Autopilot Vehicle Control Method, Device and Electronic Equipment

Abstract

The present disclosure provides a method, apparatus, and electronic device for controlling an autonomous vehicle, relating to the field of vehicle computing technology, and particularly to the fields of intelligent transportation and autonomous driving in vehicle technology. The specific implementation solution includes: receiving a first control instruction sent by a server, where the first control instruction is used to control the autonomous vehicle to bypass an obstacle when the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module of the autonomous vehicle; determining a second control instruction according to the first control instruction; and controlling the autonomous vehicle to bypass the obstacle according to the second control instruction.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle computing technologies, and particularly to the fields of intelligent transportation and autonomous driving in vehicle technologies. Specifically, it relates to a method, device, and electronic device for controlling an autonomous driving vehicle. Background Art

[0002] Autonomous driving vehicles are increasingly widely used in people's lives, bringing great convenience to people's lives. However, during the driving process of autonomous driving vehicles, autonomous driving vehicles are easily blocked by obstacles on the road, and autonomous driving vehicles cannot automatically bypass the obstacles under the control of the autonomous driving decision-making system. At this time, it is usually necessary to switch the autonomous driving vehicle to the manual driving mode to bypass the obstacles. Summary of the Invention

[0003] The present disclosure provides a method, device, and electronic device for controlling an autonomous driving vehicle.

[0004] According to a first aspect of the present disclosure, there is provided a method for controlling an autonomous driving vehicle, including:

[0005] Receiving a first control instruction sent by a server, where the first control instruction is used to control the autonomous driving vehicle to bypass an obstacle when the autonomous driving vehicle is blocked by the obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module of the autonomous driving vehicle;

[0006] Determining a second control instruction according to the first control instruction;

[0007] Controlling the autonomous driving vehicle to bypass the obstacle according to the second control instruction.

[0008] According to a second aspect of the present disclosure, there is provided a method for controlling an autonomous driving vehicle, including:

[0009] Obtaining a first control instruction sent by a target terminal, where the first control instruction is used to control the autonomous driving vehicle to bypass an obstacle when the autonomous driving vehicle is blocked by the obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module of the autonomous driving vehicle;

[0010] Sending the first control instruction to the autonomous driving decision-making module, where the first control instruction is used for the autonomous driving system decision-making module to determine a second control instruction, and the second control instruction is used to control the autonomous driving vehicle to bypass the obstacle.

[0011] According to a third aspect of the present disclosure, there is provided a method for controlling an autonomous driving vehicle, including:

[0012] The target electronic device sends distress information to the server. The distress information includes first information and second information. The first information is used to indicate that the target electronic device detects that the autonomous vehicle is blocked by an obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module of the autonomous vehicle. The second information is used to indicate the obstacle;

[0013] The server broadcasts the distress information to multiple auxiliary terminals;

[0014] The target terminal among the multiple auxiliary terminals determines a first control instruction for the distress information and replies the first control instruction to the server;

[0015] The server sends the first control instruction to the autonomous driving decision-making module of the autonomous vehicle;

[0016] The autonomous driving decision-making module determines a second control instruction according to the first control instruction;

[0017] The autonomous driving decision-making module controls the autonomous vehicle to bypass the obstacle according to the second control instruction.

[0018] According to a fourth aspect of the present disclosure, there is provided an autonomous vehicle control device, including:

[0019] A first receiving module, configured to receive a first control instruction sent by a server. The first control instruction is used to control the autonomous vehicle to bypass an obstacle when the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module of the autonomous vehicle;

[0020] A first determining module, configured to determine a second control instruction according to the first control instruction;

[0021] A first control module, configured to control the autonomous vehicle to bypass the obstacle according to the second control instruction.

[0022] According to a fifth aspect of the present disclosure, there is provided an autonomous vehicle control device, including:

[0023] An obtaining module, configured to obtain a first control instruction sent by a target terminal. The first control instruction is used to control the autonomous vehicle to bypass an obstacle when the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module of the autonomous vehicle;

[0024] A second sending module, configured to send the first control instruction to the autonomous driving decision module, where the first control instruction is used for the autonomous driving system decision module to determine a second control instruction, and the second control instruction is used to control the autonomous driving vehicle to bypass the obstacle.

[0025] According to a sixth aspect of the present disclosure, there is provided an autonomous driving vehicle control system, including: a target electronic device, a server, a plurality of auxiliary terminals, and an autonomous driving decision module of the autonomous driving vehicle;

[0026] Wherein, the target electronic device is configured to send distress information to the server, and the distress information includes first information and second information. The first information is used to indicate that the target electronic device detects that the autonomous driving vehicle is blocked by an obstacle, and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision module. The second information is used to indicate the obstacle;

[0027] The server is configured to broadcast the distress information to a plurality of auxiliary terminals;

[0028] A target terminal among the plurality of auxiliary terminals is configured to determine a first control instruction for the distress information and reply the first control instruction to the server;

[0029] The server is further configured to send the first control instruction to the autonomous driving decision module of the autonomous driving vehicle;

[0030] The autonomous driving decision module is configured to determine a second control instruction according to the first control instruction and control the autonomous driving vehicle to bypass the obstacle according to the second control instruction

[0031] According to a seventh aspect of the present disclosure, there is provided an electronic device, including:

[0032] At least one processor; and

[0033] A memory communicatively connected to the at least one processor; wherein,

[0034] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute any one of the methods in the first aspect, the second aspect, or the third aspect.

