A vehicle, an autonomous driving control method and a device thereof

Abstract

The present invention provides a vehicle, as well as an automatic driving control method and device. The above-mentioned automatic driving control method includes: obtaining the real-time lateral vehicle speed and the real-time longitudinal vehicle speed of the vehicle; determining the lateral preview time according to the real-time lateral vehicle speed, and determining the longitudinal preview time according to the real-time longitudinal vehicle speed; determining the real-time preview time according to the lateral preview time and the longitudinal preview time; and performing single-point preview control with the real-time preview time as the control quantity. By dynamically adjusting the preview time, the present invention can effectively solve the single-point preview control requirements for the entire domain scenario, can very flexibly match any single scenario, thereby improving the adaptability and robustness of the control ability.

Description

Technical Field

[0001] The present invention relates to the field of automobiles, and particularly to a vehicle with an automatic driving function, as well as an automatic driving control method and device. Background Art

[0002] Currently, the design of the single-point preview control algorithm for autonomous vehicles only supports single-point preview with a fixed time length or preview distance, and cannot adjust the preview requirements in real time according to the vehicle state, resulting in the existing single-point preview control only being able to meet the control requirements of a single scenario and unable to meet the control needs of the entire domain scenario.

[0003] In view of this, it is desirable to provide an automatic driving control method that can meet the single-point preview control requirements of the entire domain scenario to improve the adaptability and robustness of the control ability. Summary of the Invention

[0004] The following gives a brief overview of one or more aspects to provide a basic understanding of these aspects. This overview is not an exhaustive survey of all contemplated aspects, and is neither intended to identify the key or decisive elements of all aspects nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that follows.

[0005] To solve the problem in the prior art that the single-point preview control algorithm only supports single-point preview with a fixed time length or preview distance and has a single applicable scenario, the present invention provides a vehicle with an automatic driving function, as well as an automatic driving control method and device.

[0006] The automatic driving control method provided by one aspect of the present invention includes: obtaining the real-time lateral vehicle speed and real-time longitudinal vehicle speed of the vehicle; determining the lateral preview time according to the real-time lateral vehicle speed, and determining the longitudinal preview time according to the real-time longitudinal vehicle speed; determining the real-time preview time according to the lateral preview time and the longitudinal preview time; and performing single-point preview control with the real-time preview time as the control quantity.

[0007] In an embodiment of the above automatic driving control method, optionally, determining the lateral preview time according to the real-time lateral vehicle speed and determining the longitudinal preview time according to the real-time longitudinal vehicle speed further includes: determining the lateral preview time according to the real-time lateral vehicle speed and a preset lateral interpolation curve; and determining the longitudinal preview time according to the real-time longitudinal vehicle speed and a preset longitudinal interpolation curve.

[0008] In an embodiment of the above automatic driving control method, optionally, the preset lateral interpolation curve and the preset longitudinal interpolation curve are generated according to the by-wire performance data sampled from the vehicle in advance.

[0009] In an embodiment of the above-mentioned automatic driving control method, optionally, the lateral interpolation curve and / or the longitudinal interpolation curve includes multiple segments, and the curvatures or slopes between the segments are different from each other.

[0010] In an embodiment of the above-mentioned automatic driving control method, optionally, determining the real-time preview time according to the lateral preview time and the longitudinal preview time further includes: determining the real-time preview time by weighting the lateral preview time and its preset lateral weight and the longitudinal preview time and its preset longitudinal weight.

[0011] In an embodiment of the above-mentioned automatic driving control method, optionally, performing single-point preview control with the real-time preview time as the control quantity further includes: determining the preview point position information according to the real-time preview time and the target path; determining the control parameters of the vehicle according to the current position information of the vehicle and the preview point position information; and controlling the vehicle to drive automatically according to the control parameters.

[0012] In an embodiment of the above-mentioned automatic driving control method, optionally, the control parameters include one or more of the steering wheel control angle, the steering wheel control torque, and the steering wheel control angular velocity.

[0013] Another aspect of the present invention further provides an automatic driving control device, including: at least one processor; and a memory coupled to the at least one processor, the memory containing instructions stored therein, the instructions, when executed by the at least one processor, cause the control device to execute the automatic driving control method described in any embodiment of the present invention.

[0014] Another aspect of the present invention further provides a vehicle with an automatic driving function, and the above vehicle includes the automatic driving control device provided by another aspect of the present invention.

[0015] Another aspect of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and characterized in that the computer program, when executed by a processor, implements the automatic driving control method described in any embodiment of the present invention.

