An automatic driving vehicle control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose an automatic driving vehicle control method and device, electronic equipment and a storage medium. The method comprises: receiving a current position of an automatic driving vehicle sent by a target vehicle terminal; determining whether the current position is within a range of a predetermined available parking point; if the current position is outside the range of the available parking point, repeatedly performing the operation of receiving the current position of the automatic driving vehicle sent by the target vehicle terminal until the current position is within the range of the available parking point; and sending a parking instruction to the target vehicle terminal, so that the automatic driving vehicle parks on the available parking point in response to the parking instruction. The method of the embodiments of the present application can control the automatic driving vehicle to quickly and accurately find the available parking point, without the participation of a safety officer throughout the journey, realizing true automatic driving, and also ensuring that the automatic driving vehicle will not violate the rules.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of automatic driving, and in particular to an automatic driving vehicle control method and device, an electronic device and a storage medium. BACKGROUND

[0002] At present, with the development of science and technology, automatic driving vehicles have been gradually applied in daily life. The automatic driving technology has functions including automatic wake-up vehicle start and hibernation, automatic control of vehicle access to parking lot, automatic opening and closing of vehicle door, automatic fault recovery, etc.

[0003] In the process of picking up passengers, the existing automatic driving vehicle generally determines the driving path according to the existing map information, and then picks up passengers according to the driving path. Since the map information has a lag, in order to prevent the automatic driving vehicle from being unable to find a suitable parking place, and to avoid the automatic driving vehicle from appearing illegal parking behavior, the existing automatic driving vehicle is usually equipped with a safety officer to avoid the above situations. This method cannot make the vehicle quickly and accurately find the parking place without the safety officer, and does not realize the true sense of automatic driving. SUMMARY

[0004] The present application provides an automatic driving vehicle control method and device, an electronic device and a storage medium, which can control the vehicle to quickly and accurately find the available parking place without the participation of the safety officer, and can also ensure that the vehicle will not violate the rules.

[0005] In a first aspect, the embodiments of the present application provide an automatic driving vehicle control method, which comprises:

[0006] receiving the current position of the automatic driving vehicle sent by a target vehicle terminal;

[0007] determining whether the current position is within the range of a pre-determined available parking place;

[0008] if the current position is outside the range of the available parking place, repeatedly performing the operation of receiving the current position of the automatic driving vehicle sent by the target vehicle terminal until the current position is within the range of the available parking place;

[0009] sending a parking instruction to the target vehicle terminal, so that the automatic driving vehicle parks on the available parking place in response to the parking instruction.

[0010] In a second aspect, the embodiments of the present application further provide an automatic driving vehicle control device, which comprises:

[0011] a receiving module configured to receive the current position of the automatic driving vehicle sent by a target vehicle terminal;

[0012] a judging module, configured to judge whether the current position is within a range of a pre-determined available parking point;

[0013] a determining module, configured to repeatedly perform the operation of receiving the current position of the automatic driving vehicle sent by the target vehicle terminal until the current position is within the range of the available parking point, if the current position is outside the range of the available parking point;

[0014] a sending module, configured to send a parking instruction to the target vehicle terminal, so that the automatic driving vehicle parks on the available parking point in response to the parking instruction.

[0015] In a third aspect, an electronic device is provided, and the electronic device comprises:

[0016] one or more processors;

[0017] a memory configured to store one or more programs;

[0018] When the one or more programs are executed by the one or more processors, the one or more processors implement the automatic driving vehicle control method provided in any of the embodiments of the present application.

[0019] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, which, when executed by a processor, implements the automatic driving vehicle control method provided in any of the embodiments of the present application.

