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

Abstract

The application discloses a vehicle control method, device, equipment and storage medium, the method comprises the following steps: according to the relevant parameters of vehicle, the planned travel route of the vehicle is divided into at least three virtual sections;The virtual section includes a station virtual section, a protection virtual section and a station virtual section;Determine the state information of the at least three virtual sections;According to the state information of the at least three virtual sections, the vehicle is controlled to travel.The application divides the planned travel route of the vehicle into at least three virtual sections, controls the vehicle to travel based on the state information of each virtual section, and guarantees the safety and stability of the vehicle travel.

Description

Technical Field

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

[0002] With the development of artificial intelligence technology and the continuous advancement of autonomous vehicle control technology, precise control of vehicle driving according to the vehicle's planned driving route can avoid the huge driving safety risks and property loss hazards caused by emergencies. Therefore, how to further refine the vehicle's planned driving route to ensure safer and more stable driving of the vehicle is an urgent problem that needs to be solved. Summary of the Invention

[0003] The present invention provides a vehicle control method, device, equipment and storage medium, which can divide the planned driving route of a vehicle into at least three virtual sections, so that the vehicle travels based on the status information of each virtual section, ensuring the safety and stability of the vehicle travel.

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

[0005] Dividing the planned driving route of the vehicle into at least three virtual sections according to relevant parameters of the vehicle; the virtual sections include a station virtual section, a protection virtual section, and an inter-station virtual section;

[0006] determining status information of the at least three virtual segments;

[0007] The vehicle is controlled to travel according to the status information of the at least three virtual sections.

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

[0009] a division module, configured to divide the planned driving route of the vehicle into at least three virtual sections according to relevant parameters of the vehicle; the virtual sections include a station virtual section, a protection virtual section, and an inter-station virtual section;

[0010] a determining module, configured to determine status information of the at least three virtual segments;

[0011] The control module is used to control the vehicle driving according to the status information of the at least three virtual sections.

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

[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 by any embodiment of the present invention.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the vehicle control method provided by any embodiment of the present invention.

[0017] This embodiment of the present invention divides the vehicle's planned route into at least three virtual segments based on relevant vehicle parameters; further determines status information for the at least three virtual segments; and finally controls vehicle travel based on the status information for the at least three virtual segments. By dividing the vehicle's planned route into at least three virtual segments and controlling vehicle travel based on the status information for each virtual segment, the present invention ensures safe and stable vehicle travel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A flow chart of a vehicle control method provided in Example 1 of the present invention;

[0019] Figure 2A A flow chart of a vehicle control method provided in Embodiment 2 of the present invention;

[0020] Figure 2B A schematic diagram of dividing virtual segments provided in the second embodiment of the present invention;

[0021] Figure 3A A flowchart of a vehicle control method provided in Example 3 of the present invention;

[0022] Figure 3B A schematic diagram of the active collision avoidance detection length provided in the third embodiment of the present invention;

[0023] Figure 4 A signaling diagram of a vehicle control method provided in Embodiment 4 of the present invention;

[0024] Figure 5 This is a structural block diagram of a vehicle control device provided in Embodiment 5 of the present invention;

[0025] Figure 6 This is a structural diagram of an electronic device provided in Example 6 of the present invention. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0027] Example 1

[0028] Figure 1 This is a flow chart of a vehicle control method provided in the first embodiment of the present invention. This embodiment is applicable to controlling vehicle driving, and is particularly applicable to controlling vehicle safe driving according to the status of divided virtual sections. The method can be executed by a vehicle control device, which can be implemented in software and / or hardware and can be integrated into electronic devices, such as a controller. The controller can be set beside the road or railway track, or set in the vehicle's on-board equipment. Figure 1 As shown, the vehicle control method provided in this embodiment specifically includes:

[0029] S101. Divide a planned driving route of a vehicle into at least three virtual sections according to relevant parameters of the vehicle.

[0030] Among them, the vehicle refers to a vehicle that can travel according to the planned route. Specifically, it can be an autonomous car or a railway train, such as an ordinary train or a suspended maglev train. The relevant parameters of the vehicle refer to parameters related to the vehicle's travel. Specifically, the relevant parameters of the vehicle may include the vehicle's body length, vehicle position, vehicle speed limit information, vehicle emergency deceleration, on-board system reaction time, vehicle active collision avoidance system reaction time and active collision avoidance detection length. Among them, the vehicle speed limit information may include interval speed limit value, station speed limit value, vehicle speed limit value and temporary speed limit value. The active collision avoidance system is a detection system installed in the vehicle to actively prevent the vehicle from colliding with other obstacles. The planned driving route of the vehicle is at least one route that includes information such as the vehicle's departure point, destination, departure time and arrival time.

