Automatic driving control method, device, equipment and storage medium

Abstract

The present invention discloses an automatic driving control method, device, equipment and storage medium. The present invention obtains environmental data information of a vehicle to be controlled during the automatic driving process, and then determines the gravitational information and repulsive information of the vehicle to be controlled based on the environmental data information, and then determines the resultant force information of the vehicle to be controlled based on the gravitational information and the repulsive information, and tracks and controls the vehicle to be controlled based on the resultant force information. The present invention can obtain environmental data information of a vehicle to be controlled in different scenarios, and then determine the gravitational information and repulsive information of the vehicle to be controlled based on the environmental data information, and then track and control the vehicle to be controlled based on the resultant force information. Compared with the existing need to establish different automatic driving rules for different scene conditions, the above method of the present invention uniformly processes different scene conditions, that is, obtains the resultant force information under different scene conditions, so that the automatic driving vehicles in different scene conditions can be simply and effectively tracked and controlled uniformly.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an autonomous driving control method, device, equipment and storage medium. Background Art

[0002] With the development of autonomous driving technology, driverless cars may become the mainstream mode of transportation for the public in the future. However, due to the improvement of people's living standards, the number of manually driven vehicles in large cities with a large number of vehicles is relatively large. Therefore, unpredictable complex scenes may occur during the driving process of driverless cars, which may lead to traffic accidents. In the existing autonomous driving solutions, facing complex scene conditions, it is inevitable that the algorithm scale is large and complicated due to traversing scenes and improving logic, and it is difficult to maintain. The system performance under complex scene conditions is low, and due to its logical structure problems, the performance is difficult to improve significantly. In addition, the established logical rules are difficult to fully cover all the scenes that the vehicle may encounter, and usually ignore the environmental details that may lead to decision-making errors. Therefore, how to simply and effectively track and control the autonomous driving vehicles in different scene conditions in a unified manner has become an urgent problem to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide an automatic driving control method, device, equipment and storage medium, aiming to solve the technical problem of how to simply and effectively perform unified tracking control of automatic driving vehicles in different scene working conditions.

[0005] To achieve the above object, the present invention provides an automatic driving control method, which comprises the following steps:

[0006] Obtain environmental data information of the vehicle to be controlled during the autonomous driving process;

[0007] Determining the attraction information and repulsion information of the vehicle to be controlled according to the environmental data information;

[0008] The resultant force information of the vehicle to be controlled is determined according to the attraction information and the repulsion information, and the vehicle to be controlled is tracked according to the resultant force information.

[0009] Optionally, the step of determining the attraction information and repulsion information of the vehicle to be controlled according to the environmental data information specifically includes:

[0010] Selecting lane line data information from the environmental data information, and determining gravity information of the vehicle to be controlled according to the lane line data information;

[0011] Selecting environmental coordinate information from the environmental data information;

[0012] The repulsive force information of the vehicle to be controlled is determined according to the environmental coordinate information.

[0013] Optionally, the step of determining the repulsive force information of the vehicle to be controlled according to the environmental coordinate information specifically includes:

[0014] Convert the environment coordinate information into a certain format to obtain sector potential field coordinate information;

[0015] Determining sector repulsion information according to the sector potential field coordinate information;

[0016] Performing vector summation on the sector repulsion information to obtain the repulsion information of the vehicle to be controlled.

[0017] Optionally, the step of converting the format of the environment coordinate information to obtain sector potential field coordinate information specifically includes:

[0018] Taking the vehicle to be controlled as the center, dividing the surrounding area of ​​the vehicle to be controlled into multiple sectors;

[0019] Obtaining sector position information corresponding to the environmental coordinate information;

[0020] The format of the environment coordinate information is converted according to the sector position information to obtain sector potential field coordinate information.

[0021] Optionally, the step of converting the format of the environment coordinate information according to the sector position information to obtain sector potential field coordinate information specifically includes:

[0022] Convert the environment coordinate information into a format according to the sector position information to obtain a set of candidate points corresponding to various obstacle objects;

[0023] Determine the repulsive potential field points corresponding to each sector according to the candidate point set;

[0024] The target candidate point coordinate information corresponding to the repulsive potential field point corresponding to each sector is selected from the candidate point set, and the target candidate point coordinate information is used as the sector potential field coordinate information.

