A vehicle control method, device, electronic device, and storage medium

Abstract

An embodiment of the present invention discloses a vehicle control method, device, electronic device, and storage medium. The method includes: during the driving process of the vehicle, obtaining the status information of the to-be-driven section sent by the controller; according to the status information of the to-be-driven section and the detection result obtained by actively detecting the to-be-driven section, performing status verification on the to-be-driven section; and controlling the vehicle to drive according to the status verification result. By using the detection result obtained by active anti-collision detection to verify the status information of the to-be-driven section, the present invention can control the vehicle to drive while ensuring the driving safety of the vehicle.

Description

Technical Field

[0001] The embodiments of the present invention relate to intelligent transportation technologies, and in particular, to a vehicle control method, apparatus, electronic device, and storage medium. Background Art

[0002] With the development of artificial intelligence technologies and the continuous progress of autonomous vehicle control technologies, during the process of a vehicle traveling based on relevant information of a planned route, many situations may be encountered, such as detecting an emergency ahead and being unable to continue traveling, or incorrect relevant information of the planned route, etc. Therefore, in order to avoid potential risks to driving safety and property losses caused by emergencies or incorrect planned route information, how to verify the relevant information of the planned route and further ensure the driving safety of the vehicle is an urgent problem to be solved currently. Summary of the Invention

[0003] The present invention provides a vehicle control method, apparatus, electronic device, and storage medium. By using the detection result obtained from active collision avoidance detection, the status information of the section to be traveled is verified, and the vehicle can be controlled to travel while ensuring the driving safety of the vehicle.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle control method, which includes:

[0005] During the vehicle driving process, obtain the status information of the section to be traveled sent by the controller;

[0006] According to the status information of the section to be traveled and the detection result obtained from active collision avoidance detection of the section to be traveled, perform status verification on the section to be traveled;

[0007] Control the vehicle to travel according to the status verification result.

[0008] In a second aspect, an embodiment of the present invention further provides a vehicle control apparatus, including:

[0009] An acquisition module, configured to obtain the status information of the section to be traveled sent by the controller during the vehicle driving process;

[0010] A verification module, configured to perform status verification on the section to be traveled according to the status information of the section to be traveled and the detection result obtained from active collision avoidance detection of the section to be traveled;

[0011] A control module, configured to control the vehicle to travel according to the status verification result.

[0012] In a third aspect, an embodiment of the present invention further provides an electronic device, which includes:

[0013] One or more processors;

[0014] A memory for storing one or more programs;

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method provided in any embodiment of the present invention.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the vehicle control method provided in any embodiment of the present invention is implemented.

[0017] In the embodiment of the present invention, during the vehicle driving process, the state information of the to-be-driven section sent by the controller is acquired, and according to the state information of the to-be-driven section and the detection result obtained by performing active anti-collision detection on the to-be-driven section, the state verification of the to-be-driven section is performed. Finally, according to the state verification result, the vehicle driving is controlled. By using the detection result obtained by active anti-collision detection to verify the state information of the to-be-driven section, the driving safety risk and potential property loss caused by unexpected situations or incorrect state information of the to-be-driven section during the vehicle driving process can be avoided, so as to control the vehicle driving while ensuring the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention;

[0019] Figure 2 It is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention;

[0020] Figure 3 It is a flowchart of a vehicle control method provided in Embodiment 3 of the present invention;

[0021] Figure 4A It is a flowchart of a vehicle control method provided in Embodiment 4 of the present invention;

[0022] Figure 4B It is a schematic diagram of train driving mode conversion provided in Embodiment 4 of the present invention;

[0023] Figure 5 It is a structural block diagram of a vehicle control device provided in Embodiment 5 of the present invention;

[0024] Figure 6 It is a schematic structural diagram of an electronic device provided in Embodiment 6 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only the parts related to the present invention rather than all the structures are shown in the drawings.

[0026] Embodiment 1

[0027] Figure 1 As shown in the flowchart of a vehicle control method provided in Embodiment 1 of the present invention, this embodiment is applicable to the situation of controlling vehicle driving, especially applicable to the situation of controlling the safe driving of the vehicle according to the result of verifying the section to be traveled. This method can be executed by a vehicle control device, which can be implemented in software and / or hardware and can be integrated into an electronic device configured on the vehicle.

[0028] In this embodiment, the vehicle end can interact with the controller to verify the status of the section to be traveled and control the vehicle to drive. Among them, the controller can be set beside the road or beside the railway track.

[0029] As Figure 1 shown, the vehicle control method provided in this embodiment specifically includes:

[0030] S101. During the driving process of the vehicle, obtain the status information of the section to be traveled sent by the controller.