[0016] The present invention can linearly adjust the preview demand according to the real-time state of the vehicle, make the control effect more linearly smooth, solve the non-linear problem of the existing single-point preview, can very flexibly adapt to the control of the whole domain scenario, realize the function of dynamic adjustment, and greatly improve the adaptability and robustness of the control. Description of the Drawings

[0017] After reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings, the above features and advantages of the present invention can be better understood. In the drawings, the components are not necessarily drawn to scale, and components having similar related characteristics or features may have the same or similar reference numerals.

[0018] Figure 1 The flowchart of an embodiment of the autonomous driving control method provided by one aspect of the present invention is shown.

[0019] Figure 2 The schematic diagram of the longitudinal interpolation curve in the present invention is shown.

[0020] Figure 3 The schematic diagram of the lateral interpolation curve in the present invention is shown.

[0021] Figure 4 The schematic diagram of the relationship among the vehicle, the target path and the preview point in the present invention is shown.

[0022] Figure 5 The schematic structural diagram of an embodiment of the autonomous driving control device provided by another aspect of the present invention is shown. Detailed Embodiments

[0023] The present invention will be described in detail below in conjunction with the drawings and specific embodiments. Note that the aspects described below in conjunction with the drawings and specific embodiments are merely exemplary and should not be construed as imposing any limitation on the protection scope of the present invention.

[0024] The following description is provided to enable those skilled in the art to implement and use the present invention and incorporate it into a specific application context. Various modifications, as well as various uses in different applications, will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to a wide range of embodiments. Thus, the present invention is not limited to the embodiments given herein, but should be accorded the broadest scope consistent with the principles and novel features disclosed herein.

[0025] In the following detailed description, numerous specific details are set forth to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the practice of the present invention may not be limited to these specific details. In other words, well-known structures and devices are shown in block diagram form without detailed display to avoid obscuring the present invention.

[0026] The reader's attention is drawn to all documents and literature submitted simultaneously with this specification and open to public inspection of this specification, and the contents of all such documents and literature are incorporated herein by reference. Unless otherwise directly stated, all features disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by alternative features serving the same, equivalent, or similar purposes. Therefore, unless otherwise expressly stated, each feature disclosed is only an example of a group of equivalent or similar features.

[0027] Note that, where used, the terms left, right, front, back, top, bottom, positive, negative, clockwise, and counterclockwise are used solely for convenience and do not imply any specific fixed direction. In fact, they are used to reflect the relative positions and / or orientations between various parts of an object. Additionally, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance.

[0028] Note that, where used, further, preferably, furthermore, and more preferably are simple introductions for elaborating another embodiment based on the foregoing embodiments, and the content following the further, preferably, furthermore, or more preferably, in combination with the foregoing embodiments, constitutes a complete composition of another embodiment. Combinations can be made arbitrarily among several further, preferably, furthermore, or more preferably settings following the same embodiment to form yet another embodiment.

[0029] As described above, to solve the problem in the prior art that the control algorithm for single-point preview only supports single-point preview with a fixed time length or preview distance and has a single applicable scenario, the present invention provides a vehicle with an autonomous driving function, as well as an autonomous driving control method and device.

[0030] First, please combine Figure 1 to understand the autonomous driving control method provided by the present invention. As Figure 1 shown, the autonomous driving control method provided by an embodiment of the present invention includes:

[0031] Step S100: Obtain the real-time lateral vehicle speed and the real-time longitudinal vehicle speed of the vehicle;

[0032] Step S200: Determine the lateral preview time according to the real-time lateral vehicle speed, and determine the longitudinal preview time according to the real-time longitudinal vehicle speed;

[0033] Step S300: Determine the real-time preview time according to the lateral preview time and the longitudinal preview time; and

[0034] Step S400: Perform single-point preview control with the real-time preview time as the control quantity.

[0035] According to step S100, the real-time state of the vehicle is obtained, so as to make the best preparation for subsequent control. Those skilled in the art can obtain the real-time lateral vehicle speed and real-time longitudinal vehicle speed through existing or future means. It can be understood that the lateral speed of the vehicle is the yaw rate of the vehicle, and the longitudinal speed is the real-time vehicle speed.

