification operation of the vehicle and the information transmission device on the road can avoid the vehicle from automatically driving into an area that is not allowed to enter.

[0072] In a feasible implementation of the embodiment of the present application, the actual road information further includes vehicle speed information. According to the actual road information and the road attribute information, the step of determining the driving route of the vehicle further includes: if the vehicle direction in the vehicle speed information is parallel to the information collection direction of the first information collection device, the communication between the processor and the information transmission device is disconnected. When the vehicle drives to the exit section of the curve, the first information collection device can collect the vehicle speed information of the vehicle, and the driving direction of the vehicle can also be obtained. When the vehicle direction is parallel to the information collection direction of the first information collection device, it means that the vehicle is gradually driving away from the curve. However, the vehicle has established a connection with the information transmission device after entering the curve, and this connection state will be maintained for a period of time. In order to avoid unnecessary connection between the vehicle and the information transmission device after the vehicle drives away from the curve, the communication connection with the information transmission device can be cut off when the vehicle drives away from the curve.

[0073] The embodiment of the third aspect of the present application provides an automatic driving method. The implementation of the automatic driving method relies on the automatic driving system provided in the embodiment of the first aspect of the present application. The automatic driving method includes: in response to an acquisition request of actual road information of a curve, establishing a communication connection with a second information collection device. According to the acquisition request, the actual road information of the exit section of the curve is sent, so that the vehicle determines a driving route according to the actual road information and road attribute information.

[0074] In the context of an autonomous driving system, the system includes a vehicle, its onboard processor, and a second information acquisition device. It also includes road signs, a first information acquisition device, and an information transmission device. Regarding the road equipment, the second information acquisition device identifies the road signs and acquires the road attribute information they carry. Based on this road attribute information, the second information acquisition device, after authentication, issues a request to acquire actual road information. The first information acquisition device receives this request and, based on it, sends the actual road information of the exit section of a curve to the vehicle's processor via the information transmission device. This allows the vehicle's processor to determine the driving route based on the road attribute information and the actual road information, thereby enabling the vehicle to turn automatically.

[0075] An embodiment of the fourth aspect of this application provides an automatic turning device 10, such as... Figure 3 As shown, the autonomous driving device specifically includes: a first acquisition module 11, a second acquisition module 12, and a vehicle control module 13.

[0076] The first acquisition module 11 is used to acquire road attribute information of the curve.

[0077] The second acquisition module 12 is used to acquire the actual road information of the exit section of the curve based on the road attribute information.

[0078] The vehicle control module 13 is used to determine the vehicle's driving route based on actual road information and road attribute information.

[0079] It is feasible. The road attribute information includes road shape information, road size information, and vehicle authentication information. The second acquisition module 12 acquires the actual road information of the exit section of the curve based on the road attribute information, including: establishing a communication connection between the information transmission device and the processor based on the vehicle authentication information and the connection verification information pre-stored in the second information acquisition device, and acquiring the actual road information collected by the first information acquisition device.

[0080] It is feasible; the actual road information also includes vehicle speed information. The step of the vehicle control module 13 determining the vehicle's driving route based on the actual road information and road attribute information further includes: if the vehicle direction in the vehicle speed information is parallel to the information acquisition direction of the first information acquisition device, disconnecting the communication between the processor and the information transmission device.

[0081] like Figure 4As shown, a sign 21, a first information collection device 22, and an information transmission device (not shown) are installed near the inflection point of a curve. The information collection direction of the first information collection device 22 covers the exit section of the curve, while the sign 21 faces the entry section of the curve, towards the approaching direction of vehicle 30. Vehicle 30 is equipped with a processor (not shown) for information processing and a second information collection device (not shown) for information identification. When vehicle 30 appears in the entry section of the curve, within the information collection range of the second information collection device, the second information collection device can obtain the electronic identification code on the sign 21, thereby obtaining the road attribute information of the curve. Relying on the vehicle authentication information in the road attribute information, after vehicle 30 is verified, a communication connection is established between the processor on vehicle 30 and the information collection device. The information collection device then receives the actual road information of the exit section of the curve from the first information collection device 22, allowing vehicle 30 to observe the traffic information at the other end of the curve.

[0082] As described above, the processor has collected road attribute information about the curve. This information includes static, unchanging basic information such as road shape and dimensions, as well as traffic information about the exit section of the curve—information that vehicles cannot directly obtain using their own sensors. Based on this information, the processor can clearly determine the driving route within the entire curve, thus achieving automatic and safe passage. In real life, there are usually more than two curves in a given area. Therefore, curves may also include entrance and exit curves; that is, the road attribute information also includes the curve's number within a series of curves. Correspondingly, each curve is equipped with a sign, a primary information collection device, and an information transmission device.