[0025] Optionally, the step of determining the sector repulsion information according to the sector potential field coordinate information specifically includes:

[0026] Acquire the relative distance between the repulsive potential field point corresponding to the sector potential field coordinate information and the vehicle to be controlled;

[0027] Obtaining a vehicle safety time headway of the vehicle to be controlled, a velocity projection of the vehicle to be controlled in the direction of repulsion, and a minimum safety distance of the vehicle to be controlled;

[0028] Determine repulsive force information corresponding to each sector according to the relative distance, the vehicle safety headway, the speed projection and the minimum safety distance;

[0029] Sector repulsion information is determined according to the repulsion information.

[0030] Optionally, the step of determining the resultant force information of the vehicle to be controlled according to the gravitational force information and the repulsive force information, and tracking and controlling the vehicle to be controlled according to the resultant force information specifically includes:

[0031] Performing vector summation on the attraction information and the repulsion information to obtain resultant force information of the vehicle to be controlled;

[0032] Decomposing the resultant force information to obtain lateral force component information and longitudinal force component information;

[0033] The vehicle to be controlled is tracked according to the lateral force component information and the longitudinal force component information.

[0034] In addition, to achieve the above-mentioned purpose, the present invention also provides an automatic driving control device, the automatic driving control device comprising:

[0035] An information acquisition module is used to obtain environmental data information of the vehicle to be controlled during the automatic driving process;

[0036] An information determination module, used to determine the attraction information and repulsion information of the vehicle to be controlled according to the environmental data information;

[0037] The automatic driving control module is used to determine the resultant force information of the vehicle to be controlled according to the gravitational information and the repulsive force information, and to track and control the vehicle to be controlled according to the resultant force information.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also proposes an autonomous driving control device, which includes: a memory, a processor, and an autonomous driving control program stored in the memory and executable on the processor, and the autonomous driving control program is configured to implement the steps of the autonomous driving control method described above.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which an automatic driving control program is stored, and when the automatic driving control program is executed by a processor, the steps of the automatic driving control method described above are implemented.

[0040] The present invention obtains environmental data information of a vehicle to be controlled during the automatic driving process, and then determines the gravitational information and repulsive information of the vehicle to be controlled based on the environmental data information, and then determines the resultant force information of the vehicle to be controlled based on the gravitational information and the repulsive information, and tracks and controls the vehicle to be controlled based on the resultant force information. The present invention can obtain environmental data information of the vehicle to be controlled in different scenarios by obtaining environmental data information of the vehicle to be controlled during the automatic driving process, and then determines the gravitational information and repulsive information of the vehicle to be controlled based on the environmental data information, and then tracks and controls the vehicle to be controlled based on the resultant force information. Compared with the existing need to establish different automatic driving rules for different scene conditions, the above-mentioned method of the present invention uniformly processes different scene conditions, that is, obtains the resultant force information under different scene conditions, so that the automatic driving vehicles in different scene conditions can be simply and effectively tracked and controlled uniformly. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a structural diagram of an automatic driving control device in a hardware operating environment involved in an embodiment of the present invention;

[0042] Figure 2 This is a flow chart of a first embodiment of an automatic driving control method of the present invention;

[0043] Figure 3 This is a flow chart of a second embodiment of the automatic driving control method of the present invention;

[0044] Figure 4 This is a flow chart of a third embodiment of the automatic driving control method of the present invention;

[0045] Figure 5 A schematic diagram of sectors of an embodiment of an automatic driving control method of the present invention;

[0046] Figure 6 A schematic diagram of an obstacle object in accordance with an embodiment of an automatic driving control method of the present invention;

[0047] Figure 7 This is a structural block diagram of the first embodiment of the automatic driving control device of the present invention.

[0048] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0050] Reference Figure 1 , Figure 1 A schematic diagram of the structure of an automatic driving control device in the hardware operating environment involved in an embodiment of the present invention.

[0051] like Figure 1 As shown, the automatic driving control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art will understand that Figure 1 The structure shown in does not constitute a limitation on the automatic driving control device, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0053] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an automatic driving control program.

[0054] exist Figure 1 In the autonomous driving control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the autonomous driving control device of the present invention can be set in the autonomous driving control device, and the autonomous driving control device calls the autonomous driving control program stored in the memory 1005 through the processor 1001, and executes the autonomous driving control method provided by the embodiment of the present invention.

