Vehicle control method, device, apparatus, and storage medium

Abstract

The present disclosure provides a vehicle control method, device, equipment and storage medium, which can be applied to the field of automatic driving technology. The method comprises: in response to a driving service request initiated by a target vehicle to a target point, obtaining position information of the target point, lane line information and boundary point information of a target area, the target area representing a map area near the target point; generating target line segment information according to the position information of the target point and the lane line information, the target line segment representing a line segment between the target point and the starting point of the lane line; generating relative position relationship information between the target point and the target area according to the target line segment information and the boundary point information; and controlling the target vehicle to drive to the target point in the case that the relative position relationship information meets a preset condition.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a vehicle control method, apparatus, device, medium, and program product. Background Technology

[0002] In autonomous driving, after receiving the destination location from the user, the vehicle needs to determine whether the destination is within the lane on a high-definition map before it can control the autonomous driving operation. The traditional method is to identify the distance between the destination's adjacent lane lines and other adjacent lane lines or boundary lines displayed on the high-definition map to determine whether the destination is within the road on the map.

[0003] In the process of realizing the inventive concept of this disclosure, the inventors discovered that the related technology has the following defects: for lane lines with a large degree of curvature on the map, there is a large error in judging whether the destination is within the road on the map by the distance between the lane lines. Summary of the Invention

[0004] In view of the above problems, this disclosure provides a vehicle control method, apparatus, device, medium, and program product.

[0005] According to one aspect of this disclosure, a vehicle control method is provided, comprising:

[0006] In response to a driving service request initiated for a target vehicle to travel to a target point, the location information of the target point and the lane line information and boundary point information of the target area are obtained. The target area is represented by the map area near the target point.

[0007] Based on the location information of the target point and the lane line information, target line segment information is generated. The target line segment represents the line segment between the target point and the starting point of the lane line.

[0008] Based on the target line segment information and boundary point information, generate the relative positional relationship information between the target point and the target area; and

[0009] When the relative positional relationship information meets the preset conditions, control the target vehicle to drive towards the target point.

[0010] According to embodiments of this disclosure, the lane line information includes information on m lane lines. Based on the target line segment information and boundary point information, relative positional relationship information between the target point and the target area is generated, including:

[0011] For the i-th lane line, generate the starting coordinate information of the i-th lane line based on the information of the i-th lane line;

[0012] Based on the starting coordinates of the i-th lane line and the location of the target point, generate the i-th target line segment information;

[0013] Based on the information of the i-th target line segment and the boundary point information, generate the intersection result information between the i-th target line segment and the boundary of the target region;

[0014] Based on the intersection results, the relative positional relationship between the target point and the target region is generated, where 1≤i≤m and i and m are both positive integers.

[0015] According to embodiments of this disclosure, the boundary point information includes information on n boundary points. Based on the information of the i-th target line segment and the boundary point information, the intersection result information between the i-th target line segment and the boundary of the target region is generated, including:

[0016] Based on the information from n boundary points, the boundary information of the target region is obtained through linear fitting. This boundary information includes information from k boundary line segments.

[0017] Based on the information of the i-th target line segment and the information of the k boundary line segments, the intersection result information between the i-th target line segment and the boundary of the target region is generated, where n and k are both positive integers.

[0018] According to embodiments of this disclosure, based on the information of the i-th target line segment and the information of the k boundary line segments, the intersection result information between the i-th target line segment and the boundary of the target region is generated, including:

[0019] Based on the i-th target line segment and the t-th boundary line segment, generate the t-th intersection result sub-information;

[0020] Based on the k intersection result sub-informations, generate intersection result information, where 1≤t≤k, and t is a positive integer.

[0021] According to embodiments of this disclosure, relative positional relationship information between a target point and a target region is generated based on the intersection result information, including:

[0022] If the intersection result information shows that the i-th target line segment intersects with all k boundary line segments, the generated relative positional relationship information is that the target point is outside the road in the target area;

[0023] If the intersection result information shows that the i-th target line segment does not intersect with any of the k boundary line segments, the generated relative positional relationship information is that the target point is within the road in the target area;

[0024] If the intersection result information shows that the i-th target line segment partially intersects with the k boundary line segments, relative positional relationship information is generated based on the intersection result information of the j-th target line segment and the boundary of the target area, where 1≤j≤m, j≠i, and j is a positive integer.

[0025] According to embodiments of this disclosure, when the relative positional relationship information meets preset conditions, controlling the target vehicle to travel towards the target point includes:

[0026] Given that the relative positional relationship information indicates that the target point is within the road area of ​​the target region, driving route information is generated based on the target point's position information and the target vehicle's current position information.

