Driving decision sharing method, device and equipment of autonomous vehicle and medium

Abstract

The embodiment of the application discloses a driving decision sharing method, device, equipment and medium of an automatic driving vehicle, and relates to the technical field of automatic driving. The specific implementation scheme is: according to a current driving section of a target vehicle, determining a driving decision of the current driving section, wherein the data format of the driving decision is a preset universal format recognized by a vehicle system; the driving decision comprises: main content of the driving decision, creation time and expiration time of the driving decision, value evaluation result of the driving decision, safety evaluation result of the target vehicle, and creator information of the driving decision; the creator information comprises an owner ID of the target vehicle and attribute parameters of the target vehicle; and the driving decision is shared for application in a vehicle control system after verification by other vehicles. The embodiment of the application can improve the sharing efficiency of driving decisions between automatic driving vehicles and improve the traffic capacity of different automatic driving vehicles for the same or similar road scenes.

Description

[0001] The application is a divisional application of the patent application No. 201910860739.2 (the original application has an application date of September 11, 2019, and the invention name is a driving decision sharing method, device, equipment and medium for an autonomous vehicle). TECHNICAL FIELD

[0002] Embodiments of the present application relate to the technical field of computer, in particular to the technical field of autonomous driving, and specifically to a driving decision sharing method, device, equipment and medium for an autonomous vehicle. BACKGROUND

[0003] Human driving skills can be shared among different drivers through training, real car guidance, oral transmission and online inquiry, etc., to help drivers improve their driving skills. Applying the idea of information sharing to the field of autonomous driving can also help vehicles master more driving information.

[0004] The prior art usually relies on manual statistics of general driving decisions for multiple autonomous vehicles to form a driving experience or decision planning library, which is then shared with other vehicles. However, this sharing method is low in efficiency, and the manually statistical information cannot be updated in time, so that the traffic capacity of different vehicles for the same road scene cannot be effectively improved. SUMMARY

[0005] Embodiments of the present application disclose a driving decision sharing method, device, equipment and medium for an autonomous vehicle, to improve the sharing efficiency of driving decisions among autonomous vehicles and improve the traffic capacity of different autonomous vehicles for the same or similar road scene.

[0006] In a first aspect, embodiments of the present application disclose a driving decision sharing method for an autonomous vehicle, comprising:

[0007] determining a driving decision for a current driving section of a target vehicle according to the current driving section, wherein the data format of the driving decision is a preset general format recognized by a vehicle system; the driving decision includes: main content of the driving decision, creation time and expiration time of the driving decision, value evaluation result of the driving decision, safety evaluation result of the target vehicle, and creator information of the driving decision; the creator information includes an owner ID of the target vehicle and attribute parameters of the target vehicle;

[0008] sharing the driving decision for application in a vehicle control system after verification by other vehicles.

[0009] The embodiment of the above application has the advantages or beneficial effects that: the target vehicle determines the driving decision of the current driving section and actively shares it, without relying on manual statistics, thereby improving the sharing efficiency of driving decisions among autonomous vehicles and improving the traffic capacity of different autonomous vehicles for the same or similar road scenes; and other vehicles selectively apply the received driving decision according to the verification condition, thereby ensuring driving safety.

[0010] Optionally, the driving decision is shared for application in a vehicle control system after being verified by other vehicles.

[0011] The driving decision is shared with candidate vehicles for application in a vehicle control system after being verified by the candidate vehicles according to their driving section information and historical driving data.

[0012] The embodiment of the above application has the advantages or beneficial effects that: based on the sharing of targeted driving decisions between vehicles, the trust between vehicles is ensured, and the reuse rate of driving decisions is improved.

[0013] Optionally, the driving decision is shared with candidate vehicles, including:

[0014] The position information of the target vehicle when determining the driving decision is obtained.

[0015] According to the position information, vehicles in a preset area are determined as the candidate vehicles.

[0016] The driving decision is shared with the candidate vehicles by using communication technology between vehicles.

[0017] The embodiment of the above application has the advantages or beneficial effects that: by determining candidate vehicles based on a preset area, the timely sharing of driving decisions can be realized in a targeted manner, and the utilization rate of driving decisions is improved.

[0018] Optionally, the driving decision is shared for application in a vehicle control system after being verified by other vehicles.

[0019] The driving decision is sent to a server for the server to filter target driving decisions for specific road sections from the received driving decisions according to real-time information of the road section where the target vehicle is located when determining the driving decision and pre-stored historical driving data, and share the target driving decisions.

[0020] The embodiment of the above application has the advantages or beneficial effects that: based on server-based driving decision filtering, the recommended sharing of preferred driving decisions further improves road safety.

[0021] Optionally, the driving decision is sent to a server, including:

[0022] The driving decision and the candidate vehicle identifier are sent to the server, so that the server shares the filtered driving decision to the candidate vehicle according to the candidate vehicle identifier.

[0023] Optionally, the driving decision is shared, including:

[0024] If the value evaluation result of the driving decision and the target vehicle safety evaluation result are greater than or equal to the corresponding preset threshold, respectively, the driving decision is shared.

[0025] An embodiment of the above application has the following advantages or beneficial effects: when the driving decision meets the set sharing condition, the driving decision is shared, ensuring that the sharing of the driving decision has actual driving reference value, thereby improving the trafficability and driving safety of other vehicles in the same or similar road scene.