[0036] After obtaining the real-time state (lateral speed and longitudinal speed) of the vehicle in step S100, steps S200 and S300 reflect adjusting the preview requirement according to the real-time state of the vehicle. That is to say, in step S200, it is necessary to determine the lateral preview time according to the real-time lateral vehicle speed and determine the longitudinal preview time according to the real-time longitudinal vehicle speed. Subsequently, in step S300, the real-time preview time is determined according to the lateral preview time and the longitudinal preview time. And the real-time preview time reflects the preview requirement in the single-point preview control. Therefore, in step S400, the single-point preview control is performed with the real-time preview time as the control quantity.

[0037] Specifically, in the above step S200, determining the lateral preview time according to the real-time lateral vehicle speed and determining the longitudinal preview time according to the real-time longitudinal vehicle speed further includes:

[0038] Determining the lateral preview time according to the real-time lateral vehicle speed and a preset lateral interpolation curve;

[0039] Determining the longitudinal preview time according to the real-time longitudinal vehicle speed and a preset longitudinal interpolation curve.

[0040] For the above-mentioned lateral interpolation curve and longitudinal interpolation curve, they are generated according to the by-wire performance data sampled in advance for the vehicle. In the present invention, according to the by-wire performance data sampled in advance for the vehicle (such as: steering wheel control response delay, steering wheel control response steady-state error, steering wheel control response overshoot, etc. data), a curve with the horizontal axis being speed_segment_s or speed_segment_l (speed, s represents longitudinal, l represents lateral) and Preview_time_s or Preview_time_l (time, s represents longitudinal, l represents lateral) is made. And the time on the vertical axis can interpolate any number of groups of pre-sampled data in the middle. Each speed_segment corresponds to a preview_time. By plotting through these preset sampling points, the required linear interpolation table, also known as the linear interpolation curve, can be obtained. Through point-to-point pre-interpolation, a complex linear relationship that is difficult to represent by a function is customized.

[0041] From Figure 2 、 Figure 3It can be seen that the lateral interpolation curve and / or the longitudinal interpolation curve includes multiple segments, and the curvature or slope between the segments is different. Therefore, different lateral preview times and longitudinal preview times can be determined according to the lateral speed and the longitudinal speed, and then the real-time preview time can be obtained comprehensively to characterize the preview demand and be used as a control quantity for subsequent control.

[0042] It is understandable that, due to the need for pre-sampling and drawing, generally speaking, the horizontal interpolation curve and the vertical interpolation curve each have different shapes and are not two identical curves.

[0043] Then, in step S300, determining the real-time preview time according to the horizontal preview time and the vertical preview time further includes:

[0044] The real-time preview time is determined by weighting the horizontal preview time and its preset horizontal weight and the vertical preview time and its preset vertical weight.

[0045] The above-mentioned lateral weight and longitudinal weight are related to the experience value, vehicle model and the focus of vehicle control. For example, the current empirical optimal value is a 4:3 weight relationship between longitudinal and lateral. In other words, when determining the final real-time preview time, the longitudinal and lateral preview times usually have different weights, so that the most appropriate control amount can be obtained in a targeted manner.

[0046] In the above step S400, performing single-point preview control with the real-time preview time as the control amount further includes:

[0047] Determine the preview point position information according to the real-time preview time and target path;

[0048] Determining a control parameter of the vehicle according to the current position information of the vehicle and the preview point position information; and

[0049] The vehicle automatic driving is controlled according to the control parameters.

[0050] The above target path is the control basis for the entire autonomous driving control process. Figure 4 , Figure 4 Single-point preview control requires confirming a preview requirement, determining the information of the next preview point on the target path according to the preview requirement, and determining the vehicle control parameters according to the current position information and the preview point information.

[0051] In this application, the real-time preview time is used as the preview requirement. Since it is more convenient to use time t as the control variable, and the mechanical characteristics of vehicle response can also be described by time, using time as the control variable will be more accurate. According to the real-time preview time determined at different vehicle speeds, the current preview distance s = v * t can be further calculated, so that the preview point position information of the next preview point can be determined based on the target path, and the control parameters of the vehicle can be determined according to the current position information of the vehicle and the preview point position information.

[0052] The control parameters include one or more of the steering wheel control angle, the steering wheel control torque, and the steering wheel control angular velocity. After those skilled in the art determine the current position and the preview position, they can confirm the control parameters of the vehicle according to the existing or future control methods, that is, one or more of the steering wheel control angle, the steering wheel control torque, and the steering wheel control angular velocity. In some other embodiments, the control parameters may also include other relevant parameters, which can be adjusted according to actual requirements and are not limited to the above examples.

