Method and device for controlling an autonomous driving vehicle, vehicle, and storage medium

Abstract

Provided are a method and device for controlling an autonomous driving vehicle, a vehicle, and a storage medium. The method comprises: obtaining the area of ​​an unobstructed sensor coverage area of ​​each vehicle in a group, wherein each vehicle in the group is a vehicle parked and waiting in the first row on the same side of an intersection and has the need to accelerate to pass through the intersection; planning an acceleration strategy for each vehicle in the group according to the obtained area of ​​an unobstructed sensor coverage area of ​​each vehicle, so that a vehicle with a large area of ​​an unobstructed sensor coverage area leads a vehicle with a small area of ​​an unobstructed sensor coverage area during a corresponding acceleration process in the intersection; and sharing the planned acceleration strategy among each vehicle in the group, so that each vehicle in the group accelerates based on the planned acceleration strategy to pass through the intersection.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a method and device for controlling an autonomous driving vehicle, a vehicle, and a computer-readable storage medium. Background Art

[0002] In the related art, for vehicles parked and waiting in the first row on each side of an intersection, since there are blind spots in the field of view of their sensors or the driver's field of view (for example, they may be blocked by vehicles in adjacent lanes), the vehicles may start to accelerate before pedestrians cross the crosswalk, which may cause a collision and lead to an accident.

[0003] The methods described in this section are not necessarily methods that have been previously conceived or employed. Unless otherwise indicated, it should not be assumed that any method described in this section is considered to be prior art simply because it is included in this section. Similarly, unless otherwise indicated, the issues mentioned in this section should not be considered to have been recognized in any prior art. Summary of the invention

[0004] According to one aspect of the present disclosure, a method for controlling an autonomous driving vehicle is provided. The method includes: obtaining the area of ​​the unobstructed sensor coverage area of ​​each vehicle in a group, wherein each vehicle in the group is a vehicle parked and waiting in the first row on the same side of an intersection and has the need to accelerate to pass through the intersection; planning an acceleration strategy for each vehicle in the group according to the obtained area of ​​the unobstructed sensor coverage area of ​​each vehicle, so that the vehicle with a large area of ​​the unobstructed sensor coverage area in the group leads the vehicle with a small area of ​​the unobstructed sensor coverage area in the group during the corresponding acceleration process in the intersection; and sharing the planned acceleration strategy among the vehicles in the group, so that each vehicle in the group accelerates based on the planned acceleration strategy to pass through the intersection.

[0005] According to another aspect of the present disclosure, a method for controlling an autonomous driving vehicle is provided. The method includes: determining whether the vehicle is in a state of waiting to park in the first row of an intersection and has the need to accelerate to pass through the intersection; in response to determining that the vehicle is in a state of waiting to park in the first row of the intersection and has the need to accelerate to pass through the intersection, obtaining the area of ​​the unobstructed sensor coverage area of ​​the vehicle and outputting corresponding area data; receiving an acceleration strategy related to each vehicle in the group to which the vehicle belongs, wherein the acceleration strategy is planned for each vehicle in the group by a server or other vehicles in the group based on the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group, and the acceleration strategy enables the vehicle with a large area of ​​unobstructed sensor coverage area in the group to lead the vehicle with a small area of ​​unobstructed sensor coverage area in the group during the corresponding acceleration process in the intersection; and controlling the vehicle to accelerate based on the received acceleration strategy to pass through the intersection.

[0006] According to another aspect of the present disclosure, a device for controlling an autonomous driving vehicle is provided. The device includes: an acquisition unit configured to acquire the area of ​​the unobstructed sensor coverage area of ​​each vehicle in a group, wherein each vehicle in the group is a vehicle parked and waiting in the first row on the same side of an intersection and has the need to accelerate to pass through the intersection; a planning unit configured to plan an acceleration strategy for each vehicle in the group according to the acquired area of ​​the unobstructed sensor coverage area of ​​each vehicle, so that the vehicle with a large area of ​​the unobstructed sensor coverage area in the group leads the vehicle with a small area of ​​the unobstructed sensor coverage area in the group during the corresponding acceleration process in the intersection; and a sharing unit configured to share the planned acceleration strategy among the vehicles in the group, so that each vehicle in the group accelerates to pass through the intersection based on the planned acceleration strategy.

[0007] According to another aspect of the present disclosure, a device for controlling an autonomous driving vehicle is provided. The device includes: a determination unit configured to determine whether the vehicle is in a state of parking and waiting in the first row of an intersection and has a need to accelerate to pass the intersection; an output unit configured to obtain the area of ​​the unobstructed sensor coverage area of ​​the vehicle and output corresponding area data in response to determining that the vehicle is in a state of parking and waiting in the first row of the intersection and has a need to accelerate to pass the intersection; a receiving unit configured to receive an acceleration strategy related to each vehicle in the group where the vehicle is located, wherein the acceleration strategy is planned for each vehicle in the group by a server or other vehicles in the group based on the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group, and the acceleration strategy enables the vehicle with a large area of ​​the unobstructed sensor coverage area in the group to lead the vehicle with a small area of ​​the unobstructed sensor coverage area in the group during the corresponding acceleration process in the intersection; and a control unit configured to control the vehicle to accelerate based on the received acceleration strategy to pass the intersection.

[0008] According to another aspect of the present disclosure, a device for controlling an autonomous driving vehicle is provided. The device includes: a processor, and a memory storing a program. The program includes instructions, and when the instructions are executed by the processor, the processor executes the method described in the present disclosure.