[0026] Optionally, the driving decision of the current driving section of the target vehicle is determined according to the current driving section of the target vehicle, including:

[0027] According to the current driving section of the target vehicle, the driving data of the target vehicle is obtained;

[0028] Based on the driving data, the driving decision is determined by using a data processing engine;

[0029] The data processing engine is used to define the generation condition of the driving decision, the processing algorithm of the driving data and the content of the driving decision.

[0030] An embodiment of the above application has the following advantages or beneficial effects: the driving decision is determined by using the data processing engine, so that the generation of the driving decision has certain flexibility and controllability.

[0031] Optionally, the driving decision is determined by using the data processing engine based on the driving data, including:

[0032] The driving data is used as a parameter defined in the data processing engine;

[0033] If at least one parameter meets a preset logical condition in the data processing engine, the processing algorithm corresponding to each parameter defined in the data processing engine is used to process the parameter;

[0034] Based on the processing result, the driving decision is generated.

[0035] Optionally, the processing algorithm of the driving data comprises a threshold adjustment algorithm of the driving data and a road data processing algorithm corresponding to the driving data.

[0036] Optionally, the method is applied to an automatic driving vehicle with a fixed working area or a vehicle in a vehicle fleet with the same vehicle system.

[0037] In a second aspect, the embodiments of the present application further disclose a driving decision sharing device of an automatic driving vehicle, comprising:

[0038] a driving decision generation module, configured to determine a driving decision of a current driving section of the target vehicle according to the current driving section, wherein a data format of the driving decision is a preset universal format recognized by a vehicle system; and the driving decision comprises subject content of the driving decision, creation time and expiration time of the driving decision, a value evaluation result of the driving decision, a safety evaluation result of the target vehicle, and creator information of the driving decision; and the creator information comprises an owner ID of the target vehicle and attribute parameters of the target vehicle.

[0039] a decision sharing module, configured to share the driving decision, so that the driving decision is applied to a vehicle control system after being verified by other vehicles.

[0040] In a third aspect, the embodiments of the present application further disclose an electronic device, comprising:

[0041] at least one processor; and

[0042] a memory in communication connection with the at least one processor; wherein

[0043] 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 perform the driving decision sharing method of the automatic driving vehicle according to any one of the embodiments of the present application.

[0044] In a fourth aspect, the embodiments of the present application further disclose a non-transitory computer readable storage medium storing computer instructions, and the computer instructions are used to enable the computer to perform the driving decision sharing method of the automatic driving vehicle according to any one of the embodiments of the present application.

[0045] According to the technical scheme of the embodiment of the present application, the driving decision of the target vehicle is determined to share the driving decision of the current driving section actively, without relying on manual statistics, thereby improving the sharing efficiency of the driving decision between the automatic driving vehicles, solving the problem of low sharing efficiency of the general driving decision between the automatic driving vehicles relying on manual statistics, and improving the traffic capacity of different automatic driving vehicles for the same or similar road scene. Meanwhile, other vehicles selectively apply the received driving decision according to the verification condition, thereby ensuring the driving safety. The other effects of the above-mentioned optional mode will be described in combination with specific embodiments hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0046] The accompanying drawings are used to better understand the scheme and do not limit the present application. Among them:

[0047] Figure 1 is a flowchart of a driving decision sharing method of an automatic driving vehicle according to an embodiment of the present application;

[0048] Figure 2 is a flowchart of another driving decision sharing method of an automatic driving vehicle according to an embodiment of the present application;

[0049] Figure 3 is a flowchart of still another driving decision sharing method of an automatic driving vehicle according to an embodiment of the present application;

[0050] Figure 4 is a structural schematic diagram of a driving decision sharing device of an automatic driving vehicle according to an embodiment of the present application;

[0051] Figure 5 is a block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] The exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present application to help understanding, and should be considered as merely exemplary. Therefore, those skilled 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 application. Also, in order to be clear and concise, the description below omits the description of the known functions and structures.

[0053] Figure 1 is a flowchart of a driving decision sharing method of an automatic driving vehicle according to an embodiment of the present application, which is applicable to the case of generating a driving decision and sharing the decision during the driving process of the automatic driving vehicle. The embodiment method can be executed by a driving decision sharing device of the automatic driving vehicle, which can be realized in the form of software and / or hardware, and can be integrated on the vehicle control system or the vehicle-mounted device.

[0054] As Figure 1 shown, the driving decision sharing method of the autonomous vehicle disclosed in the embodiment can include:

[0055] S101, according to the current driving section of the target vehicle, determine the driving decision of the current driving section, wherein the data format of the driving decision is a preset universal format recognized by the vehicle system.

[0056] In the embodiment, the target vehicle can be one or more unmanned vehicles in the current driving section. During driving, the target vehicle can use the sensors deployed on the vehicle to perceive the current driving environment, and determine the driving decision of the current driving section according to the perception information, such as whether the road is crowded, whether there are obstacles, whether there are road accidents, etc. The driving decision is different from the original parameters in the driving process of the vehicle, but the decision data obtained after processing these original parameters.

[0057] The data format of the driving decision includes but is not limited to Json format and Protobuf format. Based on the universality of the data format, after different vehicles obtain the driving decision, no additional data format conversion is required, which can be directly used in the vehicle control system, can improve the efficiency of driving decision reuse, and save the time of other vehicles in the same or similar road scene for decision planning.

