Vehicle control method and device

Abstract

The embodiments of this specification disclose a vehicle control method, device and equipment, which may include: determining a virtual model of the target vehicle according to relevant status data of the target vehicle; and generating traffic control instructions related to the target vehicle using the virtual model. Since the virtual model can describe the connected vehicle from three perspectives: vehicle attribute information, vehicle service information and vehicle event information, various types of connected vehicles can be mapped to the virtual model in the cloud platform, so that the cloud platform can generate traffic control instructions related to the target vehicle based on the virtual model, thereby controlling a variety of connected vehicles based on the virtual model, so as to realize multi-body collaborative control of the connected vehicles in the cloud according to the cloud control data.

Description

Technical Field

[0001] The present application relates to the field of Internet of Vehicles, and in particular to a vehicle control method and device. Background Art

[0002] The Internet of Vehicles technology is based on the new generation of information and communication technology, realizing all-round network connections between vehicles and cloud platforms, vehicles and vehicles, vehicles and roads, vehicles and people, and inside the vehicle, so as to improve the overall intelligent driving level of connected vehicles and provide users with safe, comfortable, intelligent and efficient driving experience and transportation services, while improving traffic operation efficiency and enhancing the intelligence level of social transportation services.

[0003] At present, the transmission protocols supported by connected cars produced by different manufacturers vary greatly. It is difficult for the cloud platform to communicate data with a variety of connected vehicles, making it difficult to achieve multi-body collaborative control of connected vehicles in the cloud. Summary of the invention

[0004] The embodiments of this specification propose a vehicle control method and device to provide a virtual model with good versatility.

[0005] A vehicle control method provided in an embodiment of this specification includes:

[0006] Get relevant status data of the target vehicle.

[0007] Based on the relevant status data, a virtual model of the target vehicle is determined; the virtual model is used to describe the vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information is used to reflect the current status information of the target vehicle, the vehicle service information is used to reflect the expected operating status information of the target vehicle, and the vehicle event information is used to reflect the current status change information of the target vehicle.

[0008] The virtual model is used to generate traffic control instructions related to the target vehicle.

[0009] A vehicle control device provided in an embodiment of the present specification includes:

[0010] The status acquisition module is used to obtain relevant status data of the target vehicle.

[0011] A determination module is used to determine a virtual model of the target vehicle based on the relevant status data; the virtual model is used to describe the vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information is used to reflect the current status information of the target vehicle, the vehicle service information is used to reflect the expected operating status information of the target vehicle, and the vehicle event information is used to reflect the current status change information of the target vehicle.

[0012] A generation module is used to generate traffic control instructions related to the target vehicle using the virtual model.

[0013] A vehicle control device provided in an embodiment of the present specification includes:

[0014] at least one processor; and,

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0017] Get relevant status data of the target vehicle.

[0018] Based on the relevant status data, a virtual model of the target vehicle is determined; the virtual model is used to describe the vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information is used to reflect the current status information of the target vehicle, the vehicle service information is used to reflect the expected operating status information of the target vehicle, and the vehicle event information is used to reflect the current status change information of the target vehicle.

[0019] The virtual model is used to generate traffic control instructions related to the target vehicle.

[0020] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0021] The embodiments of this specification disclose a vehicle control method and device, which may include: determining a virtual model of the target vehicle according to relevant status data of the target vehicle; and generating traffic control instructions related to the target vehicle using the virtual model.

[0022] Since the virtual model can describe the connected vehicle from three perspectives: vehicle attribute information, vehicle service information, and vehicle event information, various types of connected vehicles can be mapped to a universal virtual model in the cloud platform, so that the cloud platform can generate traffic control instructions related to the target vehicle based on the virtual model. In this way, a variety of connected vehicles can be controlled based on the virtual model, and multi-body collaborative control of the connected vehicles can be achieved in the cloud according to cloud control data. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 A flow chart of a vehicle control method provided in an embodiment of this specification.

[0025] Figure 2 A schematic diagram of the structure of the virtual model provided in the embodiments of this specification.

