Control method, device, system and electronic device of autonomous vehicle

Abstract

The disclosure provides a control method, device and system of an autonomous vehicle, an electronic device, a storage medium and the autonomous vehicle, relates to the field of artificial intelligence, and in particular to the field of autonomous driving. The specific implementation scheme is: in response to receiving inquiry information from an interaction end, determining whether the vehicle meets a departure condition, wherein the inquiry information is used to inquire whether the vehicle meets the departure condition; in the case that the vehicle meets the departure condition, sending response information to the interaction end, wherein the response information is used to at least indicate that the vehicle has met the departure condition; and in response to receiving a departure signal sent by the interaction end based on the response information, controlling the vehicle to start autonomous driving.

Description

Technical Field

[0001] This disclosure relates to the field of artificial intelligence, and more particularly to a control method, device, system, and electronic device for an autonomous vehicle in the field of autonomous driving technology. Background Technology

[0002] Currently, when activating a vehicle's autonomous driving system, it is usually controlled by the "Go" button on the human-machine interface (HMI). After clicking the "Go" button, the routing module and other modules work together to plan the optimal driving trajectory, and the control module controls the vehicle to drive based on the optimal driving trajectory in autonomous driving mode. Summary of the Invention

[0003] This disclosure provides a control method, apparatus, system, electronic device, storage medium, and autonomous vehicle for use in autonomous vehicles.

[0004] According to one aspect of this disclosure, a control method for an autonomous vehicle is provided. The autonomous vehicle includes an interaction terminal and a control terminal. The method is applied to the control terminal and includes: in response to receiving an inquiry message from the interaction terminal, determining whether the vehicle meets the departure conditions, wherein the inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions; if the vehicle meets the departure conditions, sending a response message to the interaction terminal, wherein the response message is at least used to indicate that the vehicle has met the departure conditions; and in response to receiving a departure signal sent by the interaction terminal based on the response message, controlling the vehicle to start autonomous driving.

[0005] According to another aspect of this disclosure, another control method for an autonomous vehicle is provided. The autonomous vehicle includes an interaction terminal and a control terminal. The method is applied to the interaction terminal and includes: sending an inquiry message to the control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions; and in response to receiving a response message from the control terminal, sending a departure signal to the control terminal to control the vehicle to start autonomous driving, wherein the response message is used at least to indicate that the vehicle has met the departure conditions.

[0006] According to one aspect of this disclosure, a control device for an autonomous vehicle is provided. The autonomous vehicle includes an interaction terminal and a control terminal. The device is applied to the control terminal and includes: a determining unit, configured to determine whether the vehicle meets departure conditions in response to receiving an inquiry message from the interaction terminal, wherein the inquiry message is used to inquire with the control terminal whether the vehicle meets departure conditions; a first sending unit, configured to send response information to the interaction terminal when the vehicle meets departure conditions, wherein the response information is used to at least indicate that the vehicle has met departure conditions; and a control unit, configured to control the vehicle to start autonomous driving in response to receiving a departure signal sent by the interaction terminal based on the response information.

[0007] According to another aspect of this disclosure, a control device for an autonomous vehicle is provided. The autonomous vehicle includes an interaction terminal and a control terminal. The device is applied to the interaction terminal and includes: a second sending unit for sending an inquiry message to the control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions; and a third sending unit for sending a departure signal to the control terminal in response to receiving a response message from the control terminal, so as to control the vehicle to start autonomous driving, wherein the response message is used at least to indicate that the vehicle has met the departure conditions.

[0008] According to one aspect of this disclosure, a control system for an autonomous vehicle is provided, comprising: an interaction terminal and a control terminal, wherein the interaction terminal is configured to send an inquiry message to the control terminal, wherein the inquiry message is configured to inquire whether the vehicle meets the departure conditions; the control terminal is configured to, in response to the inquiry message, determine whether the vehicle meets the departure conditions, and, if the vehicle meets the departure conditions, send a response message to the interaction terminal, wherein the response message is configured to at least indicate that the vehicle has met the departure conditions, and a departure signal is configured to instruct the control terminal to control the vehicle to initiate autonomous driving; wherein the interaction terminal is configured to, in response to receiving the response message, send a departure signal to the control terminal, and the control terminal is configured to, in response to receiving the departure signal, control the vehicle to initiate autonomous driving.

[0009] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the control method for an autonomous vehicle according to embodiments of this disclosure.

[0010] According to another aspect of this disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to perform a control method for an autonomous vehicle according to embodiments of this disclosure.

[0011] According to another aspect of this disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the control method for an autonomous vehicle according to embodiments of this disclosure.

[0012] According to another aspect of this disclosure, an autonomous vehicle is provided for performing the control method of an autonomous vehicle according to embodiments of this disclosure.

[0013] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0014] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0015] Figure 1 This is a flowchart of a control method for an autonomous vehicle according to an embodiment of the present disclosure;

[0016] Figure 2 This is a flowchart of another control method for an autonomous vehicle according to an embodiment of the present disclosure;

[0017] Figure 3 This is a schematic diagram of an autonomous driving system framework in a related art according to an embodiment of the present disclosure;

[0018] Figure 4 This is a flowchart of an autonomous driving system startup method according to an embodiment of the present disclosure;

[0019] Figure 5 This is a flowchart of a stable startup method for an autonomous driving system according to an embodiment of the present disclosure;

[0020] Figure 6 This is a schematic diagram of a control device for an autonomous vehicle according to an embodiment of the present disclosure;

[0021] Figure 7 This is a schematic diagram of a control device for another autonomous vehicle according to an embodiment of the present disclosure;

[0022] Figure 8 This is a schematic diagram of a control system for an autonomous vehicle according to an embodiment of the present disclosure;

[0023] Figure 9 This is a schematic diagram of an electronic device used to implement a control method for an autonomous vehicle according to an embodiment of the present disclosure. Detailed Implementation

[0024] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0025] First, some nouns or terms that appear in the description of the embodiments of this application are to be interpreted as follows:

[0026] Human Machine Interaction (HMI) is the medium and interface for transmitting and exchanging information between humans and computers, and it is an important component of computers.

[0027] High precision maps (HD maps) can be used to provide information such as road geometry, road signs, and traffic lights.