[0009] According to another aspect of the present disclosure, a vehicle is provided, which includes the device for controlling an autonomous driving vehicle according to the present disclosure.

[0010] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing a program is provided. The program includes instructions, and when the instructions are executed by one or more processors, the one or more processors are caused to execute the method described in the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to explain the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0012] Figure 1 is a schematic diagram showing a vehicle acceleration scenario at an intersection;

[0013] Figure 2 is a flow chart illustrating a method for controlling an autonomous driving vehicle according to an exemplary embodiment;

[0014] Figure 3is a schematic diagram illustrating an unobstructed sensor coverage area of ​​a vehicle at an intersection according to an exemplary embodiment;

[0015] Figure 4 is a schematic diagram showing an acceleration curve planned for each vehicle in a group according to an exemplary embodiment;

[0016] Figure 5 is a flow chart of a method for controlling an autonomous vehicle according to another exemplary embodiment;

[0017] Figure 6 is a block diagram illustrating an apparatus for controlling an autonomous driving vehicle according to an exemplary embodiment;

[0018] Figure 7 is a block diagram illustrating an apparatus for controlling an autonomous driving vehicle according to another exemplary embodiment; and

[0019] Figure 8 is a schematic diagram of an application scenario of a motor vehicle according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of these elements, and such terms are only used to distinguish one element from another element. In some examples, the first element and the second element may refer to the same instance of the element, and in some cases, based on the description of the context, they may also refer to different instances.

[0021] The terms used in the description of various examples in this disclosure are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the term "and / or" used in this disclosure covers any one of the listed items and all possible combinations.

[0022] In the related art, for vehicles parked and waiting in the first row on each side of an intersection, since there are blind spots in the field of view of their sensors or the driver's field of view (for example, they may be blocked by vehicles in adjacent lanes), the vehicles may start to accelerate before pedestrians cross the crosswalk, which may cause a collision and lead to an accident.

[0023] For example, Figure 1 As shown, Figure 13 is a schematic diagram showing a vehicle acceleration scenario at an intersection. When the state of the traffic light at the intersection changes from red to green, the vehicle 2 parked in the first row on the side of the intersection facing the traffic light may not know that there are pedestrians on the crosswalk at this time because the sensor's field of view is blocked by the vehicle 3 in the adjacent lane. Therefore, when it accelerates according to the above change of the traffic light, there may be Figure 1 The situation shown is a collision with the pedestrian at the corresponding position of the crosswalk, which leads to an accident and brings a higher risk to the vehicle's automatic driving.

[0024] In view of this, the present disclosure provides a method for controlling an autonomous driving vehicle, which can plan an acceleration strategy for each vehicle in the group according to the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group, so that the vehicle with a large area of ​​the corresponding unobstructed sensor coverage area in the group is ahead of the vehicle with a small area of ​​the corresponding unobstructed sensor coverage area during the corresponding acceleration process in the intersection, wherein each vehicle in the group is a vehicle parked and waiting in the first row on the same side of the intersection and has the need to accelerate to pass through the intersection. In this way, when each vehicle in the group accelerates based on the planned acceleration strategy, since the vehicle with a relatively large unobstructed sensor coverage area (i.e., the vehicle with a relatively large effective sensor field of view) is ahead of the vehicle with a relatively small unobstructed sensor coverage area (i.e., the vehicle with a relatively small effective sensor field of view) during the entire acceleration process, that is, the acceleration behavior of the vehicle with a relatively small effective field of view is limited by the acceleration behavior of the vehicle with a relatively large effective field of view, it can largely avoid the occurrence of accidents caused by the obstruction of the vehicle's field of view, thereby improving the safety of vehicle driving.

[0025] The method for controlling an autonomous driving vehicle disclosed herein will be further described below in conjunction with the accompanying drawings. Figure 2 A flow chart of a method for controlling an autonomous driving vehicle according to an exemplary embodiment of the present disclosure is shown. Figure 2 As shown, the method may include:

[0026] Step S201: obtaining the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group, wherein each vehicle in the group is a vehicle parked and waiting in the first row on the same side of the intersection and has a need to accelerate to pass through the intersection.

[0027] In the present disclosure, the intersection may be any type of intersection such as a crossroad, a T-junction, etc. Taking a crossroad type intersection as an example, the intersection may have four sides in different directions (e.g., four sides of east, west, south, and north), and each side may have two lanes with opposite driving directions, one of which is a lane with a driving direction toward the intersection (the first lane), and the other is a lane with a driving direction away from the intersection (the second lane). Accordingly, the first row of vehicles parked and waiting on the corresponding side of the intersection described in the present disclosure refers to the first row of vehicles parked and waiting on the first lane (each lane may specifically include two or more lanes of the same type) on the corresponding side of the intersection. For these vehicles parked and waiting in the first row on the corresponding side of the intersection, when it is determined that they have the need to accelerate to pass through the intersection, they can establish a communication connection with each other through a mobile network, Wi-Fi or Bluetooth to achieve vehicle-to-vehicle (V2V) communication to form the group described in the present disclosure.

[0028] According to some embodiments, in the present disclosure, the area of ​​the unobstructed sensor coverage area of ​​each vehicle obtained can be the area of ​​the sensor coverage area that is not obstructed by other vehicles in the group, obtained by each vehicle performing road surface sensing on a set area of ​​the intersection based on its own sensor, wherein the set area can be the entire area in front of the corresponding vehicle at the intersection, or the pedestrian crossing area close to the side of the corresponding vehicle in the intersection (for example, a zebra crossing area, a yellow grid line area, etc.).