[0031] A virtual segment is a route segment obtained by dividing the virtual route that a vehicle plans to travel according to certain rules. Specifically, a virtual segment can include a station virtual segment, a protection virtual segment, and an inter-station virtual segment. A station virtual segment refers to a virtual segment that includes a station in the divided virtual segment. An inter-station virtual segment refers to a virtual segment set between each station in the divided virtual segment, excluding the protection virtual segment. A protection virtual segment refers to a virtual segment in the divided virtual segment that is used to ensure the safety of the vehicle when transitioning between the station virtual segment and the inter-station virtual segment. For example, for railway trains, the protection virtual segment is specifically used to prevent the train from rushing through the exit signal and entering the next virtual segment.

[0032] It should be noted that the station in this embodiment may refer to a toll station for autonomous driving vehicles or other station areas where vehicles need to stop, or it may refer to various stations that a railway train passes through. This embodiment does not impose any restrictions on this.

[0033] Optionally, if the controller is set next to the road or railway track, after the vehicle's on-board equipment establishes a link with the controller, the controller can receive vehicle-related parameters sent by the vehicle's on-board equipment in real time; if the controller is set in the vehicle's on-board equipment, the controller can directly obtain the vehicle-related parameters stored in the storage unit.

[0034] Optionally, after obtaining the relevant parameters of the vehicle, the configuration scheme of the three virtual sections, namely the station virtual section, the protection virtual section and the inter-station virtual section, can be determined according to preset rules, and the vehicle's planned driving route can be divided into at least three virtual sections according to the configuration scheme; the relevant parameters of the vehicle can also be input into a pre-trained neural network model to output the division result of the vehicle's planned driving route, and the vehicle's planned driving route can be divided into at least three virtual sections according to the division result; the vehicle's planned driving route can also be divided directly into a station virtual section, a protection virtual section and an inter-station virtual section according to the relevant parameters of the vehicle.

[0035] S102: Determine status information of at least three virtual segments.

[0036] The virtual segment status information is information indicating whether a vehicle can pass through the corresponding virtual segment. The virtual segment status information includes occupied status information and idle status information.

[0037] Optionally, after the planned driving route of the vehicle is divided into at least three virtual segments, there are many ways to determine the status information of the at least three virtual segments. For example, one possible implementation method is: for each planned driving route, the controller can obtain the status information of each virtual segment on the planned driving route in real time, and determine whether each virtual segment is occupied or idle, that is, determine the status information of at least three virtual segments; another possible implementation method is: based on a pre-stored status information table of all virtual segments, query the table to determine whether each virtual segment is occupied or idle, that is, determine the status information of at least three virtual segments.

[0038] S103: Control the vehicle's travel according to the status information of at least three virtual sections.

[0039] Optionally, if there is one planned driving route, after determining the status information of at least three virtual segments of the planned driving route, the controller can directly control the vehicle driving based on the status information of at least three virtual segments of the planned driving route, and when it is determined that the status information of at least three virtual segments is idle state information.

[0040] Optionally, if there are at least two planned driving routes, after determining the status information of at least three virtual segments of each planned driving route, the controller can input the status information of at least two planned driving routes and each virtual segment in each driving route into a pre-trained neural network model, output an optimal driving route that can be passed, and control the vehicle driving according to the optimal driving route; the controller can also determine for each driving route whether the virtual segments belonging to the driving route are all in an idle state. If so, the driving route is used as a backup driving route, and further determine an optimal driving route that can be passed from the backup driving routes according to preset rules, and control the vehicle driving according to the optimal driving route.

[0041] Preferably, if the controller is located near a road or railway track, the controller can interact with a dispatch center to obtain a planned optimal vehicle route, and send the optimal route to the vehicle's onboard equipment to control the vehicle to travel according to the optimal route. The dispatch center is used to publish the planned optimal vehicle route.

[0042] Preferably, if the controller is set next to a road or a railway track, after the controller determines the status information of at least three virtual segments, it can directly and remotely control the vehicle's driving based on the status information of at least three virtual segments; it can also send the status information of at least three virtual segments to the vehicle's on-board equipment, so that the on-board equipment controls the vehicle's driving based on the status information of at least three virtual segments. This embodiment does not impose any restrictions on this.

[0043] This embodiment of the present invention divides the vehicle's planned route into at least three virtual segments based on relevant vehicle parameters; further determines status information for the at least three virtual segments; and finally controls vehicle travel based on the status information for the at least three virtual segments. In this way, the vehicle's planned route is divided into at least three virtual segments, and vehicle travel is controlled based on the status information for each virtual segment, ensuring safe and stable driving.