[0020] In the embodiments of the present application, the current position of the automatic driving vehicle sent by the target vehicle terminal is received, it is judged whether the current position is within a range of a pre-determined available parking point, if the current position is outside the range of the available parking point, the operation of receiving the current position of the automatic driving vehicle sent by the target vehicle terminal is repeatedly performed until the current position is within the range of the available parking point, and a parking instruction is sent to the target vehicle terminal, so that the automatic driving vehicle parks on the available parking point in response to the parking instruction. That is, in the embodiments of the present application, whether the current position of the automatic driving vehicle can park can be determined according to the range of the pre-determined available parking point, when the current position cannot park, the automatic driving vehicle can be controlled to quickly and accurately find the available parking point, the participation of the safety officer is not needed in the whole process, the true automatic driving is realized, and the automatic driving vehicle can be ensured not to violate the rules. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a flowchart of an automatic driving vehicle control method provided in the embodiments of the present application;

[0022] Figure 2is a service structure schematic diagram of reserving an automatic driving vehicle provided by an embodiment of the present application;

[0023] Figure 3 is a flowchart for determining the range of available parking points provided by an embodiment of the present application;

[0024] Figure 4 is a structure schematic diagram of an automatic driving vehicle control device provided by an embodiment of the present application;

[0025] Figure 5 is a structure schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0026] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0027] Figure 1 is a first flowchart of an automatic driving vehicle control method provided by an embodiment of the present application. The method of the present embodiment can accurately and comprehensively predict the user's evaluation result of the vehicle comfort. The method can be executed by an automatic driving vehicle control device in the present embodiment, which can be integrated in an electronic device. The electronic device can be a server, and the method can be implemented in the form of software and / or hardware. The automatic driving vehicle control method provided by the present embodiment specifically includes the following steps:

[0028] Step 101, receiving the current position of the automatic driving vehicle sent by the target vehicle terminal.

[0029] The target vehicle terminal is a vehicle terminal of an automatic driving vehicle being used for picking up passengers. In an optional embodiment, a passenger can use a client to send reservation information to reserve the use of an automatic driving vehicle. The reservation information includes the identification information of the passenger, the current position of the passenger and the position the passenger needs to reach. After receiving the reservation information sent by the passenger, the server can find a suitable automatic driving vehicle for the passenger according to the reservation information of the passenger. After determining the automatic driving vehicle, the server can receive the current position of the automatic driving vehicle sent by the target vehicle terminal (the vehicle terminal of the automatic driving vehicle).

[0030] Figure 2 is a service structure schematic diagram of reserving an automatic driving vehicle provided by an embodiment of the present application. As shown in Figure 2As shown, the server integrates a travel platform and an autonomous driving platform. A passenger can make a reservation for an autonomous driving vehicle through the travel platform, the autonomous driving platform is used to control the autonomous driving vehicle, and the autonomous driving platform is connected with the travel platform through a travel platform adapter. When the server receives the reservation information of the passenger, the travel platform adapter can write the reservation information into a lock state manager and send the location of the passenger to an autonomous driving core processing unit. The autonomous driving core processing unit is used to check and solve sensor faults, actuator faults, domain controller faults, positioning system faults, system initialization faults, collisions, SOC low alarm, charging system faults, brake system faults, etc. of the autonomous driving vehicle. When the autonomous driving vehicle fails, the autonomous driving core processing unit can timely notify the travel platform adapter, and the travel platform will immediately stop receiving reservations. The autonomous driving vehicle cruising driver is used to drive according to the location of the passenger. The autonomous driving service determiner is used to aggregate the determination of the vehicle context state, and determine whether the autonomous driving vehicle meets the vehicle autonomous driving state, which is called by the autonomous driving core processing unit.

[0031] For example, the server receives the reservation information sent by the passenger A from a location to b location. Based on the GeoHash algorithm, the server can find the nearest autonomous driving vehicle in the cruising state (idle, unused autonomous driving vehicle) from the a location according to the state information of each autonomous driving vehicle. After determining the appropriate autonomous driving vehicle, the current position of the autonomous driving vehicle sent by the on-board terminal is received in real time, and the current position, license plate number, color and other information of the autonomous driving vehicle are sent to the client.

[0032] Step 102, determining whether the current position is within the range of the predetermined available parking point.

[0033] In the server, the map information marked with the range of the available parking point is stored in advance. The range of the available parking point is composed of the available parking point determined by the server in advance. After the server receives the current position sent by the autonomous driving vehicle, it can determine whether the current position is within the range of the predetermined available parking point according to the pre-stored map information marked with the range of the available parking point.