[0029] For example, Figure 3 Taking vehicles 1, 2 and 3 at the intersection as an example, when each of these vehicles senses that it is in the first row of parking waiting on the corresponding side of the intersection and has the need to accelerate to pass through the intersection, it can perform road surface sensing on a set area of ​​the intersection (e.g., the entire area in front of the corresponding vehicle at the intersection) based on its own sensor to obtain the area of ​​the unobstructed sensor coverage area of ​​the vehicle. For example, Figure 3 As shown in FIG. 1 , the areas of the unobstructed sensor coverage areas sensed by vehicle 1, vehicle 2, and vehicle 3 can be represented as AREA 1, AREA 2, and AREA 3, respectively, and are represented by Figure 3 It can be seen that the relationship between the three is AREA 3>AREA 1>AREA 2.

[0030] According to some embodiments, the road surface sensing may adopt various road surface sensing methods such as drivable space detection. In addition, the sensors based on which the road surface sensing is based may include one or more of ultrasonic sensors, millimeter wave radars, laser radars (LiDAR), and cameras (including visual cameras and / or infrared cameras).

[0031] In addition, after each vehicle senses the area of ​​its own unobstructed sensor coverage area, it can output the corresponding area data (for example, vehicle 2 can output AREA 2 = 10m 2 The area data, where the numerical values ​​involved here are only examples), the output area data can be obtained by the execution body device of the exemplary method of the present disclosure, so as to obtain the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group.

[0032] It can be understood that the executor of the exemplary method of the present disclosure can be a server (such as an online server or a cloud server) or a vehicle in a group (specifically, it can be the controller of the corresponding vehicle), as long as it can obtain the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group and has the ability to process these data as described below to plan corresponding acceleration strategies for each vehicle in the group.

[0033] In addition, in the present disclosure, each vehicle may determine that it is in a state of parking and waiting in the first row on the corresponding side of the intersection and has a need to accelerate to pass through the intersection in the following manner:

[0034] (1) determining that the vehicle is parked and waiting at the first row of the intersection by: determining, based on surrounding environment data (e.g., objects around the vehicle, lane markings, etc.) sensed by sensors of the vehicle (e.g., one or more of an ultrasonic sensor, a millimeter-wave radar, a lidar, and a camera), that there is no preceding vehicle and a stop line mark within a set range in front of the vehicle for a period of time not less than a set time, wherein the set time and the set range can be flexibly set according to actual conditions; and / or determining, based on a map (e.g., a high-precision map and / or a highly automated driving map, etc.) and the location information of the vehicle sensed by sensors of the vehicle (e.g., a global navigation and positioning system (GNSS) sensor), that the vehicle is located within an area corresponding to the first row of the intersection for a period of time not less than a set time; and

[0035] (2) Determine that the vehicle has a need to accelerate to pass through the intersection based on the type (e.g., left turn or straight ahead, etc.) and current state (e.g., red light or green light, etc.) of the traffic light at the intersection sensed by the vehicle's sensor (e.g., a camera or a vehicle-to-everything (V2X) module, etc.), and the navigation route of the vehicle. For example, if it is determined that the current state of the straight ahead traffic light at the intersection is a red light, and the navigation route of the vehicle shows that the vehicle needs to go straight ahead through the intersection, it can be determined that the vehicle has a need to accelerate to pass through the intersection.

[0036] It is understandable that the vehicle's navigation route is the route planned for the vehicle in the map by the vehicle's automatic driving assistance system based on the vehicle's starting position and destination position. It is a common technology in the field of automatic driving and will not be elaborated here.

[0037] Step S202: Based on the acquired area of ​​the unobstructed sensor coverage area of ​​each vehicle, an acceleration strategy is planned for each vehicle in the group, so that vehicles with a larger area of ​​unobstructed sensor coverage area in the group are ahead of vehicles with a smaller area of ​​unobstructed sensor coverage area in the group during the corresponding acceleration process in the intersection.

[0038] According to some embodiments, planning an acceleration strategy for each vehicle in the group based on the acquired area of ​​the unobstructed sensor coverage area of ​​each vehicle may include:

[0039] Determine an acceleration finish line for each vehicle in the group; plan an acceleration start time (affecting the early or late acceleration of the vehicle) and an acceleration (affecting the speed of the vehicle acceleration) for each vehicle in the group at least based on the determined acceleration finish line and the acquired area of ​​the unobstructed sensor coverage area of ​​each vehicle, wherein the acceleration start time planned for a vehicle with a large area of ​​unobstructed sensor coverage is earlier than the acceleration start time planned for a vehicle with a small area of ​​unobstructed sensor coverage, and / or the acceleration planned for a vehicle with a large area of ​​unobstructed sensor coverage is greater than the acceleration planned for a vehicle with a small area of ​​unobstructed sensor coverage; and plan an acceleration curve for each vehicle in the group based on the acceleration start time and acceleration planned for each vehicle in the group and the acceleration finish line.