[0035] According to an eighth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause a computer to execute any one of the methods in the first aspect, the second aspect, or the third aspect.

[0036] According to a ninth aspect of the present disclosure, there is provided a computer program product including a computer program which, when executed by a processor, implements the method according to any one of the first, second, or third aspects.

[0037] According to a tenth aspect of the present disclosure, there is provided an autonomous vehicle including an electronic device as in the seventh aspect.

[0038] In an embodiment of the present disclosure, based on a first control instruction sent by a server, an autonomous driving decision-making module of the autonomous vehicle may determine a second control instruction, and control the autonomous vehicle to bypass an obstacle according to the second control instruction, that is, directly control the autonomous vehicle to bypass the obstacle without switching the autonomous vehicle to an artificial driving mode to bypass the obstacle, enhancing the intelligence level of the control method for the autonomous vehicle to bypass the obstacle, and at the same time improving the efficiency of the autonomous vehicle to bypass the obstacle.

[0039] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understandable through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is one of the flow diagrams of the autonomous vehicle control method provided by the embodiment of the present disclosure;

[0041] Figure 2 is another flow diagram of the autonomous vehicle control method provided by the embodiment of the present disclosure;

[0042] Figure 3a is the structural diagram of the autonomous vehicle control system provided by the embodiment of the present disclosure;

[0043] Figure 3b is a third flow diagram of the autonomous vehicle control method provided by the embodiment of the present disclosure;

[0044] Figure 4 is a first structural diagram of the autonomous vehicle control device provided by the embodiment of the present disclosure;

[0045] Figure 5 is a second structural diagram of the autonomous vehicle control device provided by the embodiment of the present disclosure;

[0046] Figure 6 is a third structural diagram of the autonomous vehicle control device provided by the embodiment of the present disclosure;

[0047] Figure 7 is a fourth structural diagram of the autonomous vehicle control device provided by the embodiment of the present disclosure;

[0048] Figure 8 It is the fifth schematic structural diagram of the automatic driving vehicle control device provided by an embodiment of the present disclosure;

[0049] Figure 9 It is the sixth schematic structural diagram of the automatic driving vehicle control device provided by an embodiment of the present disclosure;

[0050] Figure 10 It is a schematic block diagram of an exemplary electronic device for implementing the embodiments of the present disclosure. Detailed implementation manners

[0051] The following makes an explanation of exemplary embodiments of the present disclosure with reference to the accompanying drawings. Various details of the embodiments of the present disclosure are included to facilitate understanding, and they should be considered merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0052] Refer to Figure 1 , Figure 1 which is a flowchart of an automatic driving vehicle control method provided by an embodiment of the present disclosure. Figure 1 The automatic driving vehicle control method shown can be executed by an automatic driving decision-making module of an automatic driving vehicle. As Figure 1 shown, the automatic driving vehicle control method can include the following steps:

[0053] Step S101: Receive a first control instruction sent by a server. The first control instruction is used to control the automatic driving vehicle to bypass an obstacle when the automatic driving vehicle is blocked by the obstacle and the automatic driving vehicle cannot bypass the obstacle under the control of the automatic driving decision-making module of the automatic driving vehicle.

[0054] Among them, the specific type of the obstacle is not limited herein. For example, the obstacle can be an object such as a stone on the road, or the obstacle can also be a vehicle stopped on the road.

[0055] It should be noted that the vehicle stopped on the road above can be a vehicle stopped on the road due to a fault, or the vehicle stopped on the road above can also be a vehicle stopped in a parking space on the road.

[0056] Among them, the situation where the automatic driving decision-making module controls the automatic driving vehicle and cannot bypass the obstacle can include: the situation where the automatic driving decision-making module generates a driving route by obtaining information such as the distance, position, and direction between the automatic driving vehicle and the obstacle, and the above driving route cannot bypass the obstacle.

[0057] In addition, the situation where the autonomous driving decision-making module controls the autonomous driving vehicle to be unable to bypass an obstacle may further include: the autonomous driving decision-making module controls the autonomous driving vehicle to attempt to bypass the obstacle, but fails to bypass the obstacle, and the autonomous driving decision-making module predicts that if the autonomous driving vehicle continues to drive, there is a risk of collision between the autonomous driving vehicle and the obstacle.

[0058] Herein, the triggering mode of the first control instruction is not specifically limited herein. As an optional implementation manner, the server may be electrically connected to the target electronic device. When the target electronic device detects that the autonomous driving vehicle is blocked by an obstacle and the autonomous driving vehicle is unable to bypass the obstacle under the control of the autonomous driving decision-making module, the target electronic device may send the first control instruction to the autonomous driving decision-making module through the server. In this way, the target electronic device can monitor the state of the autonomous driving vehicle in real time and can issue the first control instruction according to the state of the autonomous driving vehicle, thereby saving the computing resources of the autonomous driving vehicle.