[0034] In an optional embodiment, the server can receive the position information sent by each autonomous driving vehicle during driving and the pictures collected at its position, and then perform image processing on these pictures to determine the pictures including traffic signs. Further, the available parking point is determined according to the traffic signs in the pictures including traffic signs corresponding to the driving track of the autonomous driving vehicle. Further, the range of the available parking point is determined according to each available parking point, and the range of the available parking point is marked on the map.

[0035] For example, an autonomous vehicle needs to pick up a passenger at a location a. When the autonomous vehicle reaches the location a, the server receives the current location of the autonomous vehicle sent by the target vehicle terminal as a. Then, the server can determine whether the location a is within the range of the available parking point based on the latitude and longitude of the location a and the map that marks the range of the available parking point in advance. If the location a is within the range of the available parking point, the server can control the autonomous vehicle to park at the location a.

[0036] Step 103, if the current location is outside the range of the available parking point, repeat the operation of steps 101-102 until the current location is within the range of the available parking point.

[0037] Specifically, if the current location is outside the range of the available parking point, it means that the autonomous vehicle cannot park at the current location. Then, the autonomous vehicle can search in the map stored in the server to find the range of the available parking point closest to the current location. When the autonomous vehicle reaches the range of the available parking point, the target vehicle terminal can send the current location to the server. After receiving the current location, the server further confirms whether the current location is within the range of the available parking point determined in advance. If the current location is not within the range of the available parking point, continue to receive the new current location of the autonomous vehicle sent by the target vehicle terminal until the current location sent by the target vehicle terminal is within the range of the available parking point.

[0038] In practical applications, due to the lag of map information, the range of the available parking point marked on the map may change. For example, the location a is within the range of the available parking point on the map, but due to an emergency, the location a may be prohibited from parking at a certain time period. However, the map information stored in the server shows that the location a is within the range of the available parking point. In order to avoid the situation that the autonomous vehicle violates the parking due to the lag of the map, it is necessary to obtain the picture of the current location of the autonomous vehicle in real time, and further determine whether the current location of the autonomous vehicle is within the range of the available parking point according to the picture of the current location.

[0039] Optionally, the target vehicle terminal can send a picture of the current position taken by the target vehicle to the server when sending the current position of the autonomous vehicle to the server. The server first determines whether the current position is within the range of the pre-determined available parking point according to the current position and the pre-stored map information marked with the range of the available parking point. If the current position is within the range of the available parking point, the picture of the current position sent by the target vehicle terminal is obtained, and feature extraction is performed on the picture to check whether the picture contains the feature of a traffic sign. If the picture does not contain the feature of a traffic sign, it is determined that the current position is within the range of the available parking point. If the picture contains the feature of a traffic sign, further analysis is performed on the feature to determine whether the content of the traffic sign corresponding to the feature contains a "temporary parking ban" sign. If the traffic sign contains a "temporary parking ban" sign, it is determined that the current position is not within the range of the available parking point.

[0040] For example, a passenger waits at position a to take an autonomous vehicle, and the server can know from the pre-stored map information that position a is within the range of the available parking point. However, when the autonomous vehicle drives to position a, there is a "temporary parking ban" sign at position a. At this time, the server can find the closest available parking point to position a based on the pre-stored map information according to the GeoHash algorithm. The position of the new parking point is sent to the client in the form of voice broadcast to remind the user to take the autonomous vehicle to the new parking point.

[0041] Step 104, sending a parking instruction to the target vehicle terminal, so that the autonomous vehicle parks at the available parking point in response to the parking instruction.

[0042] The parking instruction is an instruction used by the server to control the autonomous vehicle to park at the current position. When the autonomous vehicle receives the parking instruction sent by the target vehicle terminal, the autonomous vehicle will immediately stop driving and park at the current position. Specifically, when the server determines that the current position of the autonomous vehicle is within the range of the available parking point, the server can send a parking instruction to the target vehicle terminal, so that the autonomous vehicle parks at the available parking point in response to the parking instruction.