[0055] Based on the above-mentioned automatic driving control device, an embodiment of the present invention provides an automatic driving control method, referring to Figure 2 , Figure 2 Schematic diagram of the flow chart of the first embodiment of the automatic driving control method of the present invention.

[0056] In this embodiment, the automatic driving control method includes the following steps:

[0057] Step S10: Acquiring environmental data information of the vehicle to be controlled during the automatic driving process;

[0058] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a mobile phone, a tablet computer, a personal computer, etc., or an electronic device or an automatic driving control device that can realize the above functions. The following takes the automatic driving control device as an example to illustrate this embodiment and the following embodiments.

[0059] It should be understood that the vehicle to be controlled in this embodiment refers to a vehicle that needs to be automatically driven.

[0060] It is understandable that the environmental data information refers to the environmental data collected by the vehicle to be controlled during the automatic driving process, which may specifically include image data, point cloud data, etc., and this embodiment does not impose specific restrictions on this. The environmental data information in this embodiment can be collected by various environmental sensors, such as visual cameras, laser radars, etc., and can also be collected by other methods, and this embodiment does not impose specific restrictions on this.

[0061] Step S20: determining the attraction information and repulsion information of the vehicle to be controlled according to the environmental data information;

[0062] It is understandable that the gravitational information refers to the attractive force exerted on the vehicle to be controlled, and the repulsive information refers to the repulsive force exerted on the vehicle to be controlled.

[0063] In a specific implementation, this embodiment can determine the gravity information and repulsion information of the vehicle to be controlled based on the environmental data information. Specifically, the gravity information and repulsion information can be determined by the distance from the surrounding vehicles in the environmental data information, or by other methods. This embodiment does not impose any specific restrictions on this.

[0064] Step S30: determining the resultant force information of the vehicle to be controlled according to the attraction information and the repulsion information, and performing tracking control on the vehicle to be controlled according to the resultant force information.

[0065] It is understandable that the resultant force information in this embodiment refers to the resultant force obtained by vector summing the attraction information and repulsion information of the vehicle to be controlled, and the vector summation refers to the summation of the directions and magnitudes of the attraction information and repulsion information.

[0066] Furthermore, in order to effectively track and control the vehicle to be controlled, in the present embodiment, the step S30 includes: performing vector summation on the attraction information and the repulsion information to obtain the resultant force information of the vehicle to be controlled; decomposing the resultant force information to obtain lateral component force information and longitudinal component force information; and tracking and controlling the vehicle to be controlled according to the lateral component force information and the longitudinal component force information.

[0067] It should be understood that after the resultant force information is obtained, the resultant force information can be decomposed according to the direction of the force to obtain lateral lateral component force information and longitudinal longitudinal component force information.

[0068] In the specific implementation, after obtaining the lateral force component information and the longitudinal force component information, the controller related to automatic driving in the controlled vehicle can be controlled according to the lateral force component information and the longitudinal force component information, so that the controlled vehicle can be tracked and controlled, that is, the driving trajectory of the controlled vehicle can be reasonably planned.

[0069] This embodiment obtains environmental data information of the vehicle to be controlled during the automatic driving process, and then determines the gravitational information and repulsive information of the vehicle to be controlled based on the environmental data information, and then determines the resultant force information of the vehicle to be controlled based on the gravitational information and the repulsive information, and tracks and controls the vehicle to be controlled based on the resultant force information. This embodiment can obtain environmental data information of the vehicle to be controlled in different scenarios by obtaining environmental data information of the vehicle to be controlled during the automatic driving process, and then determines the gravitational information and repulsive information of the vehicle to be controlled based on the environmental data information, and then tracks and controls the vehicle to be controlled based on the resultant force information. Compared with the existing need to establish different automatic driving rules for different scene conditions, the above method of this embodiment uniformly processes different scene conditions, that is, obtains the resultant force information under different scene conditions, so that the automatic driving vehicles in different scene conditions can be simply and effectively tracked and controlled uniformly.

[0070] refer to Figure 3 , Figure 3 4 is a flow chart of the second embodiment of the automatic driving control method of the present invention.

[0071] Based on the above first embodiment, in this embodiment, step S20 includes:

[0072] Step S201: selecting lane line data information from the environmental data information, and determining the gravity information of the vehicle to be controlled according to the lane line data information;

[0073] It is understandable that the lane line data information refers to information related to the lane lines around the vehicle to be controlled during the automatic driving process, which can be specifically selected from the environmental data information.