[0058] Optionally, the driving decision includes but is not limited to: the main content of the driving decision, the creation time and expiration time of the driving decision, the value evaluation result of the driving decision, the safety evaluation result of the target vehicle, and the creator information of the driving decision; The creator information includes the owner ID of the target vehicle and the attribute parameters of the target vehicle.

[0059] Among them, the main content of the driving decision includes the control information of the current motion state of the target vehicle, such as one or more of the driving data such as position coordinates, driving speed, acceleration, vehicle body steering sensitivity, driving path, and the corresponding adjustable threshold and adjustment algorithm of each driving data.

[0060] The creation time and expiration time of the driving decision are used to judge the time validity of the driving decision after other vehicles obtain the driving decision, that is, only when the driving decision is received before the expiration time, it can be reused, and the judgment of the time validity of the driving decision helps to improve the safety of vehicle driving, for example, the target vehicle determines the current driving decision based on the existence of temporary obstacles on the current driving section, the existence time period of the temporary obstacle is known, the creation time of the driving decision can be the time when the target vehicle perceives the temporary obstacle, and the expiration time of the driving decision can be the time when the temporary obstacle is removed.

[0061] The value evaluation result of the driving decision can be used to measure the goodness of the driving decision and the passability of the target vehicle using the current driving decision in the current driving section. For example, the value evaluation result of the current driving decision can be determined by comparing the adjustment degree of the vehicle driving data and the adjustment algorithm in the current driving decision with the historical driving decision of the target vehicle in the same or similar road scene, for example, if the reliability or algorithm applicability of the adjustment algorithm of the vehicle driving data in the current driving decision is reduced compared with the adjustment algorithm of the vehicle driving data in the historical driving decision, the score corresponding to the value evaluation result of the current driving decision will be reduced. The safety evaluation result of the target vehicle can be determined according to the driving safety and body stability of the target vehicle under the current driving decision, and the body stability can be determined according to the body feeling of the passenger.

[0062] The value evaluation result of the driving decision and the safety evaluation result of the target vehicle are self-evaluations of the target vehicle under the current driving decision, which evaluate the reliability and safety of the driving decision, and can be used to determine the sharing opportunity of the driving decision, that is, when the value evaluation result of the driving decision and the safety evaluation result of the target vehicle meet the sharing requirements, the target vehicle will trigger the sharing operation of the driving decision, so as to ensure that the sharing of the driving decision has actual driving reference value, and thus improve the passability and driving safety of other vehicles in the same or similar road scene.

[0063] The creator information of the driving decision is used by other vehicles to determine the source of the driving decision, to determine the reliability of the received driving decision according to the source, and to determine whether the driving decision is applied to the control system. The owner ID can refer to the identity information of the vehicle owner, and the attribute parameters of the target vehicle can include the type, driving mileage, license plate and other information of the target vehicle.

[0064] The driving decision can also include the road name corresponding to the driving decision, the position coordinates of the target vehicle when the driving decision is generated, and other information, which are used by other vehicles to confirm the effective position of the received driving decision; the driving decision can also include the environmental information perceived by the target vehicle when the driving decision is determined, which is used by other vehicles to compare the road scene after receiving the driving decision, and to assist in confirming whether to adopt the driving decision. The driving decision can also include the time of decision sharing, which can also be used by other vehicles to determine the time effectiveness of the driving decision.

[0065] S102, sharing the driving decision for other vehicles to verify and apply to the vehicle control system after the driving decision is verified.

[0066] The target vehicle determines the driving decision of the current road section, and can directly share the driving decision or share the driving decision when the driving decision meets the set sharing condition. For example, the target vehicle shares the driving decision if the value evaluation result of the driving decision and the target vehicle safety evaluation result are greater than or equal to the corresponding preset threshold, respectively. The threshold corresponding to the value evaluation result and the target vehicle safety evaluation result can be flexibly determined according to the vehicle trafficability, vehicle safety, vehicle body stability and the like of the target vehicle under the current driving decision, and the embodiment is not limited specifically.

[0067] The implementation form of the driving decision sharing includes but is not limited to the forms of broadcasting, unicasting and / or multicasting, and can be directly sharing the driving decision based on the communication between vehicles, or can be sharing the driving decision after the decision is transferred by a server, a cloud platform or other third-party communication. The specific sharing form can be determined according to the actual situation such as business demand, and the embodiment is not limited specifically.

[0068] After the other vehicles receive the driving decision shared by the target vehicle, the driving decision can be verified according to the preset verification condition, and the driving decision is used in the vehicle control system only after the verification is passed. According to the selective application of the verification condition to the received driving decision, the driving safety can be ensured. That is, in the embodiment, whether the driving decision is reused is determined by the target vehicle that determines the driving decision and the other vehicles that receive the driving decision, the sharing time of the driving decision is limited, and the time of reapplying the driving decision is limited. Through the double limitation, the road safety is ensured.

[0069] For example, during the effective period of the driving decision, the other vehicles can extract the value evaluation result and the target vehicle safety evaluation result in the received driving decision, and if both meet the application requirement, the driving decision can be loaded and applied to the control system after driving to the road section corresponding to the driving decision.

[0070] For example, the other vehicles can evaluate the value of the received driving decision and the safety of the vehicle according to the perception information on the current driving road section. The value evaluation is used to determine the applicable degree of the driving decision on the current driving road section. If the evaluation result meets the preset application threshold, respectively, the received driving decision is applied to the control system, otherwise the application can be refused, wherein the preset application threshold is flexibly determined according to the vehicle trafficability, vehicle safety and vehicle body stability and the like after the vehicle adopts the received driving decision.