[0043] In actual application, after the autonomous vehicle reaches the specified location and successfully parks, the passenger needs to be authenticated to avoid the situation of picking up the wrong passenger. In the present scheme, optionally, the passenger can send the vehicle-riding reservation information to the server, and the vehicle-riding reservation information includes the first identification information of the passenger. When the autonomous vehicle parks at the available parking point, the autonomous vehicle can receive the second identification information of the passenger, and match the second identification information with the first identification information. If the second identification information and the first identification information match successfully, it indicates that the passenger is the passenger who sends the reservation information, and then the autonomous vehicle can open the door and send the passenger to the destination. If the second identification information and the first identification information do not match, it indicates that the passenger is not the passenger who sends the reservation information, and then the autonomous vehicle continues to receive the second identification information of the passenger until the second identification information and the first identification information match successfully.

[0044] The scheme of the embodiment of the present application receives the current position of the autonomous vehicle sent by the target vehicle terminal. It is judged whether the current position is within the range of the pre-determined available parking point. If the current position is outside the range of the available parking point, the operation of receiving the current position of the autonomous vehicle sent by the target vehicle terminal is repeatedly performed until the current position is within the range of the available parking point. The parking instruction is sent to the target vehicle terminal, so that the autonomous vehicle parks at the available parking point in response to the parking instruction. The scheme of the present embodiment can determine whether the current position of the autonomous vehicle can park according to the range of the pre-determined available parking point, and when the current position cannot park, the autonomous vehicle can be controlled to quickly and accurately find the available parking point, without the participation of the safety officer throughout the journey, realizing the true sense of autonomous driving, and also ensuring that the autonomous vehicle will not violate the rules.

[0045] Figure 3 The flow chart for determining the range of the available parking point provided by the embodiment of the present application is shown in FIG. 1, and the method mainly includes the following steps: Figure 3

[0046] Step 301, receiving the positions of the autonomous vehicle on the driving track and the pictures collected at the positions sent by each vehicle terminal.

[0047] ​The automatic driving vehicle is provided with a photographing device, such as a vehicle-mounted camera. The driving track includes the track of the entire historical driving process of the automatic driving vehicle. In an optional embodiment, when the automatic driving vehicle drives in the driving range, the photographing device of the automatic driving vehicle can take a picture of the surrounding environment of the current position of the automatic driving vehicle at a preset time interval. For example, the automatic driving vehicle drives from position A to position B, and during the driving process, the photographing device takes a picture of the surrounding environment of the current position of the automatic driving vehicle every 1 second (the photographing device can be a vehicle data recorder). When the automatic driving vehicle reaches position B, the photographing device takes a picture of the surrounding environment of each position in the process from position A to position B, that is, the picture collected at each position. The vehicle-mounted terminal of the automatic driving vehicle can send the pictures of each position to the server, and the server can receive the pictures collected at each position on the driving track sent by each vehicle-mounted terminal.

[0048] Step 302: Extracting image features from each picture.

[0049] The image features include color features, texture features, shape features, and spatial relationship features of the image. The server can determine the content displayed in the picture according to the image features. Specifically, when the server receives the pictures sent by each target vehicle-mounted terminal, the server can use a convolutional neural network-based image recognition algorithm to recognize the image and extract the image features.

[0050] For example, the photographing device of the automatic driving vehicle takes a picture of a traffic sign with a right-turn sign, and the server extracts features from the picture. According to the color features, texture features, shape features, and spatial relationship features of the extracted picture, it can be determined that the picture includes a traffic sign with a right-turn sign.

[0051] Step 303: Extracting at least one target picture from all the pictures according to the image features in each picture.

[0052] The target picture is a picture containing a traffic sign. In actual applications, there are various traffic signs on urban roads, and the server can determine where the car can stop and where the car cannot stop according to these traffic signs. Specifically, the server can extract image features from each picture, and then filter pictures containing traffic signs from the pictures according to the image features of each picture. In this scheme, at least one target picture is extracted from all the pictures according to the image features in each picture, including the following steps A1-A2:

[0053] Step A1: extract one picture as a current picture from all pictures, and match the image feature in the current picture with the image feature of each predetermined traffic sign.

[0054] The current picture is the first picture extracted by the server from all received pictures according to the driving trajectory. Specifically, the server stores the image features corresponding to various predetermined traffic signs. After receiving the pictures sent by each target vehicle terminal, the server extracts the first picture according to the driving trajectory, extracts the features of the picture, and matches the extracted picture features with the pre-stored image features corresponding to various traffic signs. If the matching is successful, it indicates that the picture includes a traffic sign. If the matching fails, it indicates that the picture does not include a traffic sign.

