Automatic driving control method, terminal and storage medium

Abstract

The application relates to an automatic driving control method, a terminal and a storage medium. The method comprises the following steps: acquiring an initial state of a vehicle, controlling an antenna emission mode to be in a first mode; acquiring a heading angle of the vehicle, and controlling the antenna emission mode to be switched from the first mode to a second mode, wherein the first mode is a double-antenna emission mode, and the second mode is a single-antenna emission mode. The automatic driving control method, the terminal and the storage medium provided by the application can enable an automatic driving vehicle to acquire more accurate positioning without being affected by multi-path transmission.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to an automatic driving control method, a terminal and a storage medium. BACKGROUND

[0002] In the field of artificial intelligence and automatic driving, the development of vehicle-road integration technology is becoming more and more mature. By obtaining information of a satellite navigation system, the positioning of a vehicle can be realized to control the direction, speed, pose and other states of the vehicle with higher precision. In actual automatic driving operation, especially in urban areas, the automatic driving in single antenna mode will cause multi-path transmission effect and affect the positioning accuracy due to the shielding of buildings. However, if the antenna transmission in automatic driving is set to multi-antenna mode, the supported frequency points will be reduced, thereby producing negative effects of multi-path transmission. SUMMARY

[0003] To solve or partially solve the problems in the related art, the present application provides an automatic driving control method, a terminal and a storage medium, so that the automatic driving vehicle can obtain more accurate positioning without being affected by the negative effects of multi-path transmission.

[0004] The first aspect of the present application provides an automatic driving control method, comprising:

[0005] obtaining an initial state of a vehicle, and controlling an antenna transmission mode to be in a first mode;

[0006] obtaining a heading angle of the vehicle, and controlling the antenna transmission mode to switch from the first mode to a second mode, wherein the first mode is a double-antenna transmission mode, and the second mode is a single-antenna transmission mode.

[0007] In an implementation, the obtaining of the heading angle of the vehicle comprises obtaining vehicle heading angle information through the double-antenna transmission mode, or obtaining the heading angle information through an inertial measurement unit.

[0008] In an implementation, the obtaining of the initial state of the vehicle and the controlling of the antenna transmission mode to be in the first mode comprise:

[0009] obtaining an initial state of a vehicle, and controlling an antenna transmission mode to be in a first mode;

[0010] In an implementation, the controlling of the antenna transmission mode to switch from the first mode to the second mode comprises:

[0011] detecting that an updated heading angle of the vehicle in the first mode reaches a preset threshold, and controlling the antenna transmission mode to switch from the first mode to the second mode.

[0012] In one embodiment, acquiring the vehicle heading angle information via a dual-antenna transmission mode includes:

[0013] In dual-antenna transmission mode, both the first and second antennas establish an association with the satellite navigation system to obtain the vehicle's heading angle information.

[0014] In one implementation, acquiring the heading angle information via the inertial measurement unit includes:

[0015] In single-antenna transmission mode, the first antenna is activated and associated with the satellite navigation system, and the inertial measurement unit is used to acquire the vehicle's heading angle information.

[0016] A second aspect of this application provides a terminal, including a first antenna and a second antenna.

[0017] The antenna transmission modes include a first mode and a second mode. In the second mode, only the first antenna initiates an electrical connection with the satellite navigation system. In the first mode, both the first antenna and the second antenna initiate an electrical connection with the satellite navigation system.

[0018] In one embodiment, the first antenna and the second antenna are located on the top of the vehicle and close to the front end of the vehicle body, and the first antenna and the second antenna are arranged laterally along the vehicle body.

[0019] A third aspect of this application also provides a terminal, further comprising: a processor; and a memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method described above.

[0020] A fourth aspect of this application provides a storage medium having executable code stored thereon, which, when executed by a processor of a terminal, causes the processor to perform the method described above.

[0021] The technical solution provided in this application may include the following beneficial effects:

[0022] The autonomous driving control method, terminal, and storage medium provided in this application include: acquiring the initial state of the vehicle and controlling the antenna transmission mode to be in a first mode; acquiring the vehicle's heading angle and controlling the antenna transmission mode to switch from the first mode to a second mode, wherein the first mode is a dual-antenna transmission mode and the second mode is a single-antenna transmission mode. By setting the antenna module in the autonomous driving system to be able to freely switch between single-antenna and multi-antenna modes as needed, during the autonomous driving process, before startup and in the initial stage, the dual-antenna mode can support more frequency points to better connect to the satellite navigation system to obtain the vehicle's positioning information, thereby improving positioning accuracy. At the same time, after the autonomous driving stabilizes, the dual-antenna mode can be freely switched to the single-antenna mode to avoid the negative impact of multiple antennas transmitting data when the vehicle is driving in urban areas. The vehicle operating in single-antenna mode is more stable, which is beneficial to autonomous driving.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0024] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0025] Figure 1 This is a schematic diagram of the first process of the autonomous driving control method shown in the embodiments of this application;