[0027] Control the target vehicle to drive towards the target point according to the driving route.

[0028] According to embodiments of this disclosure, the vehicle control method further includes: displaying abnormal information of the target point through a visualization interface on the target vehicle when the relative positional relationship information indicates that the target point is outside the road in the target area.

[0029] Another aspect of this disclosure provides a vehicle control device, including: an acquisition module, a first generation module, a second generation module, and a control module. The acquisition module is used to acquire, in response to a driving service request initiated for a target vehicle to travel to a target point, the location information of the target point and lane line information and boundary point information of a target area, wherein the target area represents a map area near the target point. The first generation module is used to generate target line segment information based on the location information of the target point and the lane line information, wherein the target line segment represents a line segment between the target point and the starting point of the lane line. The second generation module is used to generate relative positional relationship information between the target point and the target area based on the target line segment information and the boundary point information. The control module is used to control the target vehicle to travel to the target point when the relative positional relationship information meets preset conditions.

[0030] Another aspect of this disclosure provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the methods described above.

[0031] Another aspect of this disclosure provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the methods described above.

[0032] Another aspect of this disclosure provides a computer program product including a computer program that, when executed by a processor, implements the methods described above.

[0033] According to the vehicle control method, apparatus, equipment, medium, and program product provided in this disclosure, by acquiring the location information of a target point and the lane line information and boundary point information of a target area, target line segment information is generated based on the location information of the target point and the lane line information. The target line segment represents the line segment between the target point and the starting point of the lane line. Based on the target line segment information and the boundary point information, the relative positional relationship information between the target point and the target area is generated. Because the relative positional relationship between the target point and the target area is determined using the target line segment information and the boundary point information between the target point and the starting point of the lane line, it at least partially solves the problem of large judgment errors for lane lines with significant curvature in related technologies. It achieves a more accurate determination of the relative positional relationship of the target point within the target area on the map, thereby achieving the technical effect of accurately controlling the driving of the target vehicle. Attached Figure Description

[0034] The foregoing contents, as well as other objects, features, and advantages of this disclosure, will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0035] Figure 1 The illustration schematically depicts application scenarios of vehicle control methods, apparatus, devices, media, and program products according to embodiments of the present disclosure;

[0036] Figure 2 A flowchart illustrating a vehicle control method according to an embodiment of the present disclosure is shown schematically.

[0037] Figure 3 This schematic diagram illustrates the principle of determining the relative positional relationship between a target point and a target area in related technologies.

[0038] Figure 4 This schematic diagram illustrates the application of a method for determining the relative positional relationship between a target point and a target area in related technologies to a curved area;

[0039] Figure 5a The illustration schematically shows the principle of determining the relative positional relationship between a target point and a target region according to some embodiments of the present disclosure;

[0040] Figure 5b The illustration schematically shows the principle of determining the relative positional relationship between a target point and a target area according to other embodiments of the present disclosure.

[0041] Figure 6 This schematically illustrates a method for determining the relative positional relationship between a target point and a target area according to an embodiment of the present disclosure, applied to a curved area.

[0042] Figure 7This illustration shows a method for determining the relative positional relationship between a target point and a target area, according to an embodiment of the present disclosure, applied to a local map.

[0043] Figure 8 A schematic block diagram of a vehicle control device according to an embodiment of the present disclosure is shown; and

[0044] Figure 9 A block diagram schematically illustrates an electronic device suitable for implementing a vehicle control method according to an embodiment of the present disclosure. Detailed Implementation

[0045] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0046] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0047] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0048] When using expressions such as "at least one of A, B, and C", they should generally be interpreted in accordance with the meaning that is commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B, and C, etc.).

[0049] In the technical solutions disclosed herein, the collection, storage, use, processing, transmission, provision, disclosure, and application of data (including but not limited to user personal information) comply with the provisions of relevant laws and regulations, necessary confidentiality measures have been taken, and they do not violate public order and good morals.

[0050] Traditionally, high-definition maps determine whether a destination is within a road area by identifying the distances between adjacent lane lines and other adjacent lane lines or boundary lines. However, in real-world high-definition maps, the length of each lane line and the length of the boundary lines are not necessarily the same, and lane lines are not always parallel to each other or to the boundary lines. For lane lines with significant curvature, determining whether a destination is within the current map area based on the distances between adjacent lane lines and other adjacent lane lines or boundary lines can introduce significant errors.

[0051] In addition, due to high precision Figure 1 High-precision maps are typically built in stages. In some high-precision maps that are not yet fully constructed, local boundary lines may be placed in the middle of roads on the map. These boundary lines do not exist in the real environment. Therefore, when using traditional methods to determine whether a destination is within a road on the map, if the destination is near such a local boundary line, it will be impossible to accurately determine whether the destination is within the current map area.