[0044] Example 2

[0045] Figure 2A This is a flow chart of a vehicle control method provided in Example 2 of the present invention. Figure 2BThis is a schematic diagram of dividing virtual segments provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment further explains in detail "dividing the planned driving route of the vehicle into at least three virtual segments according to relevant parameters of the vehicle". Figure 2A As shown, the vehicle control method provided in this embodiment specifically includes:

[0046] S201. Determine first configuration parameters of a station virtual section and second configuration parameters of a protection virtual section.

[0047] Configuration parameters include the number of segments and the length of the segments. The number of segments refers to the number of segments required for the planned route. Accordingly, the first configuration parameter for a station virtual segment may include the number of segments and the length of the station virtual segment. The second configuration parameter for a protection virtual segment may include the number of segments and the length of the protection virtual segment.

[0048] Optionally, the controller can determine the first configuration parameters of the station virtual section based on the planned driving route of the vehicle. Specifically, the number of stations that need to be passed through in the planned driving route and the name of each station can be determined first, and then the station length of the corresponding station can be obtained from the storage unit based on the name of each station. The number of stations can be used as the number of sections of the station virtual section, and the length of each station can be used as the section length of each station virtual section, that is, the first configuration parameters of the station virtual section are determined; the controller can also interact with the decision-making unit of the vehicle to obtain the number of sections and section length of the station virtual section, that is, determine the first configuration parameters of the station virtual section.

[0049] Optionally, after determining the first configuration parameters of the station virtual section, the second configuration parameters of the protection virtual section can be determined based on the first configuration parameters of the station virtual section. Specifically, the number of sections of the station virtual section can be used as the number of sections of the protection virtual section, or a multiple (double) of the number of sections of the station virtual section can be used as the number of sections of the protection virtual section. After determining the number of sections of the protection virtual section, the controller can determine the section length of the protection section according to actual needs, or directly use the preset section length as the section length of the protection section. After determining the number of sections and the section length of the protection virtual section, the second configuration parameters of the protection virtual section are determined.

[0050] S202: Determine third configuration parameters of the inter-station virtual section according to relevant parameters of the vehicle.

[0051] The third configuration parameter of the inter-station virtual segment may include the number of segments and the segment length of the inter-station virtual segment.

[0052] Optionally, the controller can calculate the relevant parameters of the vehicle according to preset calculation rules to determine the number of segments and the segment length of the virtual segment between stations, that is, determine the third configuration parameters of the virtual segment between stations; or the relevant parameters of the vehicle can be input into a pre-trained neural network model to output the third configuration parameters of the virtual segment between stations, that is, determine the third configuration parameters of the virtual segment between stations.

[0053] S203 : Divide the planned driving route of the vehicle into at least three virtual sections according to the first configuration parameter, the second configuration parameter, and the third configuration parameter.

[0054] Specifically, based on the number and length of station virtual segments in the first configuration parameter, a corresponding number and length of station virtual segments can be configured for the vehicle's planned route. If the number of segments in the second configuration parameter for protection virtual segments is an integer multiple of the number of station virtual segments greater than 1, a corresponding number of protection virtual segments are set around each station virtual segment according to a preset rule. For example, if the number of segments in the protection virtual segment is twice the number of station virtual segments, two protection virtual segments of the corresponding lengths in the second configuration parameter are set at both ends of each station virtual segment. If the number of segments in the second configuration parameter for protection virtual segments equals the number of station virtual segments, then one protection virtual segment of the corresponding length in the second configuration parameter is set at the exit end of each station virtual segment based on the vehicle's travel direction in the planned route. Based on the segment length and number of inter-station virtual segments in the third configuration parameter, the remaining route area, excluding the station virtual segment and the protection virtual segment, is divided into at least one inter-station virtual segment.

[0055] Preferably, see Figure 2B If the vehicle is a railway train, then according to the method provided in this embodiment, the planned driving route of the vehicle can be divided into at least three virtual sections, where: x2 Indicates the segment length of the virtual segment between stations, l x1 Indicates the length of the virtual section of the station, l 保 Indicates the segment length of the protected virtual segment.

[0056] S204: Determine status information of at least three virtual segments.

[0057] S205: Control the vehicle's travel according to the status information of at least three virtual sections.

[0058] This embodiment of the present invention determines first configuration parameters for a station virtual segment and second configuration parameters for a protection virtual segment. Based on relevant vehicle parameters, third configuration parameters are determined for an inter-station virtual segment. Furthermore, based on the first, second, and third configuration parameters, the planned route of the vehicle is divided into at least three virtual segments. Finally, vehicle travel is controlled based on status information from the at least three virtual segments. This embodiment provides a more refined solution for dividing the planned route into different types of virtual segments based on different configuration parameters. This improves the accuracy of the divided virtual segments, thereby ensuring the safety and stability of vehicle travel.