[0028] Localization can be used to provide accurate geographical location and attitude information for autonomous vehicles.

[0029] Perception can be used to obtain real-time information such as the location and speed of other traffic participants (e.g., pedestrians or other vehicles) within a certain range of the vehicle.

[0030] Routing can be used to provide an optimal global path from the starting point to the destination.

[0031] Prediction can be used to predict the future driving trajectories and trends of other traffic participants.

[0032] Planning can be used to plan the optimal driving trajectory in real time.

[0033] Control can be used to calculate the optimal steering wheel angle, brake and throttle opening, and other control commands for the vehicle.

[0034] Vehicle status (Carstatus) refers to the condition of the chassis and its positioning.

[0035] The control method for autonomous vehicles according to embodiments of this disclosure is described below from the control end perspective.

[0036] Figure 1 This is a flowchart of a control method for an autonomous vehicle according to an embodiment of the present disclosure, such as... Figure 1As shown, the method may include the following steps:

[0037] Step S102: In response to receiving an inquiry message from the interactive terminal, determine whether the vehicle meets the departure conditions, wherein the inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions.

[0038] In the technical solution provided by step S102 of this disclosure, query information from the interactive terminal can be received through the communication device between the interactive terminal and the control terminal. The interactive terminal can be a user interface, and the query information can be a query initiated by the interactive terminal to the control terminal to ask whether the vehicle meets the departure conditions. The departure conditions may include: whether the planning trajectory is output and the output result is normal, whether the chassis and positioning status are ready, and whether the vehicle status is allowed to enter autonomous driving.

[0039] Optionally, before receiving an inquiry from the interactive terminal, the control terminal will obtain the planning trajectory and the vehicle's chassis and positioning status from the interactive terminal in each operating cycle, and determine whether the vehicle meets the departure conditions.

[0040] Optionally, when the planning trajectory has output and the output result is normal, and the chassis and positioning status are ready, that is, the chassis has output, there is no chassis fault, and the status is allowed to enter autonomous driving, if both of the above conditions are met, it can be determined that the vehicle meets the departure conditions.

[0041] Step S104: If the vehicle meets the departure conditions, send a response message to the interactive terminal, wherein the response message is used to indicate at least that the vehicle has met the departure conditions.

[0042] In the technical solution provided by step S104 of this disclosure, when it is determined that the vehicle meets the departure conditions, it indicates that the vehicle can be controlled to depart. The control terminal sends a response information to the interaction terminal. The response information can be information used by the control terminal to feedback to the interaction terminal that the vehicle has met the departure conditions and is waiting for the departure signal sent by the interaction terminal.

[0043] Optionally, the response information can be used to enable the interactive terminal to determine whether it can request the control terminal to dispatch the vehicle.

[0044] Optionally, if the decision made by the control terminal based on the departure conditions in the current cycle indicates that departure is possible, a response message is sent to the interactive terminal, for example, requesting the interactive terminal to initiate a departure signal; if the decision made by the control terminal based on the departure conditions in the current cycle indicates that departure is not possible, no response message is sent to the interactive terminal, but a fault code is sent to the interactive terminal. The fault code can be represented by numbers, for example, 0 can indicate that departure is possible, 1 can indicate that the chassis is not ready, 2 can indicate that the planning trajectory has not been issued or there is an abnormality, and 3 can indicate that the chassis is not ready and the planning trajectory has not been issued or there is an abnormality.

[0045] Optionally, the time period for the control terminal to send response information to the interactive terminal can be set to 50ms. Here, 50ms can be an empirical value and is not specifically limited.

[0046] Step S106: In response to receiving a departure signal sent by the interactive terminal based on the response information, control the vehicle to start autonomous driving.

[0047] In the technical solution provided by step S106 of this disclosure, after sending response information to the interactive terminal, it is determined whether a departure signal initiated by the interactive terminal is received. After receiving the departure signal, the vehicle is controlled to start autonomous driving. The departure signal can be used to instruct the control terminal to control the vehicle to start autonomous driving. Controlling the vehicle to start autonomous driving can be controlling the vehicle to enter the autonomous driving mode, such as controlling the vehicle to start.

[0048] Through steps S102 to S106 described above, in response to receiving an inquiry message from the interactive terminal, it is determined whether the vehicle meets the departure conditions; if the vehicle meets the departure conditions, a response message is sent to the interactive terminal; in response to receiving a departure signal sent by the interactive terminal based on the response message, the vehicle is controlled to start autonomous driving. In other words, this embodiment of the present disclosure first obtains an inquiry message from the interactive terminal, then, if it is determined that the vehicle meets the departure conditions, sends a response message to the interactive terminal and obtains a departure signal from the interactive terminal, and finally controls the vehicle to start autonomous driving based on the departure signal. This achieves the goal of interactively controlling the vehicle to start autonomous driving based on the interaction between the interactive terminal and the control terminal, thereby solving the technical problem of low efficiency in controlling vehicle startup and achieving the technical effect of improving the efficiency of controlling vehicle startup.

[0049] The method described in this embodiment will now be described in further detail.

[0050] As an optional implementation, the method may further include: in response to the current time being the start time of the first time period, or in response to a target request from the interactive terminal, acquiring the predicted driving trajectory and / or chassis status of the vehicle, wherein the predicted driving trajectory is generated based on a trajectory planning request triggered by the interactive terminal.

[0051] In this embodiment, the Routing module initiates Routing, and simultaneously, other modules of the Planning and Control (PNC) system successively start planning the vehicle's Planning trajectory. The vehicle's Planning trajectory can be determined as the vehicle's predicted driving trajectory. Then, the vehicle's chassis status is detected. The control terminal can periodically acquire the vehicle's predicted driving trajectory and / or chassis status. If the current time is the start time of the first time period or the control terminal receives a target request from the interactive terminal, the control terminal can determine whether the vehicle meets the departure conditions based on the vehicle's predicted driving trajectory and / or chassis status. The first time period can be once every first time period to acquire the predicted driving trajectory and / or chassis status. For example, if the first time period is 10ms, it means that the predicted driving trajectory and / or chassis status is acquired once every 10ms.

[0052] As an optional implementation, step S102, determining whether the vehicle meets the departure conditions, includes: determining whether the vehicle meets the departure conditions based on the obtained predicted driving trajectory and / or chassis status.