[0052] In view of this, embodiments of the present disclosure provide a vehicle control method, comprising: responding to a driving service request initiated for a target vehicle to travel to a target point, acquiring location information of the target point and lane line information and boundary point information of a target area, wherein the target area represents a map area near the target point; generating target line segment information based on the location information of the target point and the lane line information, wherein the target line segment represents a line segment between the target point and the starting point of the lane line; generating relative positional relationship information between the target point and the target area based on the target line segment information and the boundary point information; and controlling the target vehicle to travel to the target point when the relative positional relationship information meets preset conditions.

[0053] Figure 1 The diagram illustrates an application scenario of the vehicle control method according to an embodiment of the present disclosure.

[0054] like Figure 1 As shown, the application scenario 100 according to this embodiment may include a target vehicle 101, a network 102, and a server 103.

[0055] If target vehicle 101 intends to travel from current point A to target point B, it can send a driving service request to server 103 via network 102 to obtain the target point's location information, lane line information, and boundary point information on the map from server 103. For example, the map of the target point may contain lane lines L1, L2, and boundary points B1, ..., B2. nBased on the location information of the target point and lane lines L1 and L2, target line segments F1 and F2 are generated. Then, target line segments F1 and F2 are compared with boundary points B1, ..., B2. n Generate the relative positional relationship between the target point and the target area to determine whether the target point is within the road on the map. If the target point is determined to be within the road on the map, control the target vehicle 101 to travel from the current position to the target point.

[0056] It should be noted that the vehicle control method provided in this embodiment can generally be executed by the target vehicle 101. Correspondingly, the vehicle control device provided in this embodiment can generally be installed in the target vehicle 101. A high-precision map containing lane line information and boundary point information of the target point on the map can be stored on the server 103 and retrieved from the server 103 when the target vehicle initiates a driving service request. The high-precision map can also be stored in the target vehicle 101.

[0057] The vehicle control method provided in this disclosure can also be executed by the server 103. When the server 103 determines that the target point is within the road on the map, it can send a driving command to the target vehicle 101 to control the target vehicle 101 to drive from the current position to the target point.

[0058] The following will be based on Figure 1 The described scene, through Figures 2-7 The vehicle control method of the disclosed embodiments will be described in detail.

[0059] Figure 2 A flowchart illustrating a vehicle control method according to an embodiment of the present disclosure is shown schematically.

[0060] like Figure 2 As shown, the vehicle control method of this embodiment includes operations S210 to S240.

[0061] In operation S210, in response to a driving service request initiated for the target vehicle to travel to the target point, the location information of the target point and the lane line information and boundary point information of the target area are obtained, and the target area is represented by the map area near the target point.

[0062] In operation S220, target line segment information is generated based on the location information of the target point and the lane line information. The target line segment represents the line segment between the target point and the starting point of the lane line.

[0063] In operation S230, relative positional relationship information between the target point and the target area is generated based on the target line segment information and boundary point information.

[0064] When operating S240, if the relative positional relationship information meets the preset conditions, control the target vehicle to drive towards the target point.

[0065] According to embodiments of this disclosure, the location information of the target point can be the coordinate information of the target point on a map. The target area can be a map area defined on the map with a preset radius centered on the target point. The preset radius can be configured according to actual needs and is not limited here. For example, the target point can be T(x0, y0), and the lane line information of the target area can include the starting point information (x0, y0) of lane line L1. L1 y L1 ) and boundary point information B1(x B1 y B1 ), ..., Bn(x Bn y Bn ).

[0066] According to embodiments of this disclosure, the line segment TL1 between the target point T and the starting point of lane line L1 can be used as the target line segment. This can be determined by defining the target line segment TL1 and the boundary point B1(x). B1 y B1 ), ..., Bn(x Bn y Bn Determine whether there is an intersection between the target points and the target area to establish the relative positional relationship between the target points and the target area.

[0067] According to an embodiment of this disclosure, at the target line segment TL1 and the boundary point B1(x) B1 y B1 ), ..., Bn(x Bn y Bn If there is no intersection between the two, it means that the target point is located within the road of the target area, and the target vehicle can be controlled to drive towards the target point.

[0068] According to embodiments of this disclosure, by acquiring the location information of a target point and the lane line information and boundary point information of a target area, target line segment information is generated based on the location information of the target point and the lane line information. The target line segment represents the line segment between the target point and the starting point of the lane line. Based on the target line segment information and the boundary point information, relative positional relationship information between the target point and the target area is generated. Since the relative positional relationship between the target point and the target area is determined using the target line segment information and boundary point information between the target point and the starting point of the lane line, this at least partially solves the problem of large judgment errors for lane lines with significant curvature in related technologies. It achieves a more accurate determination of the relative positional relationship of the target point within the target area on the map, thereby achieving the technical effect of accurately controlling the driving of the target vehicle.