[0059] Example 3

[0060] Figure 3A This is a flow chart of a vehicle control method provided in Example 3 of the present invention. Figure 3B This is a schematic diagram of the active collision avoidance detection length provided in the third embodiment of the present invention. Based on the above embodiment, this embodiment further explains in detail "determining the third configuration parameter of the inter-station virtual section according to the relevant parameters of the vehicle". Figure 3A As shown, the vehicle control method provided in this embodiment specifically includes:

[0061] S301. Determine first configuration parameters of a station virtual section and second configuration parameters of a protection virtual section.

[0062] S302. Determine a value range of the section length of the inter-station virtual section based on relevant parameters of the vehicle.

[0063] Optionally, the relevant parameters of the vehicle can be input into a pre-trained model to output the value range of the section length of the virtual section between stations. The relevant parameters of the vehicle can also be calculated according to preset rules to determine the value range of the section length of the virtual section between stations. Specifically, the active collision avoidance speed limit value can be calculated based on the vehicle's emergency deceleration, the on-board system reaction time, the active collision avoidance system reaction time and the active collision avoidance detection length; the current speed limit value of the vehicle can be determined based on the active collision avoidance speed limit value, the interval speed limit value, the station speed limit value, the vehicle speed limit value and the temporary speed limit value; the value range of the section length of the virtual section between stations can be determined based on the current speed limit value of the vehicle, the body length of the vehicle, the on-board system reaction time, the active collision avoidance system reaction time and the active collision avoidance detection length.

[0064] Among them, the speed limit value is the maximum speed value allowed for the vehicle to travel. The active collision avoidance speed limit value is the speed limit value that prevents the vehicle from colliding with obstacles, such as other vehicles. It should be noted that controlling the vehicle's travel based on the active collision avoidance speed limit value can ensure that within the detection distance of the vehicle's active collision avoidance system, the vehicle can perform emergency braking and stop in front of the obstacle. The active collision avoidance detection length refers to the length pre-set by the vehicle's active collision avoidance detection system to detect the front of the vehicle to prevent the vehicle from colliding with the obstacle in front and being unable to stop in time.

[0065] Optional, see Figure 3B If the vehicle is a railway train, the active collision avoidance detection system can detect the direction of travel of the train ahead. 探 Is there any obstacle within the distance? 探 Refers to the active collision avoidance detection length.

[0066] For example, the active collision avoidance speed limit value v is calculated based on the vehicle emergency deceleration, the vehicle system reaction time, the active collision avoidance system reaction time, and the active collision avoidance detection length. max2 , can be based on the following formula:

[0067]

[0068] Among them, a 紧 Indicates the vehicle's emergency deceleration, l 探 represents the active collision avoidance detection length of the active collision avoidance system, t f1 Indicates the vehicle system reaction time, t f2 Active collision avoidance system reaction time.

[0069] Specifically, determine the active collision avoidance speed limit value v max2 The vehicle's virtual section can then be determined based on the vehicle's position in the relevant vehicle parameters, further determining the vehicle's current speed limit. Specifically, if the vehicle is in the station virtual section, the current speed limit is determined based on the active collision avoidance speed limit, the station speed limit, the vehicle speed limit, and the temporary speed limit. If the vehicle is in a section other than the station virtual section, the current speed limit is determined based on the active collision avoidance speed limit, the section speed limit, the vehicle speed limit, and the temporary speed limit.

[0070] For example, if the vehicle is located in the virtual section of the station, the current speed limit value v of the vehicle is determined based on the active collision avoidance speed limit value, the station speed limit value, the vehicle speed limit value, and the temporary speed limit value. max , can be calculated based on the following formula:

[0071] v max =max[v max2 , v max3 , v max4 , v max5 ]

[0072] Among them, v max2 Indicates the active collision avoidance speed limit value, v max3 Indicates the speed limit value within the station, v max4 Indicates the vehicle speed limit, v max5 Indicates the temporary speed limit.

[0073] For example, if the vehicle is located in a section other than the station virtual section, the current speed limit value v of the vehicle is determined based on the active collision avoidance speed limit value, the section speed limit value, the vehicle speed limit value, and the temporary speed limit value. max , can be calculated based on the following formula:

[0074] v max =max[v max1 , v max2 , v max4 , v max5 ]

[0075] Among them, v max2 Indicates the active collision avoidance speed limit value, v max1 Indicates the speed limit value of the interval, v max4 Indicates the vehicle speed limit, v max5 Indicates the temporary speed limit.