[0053] In this embodiment, the vehicle can be determined to meet the departure conditions by judging the obtained predicted driving trajectory and / or chassis status. For example, if the predicted driving trajectory has output and the output result is normal, and the chassis status is ready, that is, the chassis has output and there is no chassis fault, then it can be determined that the vehicle meets the departure conditions and a response information can be sent to the interactive terminal.

[0054] As an optional implementation, determining whether a vehicle meets the departure conditions based on the obtained predicted driving trajectory and / or chassis status includes: determining that the vehicle meets the departure conditions in response to the predicted driving trajectory being generated in a normal generation state and the chassis status being in a normal chassis state; and determining that the vehicle does not meet the departure conditions in response to the predicted driving trajectory being output by the interactive terminal in an abnormal output state and / or the chassis status being in an abnormal chassis state.

[0055] Optionally, in this embodiment, if the vehicle's predicted driving trajectory generation state, chassis state, and vehicle positioning state are all in a normal state, then the vehicle is determined to meet the departure conditions; if any one of the vehicle's predicted driving trajectory generation state, chassis state, and positioning state is in an abnormal state, then the vehicle is determined to not meet the departure conditions.

[0056] Optionally, a normal state for the generation of the vehicle's predicted driving trajectory can be reflected in the fact that the Planning trajectory has output and the output result is normal; a normal state for the chassis can be reflected in the fact that the chassis and positioning are ready, that is, the chassis has output and there is no chassis fault; and a normal state for the vehicle's positioning can be reflected in the fact that the vehicle's location allows the vehicle to start autonomous driving.

[0057] As an optional implementation, the method may further include: receiving query information sent by the interactive terminal every second time period.

[0058] In this embodiment, the interactive terminal sends an inquiry message to the control terminal every second time period, so that the control terminal can receive the inquiry message from the interactive terminal every second time period. The second time period can be used to characterize the frequency at which the control terminal receives the inquiry message from the interactive terminal. For example, if the second time period is 50ms, it means that the control terminal receives the inquiry message from the interactive terminal once every 50ms.

[0059] As an optional implementation, the method may further include: receiving query information sent by the interactive terminal every second time period: in response to the current time being within a time period less than or equal to a time threshold, receiving query information sent by the interactive terminal every second time period, wherein the time period includes the second time period.

[0060] In this embodiment, during a time period when the current time is less than or equal to a time threshold, an inquiry message sent by the interactive terminal is received every second time period. The time threshold can be the maximum delay set by the interactive terminal, the delay can be the time for the interactive terminal to wait for a response message after initiating an inquiry message, and the second time period can be any time value within a time period that is less than or equal to the time threshold.

[0061] For example, if the time threshold is 2 seconds, that is, the delay at the interactive end is 2 seconds, then the second time period is any time period within 2 seconds. The specific value of the second time period can be set based on experience or the actual situation of the vehicle. No specific limitation is made here.

[0062] As an optional implementation, the method may further include: sending response information to the interactive terminal, including: sending response information to the interactive terminal every second time period.

[0063] In this embodiment, after the interaction terminal initiates an inquiry, the control terminal sends a response message to the interaction terminal every second time period. For example, it requests to start the vehicle multiple times within a fixed time period, thereby improving the success rate of starting the autonomous driving system. The second time period can be used to characterize the frequency at which the control terminal sends response messages to the interaction terminal. The value of the second time period can be a custom time value. For example, if the second time period is 50ms, it means that the control terminal sends a response message to the interaction terminal once every 50ms.

[0064] As an optional implementation, the method may further include: determining whether a departure signal has been received in response to the absence of an inquiry message.

[0065] In this embodiment, if the control terminal does not receive an inquiry message from the interaction terminal, it determines whether a departure signal has been received from the interaction terminal. If a departure signal is received, the control terminal initiates the departure of the vehicle.

[0066] As an optional implementation, the method may further include: in response to not receiving a departure signal, re-determining whether the vehicle meets the departure conditions.

[0067] In this embodiment, if the control terminal does not receive a departure signal from the interaction terminal, it will determine again whether it has received an inquiry message from the interaction terminal. If an inquiry message is received, it will send a response message to the interaction terminal to re-determine whether the vehicle meets the departure conditions.

[0068] As an optional implementation, the method may further include: in response to the vehicle not meeting the departure conditions, sending fault information to the interactive terminal, wherein the fault information is used to indicate the reason why the vehicle does not meet the departure conditions.

[0069] In this embodiment, if the result of the determination based on the departure conditions at the current cycle control terminal is that the vehicle does not meet the departure conditions, that is, the interaction terminal does not allow the vehicle to depart, then the fault information is sent to the interaction terminal. The fault information can be used to indicate the reason why the vehicle does not meet the departure conditions, and the fault information can be a fault code.

[0070] Optionally, fault codes can be represented by numbers. For example, 0 can indicate that the vehicle can start, 1 can indicate that the chassis is not ready, 2 can indicate that the planning trajectory has not been sent or there is an abnormality, and 3 can indicate that the chassis is not ready and the planning trajectory has not been sent or there is an abnormality. This is only an example and is not a specific limitation.

[0071] The following describes the control method for autonomous vehicles according to embodiments of this disclosure from the perspective of the interactive terminal.

[0072] Figure 2This is a flowchart of another control method for an autonomous vehicle according to an embodiment of the present disclosure. This method can be applied to the interactive end side, such as... Figure 2 As shown, the method may include the following steps:

[0073] Step S202: Send an inquiry message to the control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions.

[0074] In the technical solution provided by step S202 of this disclosure, an inquiry message can be sent to the control terminal through a communication device between the interactive terminal and the control terminal. The control terminal can be the vehicle's control module, and the inquiry message can be information sent to the control terminal to inquire whether the vehicle meets the departure conditions.

[0075] Optionally, before sending the query information to the control terminal, you can click the "Go" button on the interactive terminal, then initiate Routing, provide the vehicle with an optimal global path from the starting point to the destination, and send the global path and the vehicle's chassis and positioning status to the control terminal. Finally, delay and wait for the feedback from the control terminal.

[0076] Step S204: If the vehicle meets the departure conditions, in response to receiving the response information from the control terminal, a departure signal is sent to the control terminal to control the vehicle to start autonomous driving. The response information is used to indicate at least that the vehicle has met the departure conditions.