[0059] It should be noted that when the forward route of the autonomous driving vehicle is blocked by an obstacle and a target identifier is displayed on the display screen of the autonomous driving vehicle, the target electronic device may determine that the autonomous driving vehicle is detected to be blocked by an obstacle and the autonomous driving vehicle is unable to bypass the obstacle under the control of the autonomous driving decision-making module. The above target identifier may include an identifier of a target color or an identifier of a target content, which is not specifically limited herein.

[0060] The type of the above target electronic device is not specifically limited herein. For example, the target electronic device may include at least one of an in-vehicle terminal, a cloud server, a virtual web interface, and a simulation application program.

[0061] As another optional implementation manner, it further includes:

[0062] Sending distress information to the server, where the distress information includes first information and second information. The first information is used to indicate that the autonomous driving vehicle detects that the autonomous driving vehicle is blocked by the obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, and the second information is used to indicate the obstacle;

[0063] Receiving the first control instruction sent by the server includes:

[0064] Receiving the first control instruction replied by the server for the distress information.

[0065] Among them, the second information may include information such as the position, size, and shape of the obstacle.

[0066] Among them, after receiving the distress information, the server can directly generate a first control instruction based on the distress information and send the first control instruction to the autonomous driving decision-making module; alternatively, the server can also forward the distress information to other auxiliary terminals, so that the other auxiliary terminals generate a first control instruction based on the distress information, and then the server receives the first control instruction generated by the other auxiliary terminals and forwards the first control instruction to the autonomous driving decision-making module.

[0067] In the embodiments of the present disclosure, the autonomous driving decision-making module can monitor the state of the autonomous driving vehicle in real time. When the autonomous driving decision-making module finds that the autonomous driving vehicle is blocked by an obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, the autonomous driving decision-making module can actively send distress information to the server, and then receive the first control instruction sent by the server, so that the autonomous driving decision-making module can timely send distress information to the server to request assistance, and after receiving the first control instruction, it can control the autonomous driving vehicle to successfully bypass the obstacle, improving the efficiency and success rate of the autonomous driving vehicle bypassing the obstacle.

[0068] As an optional implementation manner, the first control instruction is used to control the autonomous driving vehicle to bypass the obstacle when the duration that the autonomous driving vehicle is blocked by the obstacle exceeds a preset duration and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module.

[0069] Among them, the specific value of the preset duration is not limited here. For example, the preset duration can be 30 seconds or 45 seconds, etc.

[0070] In the embodiments of the present disclosure, only when the duration that the autonomous driving vehicle is blocked by the obstacle exceeds the preset duration and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, the first control instruction sent by the server is received. In this way, the accuracy of the detection result of the autonomous driving vehicle being blocked by the obstacle can be improved, the occurrence of misjudgment phenomena can be reduced, and the consumption of computing resources can be reduced.

[0071] Step S102: Determine a second control instruction according to the first control instruction.

[0072] Among them, when receiving the first control instruction sent by the server and then determining the second control instruction according to the first control instruction, the state of the obstacle and the state of the autonomous driving vehicle may both change. If the autonomous driving vehicle is directly controlled according to the first control instruction, the autonomous driving vehicle may easily collide with the obstacle during driving.

[0073] Therefore, the first control instruction can be corrected to obtain a second control instruction, so that when bypassing an obstacle according to the second control instruction, it is more accurate and faster, reducing the occurrence of collisions between the autonomous vehicle and the obstacle.

[0074] Wherein, the specific manner of determining the second control instruction according to the first control instruction is not limited herein. For example: information can be supplemented to the first control instruction to obtain the second control instruction, or the first control instruction can be corrected to obtain the second control instruction.

[0075] As an alternative embodiment, the determination of the second control instruction according to the first control instruction includes:

[0076] Obtain the surrounding environment information of the autonomous vehicle;

[0077] Correct the first control instruction according to the surrounding environment information to obtain the second control instruction.

[0078] Wherein, the surrounding environment information may include: target information of vehicles, pedestrians, and obstacles around the autonomous vehicle, and the above target information may include at least one of information such as position, distance, whether it is moving, moving direction, and moving speed.

[0079] In the embodiments of the present disclosure, the surrounding environment information of the autonomous vehicle can be obtained, and the first control instruction can be corrected according to the surrounding information of the autonomous vehicle to obtain the second control instruction, so that when bypassing an obstacle according to the second control instruction, it is more accurate and faster, reducing the occurrence of collisions between the autonomous vehicle and objects in the surrounding environment.

[0080] It should be noted that the objects in the above surrounding environment may include information such as vehicles, pedestrians, and obstacles around the autonomous vehicle.

[0081] In addition, in this embodiment, when the autonomous driving decision-making module controls the autonomous vehicle to bypass an obstacle, it can determine whether there is a collision risk in real time according to the change of the surrounding environment information. When there is a collision risk, the first control instruction can be corrected according to the surrounding environment information, thereby reducing the occurrence of collision phenomena.

[0082] In addition, when the surrounding environment information changes, for example: when a pedestrian or a vehicle suddenly appears around the autonomous vehicle, the first control instruction can be corrected in real time according to the change of the surrounding environment information, thereby improving the correction efficiency of the control instruction and further improving the efficiency of the autonomous vehicle bypassing the obstacle.

[0083] It should be noted that the first control instruction and the second control instruction may be the same or opposite.