[0074] In a specific implementation, the angle between the tangent direction of the lane line and the vehicle's driving direction can be obtained based on the lane line data information, and the angle is used as the gravitational direction of the artificial potential field. The magnitude of the gravitational force can be obtained through existing technology, and this embodiment will not go into details.

[0075] Step S202: Selecting environmental coordinate information from the environmental data information;

[0076] It can be understood that the environmental coordinate information refers to the coordinates of each data in the environmental data information in its own coordinate system. For example, the environmental coordinate information corresponding to the environmental data information collected by a laser radar on the vehicle to be controlled refers to the coordinates of the environmental data information in the coordinate system corresponding to the laser radar. The environmental coordinate information corresponding to other environmental data information is also obtained by the above method, and this embodiment will not go into details about this.

[0077] Step S203: Determine the repulsive force information of the vehicle to be controlled according to the environmental coordinate information.

[0078] In a specific implementation, this embodiment can determine the repulsion information of the vehicle to be controlled based on the environmental coordinate information. The specific method can be to determine the repulsion information through the distance from the surrounding vehicles in the environmental data information, or through other methods. This embodiment does not impose specific restrictions on this.

[0079] This embodiment selects lane line data information from environmental data information, determines the gravitational information of the vehicle to be controlled based on the lane line data information, then selects environmental coordinate information from the environmental data information, and then determines the repulsive information of the vehicle to be controlled based on the environmental coordinate information. This embodiment determines the gravitational information of the vehicle to be controlled based on the lane line data information, and determines the repulsive information of the vehicle to be controlled based on the environmental coordinate information, thereby obtaining repulsive information under different scene conditions, and then tracking and controlling the vehicle to be controlled based on the resultant force information. Different scene conditions can be uniformly processed, that is, the resultant force information under different scene conditions is obtained, so that the automatic driving vehicles under different scene conditions can be simply and effectively tracked and controlled uniformly.

[0080] refer to Figure 4 , Figure 4 4 is a flow chart of the third embodiment of the automatic driving control method of the present invention.

[0081] Based on the above embodiments, in this embodiment, step S203 includes:

[0082] Step S2031: converting the environment coordinate information into a format to obtain sector potential field coordinate information;

[0083] It can be understood that the format conversion in this embodiment refers to converting the coordinate system corresponding to the environmental coordinate information to obtain coordinates in the potential field coordinate system, that is, sector potential field coordinate information.

[0084] Furthermore, in order to accurately obtain the sector potential field coordinate information, in this embodiment, the step S2031 includes: taking the vehicle to be controlled as the center, dividing the surrounding area of ​​the vehicle to be controlled to obtain multiple sectors; obtaining the sector position information corresponding to the environmental coordinate information; and converting the format of the environmental coordinate information according to the sector position information to obtain sector potential field coordinate information.

[0085] It is understandable that in this embodiment, the area around the vehicle to be controlled can be divided into multiple sectors with the vehicle to be controlled as the center during the automatic driving process. Figure 5 , Figure 5 FIG. 1 is a schematic diagram of sectors in an embodiment of an automatic driving control method of the present invention. Figure 5 As shown, the angle of each sector is θ=2π / n, where n is a positive integer, such as 8, 9, 10, etc. The larger the value of n, the more sectors there are. The specific value of n can be set according to actual conditions, and this embodiment does not impose any specific restrictions on this. Figure 5 The x-axis is the axis corresponding to the driving direction of the vehicle to be controlled, and the y-axis is the axis perpendicular to the x-axis.

[0086] Furthermore, in order to accurately obtain the sector potential field coordinate information, in the present embodiment, the step of converting the format of the environmental coordinate information according to the sector position information to obtain the sector potential field coordinate information specifically includes: converting the format of the environmental coordinate information according to the sector position information to obtain a set of candidate points corresponding to each type of obstacle objects; determining the repulsive potential field points corresponding to each sector based on the candidate point set; selecting the target candidate point coordinate information corresponding to the repulsive potential field points corresponding to each sector from the candidate point set, and using the target candidate point coordinate information as the sector potential field coordinate information.