[0026] Figure 3 A schematic flow chart of a process for generating a target speed in vehicle service information provided in an embodiment of this specification.

[0027] Figure 4 A schematic diagram of a flow chart of generating a vehicle control instruction for a target vehicle provided in an embodiment of this specification.

[0028] Figure 5 The embodiments of this specification provide corresponding to Figure 1 A structural schematic diagram of a vehicle control device.

[0029] Figure 6 The embodiments of this specification provide corresponding to Figure 1 A structural schematic diagram of a vehicle control device. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0031] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0032] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

[0033] The transmission protocols supported by connected cars produced by different manufacturers vary greatly. It is difficult for the cloud platform to communicate data with a variety of connected vehicles, making it difficult to achieve multi-body collaborative control of connected vehicles in the cloud.

[0034] In order to solve the defects in the prior art, this solution provides the following embodiments:

[0035] Figure 1 A flow chart of a vehicle control method provided in an embodiment of this specification.

[0036] From a program perspective, the execution subject of the process can be a cloud platform connected to the target vehicle signal, or an application installed on the cloud platform. Figure 1 As shown, the process may include the following steps:

[0037] Step 101: Obtain relevant status data of the target vehicle.

[0038] In the embodiments of this specification, the target vehicle may refer to a vehicle connected to the cloud platform data. The target vehicle may upload vehicle status data to the cloud platform, and the target vehicle may also travel according to control instructions issued by the cloud platform.

[0039] In the embodiments of this specification, the relevant status data of the target vehicle may refer to the vehicle status data of the target vehicle, which may specifically include dynamic data such as the position and speed of the target vehicle, and static data such as the size, weight, and color of the target vehicle.

[0040] Step 103: Determine a virtual model of the target vehicle based on the relevant status data; the virtual model can be used to describe the vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information can be used to reflect the current status information of the target vehicle, the vehicle service information can be used to reflect the expected operating status information of the target vehicle, and the vehicle event information can be used to reflect the current status change information of the target vehicle.

[0041] In the embodiments of this specification, the virtual model is the projection of the target vehicle in the digital world, and the virtual model can describe the target vehicle from three dimensions: attributes, services, and events. Specifically, the virtual model can include vehicle attribute information, vehicle service information, and vehicle event information, which respectively describe what the target vehicle is, what the target vehicle can do, and what changes have occurred to the target vehicle from three dimensions.

[0042] In the embodiment of this specification, the virtual model can be generated or updated according to the relevant status data of the target vehicle.

[0043] Step 105: Generate traffic control instructions related to the target vehicle using the virtual model.

[0044] In the embodiments of this specification, the traffic control instruction may refer to an instruction for controlling the target vehicle, or may refer to an instruction for controlling traffic participants or traffic equipment related to the target vehicle. The instruction may include instructions and commands for directing the operation of vehicles or traffic equipment.

[0045] In the embodiment of this specification, the virtual model of the target vehicle is determined according to the relevant status data of the target vehicle; and the traffic control instructions related to the target vehicle are generated using the virtual model. Since the virtual model can describe the connected vehicle from three perspectives: vehicle attribute information, vehicle service information, and vehicle event information, various types of connected vehicles can be mapped to the virtual model in the cloud platform, so that the cloud platform can generate traffic control instructions related to the target vehicle based on the virtual model, and thus the cloud platform can control a variety of connected vehicles based on the virtual model, so as to realize multi-body collaborative control of the connected vehicles in the cloud according to the cloud control data.

[0046] based on Figure 1 The method in this specification also provides some specific implementation plans of the method, which are described below.

[0047] Optionally, the vehicle attribute information can be specifically used to reflect at least one of the basic vehicle information, vehicle posture information and vehicle displacement information of the target vehicle.

[0048] The vehicle service information may specifically be used to reflect at least one of the target speed information, target direction information, and target driving lane information of the target vehicle.

[0049] The vehicle event information may be specifically used to reflect that the target vehicle may include at least one of the vehicle basic information change event, the vehicle posture information change event and the vehicle displacement information change event.

[0050] Figure 2 A schematic diagram of the structure of the virtual model provided in the embodiments of this specification.

