Vehicle control methods, devices and vehicles

Abstract

This disclosure provides a vehicle control method, device, and vehicle, relating to the field of artificial intelligence technology, and particularly to the field of autonomous driving. The specific implementation involves: acquiring the vehicle's location information; determining a target driving mode matching the location information from the vehicle's preset driving modes based on the location information and a preset high-precision map; wherein the preset driving modes include left-hand drive and right-hand drive modes; and controlling the vehicle's movement according to the target driving mode. By simultaneously deploying left-hand drive and right-hand drive modes in the vehicle and determining the target driving mode based on the location information and the preset high-precision map, combined with an autonomous driving mode to control the vehicle's movement, this technical solution avoids the limitation of the vehicle only supporting a single driving mode, thereby improving the flexibility and diversity of vehicle control.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving in the field of artificial intelligence technology, and more particularly to a vehicle control method, apparatus, and device. Background Technology

[0002] Based on the way a vehicle is driven, driving modes can be divided into left-hand drive driving mode and right-hand drive driving mode.

[0003] In some embodiments, the vehicle is equipped with a single driving mode, such as a left-hand drive mode or a right-hand drive mode. Summary of the Invention

[0004] This disclosure provides a vehicle control method, apparatus, and vehicle for improving the versatility of vehicle control.

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

[0006] Obtain vehicle location information;

[0007] Based on the location information and the preset high-precision map, a target driving mode matching the location information is determined from the preset driving modes of the vehicle, wherein the preset driving modes include a left-hand drive driving mode and a right-hand drive driving mode.

[0008] The vehicle's driving is controlled according to the target driving mode.

[0009] According to a second aspect of this disclosure, a vehicle control device is provided, comprising:

[0010] The acquisition unit is used to acquire the vehicle's location information;

[0011] The determining unit is configured to determine a target driving mode that matches the location information from the preset driving modes of the vehicle, based on the location information and the preset high-precision map, wherein the preset driving modes include a left-hand drive driving mode and a right-hand drive driving mode.

[0012] A control unit is used to control the driving of the vehicle according to the target driving mode.

[0013] According to a third aspect of this disclosure, an electronic device is provided, comprising:

[0014] At least one processor; and

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

[0016] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect.

[0017] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method according to the first aspect.

[0018] According to a fifth aspect of this disclosure, a computer program product is provided, the computer program product comprising: a computer program stored in a readable storage medium, wherein at least one processor of an electronic device can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the electronic device to perform the method described in the first aspect.

[0019] According to a sixth aspect of this disclosure, a vehicle is provided, including the device as described in the second aspect;

[0020] The vehicle is equipped with preset driving modes, including a left-hand drive driving mode and a right-hand drive driving mode.

[0021] The vehicle control method, apparatus, and vehicle disclosed herein include: acquiring vehicle location information; determining a target driving mode matching the location information from preset driving modes of the vehicle based on the location information and a preset high-precision map; wherein the preset driving modes include a left-hand drive mode and a right-hand drive mode; controlling the vehicle's driving according to the target driving mode; and using a technical solution that simultaneously deploys a left-hand drive mode and a right-hand drive mode in the vehicle and determines the target driving mode based on the location information and the preset high-precision map, in combination with an autonomous driving mode to control the vehicle's driving, thereby avoiding the limitation of the vehicle only supporting a single driving mode and improving the flexibility and diversity of vehicle control.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0023] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0024] Figure 1 This is a schematic diagram of an autonomous driving system according to an embodiment of the present disclosure;

[0025] Figure 2 This is a scenario illustration of the driving mode in an embodiment of this disclosure. Figure 1 ;

[0026] Figure 3 This is a scenario illustration of the driving mode in an embodiment of this disclosure. Figure 2 ;

[0027] Figure 4 This is a scenario illustration of the driving mode in an embodiment of this disclosure. Figure 3 ;

[0028] Figure 5 This is a scenario illustration of the driving mode in an embodiment of this disclosure. Figure 4 ;

[0029] Figure 6 This is a schematic diagram of the first embodiment of the present disclosure;

[0030] Figure 7 This is a schematic diagram according to the second embodiment of the present disclosure;

[0031] Figure 8 This is a schematic diagram according to the third embodiment of the present disclosure;

[0032] Figure 9 This is a schematic diagram according to the fourth embodiment of the present disclosure;

[0033] Figure 10 This is a schematic diagram according to the fifth embodiment of the present disclosure;

[0034] Figure 11 This is a block diagram of an electronic device used to implement the vehicle control method of the embodiments of this disclosure. Detailed Implementation

[0035] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0036] Figure 1 This is a schematic diagram of an autonomous driving system according to an embodiment of the present disclosure. The vehicle control method according to an embodiment of the present disclosure can be based on... Figure 1 The autonomous driving system shown is implemented as follows. Figure 1 As shown, the autonomous driving system 100 includes:

[0037] High-precision map (HD Map) component 101 is used to provide high-precision map services for vehicles.

[0038] The localization component 102 is used to provide high-precision (e.g., centimeter-level) positioning services for vehicles.

[0039] The perception component 103 is used to provide environmental perception services for the vehicle.