[0071] Further, the method can be applied to an automatic driving vehicle with a fixed working area, such as a garden watering vehicle with simple driving environment and slow driving speed, or a vehicle in an automatic driving vehicle fleet with the same vehicle system. When the working area of the automatic driving vehicle is fixed or the vehicle is in a fleet, the driving environment or driving section of different vehicles is basically consistent and will not change greatly. The driving decisions shared by the target vehicle in front can help improve the passing capacity and efficiency of other vehicles behind, and save the calculation time of other vehicles in the same driving section to repeat the determination of driving decisions.

[0072] According to the technical scheme of the embodiment of the present application, the target vehicle determines the driving decision of the current driving section and actively shares it, without relying on manual statistics, which improves the sharing efficiency of driving decisions between automatic driving vehicles, improves the passing capacity of different automatic driving vehicles for the same or similar road scenes, and saves the calculation time of other vehicles in the same or similar road scenes to repeat the determination of driving decisions. In addition, other vehicles selectively apply the received driving decisions according to the verification conditions, which ensures the driving safety.

[0073] Figure 2 is a flowchart of another driving decision sharing method of an automatic driving vehicle disclosed according to the embodiment of the present application, which is further optimized and extended based on the above-mentioned embodiment and can be combined with each optional technical scheme in the above-mentioned embodiment. As shown in Figure 2 , the method can include:

[0074] S201, determining a driving decision of a current driving section according to the current driving section of a target vehicle, wherein the data format of the driving decision is a preset universal format recognized by a vehicle system.

[0075] S202, sharing the driving decision to a candidate vehicle, so that the candidate vehicle applies the driving decision to a vehicle control system after passing the verification according to the driving section information and historical driving data of the candidate vehicle.

[0076] Among them, the candidate vehicle refers to an automatic driving vehicle receiving the driving decision shared by the target vehicle. For example, the automatic driving vehicles can be managed before the driving decision sharing is performed, and the pairing communication between the vehicles is established, including long-distance communication and short-distance communication. The vehicles establishing the pairing communication can share the driving decisions, and the vehicles have a high degree of trust, which helps to improve the reuse rate of the driving decisions.

[0077] The driving section information of the candidate vehicle is used to describe the current driving environment of the candidate vehicle, and the historical driving data includes but is not limited to the driving decisions made by the candidate vehicle in the historical driving process based on different driving environments, and can be used to reflect the historical driving state of the candidate vehicle. For example, the candidate vehicle can compare the received driving decision with the historical driving decision according to the current driving section information, if there is a similar decision in the historical driving decision and the safety of the candidate vehicle under the received driving decision meets the driving safety requirement, the verification is passed. It should be noted that in order to ensure that the candidate vehicle can reuse the received driving decision in time, the candidate vehicle needs to verify the driving decision in advance after receiving the driving decision shared by the target vehicle, for example, the position coordinates carried by the received driving decision can be extracted, the position coordinates are used to represent the position of the target vehicle when the driving decision is generated, that is, the position of the driving decision taking effect; the distance between the extracted position coordinates and the current position of the candidate vehicle is calculated, if the distance is less than a preset distance threshold, the operation of verifying the received driving decision is triggered, which can reduce the delay of the candidate vehicle applying the received driving decision to the control system. The preset distance threshold can be set according to actual needs.

[0078] Optionally, the driving decision is shared with the candidate vehicle, including:

[0079] Obtaining the position information of the target vehicle when determining the driving decision;

[0080] According to the position information, the vehicles in the preset area are determined as candidate vehicles;

[0081] The driving decision is shared with the candidate vehicle by using the communication technology between vehicles.

[0082] The position information of the target vehicle can be determined by a positioning device on the vehicle, and the size of the preset area can be determined according to the effective distance of the signal transmitted between vehicles, which is related to the communication technology between vehicles, for example, vehicle to vehicle (V2V) communication technology, which is not limited in the embodiment. By determining the candidate vehicle based on the preset area, the timely sharing of the driving decision can be realized, the utilization rate of the driving decision can be improved, and the vehicle passing capacity and passing efficiency can be improved.

[0083] S203, the driving decision is sent to the server, so that the server screens the target driving decision for a specific section from the received driving decisions according to the real-time information of the section where the target vehicle is located when determining the driving decision and the historical driving data stored in advance, and shares the target driving decision.

[0084] By sending the driving decision to the server, the driving decisions sent by different target vehicles can be stored and counted by virtue of the storage advantage of the server, and then the target driving decision that is relatively optimal for a specific road section is screened from the stored multiple driving decisions by virtue of the computing advantage of the server, and is shared, for example, recommended to a candidate vehicle in need, so that the traffic capacity of different vehicles through the same or similar road scenes can be improved, and the road safety can be improved.