[0051] like Figure 2 As shown, the virtual model may include vehicle attribute information, vehicle service information and vehicle event information.

[0052] In the embodiments of this specification, the vehicle attribute information may include basic vehicle information, vehicle position information, and vehicle displacement information of the target vehicle. The basic vehicle information may include the size information, color information, and weight information of the target vehicle, and may also include vehicle performance information such as the maximum power and braking distance of the target vehicle. Among them, the size information of the target vehicle may refer to the size of the outer envelope cuboid of the target vehicle (i.e., the smallest cuboid surrounding the target vehicle).

[0053] In an embodiment of the present specification, the vehicle posture information may include the movement direction information, position information and attitude information of the target vehicle. Among them, the movement direction information of the target vehicle may specifically refer to the direction vector that can represent the movement direction of the target vehicle. The position information of the target vehicle may specifically refer to the longitude and latitude information of the target vehicle. The attitude information of the target vehicle may refer to the relationship between the body coordinate system and the earth coordinate system of the target vehicle, which may be specifically described by Euler angles, quaternions and direction cosines. The vehicle displacement information of the target vehicle may specifically include the speed information, acceleration information and jerk information of the target vehicle. The vehicle displacement information of the target vehicle may be represented by the Frenet coordinate system.

[0054] In the embodiment of the present specification, the vehicle service information may include target speed information, target direction information and target driving lane information of the target vehicle.

[0055] In the embodiment of this specification, the vehicle event information may include at least one of the vehicle basic information change event, the vehicle posture information change event and the vehicle displacement information change event of the target vehicle. Specifically, the vehicle basic information change event may include at least one of the target vehicle's external dimension change event and weight change event; the vehicle posture information change event may include at least one of the movement direction change event, the position change event and the attitude change event; the vehicle displacement information change event may include at least one of the speed change event, the acceleration change event and the jerk change event.

[0056] Optionally, determining the virtual model of the target vehicle according to the relevant state data may specifically include:

[0057] generating at least one of basic vehicle information, vehicle posture information and vehicle displacement information of the target vehicle according to the relevant status data; and / or,

[0058] The vehicle event information in the virtual model of the target vehicle is generated according to the relevant status data and / or the vehicle attribute information.

[0059] In the embodiments of this specification, the relevant status data may include the vehicle status data of the target vehicle. The vehicle attribute information may be generated or updated based on the vehicle status data of the target vehicle. The vehicle event information may be generated based on changes in the vehicle attribute information or the vehicle status data in the relevant status data.

[0060] In the embodiment of this specification, the related status data may also include event data of the target vehicle, that is, the vehicle event information may also be generated based on the event data uploaded by the target vehicle.

[0061] Optionally, the generating of the traffic control instruction related to the target vehicle by using the virtual model may specifically include:

[0062] generating a vehicle control instruction for the target vehicle using the virtual model; and / or,

[0063] generating vehicle control instructions for other traffic participants associated with the target vehicle using the virtual model; and / or,

[0064] Using the virtual model, device control instructions for traffic equipment related to the target vehicle are generated.

[0065] In the embodiments of this specification, the other traffic participants related to the target vehicle may include other vehicles around the target vehicle.

[0066] In the embodiments of this specification, the traffic equipment related to the target vehicle may include traffic lights, barriers, height limit frames, and movable isolation belts of automatic tidal lanes.

[0067] In the embodiments of this specification, the virtual model can be used not only to control the target vehicle corresponding to the virtual model, but also to control other traffic participants and traffic equipment related to the target vehicle. Thus, deep fusion interaction between cars and cars, and cars and the environment can be achieved based on cloud data.

[0068] Optionally, before using the virtual model to generate a vehicle control instruction for the target vehicle, the method may further include:

[0069] It is determined whether the vehicle event information meets a preset condition for calculating the vehicle service information, and a determination result is obtained.

[0070] The step of generating a vehicle control instruction for the target vehicle by using the virtual model may specifically include:

[0071] If the judgment result indicates that the vehicle event information satisfies the preset condition for calculating the vehicle service information, the vehicle service information for the target vehicle is generated according to the vehicle attribute information and the driving environment information.