[0077] In the technical solution provided by step S204 of this disclosure, after sending an inquiry message to the control terminal, the control terminal determines whether the vehicle meets the departure conditions. If the vehicle meets the departure conditions, the control terminal sends a response message to the interaction terminal. If the interaction terminal receives the response message from the control terminal, it sends a departure signal to the control terminal. The response message can be information used by the control terminal to provide feedback to the interaction terminal that the vehicle has met the departure conditions, and the departure signal can be a departure command to instruct the control terminal to start the autonomous driving of the vehicle.

[0078] Optionally, if the interactive terminal does not receive a response from the control terminal, it is prohibited to send a departure signal to the control terminal.

[0079] In the above embodiments of this disclosure, an inquiry message is sent to the control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions; if the vehicle meets the departure conditions, in response to receiving a response message from the control terminal, a departure signal is sent to the control terminal to control the vehicle to start autonomous driving, wherein the response message is at least used to indicate that the vehicle has met the departure conditions, so as to achieve the purpose of interactive control of vehicle start-up based on the interaction terminal and the control terminal, thereby solving the technical problem of low efficiency in controlling vehicle start-up and achieving the technical effect of improving the efficiency of controlling vehicle start-up.

[0080] The method described in this embodiment will now be described in further detail.

[0081] As an optional implementation, step S202, sending query information to the control terminal includes: sending query information to the control terminal every second time period.

[0082] In this embodiment, an inquiry message can be sent to the control terminal every second time period. The second time period can be used to characterize the frequency at which the interactive terminal sends an inquiry message to the control terminal. For example, if the second time period is 50ms, it means that the interactive terminal sends an inquiry message to the control terminal once every 50ms.

[0083] As an optional implementation, step S202, sending an inquiry message to the control terminal every second time period includes: in response to the current time being within a time period less than or equal to a time threshold, sending an inquiry message to the control terminal every second time period, wherein the time period includes the second time period.

[0084] In this embodiment, during a time period when the current time is less than or equal to a time threshold, an inquiry message can be sent to the control terminal every second time period. The time threshold can be the maximum delay set by the interaction terminal, the delay can be the duration for the interaction terminal to wait for a response message after initiating the inquiry message, and the second time period can be any time value within a time period that is less than or equal to the time threshold.

[0085] For example, if the time threshold is 2 seconds, that is, the delay at the interactive end is 2 seconds, then the second time period is any time interval within 2 seconds. The specific value of the second time period can be set based on experience or the actual situation of the vehicle. For example, the second time period can be set to 50ms. No specific limit is made here.

[0086] As an optional implementation, in step S202, in response to the current time exceeding the time period, a prompt message is output, wherein the prompt message is used to prompt the control vehicle to depart after the time limit has expired.

[0087] In this embodiment, if the current time exceeds the time period, a prompt message is output, where the current time can be the current waiting time for feedback from the control terminal, and the prompt message can be a message indicating that the vehicle departure time has expired.

[0088] Optionally, the notification message can be displayed through a pop-up window on the interface, or it can be alerted by vibration or sound; no specific limitation is made here.

[0089] As an optional implementation, in step S202, in response to not receiving a response message, it is determined whether the current time has exceeded the time period.

[0090] In this embodiment, after the interactive terminal sends an inquiry message to the control terminal, if no response message is received, it is determined whether the current time has exceeded the time period. If the time period has not exceeded the time period, the inquiry message is sent to the control terminal again until a response message is received from the control terminal.

[0091] The control method for autonomous vehicles according to the present disclosure will be further described below with reference to preferred embodiments.

[0092] Currently, when starting the autonomous driving system of a vehicle, problems such as the routing and control modules not receiving the GO information issued by the HMI, or the chassis not being ready and the planning not having planned the trajectory when the control receives the GO information, often lead to failure to enter the autonomous driving mode. In addition, the large delay between the passenger clicking the GO button on the HMI and the control switching the vehicle to autonomous driving mode also causes the autonomous driving vehicle to start up slowly, affecting the passenger experience.

[0093] Figure 3 This is a schematic diagram of an autonomous driving system framework according to an embodiment of the present disclosure, such as... Figure 3 As shown, the autonomous driving system may include: a human-machine interface 301, a planning and control system 302, an autonomous vehicle 302, a high-precision map module 304, a positioning module 305, and a prediction module 306. The planning and control system 302 includes a global planning module 3021, a real-time planning module 3022, and a control module 3023.

[0094] Figure 3 The activation method of the autonomous driving system shown may include: first, clicking the GO button on the human-machine interface; then, after receiving the GO information, the planning and control system performs planning; simultaneously, other modules are activated to plan the vehicle's planning trajectory; finally, the control module evaluates whether the vehicle is allowed to start; if so, the vehicle is switched to autonomous driving mode, and the optimal steering wheel angle, brake and throttle opening and other control commands are calculated to control the vehicle to move according to the planning trajectory in autonomous driving mode.

[0095] Figure 4 This is a flowchart of an autonomous driving system startup method according to an embodiment of the present disclosure, such as... Figure 4 As shown, this method is applied to the human-computer interaction interface 401 and the control module 402, and the method may include the following steps:

[0096] Step S4011: Click the "Enter Automatic" button on the human-computer interaction interface;

[0097] Step S4012: Initiate global planning and delay;

[0098] After the global planning is initiated and delayed at the human-computer interaction interface, Planning begins to plan the real-time optimal trajectory, and then proceeds to step S4021, where the control module receives the real-time planned trajectory and the chassis and positioning status.

[0099] Step S4013: Determine if the delay is greater than 2 seconds. If the delay is greater than 2 seconds, send a departure command to the control module. Then proceed to step S4022: The control module determines if it has received the departure command from the human-machine interface. If yes, proceed to step S4023: Control the vehicle to start. If no, return to step S4021. If the delay is no greater than 2 seconds, return to step S4011.

[0100] However, the relevant technologies do not utilize the Launch signal. Instead, the PNC directly determines whether the system can start after receiving the GO information. That is, the vehicle starts when the Control determines that the Planning trajectory exists and the Carstatus meets the departure conditions. However, when the vehicle is started manually, even if the Planning trajectory exists and the Carstatus meets the departure conditions, a situation arises where the autonomous driving system and the safety driver compete for control. Furthermore, the relevant technologies do not implement interaction between the HMI and Control modules. This means that the vehicle directly activates the autonomous driving system after a certain delay. If the fixed delay is too long, it will affect the user experience; if the fixed delay is too short, it will affect the success rate of entering autonomous driving mode.