[0031] Among them, the vehicle refers to a vehicle that can travel according to a planned route. Specifically, it can be an autonomous vehicle or a railway train, such as an ordinary train or a suspended maglev train. The section to be traveled refers to the route section that the vehicle is about to drive into. The status information of the section to be traveled can include an occupied state and an idle state. Specifically, the occupied state of the section to be traveled can include an illegal occupation state, an artificial occupation state, and an occupation state by other vehicles. The artificial occupation state refers to the state where the section is occupied due to the artificial blockage of the section to be traveled by relevant personnel. If the vehicle is a train, the dispatcher can manually input the starting position and the ending position of the blocked section, and update the status information corresponding to the blocked section to the occupied state. In addition, if it is an artificial blockage, it can only be released manually. The illegal occupation state refers to the occupied state of the driving section where the vehicle is located when the vehicle encounters an unexpected situation, such as an unknown obstacle. The occupation state by other vehicles refers to the state where the section to be traveled is occupied due to other vehicles being located in the section to be traveled. Correspondingly, the status information of the driving section in the occupation state by other vehicles can also include the identification information of the vehicle occupying the driving section, such as the ID number (Identity document) of the vehicle.

[0032] The to-be-traveled section may include at least one virtual sub-section pre-divided by the controller for its jurisdiction route. Correspondingly, the status information of the to-be-traveled section may include the status information and location information of each virtual sub-section included in the to-be-traveled section.

[0033] Optionally, during the vehicle's travel, the vehicle end (i.e., the vehicle's on-board device) can first determine the to-be-traveled section in real time, and according to the determined to-be-traveled section, send a request for obtaining the status information of the to-be-traveled section to the controller to obtain the status information of the to-be-traveled section sent by the controller; it can also directly send a request for obtaining the status information of the to-be-traveled section to the controller based on the vehicle's position and planned travel route, so that after the controller determines the to-be-traveled section of the vehicle, it further determines the status information of the vehicle's to-be-traveled section and feeds it back to the vehicle end, so that the vehicle end can obtain the status information of the to-be-traveled section sent by the controller.

[0034] Exemplarily, referring to Table 1, if the vehicle is a railway train, the status information of the to-be-traveled section received by the vehicle end sent by the controller can be displayed in the form of the following table:

[0035] Table 1. Status Information Table of the To-be-traveled Section

[0036]

[0037] Optionally, there are many ways to determine the to-be-traveled section. For example, one implementable way is: taking the travel section from the vehicle's current position to the end of the vehicle's planned travel route as the to-be-traveled section, that is, determining the to-be-traveled section. Another implementable way is: based on the distance that can be detected by the vehicle's active collision avoidance detection system and based on a preset rule, taking a part of the travel section from the vehicle's current position to the end of the vehicle's planned travel route (such as the travel section that can be detected by the active collision avoidance detection system) as the to-be-traveled section, that is, determining the to-be-traveled section.

[0038] Optionally, after receiving the status information acquisition request, the controller can determine the number of virtual sub-sections included in the to-be-traveled section of the vehicle, the location information of each virtual sub-section, and the real-time status information of each virtual sub-section according to the virtual sub-section division situation of all vehicle travel sections under management and the status information of all virtual sub-sections, that is, determine the status information of the to-be-traveled section, and further feed back the determined status information of the to-be-traveled section to the vehicle end. The vehicle end detects the status information of the to-be-traveled section fed back by the controller, that is, obtains the status information of the to-be-traveled section sent by the controller.

[0039] S102. Perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section and the detection result obtained by actively performing collision avoidance detection on the to-be-traveled section.

[0040] Among them, the detection result of active collision avoidance detection refers to the result obtained after detecting by using the active collision avoidance detection system configured on the vehicle. Specifically, the detection result includes the detection information of whether there are obstacles in the detectable driving section ahead detected by the active collision avoidance detection system. It should be noted that the active collision avoidance detection system configured on the vehicle may include detection devices for active collision avoidance to detect whether there are obstacles in front of the vehicle. Specifically, the detection devices may be common detection devices such as ultrasonic, lidar, digital camera, infrared or millimeter wave radar, and this embodiment does not limit this. State verification is to verify the state information of the to-be-driven section sent by the controller.