[0040] In other words, according to the order of the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group from large to small, an acceleration curve with a sequentially delayed acceleration starting point and / or a sequentially decreasing gradient can be planned for each vehicle in the group. In addition, it should be noted that no matter which of the above methods is adopted, when planning the acceleration strategy for each vehicle in the group, it is necessary to keep the vehicle with a large area of ​​unobstructed sensor coverage area in the group ahead of the vehicle with a small area of ​​unobstructed sensor coverage area in the corresponding acceleration process in the intersection.

[0041] In addition, it is understandable that when planning the corresponding acceleration for each vehicle in the group, the acquired vehicle parameters of each vehicle may also be taken into consideration, and the vehicle parameters may include powertrain system parameters (such as parameters of each component in the powertrain system, including but not limited to the displacement, power, torque or newness of the engine, etc.) and / or historical behavior parameters (such as the historical acceleration of the vehicle or the historical degree to which the accelerator pedal is pressed, etc.). In this way, the magnitude of the acceleration planned for each vehicle in the group may not be strictly consistent with the size order of the area covered by the unobstructed sensor, but there are exceptions. For example, for a large vehicle (such as a bus or a freight vehicle) with a relatively large area covered by the unobstructed sensor, the acceleration planned for it may be equal to or slightly lower than that of a small vehicle (such as a private motor vehicle) with a relatively small area covered by the unobstructed sensor, which will not be elaborated on.

[0042] In addition, in the present disclosure, the acceleration finish line may be the finish line of the intersection opposite to the side where the vehicles in the group are located (i.e., the acceleration process may be applicable to the entire area of ​​the intersection), or, the finish line of the pedestrian crossing area in the intersection close to the side where the vehicles in the group are located (i.e., the acceleration process may be applicable to the pedestrian crossing area near the vehicle in the intersection).

[0043] For example, Figure 3 Taking vehicle 1, vehicle 2 and vehicle 3 as an example, since the relationship between the areas of the three unobstructed sensor coverage areas is AREA 3>AREA 1>AREA 2, the acceleration curves planned for the three can be as follows: Figure 4 As shown, Figure 4As shown, the acceleration start time planned for vehicle 3 is earlier than (for example, much earlier than) the acceleration start time planned for vehicle 1, the acceleration start time planned for vehicle 1 is earlier than (for example, slightly earlier than) the acceleration start time planned for vehicle 2, the acceleration planned for vehicle 3 is slightly higher than (or approximately equal to) the acceleration planned for vehicle 1, and the acceleration planned for vehicle 1 is higher than the acceleration planned for vehicle 2. As a result, in the entire acceleration section, the acceleration curve planned for vehicle 3 is always ahead of the acceleration curve planned for vehicle 1, and the acceleration curve planned for vehicle 1 is always ahead of the acceleration curve planned for vehicle 2. In this way, the acceleration behavior of a vehicle with a relatively small effective field of view will always be limited by the acceleration behavior of a vehicle with a relatively large effective field of view, so that accidents caused by blocked vehicle fields of view can be avoided to a large extent, thereby improving the safety of vehicle driving.

[0044] Step S203: Sharing the planned acceleration strategy among the vehicles in the group, so that the vehicles in the group accelerate based on the planned acceleration strategy to pass through the intersection.

[0045] According to some embodiments, taking the example of a server as the execution subject of the exemplary method of the present disclosure, after the server has planned the corresponding acceleration strategy for each vehicle in the group, the server can send the planned acceleration strategy to each vehicle in the group through the corresponding communication link, so that each vehicle in the group can share and accelerate based on the shared acceleration strategy to pass through the intersection. According to other embodiments, if the execution subject of the exemplary method of the present disclosure is a vehicle in the group, then after the vehicle has planned the corresponding acceleration strategy for each vehicle in the group, the server can send the planned acceleration strategy to other vehicles in the group through the corresponding communication link, so that each vehicle in the group can share and accelerate based on the shared acceleration strategy to pass through the intersection.

[0046] Accordingly, after receiving the planned acceleration strategy, each vehicle can control itself to accelerate according to the planned acceleration strategy by controlling the powertrain system, which will not be elaborated here.

[0047] In addition, the conventional functions of the autonomous driving assistance system of each vehicle can still be kept running to prevent the occurrence of a collision. For example, when it is determined that a pedestrian is crossing the road ahead, the vehicle can be controlled to stop accelerating to prevent an accident.

[0048] In addition, in the present disclosure, the method may further include:

[0049] The driving state data of each vehicle in the group when accelerating based on the planned acceleration strategy is obtained in real time, and the planned acceleration strategy is updated in real time according to the obtained driving state data of each vehicle. In this way, the planned acceleration strategy can be made more accurate and appropriate, thereby further improving the safety of vehicle automatic driving.

[0050] According to the method described in the exemplary embodiment of the present disclosure, when each vehicle in the group accelerates based on the planned acceleration strategy, due to the relatively large area of ​​unobstructed sensor coverage area of ​​the vehicle (e.g. Figure 3 The vehicle 3 shown in the figure is ahead of the vehicle with a relatively small unobstructed sensor coverage area (e.g. Figure 3 The acceleration behavior of the vehicle 2 and vehicle 1 shown in the figure, that is, the acceleration behavior of the vehicle with a relatively small effective field of view is limited by the acceleration behavior of the vehicle with a relatively large effective field of view, thereby largely avoiding accidents caused by the obstruction of the vehicle's field of view, thereby improving the safety of vehicle driving. Figure 3 Taking the vehicle 1, vehicle 2 and vehicle 3 shown in the figure as examples, when vehicle 3 stops accelerating due to the presence of pedestrians crossing the road, according to the method described in the exemplary embodiment of the present disclosure, the acceleration behaviors of vehicle 2 and vehicle 1 will also be suppressed accordingly, thereby avoiding accidents caused by blocked fields of view of vehicle 2 and vehicle 1 to a large extent, thereby improving the safety of vehicle driving.