[0069] Figure 3This schematic diagram illustrates the principle of determining the relative positional relationship between a target point and a target area in related technologies.

[0070] like Figure 3 As shown, on a high-precision map, within a target area defined by a radius R centered on target point T, the lane line closest to target point T is lane line L. a In lane line L a In the lateral direction, with lane line L a Adjacent lane lines can be lane lines L b Boundary line Ba a In related technologies, lane lines L are used. a Lane lines L on both sides b Or boundary line Ba a Calculate the distance to the lane line L. a The width on both sides is used to determine whether the target point T is on lane line L. a Within the width of both sides. For example: lane line L a With the left boundary line Ba a The width between them is m1, and the lane lines are L. a With right lane line L b The width is m2, and the current target point T is on lane line L. a On the left, and with the boundary line Ba a If the width between the points is greater than m1, it can be determined that the current target point is outside the road on the map.

[0071] However, due to the fact that in actual high-precision maps, lane lines L a Lane markings on one or both sides can be curved. In this case, lane markings L a The width between adjacent lane lines is a value that varies with the curvature of the adjacent lane lines. For a dynamically changing and highly variable width range, the methods provided by related technologies will produce large errors.

[0072] According to embodiments of this disclosure, the lane line information includes information on m lane lines. Based on the target line segment information and boundary point information, relative positional relationship information between the target point and the target area is generated, including:

[0073] For the i-th lane line, generate the starting coordinate information of the i-th lane line based on the information of the i-th lane line;

[0074] Based on the starting coordinates of the i-th lane line and the location of the target point, generate the i-th target line segment information;

[0075] Based on the information of the i-th target line segment and the boundary point information, generate the intersection result information between the i-th target line segment and the boundary of the target region;

[0076] Based on the intersection results, the relative positional relationship between the target point and the target region is generated, where 1≤i≤m and i and m are both positive integers.

[0077] According to an embodiment of this disclosure, for the i-th lane line L i The information generated can be the starting coordinates of the i-th lane line, which can be L. i A(x i y i The location information of the target point T can be (x... T y T The target line segment generated by the target point T and the i-th lane line can be TL. i A. By determining whether boundary points B1, ..., Bn are related to the target line segment TL i If A has an intersection, generate information about the relative positional relationship between the target point and the target region.

[0078] According to embodiments of this disclosure, by generating a target line segment using the starting coordinates of the lane line and the location information of the target point, and then determining whether the target line segment intersects with the boundary point, it is possible to accurately determine whether the target point is on the map road within the curve area, thereby improving the accuracy of vehicle control.

[0079] Since boundary points within the target area can be relatively dispersed, determining whether each of these dispersed boundary points intersects with the target line segment is computationally intensive and inefficient. Therefore, in this embodiment, the boundary points can first be linearly fitted to obtain multiple different boundary line segments.

[0080] According to embodiments of this disclosure, the boundary point information includes information on n boundary points. Based on the information of the i-th target line segment and the boundary point information, the intersection result information between the i-th target line segment and the boundary of the target region is generated, including:

[0081] Based on the information from n boundary points, the boundary information of the target region is obtained through linear fitting. This boundary information includes information from k boundary line segments.

[0082] Based on the information of the i-th target line segment and the information of the k boundary line segments, the intersection result information between the i-th target line segment and the boundary of the target region is generated, where n and k are both positive integers.

[0083] According to embodiments of this disclosure, some boundary points within the target area cluster around lane line L. a On the left, some boundary points cluster around lane line L. b On the right side, boundary points gathered in different locations can be linearly fitted to obtain different boundary segments.

[0084] According to embodiments of this disclosure, there may be boundary segments clustered in the same area within the target region, but belonging to different linear boundaries. The sets of points corresponding to the different linear boundary segments can be linearly fitted together to obtain a continuous boundary segment.

[0085] According to embodiments of this disclosure, by fitting boundary points into boundary line segments, and using the fitted boundary line segments and target line segments to determine whether a target point is within a road on a map, the data processing efficiency in the vehicle control process can be improved.

[0086] Figure 4 This schematically illustrates a method for determining the relative positional relationship between a target point and a target area in related technologies, applied to a curved area.