[0041] Optionally, after obtaining the state information of the to-be-driven section, the state information of the to-be-driven section and the detection result obtained by performing active collision avoidance detection on the to-be-driven section can be input into a pre-trained neural network model to perform state verification on the to-be-driven section and output the state verification result; or according to a preset rule, the state information of the to-be-driven section can be compared with the detection result obtained by performing active collision avoidance detection on the to-be-driven section to perform state verification on the to-be-driven section. Specifically, it can be determined whether the state information of the to-be-driven section sent by the controller is consistent with the state information of the to-be-driven section detected by the active collision avoidance detection system to perform state verification on the to-be-driven section.

[0042] S103. Control the vehicle to drive according to the state verification result.

[0043] Among them, the state verification result refers to the verification result of verifying the state information of the to-be-driven section of the vehicle. Specifically, the state verification result may include verification passed and verification failed. Controlling the vehicle to drive may include controlling the vehicle to stop, controlling the vehicle to continue driving according to the original planned route, and controlling the vehicle to drive according to a new planned route.

[0044] Optionally, if the status verification is passed and the status information of the section to be traveled sent by the controller is in the idle state, it indicates that the section to be traveled is passable. At this time, the vehicle can be controlled to continue driving according to the original planned route. If the status verification is passed and the status information of the section to be traveled sent by the controller is in the occupied state, it indicates that the section to be traveled is not passable. At this time, the vehicle can obtain a new planned route to drive. Specifically, it can obtain a new planned driving route from the controller or the dispatching center, or it can re-plan independently to obtain a new planned driving route, and further control the vehicle to drive according to the new planned route. If the status verification fails and the status information of the section to be traveled sent by the controller is in the occupied state, feedback to the controller to verify the latest status information of the section to be traveled, and control the vehicle to continue driving according to the original planned route. If the status verification fails and the status information of the section to be traveled sent by the controller is in the idle state, feedback to the controller to verify the latest status information of the section to be traveled, and control the vehicle to stop.

[0045] In the embodiment of the present invention, during the driving process of the vehicle, the status information of the section to be traveled sent by the controller is obtained. According to the status information of the section to be traveled and the detection result obtained by actively detecting the section to be traveled for anti-collision, the status of the section to be traveled is verified. Finally, according to the status verification result, the driving of the vehicle is controlled. In this way, the driving safety risk and potential property loss caused by unexpected situations or incorrect status information of the section to be traveled during the driving process of the vehicle can be avoided, so as to control the driving of the vehicle while ensuring the driving safety of the vehicle.

[0046] It should be noted that the controller in this embodiment is used to overall manage at least one vehicle and determine the status information of the driving sections of all the vehicles included in the management. Specifically, one feasible implementation method for the controller to determine the status information of the driving section is as follows: divide the driving sections of all the managed vehicles into multiple sub-virtual sections, that is, sub-sections, and obtain the vehicle positions of all the managed vehicles in real time (that is, the head positions of the vehicles). For each managed vehicle, according to the head position and the body length of the vehicle, determine the tail position of the vehicle, respectively determine the sub-sections to which the head position and the tail position of the vehicle belong, and further determine that the status information of the corresponding sub-section is in the occupied state. If the head positions of all the managed vehicles and the tail positions of the vehicles are not within a certain sub-section, determine that the status information of the sub-section is in the idle state. If the head position or the tail position of other vehicles drives into a sub-section in the idle state, update the status information of the sub-section to the occupied state. In this way, the controller can determine the real-time status information of all the sub-sections of the driving sections of all the managed vehicles.

[0047] Embodiment 2

[0048] Figure 2The flowchart of a vehicle control method provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment further elaborates on "performing status verification on the to-be-traveled section according to the status information of the to-be-traveled section and the detection result obtained by performing active anti-collision detection on the to-be-traveled section", as follows Figure 2 As shown, the vehicle control method provided in this embodiment specifically includes:

[0049] S201. During the vehicle driving process, obtain the status information of the to-be-traveled section sent by the controller.

[0050] S202. Perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section, the vehicle position, the active anti-collision detection distance, and the detection result obtained by performing active anti-collision detection on the to-be-traveled section.

[0051] Among them, the vehicle position refers to the position of the vehicle's head. The active anti-collision detection distance refers to the maximum distance that the active anti-collision detection system can detect.