[0051] Figure 5 A flow chart of a method for controlling an autonomous driving vehicle according to another exemplary embodiment is shown. Figure 2 The difference between the methods shown is that Figure 5 In the method shown, the corresponding method execution subject (for example, a vehicle in a group) can passively receive the acceleration strategy related to each vehicle in the group to which the vehicle belongs, and for other operations, please refer to the relevant description of the above-mentioned related embodiments. Specifically, Figure 5 As shown, the method for controlling an autonomous driving vehicle may include:

[0052] Step S501: Determine whether the vehicle is in a state of parking and waiting in the first row of an intersection and has a need to accelerate to pass through the intersection;

[0053] Step S502: in response to determining that the vehicle is in a state of parking and waiting in the first row of the intersection and has a need to accelerate to pass through the intersection, obtaining an area of ​​an unobstructed sensor coverage area of ​​the vehicle and outputting corresponding area data;

[0054] Step S503: receiving an acceleration strategy related to each vehicle in the group to which the vehicle belongs, wherein the acceleration strategy is planned for each vehicle in the group by a server or other vehicles in the group based on the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group, and the acceleration strategy enables a vehicle in the group with a large area of ​​the unobstructed sensor coverage area to be ahead of a vehicle in the group with a small area of ​​the unobstructed sensor coverage area during a corresponding acceleration process in the intersection; and

[0055] Step S504: Control the vehicle to accelerate based on the received acceleration strategy to pass through the intersection.

[0056] Referring to the related description of the above embodiment, it can be determined that the vehicle is in a state of parking and waiting in the first row of the intersection and has a need to accelerate to pass through the intersection in the following manner:

[0057] Determining that the vehicle is parked and waiting at the first row of the intersection by: determining, based on surrounding environment data sensed by sensors of the vehicle, that there is no preceding vehicle within a set range in front of the vehicle and that a stop line mark exists within a time period not less than a set time length; and / or determining, based on a map and location information of the vehicle sensed by sensors of the vehicle, that the vehicle is located within an area corresponding to the first row of the intersection within a time period not less than a set time length; and

[0058] According to the type and current state of the traffic light at the intersection sensed by the sensor of the vehicle and the navigation route of the vehicle, it is determined that the vehicle has the need to accelerate to pass through the intersection.

[0059] In addition, referring to the relevant description of the foregoing embodiment, obtaining the area of ​​the unobstructed sensor coverage area of ​​the vehicle may include:

[0060] The area of ​​the sensor coverage area not blocked by other vehicles in the group is obtained by the sensor of the vehicle sensing the road surface in the set area of ​​the intersection, wherein:

[0061] The set area is the entire area in front of the vehicle at the intersection, or a pedestrian crossing area close to one side of the vehicle in the intersection.

[0062] Figure 6 600 is a block diagram showing an apparatus for controlling an autonomous driving vehicle according to an exemplary embodiment. The apparatus 600 for controlling an autonomous driving vehicle according to the exemplary embodiment may include:

[0063] An acquisition unit 601 is configured to acquire an area of ​​an unobstructed sensor coverage area of ​​each vehicle in a group, wherein each vehicle in the group is a vehicle parked and waiting in a first row on the same side of an intersection and has a need to accelerate to pass through the intersection;

[0064] The planning unit 602 is configured to plan an acceleration strategy for each vehicle in the group according to the acquired area of ​​the unobstructed sensor coverage area of ​​each vehicle, so that the vehicles in the group with a larger area of ​​the unobstructed sensor coverage area are ahead of the vehicles in the group with a smaller area of ​​the unobstructed sensor coverage area during the corresponding acceleration process in the intersection; and

[0065] The sharing unit 603 is configured to share the planned acceleration strategy among the vehicles in the group, so that the vehicles in the group accelerate based on the planned acceleration strategy to pass through the intersection.

[0066] It is understandable that the aforementioned combination Figures 2 to 4 Description of method steps, applicable to Figure 6 The units that execute the corresponding method steps are not described in detail here.

[0067] Figure 7 700 is a block diagram showing an apparatus for controlling an autonomous driving vehicle according to another exemplary embodiment. The apparatus 700 for controlling an autonomous driving vehicle according to this exemplary embodiment may include:

[0068] A determination unit 701 is configured to determine whether the vehicle is in a state of parking and waiting in the first row of an intersection and has a need to accelerate to pass through the intersection;

[0069] The output unit 702 is configured to obtain the area of ​​the unobstructed sensor coverage area of ​​the vehicle and output corresponding area data in response to determining that the vehicle is in a state of parking and waiting in the first row of the intersection and has a need to accelerate to pass through the intersection;

[0070] a receiving unit 703 configured to receive an acceleration strategy related to each vehicle in the group to which the vehicle belongs, wherein the acceleration strategy is planned for each vehicle in the group by a server or other vehicles in the group based on the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group, and the acceleration strategy enables a vehicle in the group with a large area of ​​the unobstructed sensor coverage area to lead a vehicle in the group with a small area of ​​the unobstructed sensor coverage area during a corresponding acceleration process in the intersection; and

[0071] The control unit 704 is configured to control the vehicle to accelerate based on the received acceleration strategy to pass through the intersection.