[0055] Step A2: if the image feature in the current picture matches the image feature of any traffic sign, the current picture is determined as a target picture; repeat the above operation until all target pictures are extracted from all pictures.

[0056] Specifically, if the image feature in the current picture matches the pre-stored image features corresponding to various traffic signs, it indicates that the picture includes a traffic sign, and the picture is taken as a target picture. Further, the server can select a picture as a current picture from other pictures according to the driving trajectory, extract the image features of the picture, and determine whether the picture is a target picture according to the image features of the picture and the pre-stored image features corresponding to various traffic signs, until all target pictures are extracted from all pictures.

[0057] Through the above steps, the pictures including traffic signs can be accurately and quickly determined from various pictures, which facilitates the determination of the range of available parking points according to the content of the traffic signs.

[0058] Step 304: extract one picture as a current target picture from all target pictures.

[0059] All target pictures are pictures including traffic signs among all pictures received by the server. Specifically, after screening all target pictures, the server extracts the first picture as a current target picture according to the driving trajectory, and determines whether the position corresponding to the current target picture is an available parking point according to the traffic sign in the current target picture.

[0060] For example, the server identifies the traffic sign in the current target picture and determines that the content of the traffic sign is right turn, which indicates that the position corresponding to the current target picture may be at an intersection. Then the server can determine that the position corresponding to the current target picture is not an available parking point.

[0061] Step 305, if the position corresponding to the current target picture is a parking point, mark the position corresponding to the current target picture; take the next target picture of the current target picture as the current target picture, and repeat the above operation until the position corresponding to the current target picture is not a parking point.

[0062] If the traffic sign in the current target picture is a traffic sign indicating that parking is allowed at this location, it means that the position corresponding to the current target picture is a parking point. If the traffic sign in the current target picture is a traffic sign indicating that parking is not allowed at this location, it means that the position corresponding to the current target picture is not a parking point. For example, if the traffic sign in the current picture is a left turn traffic sign, it means that the position corresponding to the target picture may be a turning intersection, etc., and it can be further determined that the position corresponding to the current target picture is not a parking point. The server can mark the position corresponding to the current target picture on the pre-stored map, marking that the position is a parking point. Further, the server can further select a picture from other target pictures as the current target picture, and determine whether the position corresponding to the current target picture is a parking point, and if it is a parking point, mark the position, until the position corresponding to the current target picture is not a parking point. Step 306, extract the first marked position and the last marked position from all marked positions.

[0063] Specifically, if the position corresponding to the current target picture is not a parking point, it means that the position corresponding to the last target picture of the current target picture is the last marked position.

[0064] Step 307, determine the range of the parking point according to the first marked position and the last marked position.

[0065] If a position is a marked position, it means that the position is a parking point. As known from the above steps, the positions between the first marked position and the last marked position are all parking points. Therefore, according to the first marked position and the last marked position, the range of the parking point can be determined. In the present scheme, optionally, the range of the parking point is determined according to the first marked position and the last marked position, including the following steps B1-B2:

[0066] Step B1: calculate the distance between the first marked position and the last marked position.

[0067] The distance between the first marked position and the last marked position refers to the straight-line distance between the first marked position and the last marked position. Specifically, although both the first marked position and the last marked position are parking positions, if the distance between the first marked position and the last marked position is too small (less than or equal to the general length of a vehicle body), the first marked position and the last marked position cannot be used for parking. Therefore, to determine the range of available parking points, the distance between the first marked position and the last marked position needs to be calculated.

[0068] Step B2: If the distance between the first marked position and the last marked position is greater than a predetermined threshold, the area between the first marked position and the last marked position is determined as the range of available parking points.

[0069] The predetermined threshold can be set in advance according to the actual environment and specific needs. In actual application, if the distance between the first marked position and the last marked position is too small, the first marked position and the last marked position cannot be used for parking.