[0076] Optionally, before determining the value range of the segment length of the inter-station virtual segment, the preset conditions that the inter-station virtual segment should meet can be determined first, and then the value range of the segment length of the inter-station virtual segment can be determined based on the preset conditions. Exemplarily, the preset conditions that the inter-station virtual segment should meet can include at least the following four items: 1) the segment length of the inter-station virtual segment should not be less than the vehicle body length; 2) the setting of the segment length of the inter-station virtual segment should meet the reaction time of the vehicle's active collision avoidance equipment and on-board equipment; 3) since the active collision avoidance equipment is installed at the front of the vehicle, it can detect the obstacle as soon as it detects the rear end of the obstacle, so the difference between the inter-station virtual segment length and the active collision avoidance detection length is one vehicle body length; 4) the segment length of the inter-station virtual segment should not be greater than the active collision avoidance detection length. Specifically, according to the above preset conditions, the value range of the segment length of the virtual segment between stations is determined, including: according to the current speed limit value of the vehicle, the body length of the vehicle, the reaction time of the on-board system, the reaction time of the active collision avoidance system, and the active collision avoidance detection length, the value range of the segment length of the virtual segment between stations is determined. For example, the segment length l of the virtual segment between stations can be determined according to the following formula x2 The value range of is:

[0077]

[0078] That is, the range of the segment length of the inter-station virtual segment is:

[0079] l车 +v max (t f1 +t f2 )≤l x2 ≤l 探 -l 车 -v max (t f1 +t f2 ).

[0080] Among them, v max Indicates the current speed limit of the vehicle, l 车 Indicates the vehicle's body length, t f1 Indicates the vehicle system reaction time, t f2 Indicates the reaction time of the active collision avoidance system, l 探 Indicates the active collision avoidance detection length.

[0081] S303: Determine the segment length of the inter-station virtual segment according to the value range of the segment length of the inter-station virtual segment.

[0082] Optionally, after determining the value range of the segment length of the virtual segment between stations, the value range can be input into a pre-trained segment length determination model, so that the model performs screening within the value range of the segment length of the virtual segment between stations, and outputs the segment length that meets the preset conditions as the segment length of the virtual segment between stations, that is, determining the segment length of the virtual segment between stations.

[0083] Optionally, since the setting of the segment length of the inter-station virtual segment affects the operating efficiency of the vehicle, specifically, the longer the segment length, the lower the vehicle operating efficiency; the shorter the segment length, the higher the vehicle operating efficiency. At the same time, the smaller the segment length, the higher the frequency and the required amount of calculation required by the controller. Therefore, after determining the value range of the segment length of the inter-station virtual segment, the controller can analyze the impact of current driving on the vehicle's operating efficiency and the controller's computing power based on the current driving demand, and determine the optimal segment length of the inter-station virtual segment based on the value range of the segment length of the inter-station virtual segment as the segment length of the inter-station virtual segment, that is, determine the segment length of the inter-station virtual segment.

[0084] S304: Determine a value range of the number of inter-station virtual sections according to the section length of the inter-station virtual section, the section length of the protection virtual section, and vehicle-related parameters.

[0085] Specifically, the value range of the number m of inter-station virtual sections can be determined based on the section length of the inter-station virtual section, the section length of the protection virtual section, the current speed limit of the vehicle determined based on vehicle-related parameters, the vehicle body length, the onboard system response time, the active collision avoidance system response time, and the active collision avoidance detection length. For example, the value range of the number m of inter-station virtual sections can be determined using the following calculation formula:

[0086]

[0087] The number m of inter-station virtual segments is an integer. x2 Indicates the segment length of the inter-station virtual segment. max Indicates the current speed limit of the vehicle, l 车 Indicates the vehicle's body length, l 保 Indicates the segment length of the protected virtual segment, t f1 Indicates the vehicle system reaction time, t f2 Indicates the reaction time of the active collision avoidance system, l 探 Indicates the active collision avoidance detection length.

[0088] S305: Determine the number of segments of the inter-station virtual segment according to the value range of the number of segments of the inter-station virtual segment.

[0089] Optionally, after determining the value range of the number of segments of the inter-station virtual segment, the value range can be input into a pre-trained segment number determination model, so that the model performs screening within the value range of the number of segments of the inter-station virtual segment and outputs the number of segments that meets the preset conditions as the number of segments of the inter-station virtual segment, that is, determining the number of segments of the inter-station virtual segment.

[0090] Optionally, the controller may also obtain the number of segments manually selected by relevant personnel such as a dispatcher according to demand as the number of segments of the inter-station virtual segment, that is, determine the number of segments of the inter-station virtual segment.

[0091] S306 : Divide the planned driving route of the vehicle into at least three virtual sections according to the first configuration parameter, the second configuration parameter, and the third configuration parameter.

[0092] S307: Determine status information of at least three virtual segments.

[0093] S308. Control the vehicle's travel according to the status information of the at least three virtual segments.