[0053] The linear interpolation preview method based on vehicle state of the present invention uses the trajectory input from planning to control at each moment as the preview object, and takes the real-time obtained vehicle lateral speed and longitudinal speed as the input state variables for linear interpolation. Interpolating the preview time to obtain a continuous and smooth required preview time, so as to control the preview distances of vehicle lateral and longitudinal controls to meet the needs of actual control.

[0054] Preview_time_s is the longitudinal real-time preview time, which is obtained by performing real-time linear interpolation on the vehicle real-time longitudinal speed through speed_segment_s in the interpolation table to obtain the corresponding preview time Preview_time_s. Preview_time_l is the lateral real-time preview time, which is obtained by performing real-time linear interpolation on the vehicle real-time lateral speed through speed_segment_l in the interpolation table to obtain the corresponding preview time Preview_time_l.

[0055] Preview point is the actual point of single-point preview. The preview time (Preview_point_time) of this point is determined by superimposing the lateral preview time (Preview_time_l) and the longitudinal preview time (Preview_time_s) with the lateral weight (weight_l) and the longitudinal weight (weight_s). The formula is as follows:

[0056] Preview_point_time = Preview_time_s × weight_s + Preview_time_l × weight_l。

[0057] The present invention can very flexibly adapt to the control of the global scene, linearly adjust the preview requirement according to the real-time state of the vehicle, make the control effect more linearly smooth, and solve the non-linearity problem of the existing single-point preview. The function of dynamic adjustment is realized, which greatly improves the adaptability and robustness of the control.

[0058] Another aspect of the present invention further provides an autonomous driving control device, including: at least one processor; and a memory coupled to the at least one processor, the memory containing instructions stored therein, and when the instructions are executed by the at least one processor, the control device is caused to execute the autonomous driving control method described in any one of the embodiments of the present invention.

[0059] In another embodiment, as Figure 5 shown, the autonomous driving control device 500 is presented in the form of a general computer device and is used to implement the steps of the autonomous driving control method described in any one of the above embodiments. For specific details, please refer to the description of the autonomous driving control method above and will not be repeated here.

[0060] The components of the autonomous driving control device 500 may include one or more memories 501, one or more processors 502, and a bus 503 connecting different system components (including the memory 501 and the processor 502).

[0061] The bus 503 includes a data bus, an address bus, and a control bus. The product of the number of bits of the data bus and the working frequency is proportional to the data transfer rate. The number of bits of the address bus determines the maximum addressable memory space. The control bus (read / write) indicates the type of the bus cycle and the moment when the current input / output operation is completed. The processor 502 is connected to the memory 501 through the bus 503 and is configured to implement the autonomous driving control method provided in any one of the above embodiments.

[0062] The processor 502, as the operation and control core of the autonomous driving control device 500, is the final execution unit for information processing and program operation. All operations at the software layer in the computer system will ultimately be mapped to the operations of the processor 502 through the instruction set. The main functions of the processor 502 are to process instructions, execute operations, control time, and process data.

[0063] The memory 501 refers to various storage devices in a computer for storing programs and data. The memory 501 may include a computer system-readable medium in the form of volatile memory. For example, a random access memory (RAM) 504 and / or a cache memory 505.

[0064] The random access memory (RAM) 504 is an internal memory that directly exchanges data with the processor 502. It can be read and written at any time (except during refreshing), and is very fast. It is usually used as a temporary data storage medium for the operating system or other running programs. Once the power is cut off, the data stored in it will be lost. The cache memory 505 is a primary memory between the main memory and the processor 502. Its capacity is relatively small but its speed is much higher than that of the main memory, approaching the speed of the processor 502.

[0065] It should be noted that when the automatic driving control device 500 includes multiple memories 501 and multiple processors 502, a distributed structure can be adopted between the multiple memories 501 and between the multiple processors 502. For example, it may include memories and processors located at the local end and the background cloud respectively, and the above-mentioned automatic driving control method is jointly implemented by the local end and the background cloud. Or, the multiple memories and processors refer to the memories and processors in the controllers of multiple functional systems installed on the vehicle, and the above-mentioned automatic driving control method is jointly implemented by the controllers of multiple functional systems. Further, in the embodiments adopting a distributed structure, each step can adjust the specific execution terminal according to the actual situation, and the specific implementation scheme of each step on a specific terminal should not unduly limit the protection scope of the present invention.

[0066] The automatic driving control device 500 may further include other removable / non-removable, volatile / non-volatile computer system storage media. In this embodiment, the storage system 506 can be used to read and write non-removable, non-volatile magnetic media.