[0085] For example, after the server receives the driving decision shared by the target vehicle, the position coordinates or road section information carried in the driving decision can be extracted, the real-time information of the road section where the target vehicle determines the driving decision is acquired based on the real-time monitoring device or system of the road information, and the driving decision under the specific road section is screened and recommended in combination with a large amount of historical driving data of vehicles, wherein the historical driving data is used to assist in measuring the reuse value of the driving decision shared by different target vehicles. For example, the server stores the driving decisions shared by multiple target vehicles for a certain curve, and screens the driving decisions corresponding to the conditions of high vehicle traffic, high vehicle safety and high vehicle body stability during driving from the stored driving decisions as the target driving decision according to the real-time road information of the curve and the historical driving data of a large number of vehicles on the curve, and then shares the target driving decision for other autonomous vehicles entering the curve, so as to improve the safety of the autonomous vehicles driving on the curve.

[0086] It should be noted that the implementation form of the server sharing the target driving decision can also include broadcasting, unicast and / or multicast and the like. For the unicast or multicast sharing scene of the target driving decision, for example, the candidate vehicle can send a driving decision sharing request to the server when entering a specific road section, to request the server to send the available driving decision to it. The driving decision sharing request sent by the candidate vehicle can carry the position information of the candidate vehicle or the information of the specific road section that the candidate vehicle is about to enter, and the candidate vehicle identifier, which is used to uniquely identify the candidate vehicle. The server determines the specific road section based on the vehicle position information or the specific road section information carried in the received driving decision sharing request, and then shares the screened target driving decision to the candidate vehicle according to the candidate vehicle identifier, so as to realize the recommendation of the driving decision, improve the communication capacity of different vehicles for the same or similar road scenes, improve the road safety, and enrich the implementation mode of the driving decision sharing. Based on the interaction between the server and the vehicle, or the interaction between the vehicles, the targeted driving decision sharing can also reduce the transmission of useless information in the network.

[0087] In the driving decision sharing process, the operation S202 and the operation S203 can be executed simultaneously, that is, the target vehicle can simultaneously send the driving decision to the candidate vehicle and the server, or can be executed alternatively, and can be set according to a sharing strategy, and the embodiment is not limited specifically.

[0088] Optionally, the sending of the driving decision to the server comprises: sending the driving decision and the candidate vehicle identifier to the server, so that the server shares the screened driving decision to the candidate vehicle according to the candidate vehicle identifier. That is, when the target vehicle sends the driving decision to the server, the receiver of the driving decision can be specified through the candidate vehicle identifier, so as to realize targeted driving decision sharing.

[0089] According to the technical scheme of the embodiment of the application, the driving decision determined by the target vehicle for a specific road section can be shared through communication between vehicles, or can be shared through the server, which enriches the sharing mode of the driving decision, improves the sharing efficiency of the driving decision between the automatic driving vehicles, and improves the traffic capacity of different automatic driving vehicles for the same or similar road scene; the server-based driving decision screening for the recommended sharing of the optimized driving decision further improves the road safety; and based on the interaction between the vehicles or the interaction between the server and the vehicles, the targeted driving decision sharing can also reduce the transmission of useless information in the network.

[0090] Figure 3 is a flowchart of another driving decision sharing method of an automatic driving vehicle according to the embodiment of the application, which is further optimized and extended based on the above-mentioned embodiments and can be combined with each optional technical scheme in the above-mentioned embodiments. As shown in Figure 3 the method can comprise:

[0091] S301, obtaining driving data of a target vehicle according to a current driving road section of the target vehicle.

[0092] S302, determining a driving decision based on the driving data by using a data processing engine, wherein the data processing engine is used to define a generation condition of the driving decision, a processing algorithm of the driving data, and a content of the driving decision.

[0093] The driving data of the target vehicle can include one or more of position coordinates, driving speed, acceleration, vehicle body turning sensitivity, driving path, whether there is a pedestrian on the roadside, and the like. The generation condition (Trigger) of the driving decision is used to determine the timing of the driving decision, which can be set according to different road scenes or different road types, such as curves, straight roads, slopes, and the like, and the embodiment is not limited specifically. After obtaining the driving data of the target vehicle, it is first determined whether there is data in the driving data that meets the driving decision generation condition. If so, the processing algorithm corresponding to the driving data that meets the generation condition is determined based on the current driving section, and the driving data is processed (Action) using the determined algorithm, and then the driving decision (Event) is obtained. That is, the determination process of one driving decision can be regarded as a decision event, which includes the following three fields: the condition (Trigger) triggering the event, the event execution action (Action), and the event description, which refers to the content of the driving decision. By using the data processing engine, driving decisions for different driving scenes and different road types can be obtained flexibly and controllably. The plurality of different driving decisions determined by the target vehicle can be distinguished by decision ID.

[0094] Optionally, based on the driving data, the driving decision is determined by using the data processing engine, including:

[0095] The driving data is used as a parameter defined in the data processing engine;

[0096] If at least one parameter meets the preset logical condition in the data processing engine, the processing algorithm corresponding to each parameter defined in the data processing engine is used to process each parameter, wherein the logical condition is used to specifically describe the decision generation condition met by each parameter, and the number of parameters meeting the logical condition is related to the preset driving decision generation condition;

[0097] Based on the processing result, the driving decision is generated.

[0098] The processing algorithm of the driving data can include but is not limited to: a threshold adjustment algorithm of the driving data, and a road data processing algorithm corresponding to the driving data.