[0072] It is understandable that the aforementioned combination Figures 3 to 5 Description of method steps, applicable to Figure 7 The units that execute the corresponding method steps are not described in detail here.

[0073] In addition, although specific functions are discussed above with reference to specific modules, it should be noted that the functions of the various modules discussed herein can be divided into multiple modules, and / or at least some functions of multiple modules can be combined into a single module. The specific module discussed herein performs an action including the specific module itself performing the action, or alternatively the specific module calls or otherwise accesses another component or module that performs the action (or performs the action together with the specific module). Therefore, the specific module that performs an action can include the specific module itself that performs the action and / or the specific module calls or otherwise accesses another module that performs the action. For example, the determination unit 701, the output unit 702, etc. described above can be combined into a single module in some embodiments.

[0074] More generally, various techniques may be described herein in the general context of software hardware elements or program modules. Figure 6 or Figure 7 The various modules described can be implemented in hardware or in hardware in combination with software and / or firmware. For example, these modules can be implemented as computer program code / instructions, which are configured to be executed in one or more processors and stored in a computer-readable storage medium. Alternatively, these modules can be implemented as hardware logic / circuits. For example, in some embodiments, one or more of the acquisition unit 601, the planning unit 602, and the sharing unit 603 can be implemented together in a system on a chip (SoC). The SoC may include an integrated circuit chip (which includes a processor (e.g., a central processing unit (CPU), a microcontroller, a microprocessor, a digital signal processor (DSP), etc.), a memory, one or more communication interfaces, and / or one or more components in other circuits), and may optionally execute the received program code and / or include embedded firmware to perform functions.

[0075] According to another aspect of the present disclosure, a device for controlling an autonomous vehicle is provided. The device includes: a processor, and a memory storing a program. The program includes instructions, and when the instructions are executed by the processor, the processor executes the method for controlling an autonomous vehicle described in the present disclosure.

[0076] According to another aspect of the present disclosure, a vehicle is provided, wherein the vehicle includes the device for controlling an autonomous driving vehicle according to the present disclosure.

[0077] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing a program is provided. The program includes instructions, which, when executed by one or more processors, cause the one or more processors to execute the method for controlling an autonomous driving vehicle described in the present disclosure.

[0078] Figure 8 1 shows a schematic diagram of an application scenario including a motor vehicle 2010 and a communication and control system for the motor vehicle 2010. It should be noted that, Figure 8 The structure and function of the vehicle 2010 shown are only an example. According to specific implementation forms, the vehicle of the present disclosure may include Figure 8 One or more of the structures and functions of the vehicle 2010 shown. According to some embodiments, the vehicle 2010 may be the vehicle described above. Figure 2 Description of the vehicle and about Figure 5 Description of the vehicle.

[0079] The motor vehicle 2010 may include a sensor 2110 for sensing the surrounding environment. The sensor 2110 may include one or more of the following sensors: an ultrasonic sensor, a millimeter wave radar, a laser radar (LiDAR), a visual camera, and an infrared camera. Different sensors may provide different sensing accuracy and range. Ultrasonic sensors may be installed around the vehicle to measure the distance of an object outside the vehicle from the vehicle by utilizing the characteristics of strong ultrasonic directionality. Millimeter wave radars may be installed in front of, behind, or at other locations of the vehicle to measure the distance of an object outside the vehicle from the vehicle by utilizing the characteristics of electromagnetic waves. Laser radars may be installed in front of, behind, or at other locations of the vehicle to sense the edge and shape information of an object, thereby identifying and tracking the object. Due to the Doppler effect, the radar device may also measure the speed change of the vehicle and the moving object. The camera may be installed in front of, behind, or at other locations of the vehicle. The visual camera may capture the situation inside and outside the vehicle in real time and present it to the driver and / or passengers. In addition, by analyzing the images captured by the visual camera, information such as traffic light indications, intersection conditions, and the operating status of other vehicles may be obtained. An infrared camera may capture objects in night vision conditions.

[0080] The motor vehicle 2010 may also include an output device 2120. The output device 2120 may include, for example, a display and a speaker, etc., to present various outputs or instructions. In addition, the display may be implemented as a touch screen, so that inputs may also be sensed in different ways. A graphical user interface may be presented on the touch screen so that the user can access and control corresponding controls.

[0081] The motor vehicle 2010 may also include one or more controllers 2130. The controller 2130 may include a processor that communicates with various types of computer-readable storage devices or media, such as a central processing unit (CPU) or a graphics processing unit (GPU), or other dedicated processors, etc. The computer-readable storage device or medium may include any non-transitory storage device, which may be any storage device that is non-transitory and can achieve data storage, and may include but is not limited to a disk drive, an optical storage device, a solid-state memory, a floppy disk, a flexible disk, a hard disk, a tape, or any other magnetic medium, an optical disk or any other optical medium, a read-only memory (ROM), a random access memory (RAM), a cache memory, and / or any other memory chip or cartridge, and / or any other medium from which a computer can read data, instructions, and / or code. Some of the data in the computer-readable storage device or medium represents executable instructions used by the controller 2130 to control the vehicle. The controller 2130 may include an autonomous driving system for automatically controlling various actuators in the vehicle. The autonomous driving system is configured to control the powertrain, steering system, and braking system of the motor vehicle 2010 via multiple actuators in response to inputs from multiple sensors 2110 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or with limited human intervention. Some processing functions of the controller 2130 may be implemented through cloud computing. For example, some processing may be performed using an onboard processor, while other processing may be performed using computing resources in the cloud. According to some embodiments, the controller 2130 may be configured to perform a combination of Figure 2 and / or Figure 5 The controller 2130 and its associated computer readable storage device are as above Figure 6 The device 600 and / or Figure 7 The computer-readable storage device associated with the controller 2130 may be an example of the non-transitory computer-readable storage medium described above.