[0084] For example, when the first control instruction is the same as the second control instruction, the second control instruction can be understood as a control instruction obtained by supplementing and improving the first control instruction based on the surrounding environment information. In this way, the accuracy of the obtained second control instruction can be higher, and the autonomous driving vehicle can be controlled more efficiently and quickly to bypass obstacles.

[0085] Specifically, the first control instruction can refer to controlling the steering of the autonomous driving vehicle, while the second control instruction can include both an instruction for controlling the steering of the autonomous driving vehicle and an instruction for controlling the specific moving distance of the autonomous driving vehicle in each forward direction.

[0086] It should be noted that when the first control instruction is the same as the second control instruction, the autonomous driving decision-making module can send the first control instruction and the second control instruction to the server, so that both the first control instruction and the second control instruction can be stored on the server, which is convenient for subsequent training and iteration of the autonomous driving decision-making module, so that the control instruction issued by the autonomous driving decision-making module after training and iteration is more accurate and can directly control the autonomous driving vehicle to bypass obstacles.

[0087] Another example: when the first control instruction is opposite to the second control instruction, it indicates that the surrounding environment information changes greatly at this time, affecting the first control instruction, and the first control instruction needs to be corrected to the second control instruction opposite to the first control instruction.

[0088] It should be noted that when the first control instruction is opposite to the second control instruction, the autonomous driving vehicle can be controlled to bypass the obstacle according to the first control instruction first. If it cannot bypass, then the autonomous driving vehicle can be controlled to bypass the obstacle according to the second control instruction. In this way, the first control instruction sent by the server can be preferentially executed, that is, the control operation of the external control instruction on the autonomous driving vehicle is preferentially executed, avoiding the situation that when the control instruction of the autonomous driving decision-making module is incorrect, the control instruction of the autonomous driving decision-making module is preferentially executed and the obstacle cannot be bypassed all the time.

[0089] Step S103, control the autonomous driving vehicle to bypass the obstacle according to the second control instruction.

[0090] Among them, a Controller Area Network Bus (CAN Bus) layer can also be set on the autonomous driving vehicle, and the autonomous driving decision-making module can be electrically connected to the CAN Bus layer. In this way, the autonomous driving decision-making module realizes the control of the autonomous driving vehicle through the CAN Bus layer.

[0091] In an embodiment of the present disclosure, through steps S101 to S103, based on the first control instruction sent by the server, the automatic driving decision-making module of the autonomous vehicle can determine a second control instruction, and control the autonomous vehicle to bypass the obstacle according to the second control instruction, that is, directly control the autonomous vehicle to bypass the obstacle, without switching the autonomous vehicle to the manual driving mode to bypass the obstacle, which enhances the intelligence level of the control method for the autonomous vehicle to bypass the obstacle, and at the same time improves the efficiency of the autonomous vehicle to bypass the obstacle.

[0092] See Figure 2 , Figure 2 is a flowchart of another method for controlling an autonomous vehicle provided by an embodiment of the present disclosure. Figure 2 The shown method for controlling an autonomous vehicle can be executed by a server. As Figure 2 shown, the method for controlling an autonomous vehicle can include the following steps:

[0093] Step S201: Obtain a first control instruction sent by a target terminal, where the first control instruction is used to control the autonomous vehicle to bypass an obstacle when the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the automatic driving decision-making module of the autonomous vehicle.

[0094] Among them, the obstacle, the automatic driving decision-making module, and the first control instruction can respectively refer to the relevant expressions in the above embodiments, and will not be elaborated herein specifically.

[0095] Among them, the target terminal may refer to at least one of the auxiliary terminals included in the above embodiment. For example, the number of other auxiliary terminals may be multiple, and multiple auxiliary terminals may all send the first control instruction to the server, and the auxiliary terminal corresponding to the first control instruction received by the server first may be determined as the target terminal.

[0096] For another example, multiple auxiliary terminals may all send control instructions to the server. The server may receive the control instructions of the multiple auxiliary terminals and screen the control instructions of the multiple auxiliary terminals. The finally determined control instruction may be the first control instruction. The first control instruction may be the instruction with the highest accuracy or the shortest time for controlling the autonomous vehicle to bypass the obstacle among the multiple control instructions, and the auxiliary terminal corresponding to the first control instruction may be determined as the target terminal.

[0097] As an optional implementation manner, the first control instruction is used to control the autonomous vehicle to bypass an obstacle when the duration for which the autonomous vehicle is blocked by the obstacle exceeds a preset duration and the autonomous vehicle cannot bypass the obstacle under the control of the automatic driving decision-making module.

[0098] Wherein, the specific value of the preset duration is not limited herein. For example, the preset duration can be 30 seconds, 45 seconds, etc.

[0099] Wherein, the specific manner in which the server obtains the first control instruction sent by the target terminal is not limited herein. For example, the server can actively obtain the first control instruction sent by the target terminal, or the server can send distress information to the target terminal and then receive the first control instruction replied by the target terminal for the distress information.

[0100] In the embodiment of the present disclosure, when the duration that the autonomous vehicle is blocked by an obstacle exceeds the preset duration and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, the first control instruction sent by the target terminal is obtained. In this way, the accuracy of the detection result of the autonomous vehicle being blocked by an obstacle can be improved, the occurrence of misjudgment can be reduced, and the consumption of computing resources can be reduced.