[0072] A traffic control instruction for the target vehicle is generated according to the vehicle attribute information, the vehicle service information and the driving environment information.

[0073] In the embodiments of this specification, the preset conditions can be set corresponding to the vehicle event information, and can include conditions related to the vehicle basic information change event, the vehicle posture information change event, and the vehicle displacement information change event. Taking the speed change event in the vehicle displacement information change event as an example, if the speed change event meets the preset conditions, this will trigger the calculation of the target speed information.

[0074] In the embodiment of the present specification, the driving environment information may include relevant information of other traffic participants related to the target vehicle, that is, virtual models of the other traffic participants.

[0075] In the embodiments of this specification, the traffic control instructions for the target vehicle can be generated based on various control algorithms, such as proportional-integral-derivative control algorithm (PID), fuzzy algorithm, neural network algorithm, LQR algorithm (Linear Quadratic Regulator), adaptive control, sliding mode control, etc.

[0076] Figure 3 A schematic flow chart of a process for generating a target speed in vehicle service information provided in an embodiment of this specification. Figure 3 The networked vehicle A shown in FIG. 1 is the target vehicle. The process of generating the target speed of the networked vehicle A may include:

[0077] The speed change event of the connected vehicle A is: the speed of the connected vehicle A changes from V0 at time T0 to Vn at time Tn; if it is determined that this speed change event of the connected vehicle A meets the preset conditions, the location information in the vehicle attribute information of the connected vehicle A is read, and the map information related to the connected vehicle A is obtained. According to the location information of the connected vehicle A combined with the map information, it is determined whether the connected vehicle A is located on the highway section. If the connected vehicle A is located on the highway section, the target speed V is set to the speed limit Vhighway of the highway section; if the connected vehicle A is not on the highway section, the target speed V is set to the speed limit Vcity of the urban section. The target speed V can be used to control the speed of the connected vehicle A.

[0078] Figure 4 The present invention provides a flow chart of generating a vehicle control instruction for a target vehicle. More specifically, Figure 4 A flow chart of generating a vehicle control command for a target vehicle according to a target speed control.

[0079] In the embodiments of this specification, Figure 4 The incremental PID controller in can control the speed of the target vehicle according to formula (1) and formula (2). Wherein, k, k-1, k-2 can refer to the current moment, the previous moment, and the previous moment respectively; V is the target speed, V k-1 is the actual speed at the current moment, ΔV k is the speed control increment, V k is the output result of the incremental PID controller; A k is the target speed V and the actual speed V at the current moment k-1 The deviation between k-1 、e k-2 are the deviations of the previous moment and the moment before that respectively; K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient.

[0080] ΔV k =K P (e k -e k-1 )+K I e k +K D (e k -2e k-1 +e k-2 ) (1)

[0081] V k =ΔV k +V k-1 (2)

[0082] In practical applications, the control of the target vehicle is generally stateful. In this application, the relevant state data of the target vehicle is obtained, and then the vehicle attribute information and vehicle event information in the virtual model of the target vehicle are determined. When the vehicle event information meets the preset conditions for calculating the vehicle service information, the vehicle service information in the virtual model is generated, thereby generating a virtual model of the target vehicle; the cloud platform controls the target vehicle based on the virtual model. In this way, the de-statement of the calculation process of the vehicle service information is achieved, and the computing resources of the cloud platform can be automatically adjusted based on the high-speed shared cache.

[0083] Optionally, before using the virtual model to generate a vehicle control instruction for the target vehicle, the method may further include:

[0084] Obtain traffic control information related to the target vehicle from traffic control equipment.

[0085] The step of generating a vehicle control instruction for the target vehicle by using the virtual model may specifically include:

[0086] The vehicle service information for the target vehicle is generated by using the traffic command information, the vehicle attribute information and the driving environment information.

[0087] A traffic control instruction for the target vehicle is generated according to the vehicle attribute information, the vehicle service information and the driving environment information.