[0052] Optionally, the status information of the to-be-traveled section, the vehicle position, the active anti-collision detection distance, and the detection result obtained by performing active anti-collision detection on the to-be-traveled section can be input into a pre-trained neural network model to perform status verification on the to-be-traveled section; or according to preset rules, analyze the status information of the to-be-traveled section, the vehicle position, the active anti-collision detection distance, and the detection result obtained by performing active anti-collision detection on the to-be-traveled section, that is, perform status verification on the to-be-traveled section. Specifically, performing status verification on the to-be-traveled section according to the status information of the to-be-traveled section, the vehicle position, the active anti-collision detection distance, and the detection result obtained by performing active anti-collision detection on the to-be-traveled section includes:

[0053] Determine the status verification interval of the to-be-traveled section according to the vehicle position and the active anti-collision detection distance; if the detection result obtained by performing active anti-collision detection on the to-be-traveled section is that there is no obstacle ahead, determine the status information of the status verification interval according to the positional relationship between the status verification interval and the sub-sections included in the to-be-traveled section; perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section and the status information of the status verification interval.

[0054] Among them, the status verification interval of the to-be-traveled section refers to the position interval where the vehicle conducts verification in the to-be-traveled section. Specifically, if the active anti-collision detection distance is greater than the section length of the to-be-traveled section, the status verification interval can be the interval from the current vehicle position to the end of the to-be-traveled section. If the active anti-collision detection distance is less than the section length of the to-be-traveled section, the status verification interval can be the interval between the current vehicle position and the limit position that the active anti-collision system can detect. The sub-sections included in the to-be-traveled section refer to the virtual sub-sections pre-divided by the controller included in the to-be-traveled section.

[0055] Specifically, after determining the status verification interval of the to-be-traveled section, if the detection result is that there is no obstacle ahead, at least one virtual sub-section overlapping with the status verification interval can be determined, and the status information of each virtual sub-section where the status verification interval is located is determined to be the idle state, that is, the status information of the status verification interval is determined according to the positional relationship between the status verification interval and the sub-sections included in the to-be-traveled section.

[0056] Optionally, after the vehicle terminal determines the status information of each virtual sub-section of the status verification interval, the status information of each corresponding sub-section in the status information of the to-be-traveled section sent by the controller can be compared with the status information of each corresponding virtual sub-section of the status verification interval to verify the status of the to-be-traveled section.

[0057] Exemplarily, if the vehicle position is x t , and the active anti-collision detection distance is L, the determined status verification interval of the to-be-traveled section is [x t , x t +L). If the detection result of active anti-collision detection on the to-be-traveled section is that there is no obstacle ahead, then further according to the values of x t and x t +L, it can be determined which virtual sub-section of the to-be-traveled section sent by the controller x t and x t +L are located in, that is, at least one virtual sub-section overlapping with the status verification interval is determined. Specifically, if x t is greater than or equal to x i , and less than x i+1 , it is determined that the vehicle is located in the i-th virtual sub-section. If x t +L is greater than or equal to x j , and less than x j+1, it is determined that the farthest virtual sub-section that the active anti-collision detection system can detect is the j-th virtual sub-section. Further, the virtual sub-sections from the (i + 1)-th to the (j - 1)-th are used as the virtual sub-sections overlapping with the status verification interval, and the status information of each virtual sub-section where the status verification interval is located (i.e., the virtual sub-sections from the (i + 1)-th to the (j - 1)-th) is determined to be the idle state. If the status information of each corresponding sub-section sent by the controller is also the idle state, the verification passes; if the status information of each corresponding sub-section sent by the controller is the occupied state, the verification fails.

[0058] It should be noted that in this way, an implementation manner for verifying the status of the to-be-traveled section is given, enabling the vehicle side to effectively verify the status information of the to-be-traveled section sent by the controller, thereby better ensuring the safety of vehicle travel.

[0059] S203. Control the vehicle to travel according to the status verification result.

[0060] Optionally, if the situation where the status verification fails is that the status verification of some virtual sub-sections of the to-be-traveled section fails, the vehicle can be controlled to stop before the virtual sub-section that fails the verification, that is, not to travel on the virtual sub-section that fails the verification. For the virtual sub-sections that pass the verification and whose status information is idle, the vehicle can be controlled to continue traveling.

[0061] In the embodiment of the present invention, after obtaining the status information of the to-be-traveled section sent by the controller, further according to the status information of the to-be-traveled section, the vehicle position, the active anti-collision detection distance, and the detection result obtained by performing active anti-collision detection on the to-be-traveled section, the status of the to-be-traveled section is verified. Finally, according to the status verification result, the vehicle is controlled to travel. In this way, more effective and accurate status verification can be performed, thereby better avoiding the driving safety risks and potential property losses caused by sudden situations during vehicle travel or incorrect status information of the to-be-traveled section, and realizing the control of vehicle travel while ensuring the driving safety of the vehicle.