[0087] It is understandable that in this embodiment, various environmental coordinate information can be converted into a format and uniformly mapped to a two-dimensional vehicle coordinate system with the center of mass of the vehicle to be controlled as the origin, to obtain a candidate point set corresponding to various obstacle objects. Various obstacle objects may include lane obstacles, vehicle obstacles, etc. The candidate point set refers to the points where each sector intersects with various obstacle objects. For details, please refer to Figure 6 , Figure 6 This is a schematic diagram of an obstacle object in an embodiment of an automatic driving control method of the present invention. Figure 6 The obstacle objects in the model include lane obstacles and vehicle obstacles.

[0088] It should be understood that the repulsive potential field point corresponding to each sector refers to the candidate point in the candidate point set corresponding to each sector that is closest to the coordinate origin O. Figure 6 P i is the repulsive potential field point of sector i, and the target candidate point coordinate information refers to the coordinate corresponding to the repulsive potential field point, which can be expressed as P i (x i (k),y i (k)), the coordinate is the sector potential field coordinate information, k represents the kth sampling period, the sampling period refers to the interval time for the controlled vehicle to collect environmental data information, the specific value can be set according to the actual situation, and this embodiment does not impose specific restrictions on this.

[0089] Step S2032: determining sector repulsion information according to the sector potential field coordinate information;

[0090] Furthermore, in order to accurately obtain sector repulsion information, in the present embodiment, the step S2032 includes: obtaining the relative distance between the repulsive potential field point corresponding to the sector potential field coordinate information and the vehicle to be controlled; obtaining the vehicle safety time headway of the vehicle to be controlled, the speed projection of the vehicle to be controlled in the repulsion direction, and the minimum safety distance of the vehicle to be controlled; determining the repulsion information corresponding to each sector according to the relative distance, the vehicle safety time headway, the speed projection and the minimum safety distance; and determining the sector repulsion information according to the repulsion information.

[0091] It is understandable that the relative distance refers to the distance between the repulsive potential field point and the coordinate origin 0 corresponding to the vehicle to be controlled, which can be obtained by a first preset formula, which is:

[0092]

[0093] Where D i (k) represents the relative distance within the kth sampling period, P i (x i (k),y i (k)) represents the coordinates corresponding to the potential field point in the kth sampling period.

[0094] It should be understood that, in this embodiment, the repulsion information corresponding to each sector can be determined by a second preset formula according to the relative distance, the vehicle safety time headway, the speed projection and the minimum safety distance. The vehicle safety time headway can be adjusted according to the situation. The second preset formula is:

[0095]

[0096] In the formula, Fi(k) represents the repulsive force information, k1 and k2 represent the adjustment coefficients, Di(k) represents the relative distance within the kth sampling period, and Di (k-1) represents the relative distance within the k-1th sampling period, T h represents the vehicle safety headway, vp(k) represents the velocity projection in the kth sampling period, and D safe Indicates the minimum safe distance.

[0097] In a specific implementation, this embodiment may compare the repulsion information corresponding to each sector with a preset threshold. The preset threshold may be set according to actual conditions. This embodiment does not impose any specific restrictions on this. If the repulsion information is greater than the preset threshold, the repulsion information is retained, otherwise it is deleted to obtain the sector repulsion information.

[0098] Step S2033: performing vector summation on the sector repulsion information to obtain the repulsion information of the vehicle to be controlled.

[0099] It is understandable that in this embodiment, the repulsion information of each sector may be vector-summed, that is, the direction and magnitude of the repulsion information may be summed to obtain the repulsion information of the vehicle to be controlled.

[0100] This embodiment converts the format of the environmental coordinate information to obtain the sector potential field coordinate information, then determines the sector repulsion information based on the sector potential field coordinate information, and then performs vector summation on the sector repulsion information to obtain the repulsion information of the vehicle to be controlled. This embodiment converts the format of the environmental coordinate information to obtain the sector potential field coordinate information, and obtains the repulsion information corresponding to each sector, and then performs vector summation to obtain the repulsion information of the vehicle to be controlled, which can uniformly process different scene conditions, that is, obtain the resultant force information under different scene conditions, so that the automatic driving vehicles under different scene conditions can be simply and effectively tracked and controlled uniformly.

[0101] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the automatic driving control device of the present invention.