[0087] like Figure 4 As shown, lane line L a It is the lane line on the map that is closest to the target point T. The lane lines on either side of this lane line can be lane lines L. c Due to lane line L c For curved lanes, with lane lines L a The width between curves changes continuously with the degree of curvature. For a dynamically changing threshold, it is difficult to accurately determine whether the target point is within the road within the curve area.

[0088] Figure 5a The illustration schematically shows a principle diagram of determining the relative positional relationship between a target point and a target area according to some embodiments of the present disclosure.

[0089] like Figure 5a As shown, on the high-precision map, within the target area defined by the target point T and a radius of R, there exists a lane line L. a Lane line L b and boundary line B a Align the target point T with lane line L. a Establish the target line segment TLA from the starting point LA. At this point, the target line segment TLA intersects the boundary line B. a The existence of an intersection indicates that the current target point T is outside the road in the target area.

[0090] Figure 5b The illustration schematically shows the principle of determining the relative positional relationship between a target point and a target area according to other embodiments of the present disclosure.

[0091] like Figure 5b As shown, on the high-precision map, within the target area defined by the target point T and a radius of R, there exists a lane line L. a Lane line L b and boundary line B a Align the target point T with lane line L.a Establish the target line segment TLA from the starting point LA. At this point, the target line segment TLA intersects the boundary line B. a If there is no intersection, it means that the current target point T is within the road of the target area.

[0092] Figure 6 The illustration shows a method for determining the relative positional relationship between a target point and a target area according to an embodiment of the present disclosure applied to a curved area.

[0093] In a high-precision map, within the target area, there exists a lane line L. a Lane line L b and boundary line B a Lane line L a Lane line L b There are two curved lane lines with a relatively large curvature, lane line L a Lane line L b The bending directions can be the same or different, boundary line B a You can use lane line L a With lane line L b Between, or on lane line L a and lane line L b In addition.

[0094] like Figure 6 As shown, lane line L a Lane line L b The bending directions are the same, and the boundary line B a At lane line L a Lane line L b In addition, the target point T1 and lane line L a The line segment T1LA between the starting point LA and the boundary line B a If there is no intersection, it means that the current target point T1 is within the road of the target area. Target point T2 and lane line L a The line segment T2LA between the starting point LA and the boundary line B a The existence of an intersection indicates that the current target point T2 is outside the road in the target area.

[0095] In actual high-precision maps, when the map is not yet fully constructed and is put into use, the boundary line of a road on the map may not exist in the actual road. When the target point is located in the extended area of ​​that road, it will be impossible to accurately determine whether the target point is within the road on the map by using the width between the lane lines adjacent to the target point and the boundary line or other lane lines.

[0096] In view of this, in the embodiments of this disclosure, the relative positional relationship information between the target point and the target area can be determined by utilizing the intersection results of multiple lane lines within the target area and the boundary of the target area.

[0097] According to embodiments of this disclosure, based on the information of the i-th target line segment and the information of the k boundary line segments, the intersection result information between the i-th target line segment and the boundary of the target region is generated, including:

[0098] Based on the i-th target line segment and the t-th boundary line segment, generate the t-th intersection result sub-information;

[0099] Based on the k intersection result sub-informations, generate intersection result information, where 1≤t≤k, and t is a positive integer.

[0100] For example: the tth intersection result sub-information between the i-th target line segment and the t-th boundary line segment can be intersecting, the t+1th intersection result sub-information between the i-th target line segment and the (t+1)-th boundary line segment can be non-intersecting, and the intersection result information between the generated i-th target line segment and the boundary of the target area can be undetermined.

[0101] For example: the tth intersection result sub-information between the i-th target line segment and the t-th boundary line segment can be intersection; the t+1th intersection result sub-information between the i-th target line segment and the (t+1)-th boundary line segment can be intersection; and the intersection result information between the generated i-th target line segment and the boundary of the target area can be intersection.

[0102] For example: the tth intersection result sub-information between the i-th target line segment and the t-th boundary line segment can be non-intersecting; the t+1th intersection result sub-information between the i-th target line segment and the (t+1)-th boundary line segment can be non-intersecting; and the intersection result information between the generated i-th target line segment and the boundary of the target area can be non-intersecting.

[0103] According to embodiments of this disclosure, determining whether a lane line intersects the boundary of the target area by analyzing the intersection results of the lane line with all boundary segments within the target area can effectively avoid interference from temporary boundary points set due to incomplete local map construction.