[0088] In the embodiments of this specification, the traffic control information may refer to the instruction sent by the traffic control device to the target vehicle, which may be used to instruct the target vehicle to stop or drive at a specified speed. Specifically, the traffic control information may include green wave speed guidance information, parking instruction information, etc.

[0089] In the embodiments of this specification, the calculation of the vehicle service information may also be triggered by external traffic control information.

[0090] In the embodiments of this specification, the calculation of the vehicle service information may also be triggered by external abnormal events such as traffic accidents, traffic jams or traffic congestion.

[0091] Optionally, the driving environment information may specifically include: at least one of map information, weather information, and road condition information related to the target vehicle.

[0092] In the embodiments of the present specification, the driving environment information may refer to the current position, destination position and environmental information related to the planned route of the target vehicle, which may specifically include information on maps, weather, road conditions, etc.

[0093] Optionally, the obtaining of relevant status data of the target vehicle may specifically include:

[0094] Acquiring vehicle status data uploaded by the target vehicle; and / or,

[0095] Acquiring the relevant status data of the target vehicle collected by roadside equipment; and / or,

[0096] Acquire the relevant status data of the target vehicle collected by other traffic participants.

[0097] In the embodiments of the present specification, the relevant status data of the target vehicle may include, in addition to the vehicle status data collected by the sensors of the target vehicle, the vehicle status data of the target vehicle collected by the roadside equipment, and the vehicle status data of the target vehicle collected by other traffic participants around the target vehicle.

[0098] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method.

[0099] Figure 5 A method corresponding to the embodiment of this specification is provided Figure 1 A schematic diagram of the structure of a vehicle control device. Figure 5 As shown, the apparatus 500 may include:

[0100] The status acquisition module 501 can be used to acquire relevant status data of the target vehicle.

[0101] Determination module 503 can be used to determine the virtual model of the target vehicle based on the relevant status data; the virtual model can be used to describe the vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information can be used to reflect the current status information of the target vehicle, the vehicle service information can be used to reflect the expected operating status information of the target vehicle, and the vehicle event information can be used to reflect the current status change information of the target vehicle.

[0102] The generation module 505 may be used to generate traffic control instructions related to the target vehicle using the virtual model.

[0103] Based on the same idea, the embodiments of this specification also provide a device corresponding to the above method.

[0104] Optionally, the vehicle attribute information can be specifically used to reflect at least one of the basic vehicle information, vehicle posture information and vehicle displacement information of the target vehicle.

[0105] The vehicle service information may specifically be used to reflect at least one of the target speed information, target direction information, and target driving lane information of the target vehicle.

[0106] The vehicle event information may be specifically used to reflect that the target vehicle may include at least one of the vehicle basic information change event, the vehicle posture information change event and the vehicle displacement information change event.

[0107] Optionally, the determining module 503 may be specifically configured to:

[0108] generating at least one of basic vehicle information, vehicle posture information and vehicle displacement information of the target vehicle according to the relevant status data; and / or,

[0109] The vehicle event information in the virtual model of the target vehicle is generated according to the relevant status data and / or the vehicle attribute information.

[0110] Optionally, the generating module 505 may specifically include:

[0111] A first instruction generating unit may be configured to generate a vehicle control instruction for the target vehicle using the virtual model; and / or,

[0112] The second instruction generating unit may be configured to generate vehicle control instructions for other traffic participants related to the target vehicle using the virtual model; and / or,

[0113] The third instruction generating unit may be configured to generate device control instructions for traffic equipment related to the target vehicle using the virtual model.

[0114] Optionally, the device 500 may further include:

[0115] The judgment module can be used to judge whether the vehicle event information meets the preset conditions for calculating the vehicle service information and obtain a judgment result.

[0116] The first instruction generating unit may be specifically used for:

[0117] If the judgment result indicates that the vehicle event information satisfies the preset condition for calculating the vehicle service information, the vehicle service information for the target vehicle is generated according to the vehicle attribute information and the driving environment information.

[0118] A traffic control instruction for the target vehicle is generated according to the vehicle attribute information, the vehicle service information and the driving environment information.