[0101] As can be seen from the above, the main reasons for the failure to start the autonomous driving mode in related technologies are: the Routing and Control modules do not receive the GO information sent by the HMI; when the Control receives the GO information, the chassis is not yet ready, or the Planning has not planned the trajectory. Among these, the situations in which the Routing and Control do not receive the GO information include: communication delay between the HMI and the Routing and Control modules, which may result in the GO information not being received before the "departure control failure" occurs; and frame loss in communication between the HMI and the Routing and Control modules, which results in the sent GO information not being transmitted to the Routing and Control modules.

[0102] However, this disclosure proposes a control method for an autonomous vehicle. This method can control the vehicle startup through the interaction between the HMI and the Control module, so as to ensure that the system can stably enter the autonomous driving mode and minimize the delay of entering the autonomous mode. This solves the technical problem of low efficiency in controlling the vehicle startup and achieves the technical effect of improving the efficiency of controlling the vehicle startup.

[0103] Figure 5 This is a flowchart of a stable startup method for an autonomous driving system according to an embodiment of the present disclosure. This method can be applied to the human-machine interface 501 and the control module 502, such as... Figure 5 As shown, the method may include the following steps:

[0104] In step S5011, the "Enter Automatic" button in the human-computer interaction interface receives a click command triggered by the user.

[0105] In step S5012, after the "Enter Automatic" button in the human-computer interaction interface receives the click command triggered by the user, the human-computer interaction interface initiates global planning and delays.

[0106] After the global planning is initiated and delayed in the human-machine interface, Planning begins to plan the real-time optimal trajectory. Then, step S5021 is entered, where the control module receives the real-time planned trajectory and the chassis and positioning status. Then, step S5022 is entered, where the system determines whether the vehicle can depart based on the departure conditions. After the control module confirms that it has received the departure inquiry from the human-machine interface, it sends feedback to the human-machine interface.

[0107] Optionally, the delay depends on the time it takes for the Planning module to plan the trajectory after Routing is initiated. Typically, the time taken for Routing planning and Planning planning is within 500ms. Therefore, in this embodiment, the delay is set to 2s. This is only an example and is not a specific limitation.

[0108] Optionally, in step S5022, before the system enters the autonomous driving mode, the control module determines whether the vehicle can depart, and performs the detection in each operating cycle of the control module (e.g., every 10ms is one cycle).

[0109] If the fixed latency is too long, it will affect the user experience, meaning the vehicle will start too slowly after the passenger presses the GO button; if the latency is too short, it will affect the success rate of the vehicle entering autonomous driving mode.

[0110] Optionally, the conditions for the control module in this embodiment to determine whether the vehicle can depart may include: the planning trajectory has output and the output result is normal, and the chassis and positioning status are ready, that is, the chassis has output, there is no chassis fault, and the status is allowed to enter autonomous driving. If both of the above conditions are met, the vehicle can depart.

[0111] Since the planning time is uncertain, in order to ensure that there is a planning trajectory before sending the launch signal, related technologies generally initiate the launch after a fixed 2-second delay. However, the embodiment of this disclosure adds interaction between the Control and HMI within the 2-second delay. That is, during the 2-second waiting time, the HMI asks the Control whether to launch at a period of 50ms. The Control then determines whether the vehicle has the conditions to start based on the planning trajectory and Carstatus, and then feeds back the launch information to the HMI. Here, 50ms can be an empirical value and is not specifically limited here.

[0112] Step S5013: Determine if the delay is greater than 2 seconds. If the delay is greater than 2 seconds, proceed to step S5014 to inquire with the control module whether the vehicle can depart. Then proceed to step S5023, where the control module determines whether it has received a departure inquiry from the human-machine interface. If yes, proceed to step S5024 to send feedback to the human-machine interface to request departure. After receiving the feedback from the control module, the human-machine interface proceeds to step S5015 to determine whether the control module's feedback indicates departure is possible. If departure is possible, proceed to step S5016 to send a departure command to the control module. Then, the control module proceeds to step S5025 to determine whether it has received a departure command from the human-machine interface. If yes, proceed to step S5026 to activate the autonomous driving system. If no, return to step S5022. If the delay is no greater than 2 seconds, return to step S5013.

[0113] Optionally, in step S5014, the time period for the human-machine interface to ask the control module whether the vehicle can depart, and in step S5024, the time period for the human-machine interface to provide feedback on whether the vehicle can depart, can both be 50ms. Here, 50ms can be an empirical value and is not specifically limited.

[0114] Optionally, step S5024, providing feedback to the human-machine interface regarding whether to request vehicle departure, means that when the human-machine interface queries the control module to determine whether the vehicle can depart, if the control module determines that departure is possible in the current cycle, it requests the human-machine interface to initiate departure; if the control module determines that departure is not possible in the current cycle, it requests the human-machine interface not to initiate departure and sends a fault code to the human-machine interface. The fault code can be represented by numbers, such as 0 indicating that departure is possible, 1 indicating that the chassis is not ready, 2 indicating that the planning trajectory has not been sent or there is an abnormality, and 3 indicating that the chassis is not ready and the planning trajectory has not been sent or there is an abnormality.

[0115] Optionally, the launch status is checked during each Control module cycle (every 10ms cycle) before the system enters autonomous driving mode.

[0116] It should be noted that for self-driving vehicles, the GO button can also be clicked via the cloud. The cloud signal is transmitted through 5G communication to trigger the GO button.

[0117] This embodiment of the disclosure increases the interaction between Control and HMI. Control will request Launch multiple times within a fixed time period after clicking GO, thereby improving the success rate of starting the autonomous driving system. At the same time, the technical solution of this embodiment of the disclosure will only request Launch when the chassis and planning trajectory are ready, thereby avoiding situations where the vehicle is not ready when Launch is initiated, thus ensuring the safety of starting the vehicle's autonomous driving mode. This solves the technical problem of low efficiency in controlling vehicle startup and achieves the technical effect of improving the efficiency of controlling vehicle startup.