[0102] like Figure 7 As shown, the automatic driving control device proposed in the embodiment of the present invention includes:

[0103] The information acquisition module 10 is used to obtain environmental data information of the vehicle to be controlled during the automatic driving process;

[0104] An information determination module 20, used to determine the attraction information and repulsion information of the vehicle to be controlled according to the environmental data information;

[0105] The automatic driving control module 30 is used to determine the resultant force information of the vehicle to be controlled according to the gravitational information and the repulsive force information, and to track and control the vehicle to be controlled according to the resultant force information.

[0106] This embodiment obtains environmental data information of the vehicle to be controlled during the automatic driving process, and then determines the gravitational information and repulsive information of the vehicle to be controlled based on the environmental data information, and then determines the resultant force information of the vehicle to be controlled based on the gravitational information and the repulsive information, and tracks and controls the vehicle to be controlled based on the resultant force information. This embodiment can obtain environmental data information of the vehicle to be controlled in different scenarios by obtaining environmental data information of the vehicle to be controlled during the automatic driving process, and then determines the gravitational information and repulsive information of the vehicle to be controlled based on the environmental data information, and then tracks and controls the vehicle to be controlled based on the resultant force information. Compared with the existing need to establish different automatic driving rules for different scene conditions, the above method of this embodiment uniformly processes different scene conditions, that is, obtains the resultant force information under different scene conditions, so that the automatic driving vehicles in different scene conditions can be simply and effectively tracked and controlled uniformly.

[0107] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0108] In addition, for technical details that are not described in detail in this embodiment, please refer to the automatic driving control method provided in any embodiment of the present invention, and will not be repeated here.

[0109] Based on the above-mentioned first embodiment of the automatic driving control device of the present invention, a second embodiment of the automatic driving control device of the present invention is proposed.

[0110] In this embodiment, the information determination module 20 is also used to select lane line data information from the environmental data information, and determine the gravity information of the vehicle to be controlled based on the lane line data information; select environmental coordinate information from the environmental data information; and determine the repulsion information of the vehicle to be controlled based on the environmental coordinate information.

[0111] Furthermore, the information determination module 20 is also used to convert the format of the environmental coordinate information to obtain sector potential field coordinate information; determine sector repulsion information based on the sector potential field coordinate information; and perform vector summation on the sector repulsion information to obtain the repulsion information of the vehicle to be controlled.

[0112] Furthermore, the information determination module 20 is also used to divide the surrounding area of ​​the vehicle to be controlled with the vehicle to be controlled as the center to obtain multiple sectors; obtain sector position information corresponding to the environmental coordinate information; and convert the format of the environmental coordinate information according to the sector position information to obtain sector potential field coordinate information.

[0113] Furthermore, the information determination module 20 is also used to convert the format of the environmental coordinate information according to the sector position information to obtain a set of candidate points corresponding to each type of obstacle objects; determine the repulsive potential field points corresponding to each sector according to the candidate point set; select the target candidate point coordinate information corresponding to the repulsive potential field points corresponding to each sector from the candidate point set, and use the target candidate point coordinate information as the sector potential field coordinate information.

[0114] Furthermore, the information determination module 20 is also used to obtain the relative distance between the repulsive potential field point corresponding to the sector potential field coordinate information and the vehicle to be controlled; obtain the vehicle safety time headway of the vehicle to be controlled, the speed projection of the vehicle to be controlled in the repulsive direction, and the minimum safety distance of the vehicle to be controlled; determine the repulsive information corresponding to each sector according to the relative distance, the vehicle safety time headway, the speed projection and the minimum safety distance; determine the sector repulsive information according to the repulsive information.

[0115] Furthermore, the automatic driving control module 30 is also used to perform vector summation on the gravitational force information and the repulsive force information to obtain the resultant force information of the vehicle to be controlled; decompose the resultant force information to obtain lateral component force information and longitudinal component force information; and track and control the vehicle to be controlled according to the lateral component force information and the longitudinal component force information.

[0116] Other embodiments or specific implementations of the automatic driving control device of the present invention can refer to the above-mentioned method embodiments and will not be described in detail here.

[0117] In addition, an embodiment of the present invention further proposes a storage medium, on which an autonomous driving control program is stored. When the autonomous driving control program is executed by a processor, the steps of the autonomous driving control method described above are implemented.