[0119] Optionally, the device 500 may further include:

[0120] The command information acquisition module can be used to obtain traffic command information related to the target vehicle from the traffic command equipment.

[0121] The first instruction generating unit may be specifically used for:

[0122] The vehicle service information for the target vehicle is generated by using the traffic command information, the vehicle attribute information and the driving environment information.

[0123] A traffic control instruction for the target vehicle is generated according to the vehicle attribute information, the vehicle service information and the driving environment information.

[0124] Optionally, the driving environment information may specifically include: at least one of map information, weather information, and road condition information related to the target vehicle.

[0125] Optionally, the state acquisition module 501 may be specifically used for:

[0126] Acquiring vehicle status data uploaded by the target vehicle; and / or,

[0127] Acquiring vehicle status data of the target vehicle collected by roadside equipment; and / or,

[0128] Obtain vehicle status data of the target vehicle collected by other traffic participants.

[0129] Figure 6 A method corresponding to the embodiment of this specification is provided Figure 1 A schematic diagram of the structure of a vehicle control device. Figure 6 As shown, the device 600 may include:

[0130] at least one processor 610; and,

[0131] A memory 630 is communicatively connected to the at least one processor; wherein,

[0132] The memory 630 stores instructions 620 executable by the at least one processor 610. The instructions are executed by the at least one processor 610 to enable the at least one processor 610 to:

[0133] Get relevant status data of the target vehicle.

[0134] Based on the relevant status data, a virtual model of the target vehicle is determined; the virtual model can be used to describe the vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information can be used to reflect the current status information of the target vehicle, the vehicle service information can be used to reflect the expected operating status information of the target vehicle, and the vehicle event information can be used to reflect the current status change information of the target vehicle.

[0135] The virtual model is used to generate traffic control instructions related to the target vehicle.

[0136] Each embodiment in this specification is described in a progressive manner. The same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. Figure 6 As for the device shown, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0137] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0138] The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers may include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices that can be used to implement various functions that can be included therein can also be regarded as structures within the hardware component. Or even, the devices that can be used to implement various functions can be regarded as both software modules that implement the method and structures within the hardware component.

[0139] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0140] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0141] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (which may include but are not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0142] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device can be used to implement the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0143] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture that may include an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide instructions that can be used to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0145] In a typical configuration, a computing device may include one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0146] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0147] Computer readable media may include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, modules of programs or other data. Examples of computer storage media may include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0148] It should also be noted that the terms "may include", "include" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device that may include a series of elements may include not only those elements, but also other elements not explicitly listed, or may also include elements inherent to such process, method, commodity or device. In the absence of further restrictions, an element defined by the sentence "may include a ..." does not exclude the presence of other identical elements in the process, method, commodity or device that may include the element.

[0149] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (which may include but is not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0150] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules may include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, which may include storage devices.

[0151] The above is only an embodiment of the present application and cannot be used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A vehicle control method, characterized in that: include: Obtain relevant status data of the target vehicle; Determine a virtual model of the target vehicle according to the relevant state data; the virtual model is used to describe vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information is used to reflect the current state information of the target vehicle, the vehicle service information is used to reflect the expected running state information of the target vehicle, and the vehicle event information is used to reflect the current state change information of the target vehicle; generating a traffic control instruction related to the target vehicle using the virtual model; If the method uses the virtual model to generate the vehicle control instruction for the target vehicle, it also includes: determining whether the vehicle event information meets the preset condition for calculating the vehicle service information, and obtaining a determination result; Then, using the virtual model to generate a vehicle control instruction for the target vehicle specifically includes: If the judgment result indicates that the vehicle event information satisfies the preset condition for calculating the vehicle service information, then generating the vehicle service information for the target vehicle according to the vehicle attribute information and the driving environment information; A traffic control instruction for the target vehicle is generated according to the vehicle attribute information, the vehicle service information and the driving environment information.