[0026] Figure 2 This is a simplified structural diagram of the terminal in the autonomous driving control method shown in the embodiments of this application. Detailed Implementation

[0027] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0028] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0029] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0030] In related technologies, autonomous driving technology incorporates satellite navigation systems, wheel speed sensors, inertial measurement sensors, and other components to detect and control the vehicle's driving posture in real time, thereby achieving driverless operation.

[0031] It is understandable that vehicles capable of autonomous driving could include driverless cars, driverless public vehicles, etc., without specific limitations.

[0032] Taking an autonomous vehicle as an example, the vehicle is equipped with a terminal, which includes at least an antenna module for signal connection with a satellite navigation system or an inertial measurement unit (IMU). The satellite navigation system is used to acquire the vehicle's position information in real time for positioning and to obtain the vehicle's heading angle. The IMU is used to continuously acquire the direction of the vehicle's tire movement to obtain the vehicle's heading angle. The antenna module is used to communicate with the satellite navigation system or IMU to acquire information such as the vehicle's heading angle measured by the satellite navigation system in real time, in order to achieve autonomous driving.

[0033] In order to ensure that the antenna module installed in the vehicle has a large number of frequency points to support positioning accuracy and to avoid the negative impact of multipath transmission, this application provides an autonomous driving control method that allows the antenna to switch freely between single and dual modes.

[0034] See Figure 1 This is a first flowchart illustrating the autonomous driving control method in an embodiment of this application.

[0035] S100: Obtain the initial state of the vehicle and control the antenna transmission mode to be in the first mode.

[0036] S110. Obtain the vehicle heading angle and control the antenna transmission mode to switch from the first mode to the second mode. The first mode is a dual-antenna transmission mode, and the second mode is a single-antenna transmission mode.

[0037] By configuring the antenna module in the autonomous driving system to freely switch between single-antenna and multi-antenna modes as needed, the system can support more frequency points in dual-antenna mode during the initial stages of autonomous driving to better connect to satellite navigation systems and obtain vehicle positioning information, thus improving positioning accuracy. Simultaneously, once autonomous driving has stabilized, the system can freely switch from dual-antenna mode to single-antenna mode to avoid the negative impacts of multiple transmissions from dual antennas when driving in urban areas. Vehicles operating in single-antenna mode are more stable, which is beneficial for autonomous driving.

[0038] It is understandable that the way the heading angle information is obtained can be different depending on whether the antenna transmission mode is in the first mode or the second mode. For example, the vehicle heading angle information can be obtained through the dual-antenna transmission mode or through the inertial measurement unit.

[0039] In one specific embodiment, the antenna module installed in the vehicle is configured to freely switch between single-antenna mode and dual-antenna mode under preset conditions. The terminal includes an antenna module comprising a first antenna and a second antenna, which do not interfere with each other. Furthermore, the participation of the first and second antennas in the antenna module is adjustable. In a first mode, both the first and second antennas are connected; in a second mode, the first antenna is connected, but the second antenna is not connected (i.e., it does not participate in operation). That is, the first antenna can always be connected in the antenna module, while the second antenna can be connected or not. When the vehicle starts and reaches a certain heading angle, the second antenna in the antenna module can be deconnected, causing the antenna transmission mode in the antenna module to switch to the second mode, forming a single-antenna transmission mode. By configuring the first and second antennas in this way so that they do not interfere with each other, the vehicle can automatically switch between single and dual antennas according to preset conditions from start-up to smooth driving and even to a stop. This not only allows for more accurate acquisition of the heading angle based on the dual antenna mode or the inertial measurement unit to improve positioning accuracy, but also avoids the multipath transmission effect caused by the multi-frequency input characteristics of dual antennas by switching to dual antenna mode. This avoids the negative impact of multipath transmission effect on autonomous driving and ensures the stability of autonomous driving.

[0040] In one optional embodiment, when transmitting satellite navigation system signals via antennas, the first antenna and the second antenna are respectively electrically connected to the satellite navigation system. In a first mode, both the first and second antennas are electrically connected to the satellite navigation system, and heading angle information is obtained through the first and second antennas in the dual-antenna mode. In a second mode, only the first antenna is electrically connected to the satellite navigation system, and heading angle information is obtained through the inertial measurement unit. The specific implementation of the connection between the satellite navigation system and the antenna signals is not described in detail here.