[0118] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0119] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0120] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0121] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic driving control method, characterized in that: The automatic driving control method comprises the following steps: Obtain environmental data information of the vehicle to be controlled during the autonomous driving process; Determining the attraction information and repulsion information of the vehicle to be controlled according to the environmental data information; Determining resultant force information of the vehicle to be controlled according to the gravitational force information and the repulsive force information, and tracking and controlling the vehicle to be controlled according to the resultant force information; The step of determining the attraction information and repulsion information of the vehicle to be controlled according to the environmental data information specifically includes: Selecting lane line data information from the environmental data information, and determining gravity information of the vehicle to be controlled according to the lane line data information; Selecting environmental coordinate information from the environmental data information; Convert the environment coordinate information into a certain format to obtain sector potential field coordinate information; Acquire the relative distance between the repulsive potential field point corresponding to the sector potential field coordinate information and the vehicle to be controlled; Obtaining a vehicle safety time headway of the vehicle to be controlled, a velocity projection of the vehicle to be controlled in the direction of repulsion, and a minimum safety distance of the vehicle to be controlled; Determine repulsive force information corresponding to each sector according to the relative distance, the vehicle safety headway, the speed projection and the minimum safety distance; Determine sector repulsion information according to the repulsion information; Performing vector summation on the sector repulsion information to obtain the repulsion information of the vehicle to be controlled.

2. The automatic driving control method according to claim 1, characterized in that: The step of converting the format of the environment coordinate information to obtain sector potential field coordinate information specifically includes: Taking the vehicle to be controlled as the center, dividing the surrounding area of ​​the vehicle to be controlled into multiple sectors; Obtaining sector position information corresponding to the environmental coordinate information; The format of the environment coordinate information is converted according to the sector position information to obtain sector potential field coordinate information.

3. The automatic driving control method according to claim 2, characterized in that: The step of converting the format of the environment coordinate information according to the sector position information to obtain the sector potential field coordinate information specifically includes: Convert the environment coordinate information into a format according to the sector position information to obtain a set of candidate points corresponding to various obstacle objects; Determine the repulsive potential field points corresponding to each sector according to the candidate point set; The target candidate point coordinate information corresponding to the repulsive potential field point corresponding to each sector is selected from the candidate point set, and the target candidate point coordinate information is used as the sector potential field coordinate information.

4. The automatic driving control method according to any one of claims 1 to 3, characterized in that: The step of determining the resultant force information of the vehicle to be controlled according to the gravitational force information and the repulsive force information, and tracking and controlling the vehicle to be controlled according to the resultant force information specifically includes: Performing vector summation on the attraction information and the repulsion information to obtain resultant force information of the vehicle to be controlled; Decomposing the resultant force information to obtain lateral force component information and longitudinal force component information; The vehicle to be controlled is tracked according to the lateral force component information and the longitudinal force component information.

5. An automatic driving control device, characterized in that: The automatic driving control device comprises: An information acquisition module is used to obtain environmental data information of the vehicle to be controlled during the automatic driving process; An information determination module, used to determine the attraction information and repulsion information of the vehicle to be controlled according to the environmental data information; an automatic driving control module, configured to determine resultant force information of the vehicle to be controlled according to the gravitational force information and the repulsive force information, and to track and control the vehicle to be controlled according to the resultant force information; The information determination module is also used to select lane line data information from the environmental data information, and determine the gravitational information of the vehicle to be controlled based on the lane line data information; select environmental coordinate information from the environmental data information; convert the environmental coordinate information into a format to obtain sector potential field coordinate information; obtain the relative distance between the repulsive potential field point corresponding to the sector potential field coordinate information and the vehicle to be controlled; obtain the vehicle safety time headway of the vehicle to be controlled, the speed projection of the vehicle to be controlled in the repulsive direction, and the minimum safe distance of the vehicle to be controlled; determine the repulsive information corresponding to each sector based on the relative distance, the vehicle safety time headway, the speed projection and the minimum safe distance; determine the sector repulsive information based on the repulsive information; perform vector summation on the sector repulsive information to obtain the repulsive information of the vehicle to be controlled.

6. An automatic driving control device, characterized in that: The device includes: a memory, a processor, and an autonomous driving control program stored in the memory and executable on the processor, wherein the autonomous driving control program is configured to implement the steps of the autonomous driving control method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that: The storage medium stores an automatic driving control program, which, when executed by a processor, implements the steps of the automatic driving control method according to any one of claims 1 to 4.

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