[0094] After determining the first and second configuration parameters, the embodiment of the present invention further determines the range of values ​​for the segment length of the inter-station virtual segment based on relevant vehicle parameters, thereby determining the segment length of the inter-station virtual segment. Based on the segment length of the inter-station virtual segment, the segment length of the protection virtual segment, and relevant vehicle parameters, the range of values ​​for the number of inter-station virtual segments is determined, thereby determining the number of segments of the inter-station virtual segment. Thus, a third configuration parameter is determined. Finally, the three configuration parameters are used to divide the virtual segments, and vehicle travel is controlled based on the status information of the virtual segments. By further refining the method of determining the third configuration parameter using multiple parameters, the determined third configuration parameter is made more accurate, thereby improving the accuracy of the divided virtual segments and ensuring the safety and stability of vehicle travel.

[0095] Example 4

[0096] Figure 4 This is a signaling diagram of a vehicle control method provided by the fourth embodiment of the present invention. Based on the above embodiments, this embodiment provides a preferred example of controlling the vehicle's movement by interaction among the vehicle's onboard equipment, the controller, and the dispatching center when the controller is located on the road or railway track. Figure 4 As shown, the vehicle control method provided in this embodiment specifically includes:

[0097] S401: The vehicle-mounted device locates the vehicle position.

[0098] S402: The vehicle-mounted device sends a link establishment request to the controller.

[0099] S403: The controller responds to the link establishment request and determines a response result.

[0100] S404: The controller feeds back a response result to the vehicle-mounted device.

[0101] S405: The vehicle-mounted device determines relevant parameters of the vehicle based on the response result.

[0102] S406: The vehicle-mounted device sends relevant parameters of the vehicle to the controller.

[0103] S407: The controller determines relevant parameters of the vehicle.

[0104] S408: The controller sends a driving route acquisition request to the dispatch center.

[0105] S409: The dispatch center determines the planned driving route in response to the driving route acquisition request.

[0106] S410: The dispatch center sends the planned driving route to the controller.

[0107] S411. The controller divides the planned driving route of the vehicle into at least three virtual sections according to relevant parameters of the vehicle.

[0108] S412. The controller determines status information of at least three virtual segments.

[0109] S413: The controller sends status information of at least three virtual segments to the vehicle-mounted device.

[0110] S414. The vehicle-mounted device controls the vehicle driving according to the status information of at least three virtual segments.

[0111] In an embodiment of the present invention, after the controller obtains the relevant parameters of the vehicle sent by the on-board device, it can interact with the dispatch center based on the relevant parameters of the vehicle to obtain the planned driving route of the vehicle, and divide the planned driving route into at least three virtual segments. After determining the status information of each virtual segment, it sends it to the on-board device of the vehicle, so that the on-board device can control the vehicle based on the status information of the virtual segment and control the vehicle's driving. In this way, the safe driving of the vehicle according to the planned driving route can be ensured.

[0112] Example 5

[0113] Figure 5 This is a structural block diagram of a vehicle control device provided in Example 5 of the present invention. The vehicle control device provided in this embodiment of the present invention can execute a vehicle control method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0114] The vehicle control device may include a dividing module 501 , a determining module 502 , and a controlling module 503 .

[0115] The division module 501 is configured to divide the planned driving route of the vehicle into at least three virtual sections according to relevant parameters of the vehicle; the virtual sections include a station virtual section, a protection virtual section, and an inter-station virtual section;

[0116] A determination module 502, configured to determine status information of the at least three virtual segments;

[0117] The control module 503 is configured to control the vehicle's travel according to the status information of the at least three virtual sections.

[0118] This embodiment of the present invention divides the vehicle's planned route into at least three virtual segments based on relevant vehicle parameters; further determines status information for the at least three virtual segments; and finally controls vehicle travel based on the status information for the at least three virtual segments. In this way, the vehicle's planned route is divided into at least three virtual segments, and vehicle travel is controlled based on the status information for each virtual segment, ensuring safe and stable driving.

[0119] Furthermore, the division module 501 may include:

[0120] a parameter acquisition unit, configured to determine a first configuration parameter of the station virtual section and a second configuration parameter of the protection virtual section;

[0121] a parameter determination unit, configured to determine a third configuration parameter of the inter-station virtual section according to relevant parameters of the vehicle;

[0122] A division unit is used to divide the planned driving route of the vehicle into at least three virtual sections according to the first configuration parameter, the second configuration parameter and the third configuration parameter; wherein the configuration parameters include: the number of sections and the length of the sections.

[0123] Furthermore, the parameter determination unit may include:

[0124] a length range determining subunit, configured to determine a value range of the section length of the inter-station virtual section according to relevant parameters of the vehicle;

[0125] a length determination subunit, configured to determine the segment length of the inter-station virtual segment according to a value range of the segment length of the inter-station virtual segment;

[0126] a number range determination subunit, configured to determine a value range of the number of inter-station virtual sections according to the section length of the inter-station virtual section, the section length of the protection virtual section, and the vehicle-related parameters;

[0127] The quantity determination subunit is used to determine the number of segments of the inter-station virtual segment according to the value range of the number of segments of the inter-station virtual segment.