[0082] The motor vehicle 2010 also includes a communication device 2140. The communication device 2140 includes a satellite positioning module capable of receiving satellite positioning signals from satellites 2012 and generating coordinates based on these signals. The communication device 2140 also includes a module for communicating with a mobile communication network 2013, and the mobile communication network can implement any suitable communication technology, such as GSM / GPRS, CDMA, LTE and other current or developing wireless communication technologies (such as 5G technology). The communication device 2140 can also have a vehicle-to-everything (V2X) module, which is configured to implement, for example, vehicle-to-vehicle (V2V) communication with other vehicles 2011 and vehicle-to-infrastructure (V2I) communication with infrastructure. In addition, the communication device 2140 may also have a module configured to communicate with the user terminal 2014 (including but not limited to a smart phone, a tablet computer or a wearable device such as a watch) by using a wireless local area network or Bluetooth using the IEEE802.11 standard. Using the communication device 2140, the motor vehicle 2010 can access the online server 215 or the cloud server 216 via the wireless communication system, and the online server or the cloud server is configured to provide the motor vehicle with corresponding data processing, data storage, data transmission and other services.

[0083] In addition, Motor Vehicles 2010 also includes Figure 8 The powertrain, steering system, braking system, etc. used to realize the driving function of the motor vehicle are not shown.

[0084] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but only by the claims after authorization and their equivalent scope. Various elements in the embodiments or examples can be omitted or replaced by their equivalent elements. In addition, each step can be performed in an order different from that described in the present disclosure. Further, the various elements in the embodiments or examples can be combined in various ways. It is important that with the evolution of technology, many elements described herein can be replaced by equivalent elements that appear after the present disclosure.

Claims

1. A method for controlling an autonomous vehicle, comprising: Acquire the area of ​​the unobstructed sensor coverage area of ​​each vehicle in the group, wherein each vehicle in the group is a vehicle parked and waiting in the first row on the same side of the intersection and has a need to accelerate to pass through the intersection; According to the acquired area of ​​the unobstructed sensor coverage area of ​​each vehicle, an acceleration strategy is planned for each vehicle in the group, wherein the acceleration strategy includes planning an acceleration start time for a vehicle with a large unobstructed sensor coverage area earlier than the acceleration start time planned for a vehicle with a small unobstructed sensor coverage area, and / or, planning an acceleration for a vehicle with a large unobstructed sensor coverage area greater than the acceleration planned for a vehicle with a small unobstructed sensor coverage area, so that the vehicles with a large unobstructed sensor coverage area in the group are ahead of the vehicles with a small unobstructed sensor coverage area in the group during the corresponding acceleration process in the intersection; as well as The planned acceleration strategy is shared among the vehicles in the group, so that the vehicles in the group accelerate based on the planned acceleration strategy to pass through the intersection.

2. The method of claim 1, wherein: The area of ​​the unobstructed sensor coverage area of ​​each vehicle is the area of ​​the sensor coverage area that is not obstructed by other vehicles in the group and is obtained by each vehicle performing road surface sensing on the set area of ​​the intersection based on its own sensor, wherein: The set area is the entire area in front of the corresponding vehicle at the intersection, or a pedestrian crossing area close to one side of the corresponding vehicle in the intersection.

3. The method according to any one of claims 1 to 2, wherein: According to the obtained area of ​​the unobstructed sensor coverage area of ​​each vehicle, an acceleration strategy is planned for each vehicle in the group, including: determining an acceleration finish line for each vehicle in the group; Planning an acceleration start time and acceleration for each vehicle in the group based at least on the determined acceleration finish line and the acquired area of ​​the unobstructed sensor coverage area of ​​each vehicle; and An acceleration curve is planned for each vehicle in the group according to the acceleration start time and acceleration planned for each vehicle in the group and the acceleration finish line.

4. The method of claim 3, wherein: The acceleration finish line is a finish line at the intersection opposite to the side where the vehicles in the group are located, or a finish line at a pedestrian crossing area at the intersection close to the side where the vehicles in the group are located.

5. The method of claim 3, further comprising: Acquiring vehicle parameters of each vehicle in the group, wherein the vehicle parameters include powertrain system parameters and / or historical behavior parameters; as well as The acceleration is planned for each vehicle in the group in combination with the acquired vehicle parameters.

6. The method according to any one of claims 1 to 2, further comprising: Acquire in real time the driving status data of each vehicle in the group when accelerating based on the planned acceleration strategy; as well as The planned acceleration strategy is updated in real time based on the acquired driving status data of each vehicle.