[0104] According to embodiments of this disclosure, relative positional relationship information between a target point and a target region is generated based on the intersection result information, including:

[0105] If the intersection result information shows that the i-th target line segment intersects with all k boundary line segments, the generated relative positional relationship information is that the target point is outside the road in the target area;

[0106] If the intersection result information shows that the i-th target line segment does not intersect with any of the k boundary line segments, the generated relative positional relationship information is that the target point is within the road in the target area;

[0107] If the intersection result information shows that the i-th target line segment partially intersects with the k boundary line segments, relative positional relationship information is generated based on the intersection result information of the j-th target line segment and the boundary of the target area, where 1≤j≤m, j≠i, and j is a positive integer.

[0108] Figure 7 The illustration shows a schematic diagram of the method for determining the relative positional relationship between a target point and a target area according to an embodiment of the present disclosure applied to a local map.

[0109] like Figure 7 As shown, there are three lane lines within the target area, namely lane line L. a Lane line L b Lane line L c Boundary points can include the boundary points of two regions, with some boundary points concentrated on lane line L. b Lane line L c At the end of the boundary line, this boundary point is a temporary boundary segment B formed due to the incomplete map construction. bc The other part is concentrated on lane line L. a To the left of, the boundary line segment B obtained through linear fitting. b At this moment, target point T is located at lane line L. b Lane line L c B, the boundary segment at the end bc The road extends beyond that point.

[0110] According to embodiments of this disclosure, using the target T and lane line L b The starting point constructs the target line segment TL b A2, the target line segment TL b A2 and boundary line segment B bc There is an intersection, but the target line segment TL b A2 and boundary line segment B b There is no intersection. This occurs when the target line segment partially intersects with all boundary line segments within the target area. In this case, the intersection of the target T and lane line L is used. a The target line segment TL is constructed from the starting point. a A1, the target line segment TL a A1 and boundary segment B bc There is no intersection, and the target line segment TL a A1 and boundary segment B b There is no intersection. If the target line segment does not intersect with any of the boundary line segments within the target area, then it can be determined that the target point T is located within the road of the target area.

[0111] According to embodiments of this disclosure, by determining the intersection of the target line segment with all boundary line segments within the target area, the relative positional relationship between the target point and the road within the target area is generated. This can effectively solve the problem in related technologies where it is impossible to accurately determine whether the target point is within the road on the map when the target point is located in a temporary boundary area on a local map.

[0112] According to embodiments of this disclosure, when the relative positional relationship information meets preset conditions, controlling the target vehicle to travel towards the target point includes:

[0113] Given that the relative positional relationship information indicates that the target point is within the road area of ​​the target region, driving route information is generated based on the target point's position information and the target vehicle's current position information.

[0114] Control the target vehicle to drive towards the target point according to the driving route.

[0115] According to embodiments of this disclosure, when a target point is determined to be within a road in a target area, multiple driving route options can be generated based on the target point's location information and the target vehicle's current location information. These multiple driving route options can be displayed through a visual interface within the target vehicle for the user to select from.

[0116] According to embodiments of this disclosure, after a user selects a target driving route through a visual interface, the target vehicle can be controlled to drive towards the target point along the target driving route.

[0117] According to embodiments of this disclosure, the vehicle control method further includes:

[0118] When the relative positional information indicates that the target point is outside the road in the target area, the abnormal information of the target point is displayed through the visualization interface on the target vehicle.

[0119] According to embodiments of this disclosure, when it is determined that the target point is outside the road of the target area, for example, the target point is located in the greenbelt or non-motorized vehicle lane of the target area, anomaly information of the target point can be displayed through a visual interface on the target vehicle. The anomaly information may include the current target point being located in an area where motor vehicles are prohibited, such as a greenbelt or non-motorized vehicle lane, so that the user can change to another target point based on the anomaly information.

[0120] According to embodiments of this disclosure, by determining the relative positional relationship between the target point and the target area, driving route information is generated only when the target point is determined to be within the road of the target area. This reduces the probability of generating invalid driving routes due to abnormal target point positions, thereby improving the efficiency of vehicle control.

[0121] Based on the above vehicle control method, this disclosure also provides a vehicle control device. The following will be combined with... Figure 8 The device is described in detail.

[0122] Figure 8 A schematic block diagram of a vehicle control device according to an embodiment of the present disclosure is shown.

[0123] like Figure 8 As shown, the vehicle control device 800 in this embodiment includes an acquisition module 810, a first generation module 820, a second generation module 830, and a control module 840.

[0124] The acquisition module 810 is used to respond to a driving service request initiated for a target vehicle to travel to a target point, and to acquire the location information of the target point and the lane line information and boundary point information of the target area. The target area represents the map area near the target point. In one embodiment, the acquisition module 810 can be used to perform the operation S210 described above, which will not be repeated here.

[0125] The first generation module 820 is used to generate target line segment information based on the location information of the target point and the lane line information. The target line segment represents the line segment between the target point and the starting point of the lane line. In one embodiment, the first generation module 820 can be used to perform the operation S220 described above, which will not be repeated here.