[0128] Furthermore, the length range determination subunit may include:

[0129] The anti-collision value calculation slave unit is used to calculate the active anti-collision speed limit value based on the vehicle's emergency deceleration, the vehicle system reaction time, the active anti-collision system reaction time and the active anti-collision detection length;

[0130] a current value determination slave unit, configured to determine a current speed limit value of the vehicle based on the active collision avoidance speed limit value, the section speed limit value, the station speed limit value, the vehicle speed limit value, and the temporary speed limit value;

[0131] The range determination slave unit is used to determine the value range of the segment length of the inter-station virtual segment based on the current speed limit value of the vehicle, the body length of the vehicle, the reaction time of the on-board system, the reaction time of the active collision avoidance system, and the active collision avoidance detection length.

[0132] Furthermore, the current value determination slave unit is specifically used for:

[0133] If the vehicle is located in the virtual section of the station, the current speed limit of the vehicle is determined based on the active collision avoidance speed limit, the station speed limit, the vehicle speed limit and the temporary speed limit.

[0134] Furthermore, the previous value determination slave unit is also used to:

[0135] If the vehicle is located in a section other than the station virtual section, the current speed limit of the vehicle is determined based on the active collision avoidance speed limit, the section speed limit, the vehicle speed limit and the temporary speed limit.

[0136] Furthermore, the state information of the virtual segment includes occupied state information and idle state information.

[0137] Example 6

[0138] Figure 6 This is a structural diagram of an electronic device provided in Example 6 of the present invention. Figure 6 A block diagram is shown of an exemplary apparatus suitable for implementing exemplary embodiments of the present invention. Figure 6 The device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0139] like Figure 6 As shown, electronic device 12 is implemented as a general-purpose computing device. Components of electronic device 12 may include, but are not limited to, one or more processors or processing units 16, system memory 28, and a bus 18 that connects various system components (including system memory 28 and processing unit 16).

[0140] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0141] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0142] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory (cache 32). The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be configured to read and write non-removable, non-volatile magnetic media ( Figure 6 Not shown, often called a "hard drive"). Although Figure 6 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data media interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0143] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 42 generally perform the functions and / or methods described in the embodiments of the present invention.

[0144] The electronic device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, a pointing device, a display 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and / or any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., 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, the network adapter 20 communicates with the other modules of the electronic device 12 via the bus 18. It should be understood that although Figure 6Not shown, other hardware and / or software modules may be used in conjunction 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.

[0145] 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 in the embodiment of the present invention.

[0146] Example 7

[0147] The seventh embodiment of the present invention further provides a computer-readable storage medium on which a computer program (or computer-executable instructions) is stored. When the program is executed by a processor, it is used to execute the vehicle control method provided in the embodiment of the present invention.

[0148] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with 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 thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by an instruction execution system, device or device or used in combination with it.

[0149] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0150] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0151] The computer program code for performing the operations of the embodiments of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate 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 can 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 can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet).

[0152] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection 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 comprises: Dividing the planned driving route of the vehicle into at least three virtual sections based on relevant parameters of the vehicle; the virtual sections include a station virtual section, a protection virtual section, and an inter-station virtual section; the planned driving route of the vehicle is at least one route including information on a vehicle departure point, a destination, a departure time, and an arrival time; determining status information of the at least three virtual segments; controlling the vehicle to travel according to the state information of the at least three virtual segments; The method further comprises: dividing the planned driving route of the vehicle into at least three virtual sections according to relevant parameters of the vehicle, including: determining first configuration parameters of the station virtual section and second configuration parameters of the protection virtual section; determining third configuration parameters of the inter-station virtual section according to relevant parameters of the vehicle; dividing the planned driving route of the vehicle into at least three virtual sections according to the first configuration parameters, the second configuration parameters, and the third configuration parameters; wherein the first configuration parameters, the second configuration parameters, and the third configuration parameters all include: the number of sections and the length of sections; Determining the first configuration parameter of the station virtual section includes: determining the number of stations to be passed in the planned travel route and the names of the respective stations; further obtaining the station lengths of the corresponding stations from a storage unit according to the names of the respective stations; using the number of stations as the number of sections of the station virtual section, and using the lengths of the respective stations as the section lengths of the respective station virtual sections; and determining the number of sections and the section lengths of the station virtual section as the first configuration parameter of the station virtual section; The determining of the third configuration parameter of the inter-station virtual section according to the relevant parameters of the vehicle includes: Determining a range of values ​​for the length of the inter-station virtual section based on the relevant parameters of the vehicle; determining the length of the inter-station virtual section based on the range of values ​​for the length of the inter-station virtual section; According to the segment length of the inter-station virtual segment, the segment length of the protection virtual segment, and the relevant parameters of the vehicle, based on the formula , determine the value range of the number of inter-station virtual segments; among them, the number of inter-station virtual segments is an integer; Indicates the segment length of the virtual segment between stations; Indicates the current speed limit of the vehicle; Indicates the vehicle's body length; Indicates the segment length of the protected virtual segment; Indicates the vehicle system response time; Indicates the reaction time of the active collision avoidance system; Indicates the active collision avoidance detection length; The number of segments of the inter-station virtual segment is determined according to a value range of the number of segments of the inter-station virtual segment.