7. A method for controlling an autonomous vehicle, comprising: determining whether the vehicle is in a state of waiting at a first row of a crossroads and has a need to accelerate to pass through the crossroads; In response to determining that the vehicle is in a state of parking and waiting in the first row of the intersection and has a need to accelerate to pass through the intersection, obtaining an area of ​​an unobstructed sensor coverage area of ​​the vehicle and outputting corresponding area data; Receiving an acceleration strategy related to each vehicle in the group to which the vehicle belongs, wherein the acceleration strategy is planned for each vehicle in the group by a server or other vehicles in the group based on the area of ​​an unobstructed sensor coverage area of ​​each vehicle in the group, and wherein the acceleration strategy includes planning an acceleration start time for a vehicle with a large area of ​​unobstructed sensor coverage earlier than planning an acceleration start time for a vehicle with a small area of ​​unobstructed sensor coverage, and / or planning an acceleration for a vehicle with a large area of ​​unobstructed sensor coverage greater than planning an acceleration for a vehicle with a small area of ​​unobstructed sensor coverage, and the acceleration strategy enables the vehicle with a large area of ​​unobstructed sensor coverage in the group to be ahead of the vehicle with a small area of ​​unobstructed sensor coverage in the group during a corresponding acceleration process in the intersection; and The vehicle is controlled to accelerate based on the received acceleration strategy to pass through the intersection.

8. The method of claim 7, wherein: The state where the vehicle is parked and waiting in the first row of the intersection and has a need to accelerate to pass through the intersection is determined by: Determining that the vehicle is parked and waiting in the first row of the intersection by: determining, based on surrounding environment data sensed by a sensor of the vehicle, that there is no preceding vehicle within a set range in front of the vehicle and a stop line mark exists within a period of time not less than a set time length; and / or, determining, based on a map and the position information of the vehicle sensed by a sensor of the vehicle, that the vehicle is located within an area corresponding to the first row of the intersection within a period of time not less than a set time length; as well as According to the type and current state of the traffic light at the intersection sensed by the sensor of the vehicle and the navigation route of the vehicle, it is determined that the vehicle has the need to accelerate to pass through the intersection.

9. The method according to any one of claims 7 to 8, wherein: Obtaining the area of ​​the unobstructed sensor coverage area of ​​the vehicle, including: The area of ​​the sensor coverage area not blocked by other vehicles in the group is obtained by the sensor of the vehicle sensing the road surface in the set area of ​​the intersection, wherein: The set area is the entire area in front of the vehicle at the intersection, or a pedestrian crossing area close to one side of the vehicle in the intersection.

10. A device for controlling an autonomous driving vehicle, comprising: an acquisition unit configured to acquire an area of ​​an unobstructed sensor coverage area of ​​each vehicle in a group, wherein each vehicle in the group is a vehicle parked and waiting in a first row on the same side of an intersection and has a need to accelerate to pass through the intersection; a planning unit configured to plan an acceleration strategy for each vehicle in the group according to the acquired area of ​​the unobstructed sensor coverage area of ​​each vehicle, wherein the acceleration strategy includes planning an acceleration start time for a vehicle with a large area of ​​unobstructed sensor coverage earlier than the acceleration start time planned for a vehicle with a small area of ​​unobstructed sensor coverage, and / or planning an acceleration for a vehicle with a large area of ​​unobstructed sensor coverage greater than an acceleration planned for a vehicle with a small area of ​​unobstructed sensor coverage, so that the vehicles with a large area of ​​unobstructed sensor coverage in the group are ahead of the vehicles with a small area of ​​unobstructed sensor coverage in the group during a corresponding acceleration process in the intersection; as well as The sharing unit is configured to share the planned acceleration strategy among the vehicles in the group, so that the vehicles in the group accelerate based on the planned acceleration strategy to pass through the intersection.

11. A device for controlling an autonomous vehicle, comprising: A determination unit configured to determine whether the vehicle is in a state of stopping and waiting in the first row of the intersection and has a need to accelerate to pass through the intersection; an output unit, configured to, in response to determining that the vehicle is in a state of parking and waiting in the first row of the intersection and has a need to accelerate to pass through the intersection, obtain an area of ​​an unobstructed sensor coverage area of ​​the vehicle and output corresponding area data; a receiving unit configured to receive an acceleration strategy related to each vehicle in the group to which the vehicle belongs, wherein the acceleration strategy is planned for each vehicle in the group by a server or other vehicles in the group based on the area of ​​an unobstructed sensor coverage area of ​​each vehicle in the group, and wherein the acceleration strategy includes that an acceleration start time planned for a vehicle with a large area of ​​unobstructed sensor coverage is earlier than an acceleration start time planned for a vehicle with a small area of ​​unobstructed sensor coverage, and / or, an acceleration planned for a vehicle with a large area of ​​unobstructed sensor coverage is greater than an acceleration planned for a vehicle with a small area of ​​unobstructed sensor coverage, and the acceleration strategy can keep the vehicle with a large area of ​​unobstructed sensor coverage in the group ahead of the vehicle with a small area of ​​unobstructed sensor coverage in the group during a corresponding acceleration process in the intersection; and A control unit is configured to control the vehicle to accelerate based on the received acceleration strategy to pass through the intersection.

12. A device for controlling an autonomous vehicle, comprising: processor, and A memory storing a program, the program comprising instructions which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 6.

13. A device for controlling an autonomous driving vehicle, comprising: processor, and A memory storing a program, the program comprising instructions which, when executed by the processor, cause the processor to perform the method according to any one of claims 7 to 9.

14. A vehicle comprising: A device as claimed in claim 12 or 13.

15. A non-transitory computer-readable storage medium storing a program, the program comprising instructions which, when executed by one or more processors, cause the one or more processors to perform the method according to any one of claims 1 to 9.

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