[0101] As an alternative embodiment, it further includes:

[0102] Receiving distress information sent by the target electronic device, the distress information including a first piece of information and a second piece of information, the first piece of information being used to indicate that the target electronic device detects that the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, and the second piece of information being used to indicate the obstacle;

[0103] Broadcasting the distress information to a plurality of auxiliary terminals;

[0104] The obtaining of the first control instruction sent by the target terminal includes:

[0105] Obtaining the first control instruction replied by the target terminal among the plurality of auxiliary terminals for the distress information.

[0106] Wherein, when the forward route of the autonomous vehicle is blocked by an obstacle and a target identifier is displayed on the display screen of the autonomous vehicle, the target electronic device can determine that the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module. The above target identifier can include an identifier of a target color or an identifier of a target content, which is not limited specifically herein.

[0107] Wherein, the second piece of information can include information such as the position, size, and shape of the obstacle.

[0108] Among them, the target electronic device can be located on the server, on the autonomous vehicle, or on one side of the road. That is, the specific installation location of the target electronic device is not limited here. The above-mentioned target electronic device can also be referred to as a module for detecting that an autonomous vehicle is in trouble or an electronic device for detecting that an autonomous vehicle is in trouble.

[0109] In an embodiment of the present disclosure, the target electronic device detects the state of the autonomous vehicle. When it detects that the autonomous vehicle is blocked by an obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, it can send distress information to the server. In this way, the state of the autonomous vehicle can be monitored through the target electronic device, that is, the monitoring effect of the state of the autonomous vehicle is enhanced.

[0110] Step S202: Send the first control instruction to the autonomous driving decision-making module. The first control instruction is used for the autonomous driving system decision-making module to determine a second control instruction, and the second control instruction is used to control the autonomous vehicle to bypass the obstacle.

[0111] Among them, the specific method for determining the second control instruction according to the first control instruction can refer to the relevant descriptions in the above embodiments and will not be elaborated here.

[0112] In an embodiment of the present disclosure, through steps S201 to S202, based on the first control instruction sent by the server, the autonomous driving decision-making module of the autonomous vehicle can determine the second control instruction and control the autonomous vehicle to bypass the obstacle according to the second control instruction, that is, directly control the autonomous vehicle to bypass the obstacle without switching the autonomous vehicle to the manual driving mode to bypass the obstacle, which enhances the intelligent level of the control method for the autonomous vehicle to bypass the obstacle and also improves the efficiency of the autonomous vehicle to bypass the obstacle.

[0113] As Figure 3a shown, Figure 3a is a scenario diagram applicable to an embodiment of the present disclosure. As Figure 3a shown, it includes an autonomous driving decision-making module 31, a server 32, an auxiliary terminal 33, and a target electronic device 34 of the autonomous vehicle, and the autonomous driving decision-making module 31, the server 32, the auxiliary terminal 33, and the target electronic device 34 can be understood as constituting an autonomous driving system.

[0114] Among them, communication can be carried out between the autonomous driving decision-making module 31 and the server 32 for transmitting the dilemma information and the first control instruction in the above embodiments; communication can be carried out between the server 32 and the auxiliary terminal 33 for transmitting the dilemma information and the first control instruction in the above embodiments; communication can be carried out between the target electronic device 34 and the server 32 for transmitting the dilemma information in the above embodiments; when a CAN Bus layer 35 can also be provided on the autonomous driving vehicle, communication can be carried out between the autonomous driving decision-making module and the CAN Bus layer 35 for transmitting the second control instruction in the above embodiments.

[0115] Among them, the setting position of the target electronic device 34 is not limited here and can be set on one side of the road, on the server 32, or on the autonomous driving vehicle.

[0116] The auxiliary terminal 33 can be a mobile phone, a tablet personal computer, a laptop computer, a personal digital assistant (PDA), a mobile internet device (MID), a wearable device, or a vehicle-mounted device, etc. The server 32 can be a base station, an access and mobility management function (AMF), a relay, an access point, or other network elements, etc.

[0117] See Figure 3b , Figure 3b is a flowchart of a method for controlling an autonomous driving vehicle provided by an embodiment of the present disclosure. The execution subject of the embodiment of the present disclosure can be understood as an autonomous driving system composed of the autonomous driving decision-making module 31, the server 32, the auxiliary terminal 33, and the target electronic device 34. As Figure 3b shown, it includes the following steps:

[0118] Step S301: The target electronic device sends dilemma information to the server. The dilemma information includes a first piece of information and a second piece of information. The first piece of information is used to indicate that the target electronic device detects that the autonomous driving vehicle is blocked by an obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module. The second piece of information is used to indicate the obstacle.

[0119] Step S302: The server broadcasts the dilemma information to multiple auxiliary terminals.

[0120] Step S303. The target terminal among the multiple auxiliary terminals determines a first control instruction for the predicament information and replies to the server with the first control instruction.

[0121] Step S304. The server sends the first control instruction to the automatic driving decision module of the autonomous vehicle.

[0122] Step S305. The automatic driving decision module determines a second control instruction according to the first control instruction.