2. The method according to claim 1, characterized in that Determining a value range of the segment length of the inter-station virtual segment based on the relevant parameters of the vehicle includes: Calculate the active collision avoidance speed limit value based on the vehicle's emergency deceleration, the vehicle system's reaction time, the active collision avoidance system's reaction time, and the active collision avoidance detection length; Determining the current speed limit of the vehicle based on the active collision avoidance speed limit, the section speed limit, the station speed limit, the vehicle speed limit, and the temporary speed limit; The value range of the section length of the inter-station virtual section is determined according to the current speed limit of the vehicle, the body length of the vehicle, the reaction time of the on-board system, the reaction time of the active collision avoidance system, and the active collision avoidance detection length.

3. The method according to claim 2, characterized in that The determining of the current speed limit of the vehicle according to the active collision avoidance speed limit, the section speed limit, the station speed limit, the vehicle speed limit, and the temporary speed limit includes: If the vehicle is located in the virtual section of the station, the current speed limit of the vehicle is determined based on the active collision avoidance speed limit, the station speed limit, the vehicle speed limit and the temporary speed limit.

4. The method according to claim 3, characterized in that The determining of the current speed limit of the vehicle according to the active collision avoidance speed limit, the section speed limit, the station speed limit, the vehicle speed limit, and the temporary speed limit further includes: If the vehicle is located in a section other than the station virtual section, the current speed limit of the vehicle is determined based on the active collision avoidance speed limit, the section speed limit, the vehicle speed limit and the temporary speed limit.

5. The method according to claim 1, wherein The state information of the virtual segment includes occupied state information and idle state information.

6. A vehicle control device, characterized in that: include: a division module, configured to divide the planned driving route of the vehicle into at least three virtual sections according to relevant parameters of the vehicle; the virtual sections include a station virtual section, a protection virtual section, and an inter-station virtual section; a determining module, configured to determine status information of the at least three virtual segments; a control module, configured to control the vehicle to travel according to the state information of the at least three virtual segments; The division module includes: a parameter acquisition unit for determining a first configuration parameter of the station virtual section and a second configuration parameter of the protection virtual section; a parameter determination unit for determining a third configuration parameter of the inter-station virtual section based on relevant parameters of the vehicle; a division unit for dividing the planned driving route of the vehicle into at least three virtual sections based on the first configuration parameter, the second configuration parameter, and the third configuration parameter; wherein the first configuration parameter, the second configuration parameter, and the third configuration parameter all include: the number of sections and the length of the section; the planned driving route of the vehicle is at least one route including information on the vehicle's departure point, destination, departure time, and arrival time; The parameter acquisition unit is specifically configured to: determine the number of stations to be passed through in the planned travel route and the name of each station; further, based on the name of each station, acquire the station length of the corresponding station from the storage unit; use the number of stations as the number of segments of the station virtual segment; use the length of each station as the segment length of each station virtual segment; and determine the number of segments and the segment length of the station virtual segment as the first configuration parameter of the station virtual segment; The parameter determination unit includes: a length range determining subunit, configured to determine a value range of the section length of the inter-station virtual section according to relevant parameters of the vehicle; a length determination subunit, configured to determine the segment length of the inter-station virtual segment according to a value range of the segment length of the inter-station virtual segment; The quantity range determination subunit is configured to determine the number of stations according to the length of the inter-station virtual section, the length of the protection virtual section, and the relevant parameters of the vehicle based on the formula , determine the value range of the number of inter-station virtual segments; among them, the number of inter-station virtual segments is an integer; Indicates the segment length of the virtual segment between stations; Indicates the current speed limit of the vehicle; Indicates the vehicle's body length; Indicates the segment length of the protected virtual segment; Indicates the vehicle system response time; Indicates the reaction time of the active collision avoidance system; Indicates the active collision avoidance detection length; The quantity determination subunit is used to determine the number of segments of the inter-station virtual segment according to the value range of the number of segments of the inter-station virtual segment.

7. An electronic device, characterized in that: include: one or more processors; a memory for storing 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 to 5.

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

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