[0099] For example, the current driving data includes vehicle position coordinates and vehicle driving speed, and it is preset that when the target vehicle drives on a specific road section, if the vehicle position coordinates (x, y, z) are located in a preset circular region, it is considered that the position coordinates meet the generation condition of the driving decision, and the maximum threshold of the vehicle driving speed and the safety distance threshold of the vehicle and the road boundary on the current driving road section are adjusted, and the adjustment operation includes increasing or decreasing, for example, the maximum threshold of the vehicle driving speed (max_speed) is adjusted to 3.0, and the safety distance threshold of the vehicle and the road boundary (road_sefe_buffer) is adjusted to 0.2. The preset circular region can be determined according to the shape of the road or the distribution of obstacles on the road, for example, the position point with a first preset distance from the fixed obstacle on the road or the road intersection is taken as the center of the circle, and a second preset distance is taken as the radius to determine the circular region. The first preset distance and the second preset distance can be flexibly set from the perspective of driving safety.

[0100] For example, the current driving data includes vehicle position coordinates, vehicle driving speed, driving path, and whether there are pedestrians on the roadside. When it is monitored that the target vehicle drives from road section A to road section B, at this time the change of the vehicle position coordinates meets the generation condition of the driving decision, based on the current driving road section B, the current vehicle path planning algorithm is updated to obtain a new driving path, or the current pedestrian classification algorithm is updated to obtain a new pedestrian classification result, or the current speed planning cost function is updated to obtain a new vehicle speed planning result. The specific update object can be determined according to the pre-statistical driving road section characteristics, such as the applicability of the path planning algorithm on a specific road section, whether pedestrians are concentrated on the road section, the requirements of the road section on the vehicle speed, etc. The road data processing algorithm defined in the data processing engine includes but is not limited to: path planning algorithm, including dynamic programming algorithm, quadratic programming algorithm, polynomial curve fitting planning algorithm, Bezier curve fitting planning algorithm, spline curve fitting planning algorithm, etc.; pedestrian classification algorithm, including decision tree classification algorithm and Bayesian classification algorithm; speed planning cost function, including Gaussian function, quadratic function and user-defined segmented function, etc. In addition, according to the specific driving road section of the target vehicle, threshold adjustment and road data processing algorithm updating can be performed at the same time to obtain the driving decision.

[0101] S303, sharing the driving decision for application in the vehicle control system after verification by other vehicles.

[0102] According to the technical scheme of the embodiment of the present application, the driving data of the target vehicle on the current driving section is processed by using the data processing engine, and the driving decision applicable to different vehicles is obtained, so that the generation of the driving decision has certain flexibility and controllability; through the sharing of the driving decision, the sharing efficiency of the driving decision between the automatic driving vehicles is improved, the traffic capacity of different automatic driving vehicles for the same or similar road scene is improved, and the calculation time of other vehicles for repeatedly executing the determined driving decision in the same or similar road scene is saved; and the received driving decision is selectively applied according to the verification condition, so that the driving safety is ensured.

[0103] Figure 4 is a structural schematic diagram of an automatic driving vehicle driving decision sharing device disclosed according to the embodiment of the present application, and the embodiment can be applied to the case that the driving decision is generated and shared during the driving process of the automatic driving vehicle. The automatic driving vehicle driving decision sharing device can be realized in the form of software and / or hardware, and can be integrated on the vehicle control system or the vehicle-mounted device.

[0104] As shown in Figure 4 , the automatic driving vehicle driving decision sharing device 400 disclosed in the embodiment can include a driving decision determination module 401 and a decision sharing module 402, wherein:

[0105] The driving decision determination module 401 is configured to determine the driving decision of the current driving section according to the current driving section of the target vehicle, wherein the data format of the driving decision is a preset universal format recognized by the vehicle system.

[0106] The decision sharing module 402 is configured to share the driving decision, so that the driving decision is applied to the vehicle control system after being verified by other vehicles.

[0107] Optionally, the driving decision includes: the main content of the driving decision, the creation time and expiration time of the driving decision, the value evaluation result of the driving decision, the safety evaluation result of the target vehicle, and the creator information of the driving decision.

[0108] The creator information includes the owner ID of the target vehicle and the attribute parameter of the target vehicle.

[0109] Optionally, the decision sharing module 402 includes a first sharing unit, configured to:

[0110] share the driving decision with the candidate vehicle, so that the candidate vehicle applies the driving decision to the vehicle control system after verifying the driving decision according to the driving section information and the historical driving data of the candidate vehicle.

[0111] Optionally, the first sharing unit includes:

[0112] The position information acquisition subunit is configured to acquire position information of the target vehicle when the driving decision is determined.

[0113] The candidate vehicle determination subunit is configured to determine vehicles in a preset area as candidate vehicles according to the position information.

[0114] The decision sharing subunit is configured to share the driving decision with the candidate vehicles by using a communication technology between vehicles.

[0115] Optionally, the decision sharing module 402 comprises a second sharing unit, configured to:

[0116] send the driving decision to a server, so that the server screens a target driving decision for a specific road section from the received driving decisions according to real-time information of a road section where the target vehicle is located when the driving decision is determined and historical driving data stored in advance, and shares the target driving decision.

[0117] Optionally, the second sharing unit is specifically configured to:

[0118] send the driving decision and the candidate vehicle identifier to the server, so that the server shares the screened target driving decision to the candidate vehicles according to the candidate vehicle identifier.

[0119] Optionally, the decision sharing module 402 is specifically configured to: if the value evaluation result of the driving decision and the safety evaluation result of the target vehicle are greater than or equal to corresponding preset threshold values respectively, share the driving decision.