[0118] This disclosure also provides a method for performing Figure 1 The control device for an autonomous vehicle is a control method for an autonomous vehicle according to the embodiment shown.

[0119] Figure 6 This is a schematic diagram of a control device for an autonomous vehicle according to an embodiment of the present disclosure. The autonomous vehicle includes an interaction terminal and a control terminal. The device is applied to the control terminal, such as... Figure 6 As shown, the control device 600 of the autonomous vehicle may include: a determining unit 601, a first sending unit 602, and a control unit 603.

[0120] The determining unit 601 is used to determine whether the vehicle meets the departure conditions in response to receiving an inquiry message from the interactive terminal, wherein the inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions.

[0121] The first sending unit 602 is used to send response information to the interactive terminal when the vehicle meets the departure conditions, wherein the response information is at least used to request the interactive terminal to send a departure signal.

[0122] The control unit 603 is used to control the vehicle to start autonomous driving in response to a departure signal sent upon receiving a response message.

[0123] Optionally, the device may further include: an acquisition unit, configured to acquire the predicted driving trajectory and / or chassis status of the vehicle in response to the current time being the start time of a first time period, or in response to a target request from an interactive terminal, wherein the predicted driving trajectory is generated based on a trajectory planning request triggered by the interactive terminal.

[0124] Optionally, the determining unit 601 may include a determining subunit, used to determine whether the vehicle meets the departure conditions based on the acquired predicted driving trajectory and / or chassis status.

[0125] Optionally, the determining subunit may include: a first determining module, configured to determine that the vehicle meets the departure conditions in response to the predicted driving trajectory being generated in a normal generation state and the chassis state being in a normal chassis state; and a second determining module, configured to determine that the vehicle does not meet the departure conditions in response to the predicted driving trajectory being output by the interactive terminal in an abnormal output state, and / or the chassis state being in an abnormal chassis state.

[0126] Optionally, the device may further include: a receiving unit for receiving query information sent by the interactive terminal every second time period.

[0127] Optionally, the receiving unit may include: a receiving module, configured to receive query information sent by the interactive terminal every second time period in response to the current time being within a time period less than or equal to a time threshold, wherein the time period includes the second time period.

[0128] Optionally, the first sending unit 602 may include a sending subunit for sending response information to the interactive terminal every second time period.

[0129] Optionally, the device may further include: a first determining unit, configured to determine whether a departure signal has been received in response to the absence of an inquiry message.

[0130] Optionally, the device may further include a second determining unit, configured to determine again whether the vehicle meets the departure conditions in response to the absence of a departure signal.

[0131] Optionally, the device may further include a second sending unit for sending fault information to the interactive terminal in response to the vehicle not meeting the departure conditions, wherein the fault information is used to indicate the reason why the vehicle does not meet the departure conditions.

[0132] In the vehicle control device of this embodiment, a determining unit is configured to determine whether the vehicle meets the departure conditions in response to receiving an inquiry message from an interactive terminal, wherein the inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions; a first sending unit is configured to send a response message to the interactive terminal when the vehicle meets the departure conditions, wherein the response message is at least used to request the interactive terminal to send a departure signal; and a control unit is configured to control the vehicle to start autonomous driving in response to the departure signal sent upon receiving the response message, thereby solving the technical problem of low efficiency in controlling vehicle startup and achieving the technical effect of improving the efficiency of controlling vehicle startup.

[0133] This disclosure also provides a method for performing Figure 2 The control device for an autonomous vehicle is a control method for an autonomous vehicle according to the embodiment shown.

[0134] Figure 7 This is a schematic diagram of a control device for another autonomous vehicle according to an embodiment of the present disclosure. The autonomous vehicle includes an interaction terminal and a control terminal, and the device is applied to the interaction terminal, such as... Figure 7 As shown, the vehicle control device 700 may include a second transmitting unit 701 and a third transmitting unit 702.

[0135] The second sending unit 701 is used to send an inquiry message to the control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions.

[0136] The third sending unit 702 is used to send a departure signal to the control terminal in response to receiving a response information from the control terminal when the vehicle meets the departure conditions, so as to control the vehicle to start autonomous driving. The response information is used to indicate at least that the vehicle has met the departure conditions.

[0137] Optionally, the second sending unit 701 may include: a second sending subunit, used to send query information to the control terminal every second time period.

[0138] Optionally, the second transmitting subunit may include: a second transmitting submodule, configured to send an inquiry message to the control terminal every second time period in response to the current time being within a time period less than or equal to a time threshold, wherein the time period includes the second time period.

[0139] Optionally, the device may further include: an output unit for outputting a prompt message in response to the current time exceeding a time period, wherein the prompt message is used to indicate that the vehicle departure time has expired.

[0140] Optionally, the device may further include a fourth determining unit for determining whether the current time has exceeded the time period in response to the lack of a response message.

[0141] In the vehicle control device of this embodiment, a second sending unit is used to send an inquiry message to a control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions; a third sending unit is used to send a departure signal to the control terminal in response to receiving a response message from the control terminal when the vehicle meets the departure conditions, so as to control the vehicle to start autonomous driving, wherein the response message is at least used to indicate that the vehicle has met the departure conditions, thereby solving the technical problem of low efficiency in controlling vehicle start-up and achieving the technical effect of improving the efficiency of controlling vehicle start-up.

[0142] This disclosure also provides a vehicle control system for performing the vehicle control method of the embodiments of this disclosure.

[0143] Figure 8 This is a schematic diagram of a control system for an autonomous vehicle according to an embodiment of the present disclosure, as shown below. Figure 8 As shown, the vehicle control system 800 may include an interactive terminal 801 and a control terminal 802.

[0144] Interactive terminal 801 is used to send query information to the control terminal, wherein the query information is used to ask the control terminal whether the vehicle meets the departure conditions.

[0145] The control terminal 802 is used to respond to the query information, determine whether the vehicle meets the departure conditions, and send a response information to the interaction terminal if the vehicle meets the departure conditions. The response information is used to indicate at least that the vehicle has met the departure conditions.

[0146] The interactive terminal 801 is used to send a departure signal to the control terminal in response to receiving the response information. The control terminal is used to control the vehicle to start autonomous driving in response to receiving the departure signal.