[0070] For example, there is a traffic sign that can be parked 1 meter behind position a. The server determines position a as an available parking point according to the picture corresponding to position a and marks position a (the first marked position). Further, the server identifies positions b and c, which are 1 meter and 2 meters ahead of position a respectively, as available parking points in the order of the driving trajectory, until a traffic sign indicating a left turn is identified in the picture corresponding to the position 3 meters ahead of position a (then position c is the last marked position). Assuming that the preset threshold is 5 meters, it can be determined according to the preset threshold that the distance between position a and position c is less than the preset threshold, and therefore the area between the first marked position and the last marked position is not the range of available parking points. Similarly, if the distance between position a and position c is greater than 5 meters, it is determined that the area between the first marked position and the last marked position is the range of available parking points. Through the above steps, the range of available parking points can be accurately determined according to the actual environment, and the accuracy of determining whether the current position of the vehicle can be parked according to the pre-determined range of available parking points is improved.

[0071] In an optional embodiment of the scheme, after the first marked position and the last marked position are determined, the pictures corresponding to the positions between the first marked position and the last marked position are filtered out, and the image features of the pictures are extracted to obtain the image features of the pictures. Further, the image features of the pictures are matched with the pre-determined illegal parking features, and if there is an image feature matching the pre-determined illegal parking features, it can be determined that the position corresponding to the picture containing the image feature is an unusable parking point.

[0072] For example, the pre-determined illegal parking features include a yellow traffic line on the road indicating no parking, the first marked position is position A, and the last marked position is position B. After the pictures corresponding to the positions between position A and position B are obtained, the image features of the pictures are extracted and matched, and it is found that the image features of the picture corresponding to position C contain the features of the yellow traffic line indicating no parking, it can be determined that position C is an unusable parking point. Further, the range of the available parking points is updated to position A to position D (the previous available parking point of position C) and position E (the next available parking point of position C) to position B.

[0073] The automatic driving vehicle control method provided by the embodiment of the application can receive the positions of the automatic driving vehicle on the driving track and the pictures collected at the positions sent by each vehicle terminal. Image features are extracted from the pictures. At least one target picture is extracted from the pictures according to the image features in the pictures; wherein each target picture in the at least one target picture includes at least a traffic sign. One picture is extracted from all the target pictures as a current target picture. If the position corresponding to the current target picture is an available parking point, the position corresponding to the current target picture is marked; the next target picture of the current target picture is taken as the current target picture, and the above operation is repeated until the position corresponding to the current target picture is not an available parking point. The first marked position and the last marked position are extracted from all the marked positions. The range of the available parking points is determined according to the first marked position and the last marked position. The scheme of the embodiment can accurately determine the range of the available parking points on the map according to each traffic sign. Further, the server can control the vehicle to quickly and accurately find the available parking points, and the vehicle can be prevented from violating the rules.

[0074] Figure 4 FIG. 1 is a structural schematic diagram of an automatic driving vehicle control device provided by an embodiment of the application. The embodiment of the application provides an automatic driving vehicle control device, which comprises:

[0075] The receiving module 401 is configured to receive a current position of an automatic driving vehicle sent by a target vehicle terminal;

[0076] The judging module 402 is configured to judge whether the current position is within a range of a pre-determined available parking point.

[0077] The determining module 403 is configured to repeatedly perform the operation of receiving the current position of the automatic driving vehicle sent by the target vehicle terminal until the current position is within the range of the available parking point, if the current position is out of the range of the available parking point.

[0078] The sending module 404 is configured to send a parking instruction to the target vehicle terminal, so that the automatic driving vehicle parks on the available parking point in response to the parking instruction.

[0079] Optionally, before receiving the current position of the automatic driving vehicle sent by the target vehicle terminal, the judging module 402 is specifically configured to receive each position of the automatic driving vehicle on a driving track and pictures collected at each position sent by each vehicle terminal.

[0080] The range of the available parking point is determined according to each position and the pictures collected at each position.

[0081] Optionally, the judging module 402 is further configured to extract image features from each picture.

[0082] At least one target picture is extracted from all the pictures according to the image features in each picture, wherein each target picture in the at least one target picture includes at least a traffic sign.

[0083] The range of the available parking point is determined according to each target picture.