[0062] Embodiment III

[0063] Figure 3 It is a flowchart of a vehicle control method provided by Embodiment III of the present invention. On the basis of the above embodiments, this embodiment further explains in detail the process of verifying the status of the to-be-traveled section when the detection result is that there is an obstacle ahead, as Figure 3 shown, the vehicle control method provided by this embodiment specifically includes:

[0064] S301. During the vehicle travel, obtain the status information of the to-be-traveled section sent by the controller.

[0065] S302. If the detection result of active anti-collision detection for the section to be traveled is that there is an obstacle ahead, then according to the detection result, determine the position of the obstacle.

[0066] Among them, an obstacle refers to an object that hinders the vehicle from continuing to move forward. Specifically, the obstacle can be another vehicle, or an obstacle caused by other unexpected situations such as a sign or a falling object. The obstacle position refers to the position representing the orientation of the obstacle. Specifically, the obstacle position can be longitude and latitude coordinates, or the relative position corresponding to the current position of the vehicle in the vehicle coordinate system. For example, if the detection result shows that there is an obstacle L1 meters ahead, and the vehicle position is x t , then the obstacle position can be expressed as x t +L1.

[0067] Specifically, if the active anti-collision detection system of the vehicle performs active anti-collision detection on the section to be traveled and the detection result is that there is an obstacle ahead, then the detection result can be further analyzed to extract the obstacle position from the detection result, or relevant position sensing devices can be used to detect again ahead to determine the obstacle position.

[0068] S303. According to the position relationship between the obstacle position and the sub-sections included in the section to be traveled, determine the status information of the sub-section to which the obstacle belongs.

[0069] Among them, the sub-section to which the obstacle belongs refers to the sub-section where the obstacle ahead detected by the vehicle end is located.

[0070] Optionally, after determining the obstacle position, the sub-section to which the obstacle belongs can be further determined according to the position of the obstacle and the position coordinate information of each sub-section included in the section to be traveled, and the status information of the sub-section to which the obstacle belongs is determined as the occupied state.

[0071] Exemplarily, if the obstacle position is expressed as x t +L1, then when x t +L1 is greater than or equal to x i , and less than x i+1 , it can be determined that the obstacle is located in the i-th sub-section, that is, the i-th sub-section is the sub-section to which the obstacle belongs, and the status information of the i-th sub-section is determined as the occupied state.

[0072] S304. According to the status information of the sub-section to which the obstacle belongs and the status information of the section to be traveled, perform status verification on the section to be traveled.

[0073] Optionally, after the vehicle end determines the status information of the sub-section to which the obstacle belongs, it can determine the status information of the corresponding sub-section in the to-be-traveled section sent by the controller according to the position information of the sub-section to which the obstacle belongs. Further, it compares the status information of the sub-section to which the obstacle belongs with the status information of the corresponding sub-section in the to-be-traveled section sent by the controller to determine whether they are consistent, that is, to perform status verification on the to-be-traveled section.

[0074] Specifically, since the status information of the sub-section to which the obstacle belongs is the occupied state, when it is determined that the status information of the corresponding sub-section in the to-be-traveled section sent by the controller is also the occupied state, it can be determined that the verification passes. When it is determined that the status information of the corresponding sub-section in the to-be-traveled section sent by the controller is the idle state, it can be determined that the verification fails.

[0075] S305. Control the vehicle to travel according to the status verification result.

[0076] Optionally, if the status verification fails and it is determined that the status information of the corresponding sub-section in the to-be-traveled section sent by the controller is the idle state, the determined obstacle position can be sent to the controller, and the vehicle can be controlled to stop in front of the obstacle, that is, control the vehicle to travel according to the status verification result.

[0077] In the embodiment of the present invention, after obtaining the status information of the to-be-traveled section sent by the controller, when it is further determined that the detection result is that there is an obstacle ahead, first, according to the detection result, the obstacle position is determined. According to the positional relationship between the obstacle position and the sub-sections included in the to-be-traveled section, the status information of the sub-section to which the obstacle belongs is determined. Then, according to the status information of the sub-section to which the obstacle belongs and the status information of the to-be-traveled section, the status verification of the to-be-traveled section is performed. Finally, according to the status verification result, the vehicle is controlled to travel. In this way, the process of how to perform status verification when the vehicle end detects an obstacle ahead is given, so as to effectively avoid the driving safety risks and potential property losses caused by unexpected situations or incorrect status information of the to-be-traveled section during the vehicle driving process, and control the vehicle to drive safely.