[0041] It is understood that the first and second antennas can be the same or different antennas. These are conventional antennas used for signal transmission, and will not be described in detail here. The first and second antennas do not interfere with each other; that is, they can be housed within the same antenna module, as long as the distance between them is sufficient and they do not produce mutually interfering fields. Alternatively, for ease of installation, removal, and maintenance, the first and second antennas can be housed in separate modules. These two modules are independent and do not affect each other, and the two modules housing the first and second antennas can be combined to form an antenna module.

[0042] Optionally, when the first and second antennas are housed in independent modules, the antenna modules are located on the top of the vehicle, close to the front of the vehicle body, to facilitate installation and removal from the vehicle and to facilitate signal transmission and reception to the satellite navigation system. In the two independent antenna modules, the two modules are arranged laterally along the vehicle body, and the distance between them is adjustable. Generally, to ensure the stability and effectiveness of the received signal, the two independent modules are arranged symmetrically with respect to the centerline of the vehicle body.

[0043] The second process of the autonomous driving control method illustrated in the embodiments of this application includes:

[0044] S1001. Obtain the initial state of the vehicle, and control the first antenna to be in a connected state, and the second antenna to be in a connected state.

[0045] S1002. Obtain the vehicle heading angle and control the second antenna to be disconnected, while the first antenna remains connected.

[0046] Based on the first and second antennas described above, the autonomous driving control method specifically includes: acquiring the initial state of the vehicle, which includes both the vehicle's non-started state and the state after the vehicle starts and establishes a connection with the satellite navigation system. If the vehicle is relatively stationary in the initial state, the control antenna transmission mode is in the first mode. It can be understood that when the vehicle is not started, it is in the first mode by default. When the vehicle starts, the first and second antennas in the first mode can be activated simultaneously to establish a connection with the satellite navigation system, enabling the satellite navigation system to acquire the vehicle's location through the first and second antennas and feed it back to the vehicle to obtain the initial heading angle. After activation, the satellite navigation system can reacquire the vehicle's location at preset intervals to achieve real-time updates of the vehicle's heading angle. It is known that by using both the first and second antennas to acquire signals from the satellite navigation system, more input frequencies are supported, which is more conducive to signal acquisition and improves the accuracy of the acquired heading angle.

[0047] Optionally, the preset interval time can be set according to needs. For example, it can be set to control the satellite navigation system to obtain the vehicle's location once every 1 second, or it can be set to an interval of 0.5 seconds, 2 seconds, etc. There is no specific limitation here.

[0048] In one specific implementation, when it is detected that the vehicle is running in the first mode and the updated heading angle reaches a preset threshold, the control antenna transmission mode is switched from the first mode to the second mode. Then, the second antenna is controlled to be disconnected, so that the antenna module is in the single antenna transmission mode, in order to avoid the multipath transmission effect caused by the influence of surrounding buildings due to the multiple input frequency points in the dual antenna transmission mode.

[0049] In the first mode, both the first and second antennas in the dual-antenna transmission mode establish a connection with the satellite navigation system to acquire the vehicle's heading angle information, thereby improving the accuracy of vehicle operation. When the detected updated heading angle information reaches a preset threshold, the system switches to the second mode. In this mode, only the first antenna is connected. The updated heading angle information can then be measured via the inertial measurement unit, thus avoiding the negative impact of multi-frequency input from the dual antennas when the vehicle is operating in areas with surrounding buildings. It is understood that the preset threshold can be limited according to actual conditions, which will not be elaborated upon here.

[0050] In one optional embodiment, upon starting the autonomous vehicle, both the first and second antennas in dual-antenna mode are electrically connected to the satellite navigation system. The combination of the first and second antennas enables multi-frequency input of signals from the satellite navigation system, allowing for easier and more accurate acquisition of the vehicle's positioning. After obtaining the vehicle's initial and updated heading angles through the dual-antenna transmission mode, if the updated heading angle deviates from the initial heading angle by a certain angle, the second antenna can be deactivated to maintain the vehicle in single-antenna transmission mode during operation. This avoids the negative impact of multi-path transmission caused by the combination of the multi-frequency input first and second antennas. Optionally, the deviation angle between the updated and initial heading angles can be 0.5 degrees, 1 degree, or other angles. That is, if the deviation angle between the subsequent heading angle and the previous heading angle obtained at preset intervals is within a certain angle (preset threshold), the dual-antenna transmission mode can be switched to single-antenna transmission mode. For example, the preset threshold can be 0.1 degrees, which is not specifically limited here.