[0123] Step S306. The automatic driving decision module controls the autonomous vehicle to bypass the obstacle according to the second control instruction.

[0124] Among them, each feature of this embodiment can refer to the corresponding description in each of the above embodiments, and will not be elaborated here specifically.

[0125] In the embodiment of the present disclosure, based on the first control instruction sent by the server, the automatic driving decision module of the autonomous vehicle can determine a second control instruction, and control the autonomous vehicle to bypass the obstacle according to the second control instruction, that is, directly control the autonomous vehicle to bypass the obstacle, without switching the autonomous vehicle to the manual driving mode to bypass the obstacle, which enhances the intelligence level of the control method for the autonomous vehicle to bypass the obstacle, and also improves the efficiency of the autonomous vehicle to bypass the obstacle.

[0126] See Figure 4 , Figure 4 is a schematic structural diagram of an automatic driving vehicle control device provided by an embodiment of the present disclosure. As shown in FIG. 4, the automatic driving vehicle control device 400 includes:

[0127] A first receiving module 401, configured to receive a first control instruction sent by a server, where the first control instruction is used to control the autonomous vehicle to bypass an obstacle when the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the automatic driving decision module of the autonomous vehicle;

[0128] A first determining module 402, configured to determine a second control instruction according to the first control instruction;

[0129] A first control module 403, configured to control the autonomous vehicle to bypass the obstacle according to the second control instruction.

[0130] Optionally, as Figure 5 shown, the first determining module 402 includes:

[0131] An obtaining sub-module 4021, configured to obtain the surrounding environment information of the autonomous vehicle;

[0132] A correction sub-module 4022, configured to correct the first control instruction according to the surrounding environment information to obtain the second control instruction.

[0133] Optionally, as Figure 6 shown, it further includes:

[0134] A first sending module 404, configured to send distress information to the server, where the distress information includes a first piece of information and a second piece of information. The first piece of information is used to indicate that the autonomous driving vehicle detects that the autonomous driving vehicle is blocked by the obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, and the second piece of information is used to indicate the obstacle;

[0135] The first receiving module 401 is further configured to receive a first control instruction replied by the server for the distress information.

[0136] Optionally, the first control instruction is used to control the autonomous driving vehicle to bypass the obstacle when the duration of the autonomous driving vehicle being blocked by the obstacle exceeds a preset duration and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module.

[0137] The autonomous driving vehicle control device 400 provided by the present disclosure can implement Figure 1 each process implemented by the autonomous driving vehicle control method embodiment shown, and can achieve the same beneficial effects. To avoid repetition, details are not described herein again.

[0138] See Figure 7 , Figure 7 which is a schematic structural diagram of an autonomous driving vehicle control device provided by an embodiment of the present disclosure. As shown in FIG. 7, the autonomous driving vehicle control device 700 includes:

[0139] An acquisition module 701, configured to acquire a first control instruction sent by a target terminal, where the first control instruction is used to control the autonomous driving vehicle to bypass the obstacle when the autonomous driving vehicle is blocked by the obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module of the autonomous driving vehicle;

[0140] A second sending module 702, configured to send the first control instruction to the autonomous driving decision-making module, where the first control instruction is used for the autonomous driving system decision-making module to determine a second control instruction, and the second control instruction is used to control the autonomous driving vehicle to bypass the obstacle.

[0141] Optionally, the first control instruction is used to control the autonomous vehicle to bypass an obstacle when the duration for which the autonomous vehicle is blocked by the obstacle exceeds a preset duration and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module.

[0142] Optionally, referring to Figure 8 , further comprising:

[0143] A second receiving module 703, configured to receive distress information sent by a target electronic device, where the distress information includes first information and second information, the first information is used to indicate that the target electronic device detects that the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, and the second information is used to indicate the obstacle;

[0144] A first broadcasting module 704, configured to broadcast the distress information to a plurality of auxiliary terminals;

[0145] The obtaining module 701 is further configured to obtain a first control instruction replied by a target terminal among the plurality of auxiliary terminals for the distress information.

[0146] The autonomous vehicle control device 700 provided by the present disclosure can implement Figure 2 each process implemented by the autonomous vehicle control method embodiment shown, and can achieve the same beneficial effects. To avoid repetition, details are not described herein again.

[0147] The present disclosure embodiment further provides an autonomous vehicle control system, including: a target electronic device, a server, a plurality of auxiliary terminals, and an autonomous driving decision-making module of the autonomous vehicle;

[0148] It should be noted that the structure diagram of the autonomous vehicle control system provided by the present disclosure embodiment can be referred to Figure 3a as shown.

[0149] Wherein, the target electronic device is configured to send distress information to the server, the distress information includes first information and second information, the first information is used to indicate that the target electronic device detects that the autonomous vehicle is blocked by an obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, and the second information is used to indicate the obstacle;

[0150] The server is configured to broadcast the distress information to a plurality of auxiliary terminals;

[0151] The target terminal among the plurality of auxiliary terminals is configured to determine a first control instruction for the distress information and reply the first control instruction to the server;

[0152] The server is further configured to send the first control instruction to the automatic driving decision-making module of the automatic driving vehicle;

[0153] The automatic driving decision-making module is configured to determine a second control instruction according to the first control instruction, and control the automatic driving vehicle to bypass the obstacle according to the second control instruction.