[0147] In the vehicle control system of this embodiment, the interactive terminal is used to send an inquiry message to the control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions; the control terminal is used to respond to the inquiry message, determine whether the vehicle meets the departure conditions, and if the vehicle meets the departure conditions, send a response message to the interactive terminal, wherein the response message is at least used to indicate that the vehicle has met the departure conditions; the interactive terminal is used to send a departure signal to the control terminal in response to receiving the response message; and the control terminal is used to control the vehicle to start autonomous driving in response to receiving the departure signal, thereby solving the technical problem of low efficiency in controlling vehicle startup and achieving the technical effect of improving the efficiency of controlling vehicle startup.

[0148] The acquisition, storage, and application of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0149] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, a computer program product, and an autonomous vehicle.

[0150] Embodiments of this disclosure provide an electronic device that may include: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the vehicle control method of the embodiments of this disclosure.

[0151] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0152] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0153] S1, in response to receiving a query message from the interactive terminal, determines whether the vehicle meets the departure conditions, wherein the query message is used to query the control terminal whether the vehicle meets the departure conditions;

[0154] S2, when the vehicle meets the departure conditions, send a response message to the interactive terminal, wherein the response message is used to indicate at least that the vehicle has met the departure conditions;

[0155] S3, in response to receiving a departure signal sent by the interactive terminal based on the response information, controls the vehicle to start autonomous driving.

[0156] Optionally, in this embodiment of the disclosure, the processor may also be configured to perform the following steps via a computer program:

[0157] S1, send an inquiry message to the control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions;

[0158] S2, when the vehicle meets the departure conditions, in response to receiving the response information from the control terminal, sends a departure signal to the control terminal to control the vehicle to start autonomous driving, wherein the response information is used to at least indicate that the vehicle has met the departure conditions.

[0159] Embodiments of this disclosure also provide a readable storage medium storing a computer program configured to execute the steps in any of the above method embodiments at runtime.

[0160] Optionally, in this embodiment, the readable storage medium may be configured to store a computer program for performing the following steps:

[0161] S1, in response to receiving a query message from the interactive terminal, determines whether the vehicle meets the departure conditions, wherein the query message is used to query the control terminal whether the vehicle meets the departure conditions;

[0162] S2, when the vehicle meets the departure conditions, sends a response message to the interactive terminal, wherein the response message is used to indicate at least that the vehicle has met the departure conditions, and the departure signal is used to instruct the control terminal to control the vehicle to start autonomous driving.

[0163] S3, in response to receiving a departure signal sent by the interactive terminal based on the response information, controls the vehicle to start autonomous driving.

[0164] Optionally, in embodiments of this disclosure, the readable storage medium may also be configured to store a computer program for performing the following steps:

[0165] S1, send an inquiry message to the control terminal, wherein the inquiry message is used to inquire whether the vehicle meets the departure conditions;

[0166] S2, when the vehicle meets the departure conditions, in response to receiving the response information from the control terminal, sends a departure signal to the control terminal to control the vehicle to start autonomous driving, wherein the response information is used to at least indicate that the vehicle has met the departure conditions.

[0167] Optionally, in this embodiment, the aforementioned readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. More specific examples of readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0168] Figure 9 A schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0169] like Figure 9 As shown, device 900 includes a computing unit 901, which can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) 902 or a computer program loaded from storage unit 908 into random access memory (RAM) 903. RAM 903 may also store various programs and data required for the operation of device 900. The computing unit 901, ROM 902, and RAM 903 are interconnected via bus 904. Input / output (I / O) interface 905 is also connected to bus 904.

[0170] Multiple components in device 900 are connected to I / O interface 905, including: input unit 906, such as keyboard, mouse, etc.; output unit 907, such as various types of monitors, speakers, etc.; storage unit 908, such as disk, optical disk, etc.; and communication unit 909, such as network card, modem, wireless transceiver, etc. Communication unit 909 allows device 900 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0171] The computing unit 901 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the various methods and processes described above, such as vehicle control methods. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on device 900 via ROM 902 and / or communication unit 909. When the computer program is loaded into RAM 903 and executed by the computing unit 901, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform vehicle control methods by any other suitable means (e.g., by means of firmware).

[0172] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0173] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0174] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0175] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0176] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0177] Computer systems can include clients and servers. Clients and servers are generally located far apart and typically interact via communication networks. Client-server relationships are created by computer programs running on the respective computers and having a client-server relationship with each other. Servers can be cloud servers, servers in distributed systems, or servers incorporating blockchain technology.

[0178] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0179] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control method for an autonomous vehicle, the autonomous vehicle comprising an interaction terminal and a control terminal, the method being applied to the control terminal, the method comprising: In response to the current time being within a time period less than or equal to a time threshold, an inquiry message is received from the interactive terminal every second time period. Within the current period, based on the predicted driving trajectory of the vehicle, it is determined whether the vehicle meets the departure conditions. The inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions. The time period includes the second time period, which is used to characterize the frequency at which the control terminal receives the inquiry message from the interactive terminal. When the vehicle meets the departure conditions, a response message is sent to the interactive terminal every second time period, wherein the response message is used to indicate at least that the vehicle has met the departure conditions; In response to receiving a departure signal sent by the interactive terminal based on the response information, the system controls the vehicle to initiate autonomous driving. The method further includes: in response to the vehicle's planning control system planning a planned trajectory for the vehicle, determining the planned trajectory as the predicted driving trajectory, wherein the predicted driving trajectory is generated based on a trajectory planning request triggered by the interactive terminal; in response to the current time being the start time of a first time period, or in response to a target request from the interactive terminal, acquiring the predicted driving trajectory and / or the chassis status of the vehicle, wherein the first time period is used to represent the time period for acquiring the predicted driving trajectory and / or the chassis status once.

2. The method of claim 1, wherein, Determining whether a vehicle meets the departure conditions based on its predicted driving trajectory includes: Based on the obtained predicted driving trajectory and / or chassis status, determine whether the vehicle meets the departure conditions.

3. The method of claim 2, wherein, Determining whether the vehicle meets the departure conditions based on the predicted driving trajectory and / or the chassis status includes: In response to the fact that the generation state of the predicted driving trajectory is normal and the chassis state is normal, it is determined that the vehicle meets the departure conditions. In response to the predicted driving trajectory being output by the interactive terminal as an abnormal output state, and / or the chassis state being an abnormal chassis state, it is determined that the vehicle does not meet the departure conditions.