[0078] Embodiment 4

[0079] Figure 4A It is a flowchart of a vehicle control method provided by Embodiment 4 of the present invention. Figure 4B It is a schematic diagram of train driving mode conversion provided by Embodiment 4 of the present invention. On the basis of the above embodiment, this embodiment further gives a detailed explanation of "control the vehicle to travel according to the status verification result", as Figure 4A shown, the vehicle control method provided by this embodiment specifically includes:

[0080] S401. During the vehicle driving process, obtain the status information of the to-be-traveled section sent by the controller.

[0081] S402. Verify the status of the section to be traveled based on the status information of the section to be traveled and the detection result obtained by actively detecting collision prevention for the section to be traveled.

[0082] S403. Determine the vehicle driving mode according to the status verification result.

[0083] Among them, the vehicle driving mode may include an automatic driving mode and a manual driving mode.

[0084] Optionally, if the status verification result is passed and the previous driving mode of the vehicle is the manual driving mode, the manual driving mode can be upgraded to the automatic driving mode, that is, determine the vehicle driving mode. If the status verification result is passed and the previous driving mode of the vehicle is the automatic driving mode, it can be determined that the vehicle driving mode remains the automatic driving mode.

[0085] Optionally, if the previous driving mode of the vehicle is the automatic driving mode and the detection result is that there is no obstacle ahead, when it is determined that the status information of the section to be traveled is the occupied state, in order to ensure the safe driving of the vehicle, the vehicle can be controlled manually, that is, the automatic driving mode is downgraded to the manual driving mode. Correspondingly, according to the status verification result, determining the vehicle driving mode includes: if the status verification result is not passed, and the detection result obtained by actively detecting collision prevention for the section to be traveled is that there is no obstacle ahead, and the status information of the section to be traveled is the occupied state, then determine the vehicle driving mode as the manual driving mode.

[0086] Specifically, when the status verification result is not passed, that is, when the status information of the section to be traveled determined by the controller and the vehicle is inconsistent. Specifically, the detection result obtained by the vehicle side for actively detecting collision prevention is that there is no obstacle ahead, while the status information of the section to be traveled sent by the controller is the occupied state. At this time, the vehicle can continue to drive, but in order to ensure driving safety, the automatic driving mode needs to be downgraded to the manual driving mode, that is, determine the vehicle driving mode as the manual driving mode.

[0087] S404. Control the vehicle to drive according to the vehicle driving mode.

[0088] It should be noted that after the vehicle side controls the vehicle to drive through each sub-section, it can notify the controller to reset the status information of the corresponding sub-section. Specifically, it can send the vehicle position to the controller so that the controller can update the status information of the section that the vehicle has traveled based on the vehicle position.

[0089] Among them, the section that has been traveled refers to the virtual sub-section that the vehicle has traveled through.

[0090] Optionally, the vehicle end can send the real-time position of the vehicle to the controller after passing through each sub-section. The controller can determine the sub-sections that the vehicle has passed through based on the real-time position of the vehicle, and reset and clear the status information of the sub-sections that the vehicle has passed through. Specifically, the status information of the sub-section can be updated from the original occupied state to the idle state.

[0091] In this way, it can be ensured that the controller can update and manage the status information of the vehicle driving section in real time, and better ensure the safe driving of the vehicle.

[0092] Exemplarily, refer to Figure 4B , when the vehicle is a railway train, during the driving process, the vehicle may be in three different stages, as shown in Figure 4B (1), Figure 4B (2), and Figure 4B (3) respectively.

[0093] Optionally, as shown in Figure 4B (1), if the status verification result is passed, and the previous driving mode of the train is the automatic driving mode or the manual driving mode, and at the same time the status information of the next sub-section ahead is the idle state, it indicates that the train is in a driving condition at this time, and the train can maintain or upgrade to the automatic driving mode to control the train to drive.

[0094] Optionally, as shown in Figure 4B (2), when the detection result obtained by the vehicle end for active collision avoidance detection is that there is no obstacle ahead, and the status information of the section to be traveled sent by the controller is the occupied state, that is, the status verification result is not passed, the vehicle can continue to drive at this time. However, to ensure driving safety, the automatic driving mode needs to be downgraded to the manual driving mode, and the train operation safety is ensured by the driver.

[0095] Optionally, as shown in Figure 4B (3), when the train travels through a certain sub-section based on the manual driving mode, the status information of the traveled sub-section can be updated to the idle state. Specifically, the train position can be sent to the controller so that the controller can update the status information of the traveled section of the train to the idle state based on the train position.

[0096] Embodiment Five

[0097] Figure 5 This is the structural block diagram of a vehicle control device provided in Embodiment Five of the present invention. The vehicle control device provided in the embodiment of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0098] The vehicle control device may include an acquisition module 501, a verification module 502, and a control module 503.