[0120] Optionally, the driving decision determination module 401 comprises:

[0121] The driving data acquisition unit is configured to acquire driving data of the target vehicle according to a current driving road section of the target vehicle.

[0122] The driving decision determination unit is configured to determine the driving decision by using a data processing engine based on the driving data.

[0123] The data processing engine is configured to define a generation condition of the driving decision, a processing algorithm of the driving data and content of the driving decision.

[0124] Optionally, the driving decision determination unit comprises:

[0125] The parameter determination subunit is configured to take the driving data as parameters defined in the data processing engine.

[0126] The parameter processing subunit is configured to process the parameters by using processing algorithms corresponding to the parameters defined in the data processing engine if at least one parameter satisfies a preset logical condition in the data processing engine.

[0127] The driving decision generation subunit is configured to generate a driving decision based on the processing result.

[0128] Optionally, the processing algorithm of the driving data comprises a threshold adjustment algorithm of the driving data and a road data processing algorithm corresponding to the driving data.

[0129] Optionally, the driving decision sharing device 400 of the autonomous vehicle in the embodiment can be configured in an autonomous vehicle with a fixed working area or a vehicle in an autonomous vehicle fleet with the same vehicle system.

[0130] The driving decision sharing device 400 of the autonomous vehicle disclosed in the embodiments of the present application can perform any driving decision sharing method of the autonomous vehicle disclosed in the embodiments of the present application, and has the function modules and beneficial effects corresponding to the execution method. The contents not described in detail in the embodiments of the present application can refer to the description in any method embodiment of the present application.

[0131] According to the embodiments of the present application, the present application further provides an electronic device and a readable storage medium.

[0132] As shown in Figure 5 , Figure 5 is a block diagram of an electronic device for implementing the driving decision sharing method of the autonomous vehicle in the embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can represent any vehicle-mounted device, and can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown in the figure, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present application described and / or claimed herein.

[0133] As shown in Figure 5As shown, the electronic device includes one or more processors 501, memory 502, and interfaces for connecting the various components including high-speed interfaces and low-speed interfaces. The various components communicate via one or more buses, and can be mounted on a common motherboard or in other manners as appropriate. The processor can process instructions for execution within the electronic device, including instructions stored in the memory or on storage to display graphical information for a graphical user interface (GUI) on an external input / output device, such as a display device coupled to the interface. In other implementations, multiple processors and / or multiple buses can be employed as appropriate, as well as multiple memories and types of memory. Also, various Figure 5 The processor 501 is taken as an example in the embodiment.

[0134] The memory 502 is a non-transitory computer readable storage medium provided by the present application. The memory stores instructions executable by at least one processor, so that the at least one processor executes the driving decision sharing method of the autonomous vehicle provided by the embodiment of the present application. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to execute the driving decision sharing method of the autonomous vehicle provided by the embodiment of the present application.

[0135] The memory 502 is a non-transitory computer readable storage medium, which can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the driving decision sharing method of the autonomous vehicle in the embodiment of the present application, for example, the driving decision determination module 401 and the decision sharing module 402 shown in the figure. Figure 4 The processor 501 executes various functional applications and data processing of the server by running the non-transitory software programs, instructions and modules stored in the memory 502, that is, implements the driving decision sharing method of the autonomous vehicle in the above method embodiment.

[0136] The memory 502 can include a program storage area and a data storage area, where the program storage area can store an operating system, at least one application required by a function, and the data storage area can store data created according to the use of the electronic device for implementing the method for sharing driving decisions of an autonomous vehicle in the embodiments of the present application, and the like. In addition, the memory 502 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory 502 can optionally include a memory disposed remotely with respect to the processor 501, and these remote memories can be connected to the electronic device for implementing the method for sharing driving decisions of an autonomous vehicle in the embodiments of the present application through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0137] The electronic device for implementing the method for sharing driving decisions of an autonomous vehicle in the embodiments of the present application can also include an input device 503 and an output device 504. The processor 501, the memory 502, the input device 503, and the output device 504 can be connected through a bus or other means, Figure 5 For example, the connection through the bus is taken as an example in the above description.

[0138] The input device 503 can receive input digital or character information, and generate key signal inputs related to user settings and function controls of the electronic device for implementing the method for sharing driving decisions of an autonomous vehicle in the embodiments of the present application, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, and the like. The output device 504 can include a display device, an auxiliary lighting device, and a tactile feedback device, and the like, where the auxiliary lighting device is, for example, a light emitting diode (LED), and the tactile feedback device is, for example, a vibration motor, and the like. The display device can include, but is not limited to, a liquid crystal display (LCD), an LED display, and a plasma display. In some embodiments, the display device can be a touch screen.

[0139] Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, specially designed application specific integrated circuits (ASICs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0140] These computer programs (also known as programs, software, software applications or code) include machine instructions for the programmable processor, and can be implemented in a high-level procedural and / or object-oriented programming language, and / or in assembly / machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus and / or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0141] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a Cathode Ray Tube (CRT) or Liquid Crystal Display (LCD) 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 be used to provide for interaction with a user as well; 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.

[0142] The systems and techniques described here can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here, or a combination of one or more such back end, middleware, 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.