[0083] Specifically, combined Figure 4 The entire process of enabling autonomous driving of a vehicle to corner, as provided in the embodiments of this application, can be found in [reference needed]. Figure 5 The flowchart describes the process as follows: Vehicle 30 is typically in normal low-speed autonomous driving mode. Upon entering a curve, the second information acquisition device on vehicle 30, such as a vehicle-mounted camera, identifies the sign 21. The electronic identification code on sign 21 can be a specific license plate number. If it is determined that vehicle 30 has entered the curve area, the vehicle-mounted camera can clearly read the electronic identification code on sign 21. The Bluetooth device on vehicle 30 searches for and pairs with other Bluetooth devices that can transmit information. Identity verification is achieved through the identification information corresponding to the license plate number on sign 21; that is, upon successful verification, a Bluetooth connection is established.

[0084] If vehicle 30 has not yet entered the turning area of ​​the curve, it continues to travel at a low speed towards the turning area while maintaining information retrieval. The processor on vehicle 30, used for autonomous driving, can acquire video information from the camera, which serves as the first information acquisition device 22. Then, the processor integrates the collected traffic information of the curve and makes control decisions, such as determining whether to brake and wait, or to decelerate and turn, where to begin turning, and the turning angle, etc. Afterward, according to the driving route determined by the processor and under its control, vehicle 30 turns, moving from the entry point of the curve to the exit point, and gradually moving away. When the processor detects that vehicle 30 is moving away from the camera, it disconnects the communication connection with the camera, i.e., disconnects the Bluetooth connection with the information transmission device. At this time, vehicle 30 continues to maintain normal low-speed autonomous driving. If vehicle 30 has not entered or exited the curve, it continues to collect and process the video information collected by the first information acquisition device 22 until vehicle 30 safely enters or exits the curve, achieving automatic turning.

[0085] Based on the same inventive concept, embodiments of this application provide a vehicle, the vehicle comprising:

[0086] Processor, memory, and bus;

[0087] A bus is used to connect the processor and memory;

[0088] Memory, used to store operation instructions;

[0089] A processor is configured to implement an autonomous driving turning method as provided in any of the embodiments of the second aspect of this application above by invoking operation instructions.

[0090] Those skilled in the art will understand that the electronic devices provided in the embodiments of this application can be specifically designed and manufactured for the desired purpose, or may include known devices in general-purpose computers. These devices have computer programs stored therein that are selectively activated or reconfigured. Such computer programs can be stored in a device (e.g., computer) readable medium or in any type of medium suitable for storing electronic instructions and respectively coupled to a bus.

[0091] Compared with existing technologies, this application enables the vehicle to rely on traffic information collected by information collection devices at different locations. After identifying and verifying the information on the signboard, it can communicate with roadside sensors, allowing the vehicle to clearly and timely obtain all traffic information on curves while traveling. This allows the vehicle to formulate a driving route based on the information collected, enabling automatic and safe passage through curves.

[0092] In one optional embodiment, this application provides a vehicle, such asFigure 6 As shown, Figure 6 The vehicle 1000 shown includes a processor 1001 and a memory 1003. The processor 1001 and the memory 1003 are electrically connected, for example, via a bus 1002.

[0093] Processor 1001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), a FPGA (Field-Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 1001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0094] Bus 1002 may include a pathway for transmitting information between the aforementioned components. Bus 1002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 1002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0095] The memory 1003 may be ROM (Read-Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read-Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0096] Optionally, the vehicle 1000 may also include a transceiver 1004. The transceiver 1004 can be used for receiving and transmitting signals. The transceiver 1004 can allow the vehicle 1000 to communicate wirelessly or wiredly with other devices to exchange data. It should be noted that in practical applications, the transceiver 1004 is not limited to one.

[0097] Optionally, the vehicle 1000 may further include an input device 1005. The input device 1005 can be used to receive input numbers, characters, images, and / or sound information, or generate key signal inputs related to user settings and function control of the vehicle 1000. The input device 1005 includes the second information mobile device mentioned in the foregoing embodiments of this application, and may also include, but is not limited to, one or more of the following: a touchscreen, a physical keyboard, function keys (such as volume control buttons, power buttons, etc.), a trackball, a mouse, a joystick, a camera, a microphone, etc.

[0098] Optionally, the vehicle 1000 may also include an output device 1006. The output device 1006 can be used to output or display information processed by the processor 1001. The output device 1006 may include, but is not limited to, one or more of a display device, a speaker, a vibration device, etc.