[0154] The automatic driving vehicle control system provided by the present disclosure can implement Figure 3b each process implemented by the embodiment of the automatic driving vehicle control method shown, and can achieve the same beneficial effects. To avoid repetition, details are not described herein again.

[0155] See Figure 9 , Figure 9 which is a schematic structural diagram of an automatic driving vehicle control device provided by an embodiment of the present disclosure. As shown in FIG. 9, the automatic driving vehicle control device 900 includes:

[0156] A third sending module 901, configured to send distress information to a server by a target electronic device, where the distress information includes a first piece of information and a second piece of information. The first piece of information is used to indicate that the target electronic device detects that the automatic driving vehicle is blocked by an obstacle, and the automatic driving vehicle cannot bypass the obstacle under the control of the automatic driving decision-making module. The second piece of information is used to indicate the obstacle;

[0157] A second broadcasting module 902, configured to broadcast the distress information by the server to a plurality of auxiliary terminals;

[0158] A reply module 903, configured to determine a first control instruction of the distress information by a target terminal among the plurality of auxiliary terminals, and reply the first control instruction to the server;

[0159] A fourth sending module 904, configured to send the first control instruction by the server to the automatic driving decision-making module of the automatic driving vehicle;

[0160] A second determining module 905, configured to determine a second control instruction by the automatic driving decision-making module according to the first control instruction;

[0161] A second control module 906, configured to control the automatic driving vehicle to bypass the obstacle by the automatic driving decision-making module according to the second control instruction.

[0162] The automatic driving vehicle control device 900 provided by the present disclosure can implement Figure 3b each process implemented by the embodiment of the automatic driving vehicle control method shown, and can achieve the same beneficial effects. To avoid repetition, details are not described herein again.

[0163] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0164] Figure 10 FIG. shows a schematic block diagram of an exemplary electronic device 1000 that may be used to implement embodiments of the present disclosure. The electronic device is intended to represent various forms of digital computers, such as, for example, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, for example, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0165] As Figure 10 shown, the device 1000 includes a computing unit 1001 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the device 1000 may also be stored. The computing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0166] A plurality of components in the device 1000 are connected to the I / O interface 1005, including: an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a magnetic disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the device 1000 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0167] The computing unit 1001 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1001 executes the various methods and processes described above, such as the autonomous vehicle control method. For example, in some embodiments, the autonomous vehicle control method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1008. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded into the RAM 1003 and executed by the computing unit 1001, one or more steps of the autonomous vehicle control method described above can be executed. Alternatively, in other embodiments, the computing unit 1001 can be configured to execute the autonomous vehicle control method by any other suitable means (e.g., by means of firmware).

[0168] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), system-on-a-chip systems (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0169] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program code is executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0170] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0171] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0172] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0173] A computer system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is generated by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0174] As an alternative embodiment, the embodiments of the present disclosure further provide an autonomous vehicle, including an electronic device as shown in Figure 10 The figure, and the installation position of the electronic device in the autonomous vehicle is not limited herein. Thus, since the autonomous vehicle includes the above-mentioned electronic device, it has the same beneficial technical effects as the above-mentioned electronic device, and the specific structure of the electronic device can be referred to the above-related description, which will not be elaborated herein.

[0175] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present disclosure can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, which is not limited herein.

[0176] The above specific embodiments do not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A method for controlling an autonomous driving vehicle, which is applied to a server. The method includes: Obtaining a first control instruction sent by a target terminal, where the first control instruction is used to control the autonomous driving vehicle to bypass an obstacle when the autonomous driving vehicle is blocked by the obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision module of the autonomous driving vehicle; Sending the first control instruction to the autonomous driving decision module, where the first control instruction is used for the autonomous driving system decision module to determine a second control instruction, and the second control instruction is used to control the autonomous driving vehicle to bypass the obstacle; The first control instruction is used to control the autonomous driving vehicle to bypass the obstacle when the duration that the autonomous driving vehicle is blocked by the obstacle exceeds a preset duration and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision module; When the first control instruction and the second control instruction are opposite, controlling the autonomous driving vehicle to bypass the obstacle according to the first control instruction. If it cannot bypass, controlling the autonomous driving vehicle to bypass the obstacle according to the second control instruction; Receiving distress information sent by a target electronic device, where the distress information includes a first piece of information and a second piece of information. The first piece of information is used to indicate that the target electronic device detects that the autonomous driving vehicle is blocked by the obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, and the second piece of information is used to indicate the obstacle. Here, the target electronic device is located on the server or on one side of the road; Broadcasting the distress information to a plurality of auxiliary terminals; The obtaining the first control instruction sent by the target terminal includes: Obtaining the first control instruction replied by the target terminal among the plurality of auxiliary terminals for the distress information; Wherein, the first control instruction is the instruction with the highest accuracy or the shortest time for controlling the autonomous driving vehicle to bypass the obstacle among a plurality of control instructions, and the auxiliary terminal corresponding to the first control instruction is the target terminal.

2. The method according to claim 1, wherein When the first control instruction and the second control instruction are the same, the server receives the first control instruction and the second control instruction simultaneously; The server is used to store the first control instruction and the second control instruction for training iteration of the autonomous driving decision module.