[0051] Optionally, when the vehicle stops and starts, the satellite navigation system automatically disconnects from the vehicle, and the antenna module automatically returns to the first mode until the vehicle restarts.

[0052] In one specific implementation, if during vehicle operation, a disconnection between the satellite navigation system and the vehicle is detected, preventing the inertial measurement unit from updating its heading angle information and affecting positioning accuracy, the system switches from the second mode back to the first mode. This utilizes a dual-antenna mode to increase frequency points and improve positioning accuracy. Once the satellite navigation system is detected to be reconnected to the vehicle, the system switches back to the corresponding mode as described above; further details are omitted here.

[0053] For example, when a vehicle travels to locations with overhead obstructions, such as underground parking garages or underpasses, the satellite navigation system may be unable to obtain the vehicle's location information. In these situations, the vehicle can still achieve autonomous driving using a high-precision map installed in the terminal. At this time, the antenna module can continue to maintain single-antenna mode or switch to dual-antenna mode, regaining the satellite navigation system signal once the overhead obstruction is removed.

[0054] In one specific embodiment, the system can be configured such that if the satellite navigation system signal disappears for a set period of time while the vehicle is in motion, the vehicle maintains a single-antenna transmission mode. If the set time is exceeded, the antenna module switches to a first mode to acquire satellite navigation system signals at multiple frequencies using a dual-antenna transmission mode, improving signal acquisition capability. Once the satellite navigation system signal is acquired and the heading angle meets a preset threshold, the system switches back to single-antenna transmission mode. This set time can be, for example, 10 seconds, 1 minute, or 5 minutes, and is not specifically limited here.

[0055] It is understandable that when the vehicle is running, if it temporarily stops at a red light or other point (provided there are no obstructions above and the satellite navigation system signal does not disappear), the antenna's transmission mode will not be affected, meaning it will still be in single-antenna transmission mode.

[0056] This application also provides a terminal, see [link to application]. Figure 2 The terminal 1000 includes a memory 1010 and a processor 1020.

[0057] The processor 1020 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0058] Memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by the processor 1020 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, memory 1010 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0059] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to execute part or all of the methods described above.

[0060] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0061] Alternatively, this application may be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) storing executable code (or computer program, or computer instruction code) thereon, which, when executed by a processor of a terminal (or electronic device, server, etc.), causes the processor to perform part or all of the steps of the above-described method according to this application.

[0062] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A terminal, characterized in that, Applied to autonomous vehicles; The terminal includes an antenna module for signal connection with a satellite navigation system or an inertial measurement unit. The antenna module includes an independently configured first antenna and a second antenna. The first antenna and the second antenna are located on the top of the vehicle and close to the front end of the vehicle body. The first antenna and the second antenna are arranged laterally along the vehicle body and symmetrically with respect to the center line of the vehicle body. Both the satellite navigation system and the inertial measurement unit are used to obtain the heading angle of the vehicle; The antenna transmission modes include a first mode and a second mode. In the second mode, only the first antenna initiates an electrical connection with the satellite navigation system to obtain the vehicle's heading angle information through the inertial measurement unit. In the first mode, both the first antenna and the second antenna activate an electrical connection with the satellite navigation system to obtain heading angle information. The terminal is used to execute an autonomous driving control method for the vehicle, which includes: The initial state of the vehicle is obtained, and the antenna transmission mode is controlled to be in a first mode; including: obtaining the initial state of the vehicle, if the vehicle is in a relatively stationary state in the initial state, controlling the antenna transmission mode to be in the first mode, the first mode being a dual-antenna transmission mode, the initial state including the vehicle not started state and the state when the vehicle is started and establishes an association with the satellite navigation system; The method includes: acquiring the vehicle's heading angle and controlling the antenna transmission mode to switch from a first mode to a second mode and from the second mode to the first mode; including: detecting that the vehicle's updated heading angle in the first mode reaches a preset threshold, and controlling the antenna transmission mode to switch from the first mode to the second mode, wherein the second mode is a single-antenna transmission mode; and detecting that the satellite navigation system's signal disappearance exceeds a set time, and controlling the antenna mode to switch from the second mode to the first mode.

2. A terminal, characterized in that, include: processor; as well as The memory stores executable code, which, when executed by the processor, causes the processor to perform the vehicle autonomous driving control method executed by the terminal as described in claim 1.

3. A storage medium, characterized in that, It stores executable code, which, when executed by the terminal's processor, causes the processor to execute the vehicle autonomous driving control method executed by the terminal as described in claim 1.

Images