4. The method according to any one of claims 1 to 3, further comprising: In response to not receiving the inquiry information, determine whether the departure signal has been received.

5. The method according to any one of claims 1 to 3, further comprising: In response to the failure to receive the departure signal, it is determined again whether the vehicle meets the departure conditions.

6. The method of any one of claims 1 to 3, wherein, Also includes: In response to the vehicle not meeting the departure conditions, fault information is sent to the interactive terminal, wherein the fault information is used to indicate the reason why the vehicle does not meet the departure conditions.

7. A control method for an autonomous vehicle, the autonomous vehicle comprising an interaction terminal and a control terminal, the method being applied to the interaction terminal, the method comprising: In response to the current time being within a time period less than or equal to a time threshold, an inquiry message is sent to the control terminal every second time period, wherein the inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions, the time period includes the second time period, and the second time period is used to characterize the frequency at which the control terminal receives the inquiry message from the interaction terminal; Within the current period, based on the predicted driving trajectory of the vehicle, if it is determined that the vehicle meets the departure conditions, in response to receiving the response information sent by the control terminal every second time period, a departure signal is sent to the control terminal to control the vehicle to start autonomous driving, wherein the response information is at least used to indicate that the vehicle has met the departure conditions. The method further includes: in response to the vehicle's planning control system planning a planned trajectory for the vehicle, determining the planned trajectory as the predicted driving trajectory, wherein the predicted driving trajectory is generated based on a trajectory planning request triggered by the interactive terminal; in response to the current time being the start time of a first time period, or in response to a target request from the interactive terminal, acquiring the predicted driving trajectory and / or the chassis status of the vehicle, wherein the first time period is used to represent the time period for acquiring the predicted driving trajectory and / or the chassis status once.

8. The method according to claim 7, further comprising: In response to the current time exceeding the specified time period, a prompt message is output, wherein the prompt message is used to remind the control of the vehicle departure timeout.

9. The method according to claim 8, further comprising: In response to not receiving the response information, determine whether the current time has exceeded the time period.

10. A control device for an autonomous vehicle, the autonomous vehicle including an interaction terminal and a control terminal, the device being applied to the control terminal, comprising: A determining unit is configured to respond to a time period less than or equal to a time threshold, receiving an inquiry message sent by the interactive terminal every second time period, and determining whether the vehicle meets the departure conditions based on the predicted driving trajectory of the vehicle within the current period. The inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions, and the time period includes the second time period, which is used to characterize the frequency at which the control terminal receives the inquiry message from the interactive terminal. The first sending unit is configured to send response information to the interactive terminal every second time period when the vehicle meets the departure conditions, wherein the response information is at least used to indicate that the vehicle has met the departure conditions. A control unit is configured to control the vehicle to initiate autonomous driving in response to receiving a departure signal sent based on the response information; The device is further configured to perform the following steps: in response to the vehicle's planning control system planning a planned trajectory for the vehicle, and determining the planned trajectory as the predicted driving trajectory, wherein the predicted driving trajectory is generated based on a trajectory planning request triggered by the interactive terminal; in response to the current time being the start time of a first time period, or in response to a target request from the interactive terminal, acquiring the predicted driving trajectory and / or the chassis status of the vehicle, wherein the first time period is used to represent the time period for acquiring the predicted driving trajectory and / or the chassis status once.

11. A control device for an autonomous vehicle, the autonomous vehicle including an interaction terminal and a control terminal, the device being applied to the interaction terminal, comprising: The second sending unit is configured to send an inquiry message to the control terminal every second time period in response to the current time being within a time period less than or equal to a time threshold. The time period includes the second time period. The inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions. The time period includes the second time period. The second time period is used to characterize the frequency at which the control terminal receives the inquiry message from the interaction terminal. The receiving unit is configured to, within the current period, based on the predicted driving trajectory of the vehicle, determine that the vehicle meets the departure conditions, and in response to receiving the response information sent by the control terminal every second time period, send a departure signal to the control terminal to control the vehicle to start autonomous driving, wherein the response information is at least used to indicate that the vehicle has met the departure conditions. The device is further configured to perform the following steps: in response to the vehicle's planning control system planning a planned trajectory for the vehicle, and determining the planned trajectory as the predicted driving trajectory, wherein the predicted driving trajectory is generated based on a trajectory planning request triggered by the interactive terminal; in response to the current time being the start time of a first time period, or in response to a target request from the interactive terminal, acquiring the predicted driving trajectory and / or the chassis status of the vehicle, wherein the first time period is used to represent the time period for acquiring the predicted driving trajectory and / or the chassis status once.

12. A control system for an autonomous vehicle, comprising: Interactive end and control end, among which, The interactive terminal is configured to send an inquiry message to the control terminal every second time period in response to the current time being within a time period less than or equal to a time threshold. The time period includes the second time period. The inquiry message is used to inquire with the control terminal whether the vehicle meets the departure conditions. The second time period is used to characterize the frequency at which the control terminal receives the inquiry message from the interactive terminal. The control terminal is configured to respond to the query information, determine whether the vehicle meets the departure conditions based on the predicted driving trajectory of the vehicle within the current period, and send response information to the interaction terminal every second time period if the vehicle meets the departure conditions, wherein the response information is at least used to indicate that the vehicle has met the departure conditions. The interactive terminal is used to send a departure signal to the control terminal in response to receiving the response information, and the control terminal is used to control the vehicle to start autonomous driving in response to receiving the departure signal. In response to the vehicle's planning and control system planning the vehicle's planned trajectory, the planned trajectory is determined as the predicted driving trajectory, wherein the predicted driving trajectory is generated based on a trajectory planning request triggered by the interactive terminal; in response to the current time being the start time of a first time period, or in response to a target request from the interactive terminal, the predicted driving trajectory and / or the vehicle's chassis status are obtained, wherein the first time period is used to represent the time period for obtaining the predicted driving trajectory and / or the chassis status once.

13. An electronic device, comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

14. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-9.

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

16. An autonomous vehicle, comprising the control device of the autonomous vehicle as described in claim 10 or 11, or comprising the control system of the autonomous vehicle as described in claim 12.

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