[0040] For example, the sensing component 103 can be at least one of a camera, LiDAR, millimeter-wave radar, and ultrasonic radar. Environmental perception services include obstacle detection services, such as those for identifying the type and location of obstacles.

[0041] The prediction component 104 is used to infer the future motion trajectory of the obstacle based on the data provided by the high-precision map component 101, the positioning component 102, and the perception component 103, and in combination with technologies such as Kalman filtering and neural networks, so as to transmit it to the downstream decision planning component.

[0042] The global navigation component 105 is used to obtain the optimal global navigation path that conforms to preset evaluation information based on the vehicle's starting position and target position, combined with the network topology, through a global path search method.

[0043] The decision planning component 106 is used to provide services such as vehicle obstacle avoidance, lane change decision, path planning, and speed planning.

[0044] The control component 107 is used to perform longitudinal and lateral control of the vehicle based on information provided by the decision planning component 106 (such as the vehicle's driving trajectory determined based on the path planning service).

[0045] Based on the way a vehicle is driven, driving modes can be divided into left-hand drive driving mode and right-hand drive driving mode. Figures 2 to 4 The diagrams illustrate different driving modes.

[0046] in, Figure 2 The demonstration showcased a scenario in left-hand drive mode, with the vehicle positioned in the rightmost lane of the road, based on the vehicle's direction of travel.

[0047] Figure 3 The demonstration showcased a right-hand drive driving mode scenario, with the vehicle positioned in the leftmost lane of the road, based on its direction of travel.

[0048] Figure 4This is a single-lane driving scenario that supports both left-hand drive and right-hand drive driving modes. In left-hand drive mode, the vehicle starts in the rightmost lane of the road, based on its direction of travel, and stops in the same lane. In right-hand drive mode, the vehicle starts in the leftmost lane, based on its direction of travel, and stops in the same lane.

[0049] Figure 5 This is a two-way lane scenario, supporting both left-hand drive and right-hand drive driving modes. In left-hand drive mode, the vehicle starts in the rightmost lane of the road, based on the vehicle's direction of travel, and stops in the same lane. In right-hand drive mode, the vehicle starts in the leftmost lane, based on the vehicle's direction of travel, and stops in the same lane.

[0050] In related technologies, vehicles only support a single driving mode, that is, vehicles only support left-hand drive driving mode, or vehicles only support right-hand drive driving mode.

[0051] This disclosure provides a technical concept developed through inventive effort: a vehicle simultaneously supports multiple driving modes, that is, the vehicle supports both left-hand drive and right-hand drive driving modes, in order to determine the current driving mode of the vehicle by combining the vehicle's position information and a preset high-precision map, and to control the vehicle's driving according to the current driving mode.

[0052] It is understood that the above embodiments are only some examples of the application scenarios of this application. Compared with traditional vehicles, autonomous vehicles have more flexible application scenarios. For example, the same vehicle can adapt to different scenarios of left-hand drive and right-hand drive by changing the autonomous driving mode. That is, the same vehicle can be driven in areas with different driving rules, while vehicles in the prior art are usually fixed to left-hand drive or right-hand drive and cannot achieve cross-regional (areas with different driving rules) driving.

[0053] Based on the above technical concept, this disclosure provides a vehicle control method, device, and vehicle, which are applied to the field of autonomous driving in the field of artificial intelligence technology, so as to achieve flexibility and diversity in vehicle control.

[0054] Figure 6 This is a schematic diagram of the first embodiment of this disclosure. Figure 6 As shown, the vehicle control method of this disclosure includes:

[0055] S601: Obtain vehicle location information.

[0056] For example, the execution subject in this embodiment can be a vehicle control device, which can be a processor deployed in the vehicle, a chip deployed in the vehicle, an in-vehicle terminal deployed in the vehicle, etc. This embodiment does not limit the scope.

[0057] This embodiment does not limit the method of obtaining location information. For example, as can be seen from the above examples, the vehicle can be equipped with an autonomous driving system, which may include a positioning component and can obtain location information based on the positioning component.

[0058] S602: Based on location information and a preset high-precision map, determine the target driving mode that matches the location information from the vehicle's preset driving modes.

[0059] The preset driving modes include left-hand drive and right-hand drive modes.

[0060] For example, the vehicle is equipped with both left-hand drive and right-hand drive driving modes to enable the vehicle to support multiple driving modes (i.e., left-hand drive and right-hand drive driving modes), thereby improving the flexibility and versatility of vehicle control.

[0061] For example, combined with Figure 1 In some embodiments of the autonomous driving system shown, the autonomous driving system is equipped with preset driving modes, which include two driving modes, such as left-hand drive driving mode and right-hand drive driving mode.

[0062] The control system can determine the appropriate driving mode for the vehicle's current location (i.e., location information) from two driving modes based on location information and a preset high-precision map.

[0063] Compared to the example above, where the vehicle only supports a single driving mode, this embodiment can support multiple driving modes, namely both left-hand drive and right-hand drive modes, which can improve the flexibility and versatility of the vehicle's autonomous driving.

[0064] In other embodiments, the driver may also determine the target driving mode from preset driving modes.