[0099] Among them, the acquisition module 501 is configured to acquire the status information of the to-be-traveled section sent by the controller during the vehicle driving process;

[0100] The verification module 502 is configured to perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section and the detection result obtained by actively detecting collision prevention for the to-be-traveled section;

[0101] The control module 503 is configured to control the vehicle to travel according to the status verification result.

[0102] In the embodiment of the present invention, during the vehicle driving process, the status information of the to-be-traveled section sent by the controller is acquired, and according to the status information of the to-be-traveled section and the detection result obtained by actively detecting collision prevention for the to-be-traveled section, status verification is performed on the to-be-traveled section. Finally, according to the status verification result, the vehicle is controlled to travel. By using the detection result obtained by active collision prevention to verify the status information of the to-be-traveled section, the driving safety risk and potential property loss caused by unexpected situations or incorrect status information of the to-be-traveled section during the vehicle driving process can be avoided, so as to control the vehicle to travel while ensuring the driving safety of the vehicle.

[0103] Further, the verification module 502 may include:

[0104] The verification unit is configured to perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section, the vehicle position, the active collision prevention detection distance, and the detection result obtained by actively detecting collision prevention for the to-be-traveled section.

[0105] Further, the verification unit may include:

[0106] The section determination subunit is configured to determine the status verification section of the to-be-traveled section according to the vehicle position and the active collision prevention detection distance;

[0107] The information determination subunit is configured to, if the detection result obtained by actively detecting collision prevention for the to-be-traveled section is that there is no obstacle ahead, determine the status information of the status verification section according to the positional relationship between the status verification section and the sub-sections included in the to-be-traveled section;

[0108] The first verification subunit is configured to perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section and the status information of the status verification section.

[0109] Further, the verification unit further includes:

[0110] A position determination subunit, configured to determine the position of an obstacle according to the detection result if the detection result indicates that there is an obstacle ahead;

[0111] A status information determination subunit, configured to determine the status information of the sub-segment to which the obstacle belongs according to the positional relationship between the position of the obstacle and the sub-segments included in the to-be-traveled segment;

[0112] A second verification subunit, configured to perform status verification on the to-be-traveled segment according to the status information of the sub-segment to which the obstacle belongs and the status information of the to-be-traveled segment.

[0113] Further, the control module 503 includes:

[0114] A driving mode determination unit, configured to determine the vehicle driving mode according to the status verification result;

[0115] A vehicle control unit, configured to control the vehicle to travel according to the vehicle driving mode.

[0116] Further, the driving mode determination unit is specifically configured to:

[0117] If the status verification result is passed, and the detection result obtained by performing active anti-collision detection on the to-be-traveled segment indicates that there is no obstacle ahead, and the status information of the to-be-traveled segment is in an occupied state, determine that the vehicle driving mode is an artificial driving mode.

[0118] Further, the above device is further configured to:

[0119] Send the vehicle position to the controller, so that the controller updates the status information of the traveled segment of the vehicle based on the vehicle position.

[0120] Embodiment Six

[0121] Figure 6 It is a schematic structural diagram of an electronic device provided in Embodiment Six of the present invention, Figure 6 showing a block diagram of an exemplary device suitable for implementing the embodiments of the present invention. Figure 6 The device shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0122] As Figure 6 shown, the electronic device 12 is presented in the form of a general-purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0123] Bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor bus, or a local bus using any of a variety of bus architectures. By way of example, and not limitation, these architectures include the Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0124] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including both volatile and nonvolatile media, removable and non-removable media.

[0125] System memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory (cache 32). Electronic device 12 may further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, storage system 34 can be used for reading and writing non-removable, nonvolatile magnetic media ( Figure 6 not shown and typically called a "hard disk drive"). Although Figure 6 not shown in the figures, a disk drive for reading and writing a removable nonvolatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) can be provided. In these instances, each drive can be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of the various embodiments of the present invention.

[0126] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 42 generally carry out the functions and / or methods of the various embodiments described in the embodiments of the present invention.

[0127] The electronic device 12 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. Moreover, the electronic device 12 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As shown in the figure, the network adapter 20 communicates with other modules of the electronic device 12 through a bus 18. It should be understood that although Figure 6 is not shown, other hardware and / or software modules can be used in combination with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0128] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the vehicle control method provided by the embodiments of the present invention.

[0129] Embodiment Seven

[0130] Embodiment Seven of the present invention also provides a computer-readable storage medium, on which a computer program (or computer-executable instructions) is stored, and when the program is executed by a processor, it is used to execute the vehicle control method provided by the embodiments of the present invention.