[0067] The memory 501 may further include at least one set of program modules 507. The program modules 507 can be stored in the memory 501. The program modules 507 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment. The program modules 507 generally execute the functions and / or methods in the embodiments described in the present invention.

[0068] The automatic driving control device 500 can also communicate with one or more external devices 508. The external devices 508 in this embodiment include sensors for obtaining the real-time lateral speed and real-time longitudinal speed of the vehicle described above.

[0069] The autonomous driving control device 500 may also communicate with one or more devices that enable a user to interact with the autonomous driving control device 500, and / or communicate with any device (such as a network card, a modem, etc.) that enables the autonomous driving control device 500 to communicate with one or more other computing devices. Such communication may be performed through the input / output (I / O) interface 509.

[0070] The autonomous driving control device 500 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 510. As Figure 5 shown, the network adapter 510 communicates with other modules of the autonomous driving control device 500 through the bus 503. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the autonomous driving control device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0071] Another aspect of the present invention also provides a vehicle with autonomous driving function, and the vehicle includes the autonomous driving control device provided by another aspect of the present invention.

[0072] Another aspect of the present invention also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, it implements the steps of the autonomous driving control method described in any one of the above embodiments. For specific reference, please refer to the above description and will not be elaborated here. In addition, it can be understood that the above computer-readable storage medium may also be in the form of a system, that is, it includes multiple computer-readable storage sub-media to jointly implement the steps of the autonomous driving control method described above through the multiple computer-readable storage media.

[0073] The various illustrative logical modules and circuits described in connection with the embodiments disclosed herein may be implemented or executed using a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0074] The steps of a method or algorithm described in connection with the embodiments disclosed in this specification can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read from, and write to, the storage medium. In an alternative, the storage medium may be integrated into the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In an alternative, the processor and the storage medium can reside as discrete components in a user terminal.

[0075] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. The computer-readable medium includes both a computer storage medium and a communication medium including any medium that facilitates transfer of a computer program from one place to another. The storage medium may be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable medium can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable medium.

[0076] The foregoing description is provided to enable any person skilled in the art to practice the various aspects described herein. However, it should be understood that the scope of the present invention is defined by the appended claims and should not be limited to the specific structures and components of the embodiments described above. Those skilled in the art can make various changes and modifications to the embodiments within the spirit and scope of the present invention, and these changes and modifications also fall within the scope of the present invention.

Claims

1. An autonomous driving control method, characterized in that, Including: Obtaining the real-time lateral vehicle speed and the real-time longitudinal vehicle speed; Determining the lateral preview time according to the real-time lateral vehicle speed, and determining the longitudinal preview time according to the real-time longitudinal vehicle speed; Determining the real-time preview time according to the lateral preview time and the longitudinal preview time; And Performing single-point preview control with the real-time preview time as the control quantity; Determining the lateral preview time according to the real-time lateral vehicle speed, and determining the longitudinal preview time according to the real-time longitudinal vehicle speed further includes: Determining the lateral preview time according to the real-time lateral vehicle speed and a preset lateral interpolation curve; Determining the longitudinal preview time according to the real-time longitudinal vehicle speed and a preset longitudinal interpolation curve; Generating the preset lateral interpolation curve and the preset longitudinal interpolation curve according to the by-wire performance data sampled in advance for the vehicle; The lateral interpolation curve and / or the longitudinal interpolation curve includes multiple segments, and the curvatures or slopes between the segments are different from each other; Determining the real-time preview time according to the lateral preview time and the longitudinal preview time further includes: Determining the real-time preview time by weighting the lateral preview time and its preset lateral weight and the longitudinal preview time and its preset longitudinal weight.

2. The automatic driving control method according to claim 1, wherein Performing single-point preview control with the real-time preview time as the control quantity further includes: Determining the preview point position information according to the real-time preview time and the target path; Determining the control parameters of the vehicle according to the current position information of the vehicle and the preview point position information; and Controlling the vehicle to drive autonomously according to the control parameters.

3. The automatic driving control method according to claim 2, wherein The control parameters include one or more of the steering wheel control angle, the steering wheel control torque, and the steering wheel control angular velocity.

4. An autonomous driving control device, including: At least one processor; And A memory coupled to the at least one processor, the memory containing instructions stored therein, and when the instructions are executed by the at least one processor, the control device executes the autonomous driving control method according to any one of claims 1-3.

5. A vehicle with an autonomous driving function, characterized in that, The vehicle includes the autonomous driving control device according to claim 4.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the autonomous driving control method according to any one of claims 1-3.

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