2. The method according to claim 1, characterized in that The vehicle attribute information is specifically used to reflect at least one of the basic vehicle information, vehicle posture information and vehicle displacement information of the target vehicle; The vehicle service information is specifically used to reflect at least one of the target speed information, target direction information and target driving lane information of the target vehicle; The vehicle event information is specifically used to reflect that the target vehicle includes at least one of the vehicle basic information change event, the vehicle posture information change event and the vehicle displacement information change event.

3. The method according to claim 1, characterized in that Determining the virtual model of the target vehicle according to the relevant state data specifically includes: generating at least one of basic vehicle information, vehicle posture information and vehicle displacement information of the target vehicle according to the relevant status data; and / or, The vehicle event information in the virtual model of the target vehicle is generated according to the relevant status data and / or the vehicle attribute information.

4. The method according to claim 1, characterized in that The generating of the traffic control instruction related to the target vehicle by using the virtual model specifically includes: generating a vehicle control instruction for the target vehicle using the virtual model; and / or, generating vehicle control instructions for other traffic participants associated with the target vehicle using the virtual model; and / or, Using the virtual model, device control instructions for traffic equipment related to the target vehicle are generated.

5. The method according to claim 1, characterized in that If before the method of using the virtual model to generate a vehicle control instruction for the target vehicle, the method further includes: Acquire traffic control information related to the target vehicle from traffic control equipment; Then, using the virtual model to generate a vehicle control instruction for the target vehicle specifically includes: Generate the vehicle service information for the target vehicle by using the traffic command information, the vehicle attribute information and the driving environment information; A traffic control instruction for the target vehicle is generated according to the vehicle attribute information, the vehicle service information and the driving environment information.

6. The method according to claim 1, characterized in that The driving environment information specifically includes: at least one of map information, weather information, and road condition information related to the target vehicle.

7. The method according to claim 1, characterized in that The obtaining of relevant status data of the target vehicle specifically includes: Acquiring vehicle status data uploaded by the target vehicle; and / or, Acquiring vehicle status data of the target vehicle collected by roadside equipment; and / or, Obtain vehicle status data of the target vehicle collected by other traffic participants.

8. A vehicle control device, characterized in that: include: A status acquisition module is used to obtain relevant status data of the target vehicle; A determination module, used to determine a virtual model of the target vehicle according to the relevant state data; the virtual model is used to describe vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information is used to reflect the current state information of the target vehicle, the vehicle service information is used to reflect the expected running state information of the target vehicle, and the vehicle event information is used to reflect the current state change information of the target vehicle; A generating module, used for generating a traffic control instruction related to the target vehicle by using the virtual model; If the method uses the virtual model to generate the vehicle control instruction for the target vehicle, it also includes: determining whether the vehicle event information meets the preset condition for calculating the vehicle service information, and obtaining a determination result; Then, using the virtual model to generate a vehicle control instruction for the target vehicle specifically includes: If the judgment result indicates that the vehicle event information satisfies the preset condition for calculating the vehicle service information, then generating the vehicle service information for the target vehicle according to the vehicle attribute information and the driving environment information; A traffic control instruction for the target vehicle is generated according to the vehicle attribute information, the vehicle service information and the driving environment information.

9. A vehicle control device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to: Obtain relevant status data of the target vehicle; Determine a virtual model of the target vehicle according to the relevant state data; the virtual model is used to describe vehicle attribute information, vehicle service information and vehicle event information of the target vehicle; the vehicle attribute information is used to reflect the current state information of the target vehicle, the vehicle service information is used to reflect the expected running state information of the target vehicle, and the vehicle event information is used to reflect the current state change information of the target vehicle; generating a traffic control instruction related to the target vehicle using the virtual model; If the method uses the virtual model to generate the vehicle control instruction for the target vehicle, it also includes: determining whether the vehicle event information meets the preset condition for calculating the vehicle service information, and obtaining a determination result; Then, using the virtual model to generate a vehicle control instruction for the target vehicle specifically includes: If the judgment result indicates that the vehicle event information satisfies the preset condition for calculating the vehicle service information, then generating the vehicle service information for the target vehicle according to the vehicle attribute information and the driving environment information; A traffic control instruction for the target vehicle is generated according to the vehicle attribute information, the vehicle service information and the driving environment information.

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