3. A method for controlling an autonomous driving vehicle, including: A target electronic device sends distress information to a server, where the distress information includes a first piece of information and a second piece of information. The first piece of information is used to indicate that the target electronic device detects that the autonomous driving vehicle is blocked by an obstacle and the autonomous driving vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, and the second piece of information is used to indicate the obstacle. Here, the target electronic device is located on the server or on one side of the road; The server broadcasts the distress information to a plurality of auxiliary terminals; The target terminal among the multiple auxiliary terminals determines a first control instruction for the predicament information and replies the first control instruction to the server; The server sends the first control instruction to the autonomous driving decision module of the autonomous vehicle, where the first control instruction is the instruction with the highest accuracy among multiple control instructions or the instruction that takes the shortest time to control the autonomous vehicle to bypass the obstacle, and the auxiliary terminal corresponding to the first control instruction is the target terminal; The autonomous driving decision module determines a second control instruction according to the first control instruction; The autonomous driving decision module controls the autonomous vehicle to bypass the obstacle according to the second control instruction; The first control instruction is used to control the autonomous vehicle to bypass the obstacle when the duration that the autonomous vehicle is blocked by the obstacle exceeds a preset duration and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module; When the first control instruction and the second control instruction are opposite, control the autonomous vehicle to bypass the obstacle according to the first control instruction. If it cannot be bypassed, control the autonomous vehicle to bypass the obstacle according to the second control instruction.

4. An autonomous vehicle control device, comprising: An acquisition module, configured to acquire a first control instruction sent by a target terminal, where the first control instruction is used to control the autonomous vehicle to bypass the obstacle when the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module of the autonomous vehicle; A second sending module, configured to send the first control instruction to the autonomous driving decision module, where the first control instruction is used for the autonomous driving system decision module to determine a second control instruction, and the second control instruction is used to control the autonomous vehicle to bypass the obstacle; The first control instruction is used to control the autonomous vehicle to bypass the obstacle when the duration that the autonomous vehicle is blocked by the obstacle exceeds a preset duration and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module; When the first control instruction and the second control instruction are opposite, control the autonomous vehicle to bypass the obstacle according to the first control instruction. If it cannot be bypassed, control the autonomous vehicle to bypass the obstacle according to the second control instruction; It further comprises: A second receiving module, configured to receive predicament information sent by a target electronic device, where the predicament information includes a first piece of information and a second piece of information. The first piece of information is used to indicate that the target electronic device detects that the autonomous vehicle is blocked by the obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision module, and the second piece of information is used to indicate the obstacle, where the target electronic device is located on the server or on one side of the road; A first broadcasting module, configured to broadcast the predicament information to multiple auxiliary terminals; The obtaining module is further configured to obtain a first control instruction replied by a target terminal among the multiple auxiliary terminals for the predicament information; The first control instruction is the instruction with the highest accuracy or the shortest time for controlling the autonomous vehicle to bypass the obstacle among the multiple control instructions, and the auxiliary terminal corresponding to the first control instruction is the target terminal.

5. The automatic driving vehicle control device according to claim 4, wherein, When the first control instruction is the same as the second control instruction, the server receives the first control instruction and the second control instruction simultaneously; The server is configured to store the first control instruction and the second control instruction to perform training iteration on the autonomous driving decision-making module.

6. An autonomous vehicle control system, comprising: A target electronic device, a server, multiple auxiliary terminals, and an autonomous driving decision-making module of an autonomous vehicle; The target electronic device is configured to send predicament information to the server, where the predicament information includes a first piece of information and a second piece of information. The first piece of information is used to indicate that the target electronic device detects that the autonomous vehicle is blocked by an obstacle and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module, and the second piece of information is used to indicate the obstacle. The target electronic device is located on the server or on one side of the road; The server is configured to broadcast the predicament information to multiple auxiliary terminals; The target terminal among the multiple auxiliary terminals is configured to determine a first control instruction for the predicament information and reply the first control instruction to the server; The server is further configured to send the first control instruction to the autonomous driving decision-making module of the autonomous vehicle, where the first control instruction is the instruction with the highest accuracy or the shortest time for controlling the autonomous vehicle to bypass the obstacle among the multiple control instructions, and the auxiliary terminal corresponding to the first control instruction is the target terminal; The autonomous driving decision-making module is configured to determine a second control instruction according to the first control instruction and control the autonomous vehicle to bypass the obstacle according to the second control instruction; The first control instruction is used to control the autonomous vehicle to bypass the obstacle when the time for which the autonomous vehicle is blocked by the obstacle exceeds a preset time and the autonomous vehicle cannot bypass the obstacle under the control of the autonomous driving decision-making module; When the first control instruction is opposite to the second control instruction, the autonomous vehicle is controlled to bypass the obstacle according to the first control instruction. If it cannot bypass the obstacle, the autonomous vehicle is controlled to bypass the obstacle according to the second control instruction.

7. An electronic device, comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the method according to any one of claims 1-3.

8. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to execute the method according to any one of claims 1-3.

9. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 - 3.

10. An autonomous vehicle comprising the electronic device according to claim 7.

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