[0143] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0144] According to the technical scheme of the embodiment of the present application, the target vehicle determines the driving decision of the current driving section and actively shares, without relying on manual statistics, improving the sharing efficiency of the driving decisions between the autonomous vehicles, improving the traffic capacity of different autonomous vehicles for the same or similar road scene, and saving the calculation time of other vehicles in the same or similar road scene for determining the driving decision. In addition, other vehicles selectively apply the received driving decision according to the verification condition, ensuring the driving safety; the server-based driving decision screening performs the recommended sharing of the preferred driving decision, further improving the road safety; and the data processing engine determines the driving decision that can be used by different vehicles, so that the generation of the driving decision has certain flexibility and controllability.

[0145] It should be understood that the various forms of flow shown above can be reordered, added to, or deleted from. For example, the steps described in the present application can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical scheme disclosed in the present application can be achieved, which is not limited herein.

[0146] The above detailed description does not constitute a limitation on the protection scope of the present application. 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 replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for sharing driving decisions in an autonomous vehicle, characterized in that, include: Based on the target vehicle's current driving segment, a driving decision is determined for that segment. The data format of the driving decision is a preset, universal format recognized by the vehicle system. The driving decision includes: the main content of the driving decision, its creation and expiration times, its value assessment result, the target vehicle's safety assessment result, and the creator information. The creator information includes the target vehicle's owner ID and attribute parameters. The main content of the driving decision includes driving data, as well as adjustable thresholds and adjustment algorithms corresponding to that data. The value assessment result is determined based on a comparison of the degree of adjustment of vehicle driving data and adjustment algorithms in the target vehicle's current driving decision and historical driving decisions under the same or similar road scenarios. The driving decisions are shared so that other vehicles can verify them and apply them to their vehicle control systems, thereby enabling other vehicles to reuse the driving decisions of the target vehicle. The step of sharing the driving decisions so that other vehicles can verify and apply them to their vehicle control systems includes: The driving decision is shared with candidate vehicles so that the candidate vehicles can verify the driving decision based on their driving route information and historical driving data, and then apply it to the vehicle control system. The process includes, before the driving decision is applied to the vehicle control system after the candidate vehicle has verified its driving decision based on its route information and historical driving data, the following steps are also included: The candidate vehicle extracts its location coordinates from the received driving decision; wherein the location coordinates are used to indicate the location where the driving decision takes effect; The candidate vehicle calculates the distance between the location coordinates and the candidate vehicle's current location. If the distance is less than a preset distance threshold, an operation to verify the driving decision is triggered.

2. The method according to claim 1, characterized in that, Sharing the driving decisions with candidate vehicles includes: Obtain the location information of the target vehicle when it makes the driving decision; Based on the location information, vehicles within the preset area are identified as candidate vehicles; The driving decisions are shared with candidate vehicles using vehicle-to-vehicle communication technology.

3. The method according to claim 1, characterized in that, Sharing the driving decisions so that other vehicles can verify them and apply them to their vehicle control systems includes: The driving decision is sent to the server, which then selects the target driving decision for the specific road segment from the received driving decisions based on the real-time information of the road segment where the target vehicle is located at the time of the driving decision and the pre-stored historical driving data, and shares the target driving decision.

4. The method according to claim 3, characterized in that, Sending the driving decision to the server includes: The driving decision and candidate vehicle identifier are sent to the server so that the server can share the selected target driving decision with the candidate vehicle according to the candidate vehicle identifier.

5. The method according to claim 1, characterized in that, Sharing the driving decisions includes: If the value assessment result of the driving decision and the safety assessment result of the target vehicle are both greater than or equal to the corresponding preset thresholds, then the driving decision will be shared.

6. The method according to claim 1, characterized in that, The method is applied to autonomous vehicles with fixed work areas, or to vehicles in a fleet of autonomous vehicles with the same vehicle system.

7. A driving decision-sharing device for an autonomous vehicle, characterized in that, include: A driving decision generation module is used to determine the driving decision for the current driving segment of the target vehicle. The data format of the driving decision is a preset universal format recognized by the vehicle system. The driving decision includes: the main content of the driving decision, the creation time and expiration time of the driving decision, the value assessment result of the driving decision, the safety assessment result of the target vehicle, and the creator information of the driving decision. The creator information includes the owner ID of the target vehicle and the attribute parameters of the target vehicle. The main content of the driving decision includes driving data, as well as the adjustable threshold and adjustment algorithm corresponding to the driving data. The value assessment result of the driving decision is determined based on a comparison of the degree of adjustment of the vehicle driving data and the adjustment algorithm in the current driving decision used by the target vehicle under the same or similar road scenarios and in historical driving decisions. The decision-sharing module is used to share the driving decisions so that other vehicles can verify the driving decisions and apply them to the vehicle control system, thereby enabling other vehicles to reuse the driving decisions of the target vehicle. The decision sharing module includes a first sharing unit, which is used to: share the driving decision with candidate vehicles so that the candidate vehicles can verify the driving decision based on their driving route information and historical driving data and then apply it to the vehicle control system. The process includes, before the driving decision is applied to the vehicle control system after the candidate vehicle has verified its driving decision based on its route information and historical driving data, the following steps are also included: The candidate vehicle extracts its location coordinates from the received driving decision; wherein the location coordinates are used to indicate the location where the driving decision takes effect; The candidate vehicle calculates the distance between the location coordinates and the candidate vehicle's current location. If the distance is less than a preset distance threshold, an operation to verify the driving decision is triggered.

8. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the driving decision sharing method for an autonomous vehicle according to any one of claims 1-6.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the driving decision sharing method for an autonomous vehicle according to any one of claims 1-6.

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