[0126] The second generation module 830 is used to generate relative positional relationship information between the target point and the target area based on the target line segment information and the boundary point information. In one embodiment, the second generation module 830 can be used to perform the operation S230 described above, which will not be repeated here.

[0127] The control module 840 is used to control the target vehicle to travel towards the target point when the relative position relationship information meets the preset conditions.

[0128] According to embodiments of this disclosure, the second generation module includes a first generation submodule, a second generation submodule, a third generation submodule, and a fourth generation submodule. The first generation submodule is used to generate the starting coordinate information of the i-th lane line based on the information of the i-th lane line. The second generation submodule is used to generate the i-th target line segment information based on the starting coordinate information of the i-th lane line and the position information of the target point. The third generation submodule is used to generate the intersection result information between the i-th target line segment and the boundary of the target area based on the i-th target line segment information and the boundary point information. The fourth generation submodule is used to generate the relative positional relationship information between the target point and the target area based on the intersection result information, where 1 ≤ i ≤ m, and i and m are both positive integers.

[0129] According to embodiments of this disclosure, the third generation submodule includes a fitting unit and a first generation unit. The fitting unit is used to obtain the boundary information of the target region through linear fitting based on the information of n boundary points, wherein the boundary information of the target region includes the information of k boundary line segments. The first generation unit is used to generate the intersection result information of the i-th target line segment and the boundary of the target region based on the information of the i-th target line segment and the information of the k boundary line segments, wherein n and k are both positive integers.

[0130] According to embodiments of this disclosure, the first generation unit includes a first generation subunit and a second generation subunit. The first generation subunit is used to generate the t-th intersection result sub-information based on the i-th target line segment and the t-th boundary line segment. The second generation subunit is used to generate intersection result information based on k intersection result sub-information pieces, where 1 ≤ t ≤ k, and t is a positive integer.

[0131] According to embodiments of this disclosure, the fourth generation submodule includes a second generation unit, a third generation unit, and a fourth generation unit. The second generation unit is used to generate relative positional information indicating that the target point is outside the road in the target area when the intersection result information shows that the i-th target line segment intersects all k boundary line segments. The third generation unit is used to generate relative positional information indicating that the target point is inside the road in the target area when the intersection result information shows that the i-th target line segment does not intersect any of the k boundary line segments. The fourth generation unit is used to generate relative positional information based on the intersection result information of the j-th target line segment and the boundary of the target area when the intersection result information shows that the i-th target line segment partially intersects with the k boundary line segments, where 1 ≤ j ≤ m, j ≠ i, and j is a positive integer.

[0132] According to embodiments of this disclosure, the control module includes a fifth generation submodule and a control submodule. The fifth generation submodule is used to generate driving route information based on the location information of the target point and the current location information of the target vehicle, provided that the relative positional relationship information indicates the target point is within a road in the target area. The control submodule is used to control the target vehicle to travel towards the target point according to the driving route.

[0133] According to embodiments of this disclosure, the vehicle control device further includes a display module, used to display abnormal information of the target point through a visual interface on the target vehicle when the relative positional relationship information indicates that the target point is outside the road in the target area.

[0134] According to embodiments of this disclosure, any plurality of modules among the acquisition module 810, the first generation module 820, the second generation module 830, and the control module 840 may be combined into one module, or any one of these modules may be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of other modules and implemented in one module. According to embodiments of this disclosure, at least one of the acquisition module 810, the first generation module 820, the second generation module 830, and the control module 840 may be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or implemented in hardware or firmware by any other reasonable means of integrating or packaging the circuitry, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in a suitable combination of any of these. Alternatively, at least one of the acquisition module 810, the first generation module 820, the second generation module 830, and the control module 840 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0135] Figure 9 A block diagram schematically illustrates an electronic device suitable for implementing a vehicle control method according to an embodiment of the present disclosure.

[0136] like Figure 9 As shown, an electronic device 900 according to an embodiment of the present disclosure includes a processor 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage portion 908 into a random access memory (RAM) 903. The processor 901 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 901 may also include onboard memory for caching purposes. The processor 901 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0137] RAM 903 stores various programs and data required for the operation of electronic device 900. Processor 901, ROM 902, and RAM 903 are interconnected via bus 904. Processor 901 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 902 and / or RAM 903. It should be noted that the programs may also be stored in one or more memories other than ROM 902 and RAM 903. Processor 901 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0138] According to embodiments of this disclosure, the electronic device 900 may further include an input / output (I / O) interface 905, which is also connected to a bus 904. The electronic device 900 may also include one or more of the following components connected to the I / O interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 910 as needed so that computer programs read from it can be installed into the storage section 908 as needed.