[0099] Although Figure 6 A vehicle 1000 with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have instead.

[0100] Optionally, the memory 1003 is used to store application code that executes the scheme of this application, and the execution is controlled by the processor 1001. The processor 1001 is used to execute the application code stored in the memory 1003 to implement any of the autonomous driving methods provided in the embodiments of this application.

[0101] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium for storing computer instructions that, when executed on a computer, implement the autonomous driving turning method provided in any of the embodiments of the second aspect of this application described above.

[0102] Those skilled in the art will understand that the steps, measures, and solutions in the various operations, methods, and processes discussed in this application can be alternated, modified, combined, or deleted. Furthermore, other steps, measures, and solutions in the various operations, methods, and processes discussed in this application can also be alternated, modified, rearranged, decomposed, combined, or deleted. Furthermore, steps, measures, and solutions in the prior art that are similar to those disclosed in this application can also be alternated, modified, rearranged, decomposed, combined, or deleted.

[0103] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0104] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0105] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0106] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0107] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0108] The above description is only a partial 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. An autonomous driving system, characterized in that, include: The system includes a sign, a processor, and a first information acquisition device, as well as a second information acquisition device and an information transmission device communicatively connected to the processor. The information transmission device is communicatively connected to the first information acquisition device. The sign and the first information acquisition device are positioned at the bend of a curve. The information acquisition direction of the first information acquisition device is at a preset angle to the orientation of the sign. The second information acquisition device and the processor are mounted on the vehicle. The sign faces the direction of entering the curve, and the first information acquisition device faces the direction of exiting the curve. The first information acquisition device is used to acquire the actual road information of the exit section of the curve; The second information acquisition device is used to acquire the road attribute information recorded on the sign, and match the vehicle authentication information in the road attribute information with the connection verification information pre-stored in the second information acquisition device. If the match is successful, the information transmission device is allowed to communicate with the processor, and the vehicle is allowed to enter the area corresponding to the sign. The road attribute information includes road shape information, road size information and vehicle authentication information. The information transmission device is used to transmit the actual road information collected by the first information acquisition device to the processor, so that the processor can determine the driving route based on the road attribute information and the actual road information, and the driving route is used to control the vehicle to automatically turn in the curve.

2. The autonomous driving system according to claim 1, characterized in that, The signage includes an electronic identification code, which includes connection verification information of the first information collection device; the information transmission device is connected to the processor via Bluetooth.

3. The autonomous driving system according to claim 1, characterized in that, The first information acquisition device is a camera, and the second information acquisition device is a webcam.

4. An autonomous driving method, characterized in that, include: The autonomous driving system as described in any one of claims 1 to 3 above; the method includes: Obtain the road attribute information of the curve; Based on the road attribute information, obtain the actual road information of the exit section of the curve; The vehicle's route is determined based on the actual road information and the road attribute information. The road attribute information includes road shape information, road size information, and vehicle authentication information; The step of obtaining the actual road information based on the road attribute information includes: Based on the vehicle authentication information and the connection verification information pre-stored in the second information collection device, a communication connection is established between the information transmission device and the processor; Obtain the actual road information collected by the first information collection device.

5. The autonomous driving method according to claim 4, characterized in that, The actual road information also includes vehicle speed information; The step of determining the vehicle's route based on the actual road information and the road attribute information further includes: If the vehicle direction in the vehicle speed information is parallel to the information acquisition direction of the first information acquisition device, the communication between the processor and the information transmission device is disconnected.

6. An autonomous driving method, characterized in that, The method includes an autonomous driving system as described in any one of claims 1 to 3; the method includes: In response to a request for obtaining actual road information about the curve, a communication connection is established with the second information acquisition device; Based on the requested information, the actual road information of the exit section of the curve is sent so that the vehicle can determine its driving route based on the actual road information and the road attribute information. The actual road information is obtained through the following methods: Based on the vehicle authentication information and the connection verification information pre-stored in the second information collection device, a communication connection is established between the information transmission device and the processor; Obtain the actual road information collected by the first information collection device.

7. A vehicle, characterized in that, include: Processor, memory, and bus; The bus is used to connect the processor and the memory; The memory is used to store operation instructions; The processor is configured to implement the autonomous driving turning method as described in any one of claims 4-5 by invoking the operation instructions.

8. A computer-readable storage medium, characterized in that, The computer storage medium is used to store computer instructions, which, when executed on the computer, implement the autonomous driving turning method as described in any one of claims 4-5.

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