[0131] The computer storage medium of the embodiments of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0132] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0133] The program code contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0134] The computer program code for performing the operations of the embodiments of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., by connecting through the Internet using an Internet service provider).

[0135] Note that the above is only the preferred embodiments of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments may be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A vehicle control method, characterized in that, The method includes: During the vehicle driving process, obtaining the status information of the to-be-driven section sent by the controller; the controller is used to overall manage at least one vehicle and determine the status information of the driving section of the vehicle included in the management; According to the status information of the to-be-driven section and the detection result obtained by actively detecting collision prevention for the to-be-driven section, performing status verification on the to-be-driven section, including: performing status verification on the to-be-driven section according to the status information of the to-be-driven section, vehicle position, active collision prevention detection distance, and the detection result obtained by actively detecting collision prevention for the to-be-driven section; Controlling the vehicle driving according to the status verification result, including: if the status verification passes and the status information of the to-be-driven section sent by the controller is in an occupied state, controlling the vehicle to drive according to the new planned route; if the status verification fails and the status information of the to-be-driven section sent by the controller is in an idle state, feeding back the latest status information of the to-be-driven section to the controller and controlling the vehicle to stop; Among them, performing status verification on the to-be-driven section according to the status information of the to-be-driven section, vehicle position, active collision prevention detection distance, and the detection result obtained by actively detecting collision prevention for the to-be-driven section, including: Determining the status verification interval of the to-be-driven section according to the vehicle position and the active collision prevention detection distance; If the detection result obtained by actively detecting collision prevention for the to-be-driven section is that there is no obstacle ahead, determining the status information of the status verification interval according to the positional relationship between the status verification interval and the sub-sections included in the to-be-driven section; Performing status verification on the to-be-driven section according to the status information of the to-be-driven section and the status information of the status verification interval.

2. The method according to claim 1, wherein It further includes: If the detection result is that there is an obstacle ahead, determining the obstacle position according to the detection result; Determining the status information of the sub-section to which the obstacle belongs according to the positional relationship between the obstacle position and the sub-sections included in the to-be-driven section; Performing status verification on the to-be-driven section according to the status information of the sub-section to which the obstacle belongs and the status information of the to-be-driven section.

3. The method according to claim 1, wherein Controlling the vehicle driving according to the status verification result, including: Determining the vehicle driving mode according to the status verification result; Controlling the vehicle driving according to the vehicle driving mode.

4. The method according to claim 3, wherein The determining the vehicle driving mode according to the status verification result includes: If the status verification result is not passed, the detection result obtained by actively detecting collision prevention for the to-be-driven section is that there is no obstacle ahead, and the status information of the to-be-driven section is in an occupied state, determining the vehicle driving mode to be the manual driving mode.

5. The method according to claim 1, characterized in that It further includes: Sending the vehicle position to the controller so that the controller updates the status information of the driven section of the vehicle based on the vehicle position.

6. A vehicle control device, characterized in that, It includes: An acquisition module, used to obtain the status information of the to-be-driven section sent by the controller during the vehicle driving process; The controller is used to overall manage at least one vehicle and determine the status information of the driving section of the vehicle included in the management; A verification module, configured to perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section and the detection result obtained by actively detecting collision prevention for the to-be-traveled section; A control module, configured to control the vehicle to travel according to the status verification result; Wherein, the verification module includes a verification unit, configured to perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section, the vehicle position, the active collision prevention detection distance, and the detection result obtained by actively detecting collision prevention for the to-be-traveled section; Wherein, the above device is further configured to: if the status verification is passed and the status information of the to-be-traveled section sent by the controller is an occupied state, control the vehicle to travel according to the new planned route; if the status verification fails and the status information of the to-be-traveled section sent by the controller is an idle state, feedback the latest status information of the to-be-traveled section to the controller and control the vehicle to stop; Wherein, the verification unit further includes: A section determination sub-unit, configured to determine the status verification section of the to-be-traveled section according to the vehicle position and the active collision prevention detection distance; An information determination sub-unit, configured to, if the detection result obtained by actively detecting collision prevention for the to-be-traveled section is that there is no obstacle ahead, determine the status information of the status verification section according to the positional relationship between the status verification section and the sub-sections included in the to-be-traveled section; A first verification sub-unit, configured to perform status verification on the to-be-traveled section according to the status information of the to-be-traveled section and the status information of the status verification section.

7. An electronic device, characterized in that, Comprising: One or more processors; A memory, configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle control method according to any one of claims 1-5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the vehicle control method according to any one of claims 1-5.

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