[0139] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0140] According to embodiments of this disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this disclosure, the computer-readable storage medium may include ROM 902 and / or RAM 903 and / or one or more memories other than ROM 902 and RAM 903 described above.

[0141] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the item recommendation method provided in the embodiments of this disclosure.

[0142] When the computer program is executed by the processor 901, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0143] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and downloaded and installed via the communication section 909, and / or installed from a removable medium 911. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0144] In such an embodiment, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by processor 901, it performs the functions defined in the system of this disclosure embodiment. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0145] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (KAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0146] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0147] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0148] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A vehicle control method, comprising: In response to a driving service request initiated for a target vehicle to travel to a target point, the location information of the target point and the lane line information and boundary point information of the target area are obtained, wherein the target area represents a map area near the target point; Based on the location information of the target point and the lane line information, target line segment information is generated, wherein the target line segment represents the line segment between the target point and the starting point of the lane line; Based on the target line segment information and the boundary point information, the relative positional relationship information between the target point and the target region is generated; as well as When the relative positional relationship information meets preset conditions, the target vehicle is controlled to travel towards the target point.

2. The method according to claim 1, wherein, The lane line information includes information on m lane lines. The step of generating relative positional relationship information between the target point and the target area based on the target line segment information and the boundary point information includes: For the i-th lane line, generate the starting coordinate information of the i-th lane line based on the information of the i-th lane line; Based on the starting coordinates of the i-th lane line and the location information of the target point, generate the i-th target line segment information; Based on the information of the i-th target line segment and the information of the boundary points, the intersection result information between the i-th target line segment and the boundary of the target region is generated; Based on the intersection result information, the relative positional relationship information between the target point and the target region is generated, where 1≤i≤m, and i and m are both positive integers.

3. The method according to claim 2, wherein, The boundary point information includes information on n boundary points. The step of generating intersection result information between the i-th target line segment and the boundary of the target region based on the i-th target line segment information and the boundary point information includes: Based on the information of the n boundary points, the boundary information of the target region is obtained by linear fitting, wherein the boundary information of the target region includes the information of k boundary line segments; Based on the information of the i-th target line segment and the information of the k boundary line segments, the intersection result information of the i-th target line segment and the boundary of the target region is generated, where n and k are both positive integers.

4. The method according to claim 3, wherein, The step of generating the intersection result information between the i-th target line segment and the boundary of the target region based on the information of the i-th target line segment and the information of the k boundary line segments includes: Based on the i-th target line segment and the t-th boundary line segment, generate the t-th intersection result sub-information; The intersection result information is generated based on k intersection result sub-information, where 1≤t≤k and t is a positive integer.

5. The method according to claim 3, wherein, The step of generating relative positional relationship information between the target point and the target region based on the intersection result information includes: If the intersection result information shows that the i-th target line segment intersects with all the k boundary line segments, the generated relative position relationship information is that the target point is outside the road in the target area; If the intersection result information indicates that the i-th target line segment does not intersect with any of the k boundary line segments, the generated relative position relationship information indicates that the target point is within the road of the target area. When the intersection result information shows that the i-th target line segment partially intersects with the k-th boundary line segments, the relative position relationship information is generated based on the intersection result information of the j-th target line segment and the boundary of the target region, where 1≤j≤m, j≠i, and j is a positive integer.

6. The method according to claim 1, wherein, When the relative positional relationship information meets preset conditions, controlling the target vehicle to travel towards the target point includes: If the relative positional relationship information indicates that the target point is within the road of the target area, driving route information is generated based on the position information of the target point and the current position information of the target vehicle. Control the target vehicle to travel towards the target point along the driving route.

7. The method according to claim 1, further comprising: When the relative positional relationship information indicates that the target point is outside the road in the target area, the abnormal information of the target point is displayed through the visualization interface on the target vehicle.

8. A vehicle control device, comprising: The acquisition module is used to respond to a driving service request initiated for a target vehicle to drive to a target point, and to acquire the location information of the target point and the lane line information and boundary point information of the target area, wherein the target area represents a map area near the target point; The first generation module is used to generate target line segment information based on the location information of the target point and the lane line information, wherein the target line segment represents the line segment between the target point and the starting point of the lane line; The second generation module is used to generate relative positional relationship information between the target point and the target region based on the target line segment information and the boundary point information; as well as The control module is used to control the target vehicle to travel towards the target point when the relative position relationship information meets preset conditions.

9. An electronic device, comprising: One or more processors; Storage device for storing one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 7.

11. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1 to 7.

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