[0084] Optionally, the judging module 402 is further configured to extract one picture from all the pictures as a current picture.

[0085] The image features in the current picture are matched with image features in each pre-determined traffic sign.

[0086] If the image features in the current picture are successfully matched with the image features in any traffic sign, it is determined that the current picture is the target picture; the above operation is repeatedly performed until all the target pictures are extracted from all the pictures.

[0087] Optionally, the judging module 402 is further configured to extract one picture from all the target pictures as a current target picture.

[0088] If the position corresponding to the current target picture is a parking point, the position corresponding to the current target picture is marked; a next target picture of the current target picture is taken as the current target picture, and the above operation is repeatedly performed until the position corresponding to the current target picture is not a parking point;

[0089] The range of the parking point is determined according to all the marked positions.

[0090] Optionally, the judging module 402 is further configured to extract a first marked position and a last marked position from all the marked positions.

[0091] The range of the parking point is determined according to the first marked position and the last marked position.

[0092] Optionally, the judging module 402 is further configured to calculate the distance between the first marked position and the last marked position.

[0093] If the distance between the first marked position and the last marked position is greater than a predetermined threshold, the region between the first marked position and the last marked position is determined as the range of the parking point.

[0094] The automatic driving vehicle control device provided by the embodiment of the present application can execute the automatic driving vehicle control method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0095] Figure 5 is a structural schematic diagram of an electronic device provided by the embodiment of the present application, referring to Figure 5 which shows a structural schematic diagram of a computer system 12 of an electronic device suitable for implementing the embodiment of the present application. Figure 5 The electronic device shown is only an example, and should not bring any limitation to the function and use range of the embodiment of the present application. The components of the electronic device 12 can include but are not limited to one or more processors or processing units 16, system memory 28, bus 18 connecting different system components including system memory 28 and processing unit 16.

[0096] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to industry standard architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video electronics standards association (VESA) local bus and peripheral component interconnect (PCI) bus.

[0097] Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that is accessible by electronic device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

[0098] The system memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 12 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (not shown and typically called a "hard drive"). Figure 5 Although not shown, a magnetic disk drive can also be utilized in some embodiments to access magnetic on-removable, non-volatile media Figure 5 (not shown and typically called a "floppy disk") along with an associated disk drive (not shown). As should be readily understood by those skilled in the art, the disk drive and associated disk drive, when utilized, provide data storage persistence and computer program product storage functions as needed.

[0099] A program / utility 40, having a set (at least one) of program modules 42, can be stored in memory 28, for example ROM, RAM, or the like, which are configured to execute the functions of embodiments of the application as described herein. Program / utility 40 can include, but is not limited to, for example, an operating system, one or more applications, other program modules, and program data.

[0100] The electronic device 12 can also communicate with one or more external devices 14 such as a keyboard, a pointing device, a display 24, etc.; other devices that enable a user to interact with the electronic device 12; and / or any devices (e.g., a networking module, a Figure 5 Other hardware and / or software modules that can be incorporated in electronic device 12, not shown in FIG. 1, include but are not limited to, microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage system etc.

[0101] The processing unit 16 performs various functional applications and automated driving vehicle control by executing programs stored in the system memory 28, such as implementing an automated driving vehicle control method provided by embodiments of the present application: receiving a current position of an automated driving vehicle sent by a target vehicle terminal; determining whether the current position is within a range of a pre-determined available parking point; if the current position is outside the range of the available parking point, repeatedly performing the operation of receiving the current position of the automated driving vehicle sent by the target vehicle terminal until the current position is within the range of the available parking point; and sending a parking instruction to the target vehicle terminal so that the automated driving vehicle parks at the available parking point in response to the parking instruction.

[0102] The embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize an automatic driving vehicle control method provided by all the embodiments of the present application: receiving a current position of an automatic driving vehicle sent by a target vehicle terminal; judging whether the current position is in a range of a predetermined available parking point; if the current position is out of the range of the available parking point, repeatedly performing the operation of receiving the current position of the automatic driving vehicle sent by the target vehicle terminal until the current position is in the range of the available parking point; and sending a parking instruction to the target vehicle terminal, so that the automatic driving vehicle parks on the available parking point in response to the parking instruction. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, device or apparatus.

[0103] The computer readable signal medium can include a data signal propagated in a baseband or propagated as a carrier wave in a propagated data signal, in which the computer readable program code is contained. Such a propagated data signal can take many forms, including but not limited to electro-magnetic, optical, or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that can send, propagate or transfer the program for use by or in connection with an instruction execution system, apparatus or device.

[0104] The program code contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, cable, RF, etc., or any suitable combination thereof.

[0105] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0106] It is to be understood that the above description is directed to the preferred embodiments and that those skilled in the art will be able to devise various modifications which, although not specifically described herein, embody the principles of the application and are included within the spirit and scope of the application. Accordingly, while the preferred embodiments have been described above, those skilled in the art will understand that they are not to be limited to the preferred embodiments, but are to include all such embodiments falling within the scope of the application as defined by the appended claims.

Claims

1. An automatic driving vehicle control method characterized by, The method comprises: receiving each vehicle terminal sending the automatic driving vehicle in each position on the driving track and the pictures collected in each position; extracting image features in each picture; wherein the pictures are the pictures collected in each position; extracting at least one target picture from all pictures according to the image features in each picture; wherein each target picture in the at least one target picture comprises at least a traffic sign; determining the range of available parking points according to each target picture; receiving the current position of the automatic driving vehicle sent by the target vehicle terminal; judging whether the current position is within the range of the predetermined available parking points; if the current position is outside the range of the available parking points, repeating the operation of receiving the current position of the automatic driving vehicle sent by the target vehicle terminal until the current position is within the range of the available parking points; sending a parking instruction to the target vehicle terminal, so that the automatic driving vehicle parks on the available parking point in response to the parking instruction.

2. The method of claim 1, wherein, According to the image features in each picture, at least one target picture is extracted from all pictures, comprising: extracting one picture from all pictures as a current picture; matching the image features in the current picture with the image features in each predetermined traffic sign; if the image features in the current picture match the image features in any traffic sign successfully, it is determined that the current picture is the target picture; repeat the above operation until all target pictures are extracted from all pictures.

3. The method of claim 1, wherein, According to each target picture, the range of available parking points is determined, comprising: extracting one picture from all target pictures as a current target picture; if the position corresponding to the current target picture is an available parking point, marking the position corresponding to the current target picture; the next target picture of the current target picture is taken as the current target picture, and the above operation is repeated until the position corresponding to the current target picture is not an available parking point; determining the range of available parking points according to all marked positions.

4. The method of claim 3, wherein, According to all marked positions, the range of available parking points is determined, comprising: extracting the first marked position and the last marked position from all marked positions; determining the range of available parking points according to the first marked position and the last marked position.

5. The method of claim 4, wherein, According to the first marked position and the last marked position, the range of available parking points is determined, comprising: calculating the distance between the first marked position and the last marked position; if the distance between the first marked position and the last marked position is greater than a predetermined threshold, the area between the first marked position and the last marked position is determined as the range of available parking points.

6. An automatic driving vehicle control device characterized by comprising: The device comprises: a receiving module for receiving the current position of the automatic driving vehicle sent by the target vehicle terminal; determining whether the current position is within a range of a predetermined available parking point; determining, if the current position is outside the range of the available parking point, repeatedly performing the operation of receiving the current position of the automatic driving vehicle sent by the target vehicle terminal until the current position is within the range of the available parking point; sending a parking instruction to the target vehicle terminal, so that the automatic driving vehicle parks on the available parking point in response to the parking instruction; wherein, before receiving the current position of the automatic driving vehicle sent by the vehicle terminal, the determining module is specifically configured to: receive each position of the automatic driving vehicle on a driving track and pictures collected at each position sent by each vehicle terminal; extract image features from each picture, wherein the pictures are the pictures collected at each position; extract at least one target picture from all the pictures according to the image features in the pictures, wherein each target picture in the at least one target picture includes at least a traffic sign; determine the range of the available parking point according to each target picture.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the automatic driving vehicle control method in any one of claims 1-5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the automatic driving vehicle control method in any one of claims 1-5. The program is executed by the processor to implement the automatic driving vehicle control method in any one of claims 1-5.

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