[0065] For example, the vehicle control unit supports interactive operation, and the driver can select a target driving mode from preset driving modes based on the interactive operation, and the vehicle control unit will determine the target driving mode accordingly.

[0066] The interactive operation can be a touch operation, or an interactive command initiated by the user device, etc., and this embodiment does not limit it.

[0067] Alternatively, the target driving mode can be determined by a cloud server and transmitted to the vehicle control unit. For example, an autonomous driving system can send location information to a cloud server, which can then determine the target driving mode based on the location information and a preset high-precision map, and transmit the target driving mode to the vehicle control unit. Correspondingly, the vehicle control unit can extract the target driving mode from preset driving modes.

[0068] S603: Controls vehicle movement according to the target driving mode.

[0069] For example, considering the differences between different driving modes, such as different starting positions and different stopping positions, different driving modes correspond to different driving control strategies. In different driving modes, corresponding driving control strategies can be used to control the vehicle's driving, so as to achieve flexible switching between different driving control strategies, thereby improving the effectiveness and reliability of controlling the vehicle's driving.

[0070] Based on the above analysis, this disclosure provides a vehicle control method, including: acquiring the vehicle's location information; determining a target driving mode matching the location information from the vehicle's preset driving modes based on the location information and a preset high-precision map; wherein the preset driving modes include a left-hand drive mode and a right-hand drive mode; and controlling the vehicle's driving according to the target driving mode. In this embodiment, by simultaneously deploying a left-hand drive mode and a right-hand drive mode in the vehicle and determining the target driving mode based on the location information and the preset high-precision map, and combining this with an autonomous driving mode to control the vehicle's driving, the technical solution can avoid the limitation of the vehicle only supporting a single driving mode, thereby improving the flexibility and diversity of vehicle control.

[0071] To facilitate a deeper understanding of the implementation principles of this disclosure, the following is combined with... Figure 7 The vehicle control method disclosed herein will be described in more detail. Among other things, Figure 7 This is a schematic diagram of the second embodiment of this disclosure. (See diagram below.) Figure 7 As shown, the vehicle control method of this disclosure includes:

[0072] S701: Obtain vehicle location information.

[0073] It should be understood that, in order to avoid tedious descriptions, the same technical features as those in the above embodiments will not be repeated in this embodiment.

[0074] For example, the implementation principle of S701 can be found in the description of S601, which will not be repeated here.

[0075] S702: Based on location information, obtain any point on the road to which the vehicle belongs from a preset high-precision map.

[0076] For example, when the location information is known, the position of the vehicle in the preset high-precision map can be determined, thereby determining the road to which the vehicle belongs in the high-precision map (i.e., the road to which the vehicle belongs), and arbitrarily selecting a point (i.e., any point) from that road.

[0077] S703: Determine the lane information of the road to which the vehicle belongs based on any point.

[0078] In some embodiments, any point has coordinate information; S703 may include the following steps:

[0079] First step: Rotate the road to which the vehicle belongs based on the coordinate information to obtain the rotated road to which the vehicle belongs.

[0080] Among them, the heading direction of the lane to which any point in the road to which the vehicle belongs after rotation processing is the preset direction.

[0081] In some embodiments, the coordinate system in which the coordinate information is located is the coordinate system of a preset high-precision map, and the coordinate information includes vertical coordinate information; the first step may include the following sub-steps:

[0082] First sub-step: Determine the vehicle's direction of travel at any point based on the vertical coordinate information.

[0083] The second sub-step: Rotate the vehicle's road according to the driving direction so that the driving direction coincides with the preset direction, and obtain the rotated road to which the vehicle belongs.

[0084] The preset direction is due north, which is the coordinate system of the preset high-precision map.

[0085] For example, if any point is labeled P, the coordinate information of any point P is labeled P(Xp, Yp, Hp). Here, Xp is the x-coordinate information of any point, Yp is the y-coordinate information of any point, and Hp is the vertical coordinate information of any point. The vertical coordinate information can represent the heading angle of any point in the lane to which the point belongs.

[0086] It can obtain the lane to which any point P belongs within the road, and take the heading represented by the vertical coordinate information as the forward direction (i.e. the driving direction), rotate the road to which the vehicle belongs so that the forward direction coincides with the due north direction, and determine the road to which the vehicle belongs in the rotated scenario where the forward direction coincides with the due north direction.

[0087] In this embodiment, by determining the driving direction and combining it with the driving direction to determine the road to which the rotated vehicle belongs, the effectiveness and reliability of the rotation processing can be improved.

[0088] The second step is to generate lane information based on the road to which the rotated vehicle belongs.

[0089] In this embodiment, by rotating the road to which the vehicle belongs, and combining the rotated road to determine the lane information, the effectiveness and reliability of the lane information can be improved.

[0090] In some embodiments, the second step may include the following sub-steps:

[0091] First sub-step: Number the lanes in the road to which the rotated vehicle belongs, and obtain the lane numbers.

[0092] For example, using the coordinate system of the preset high-precision map as a reference, the lanes in the road to which the rotated vehicle belongs can be numbered sequentially, starting from the right side perpendicular to the direction of travel, to obtain the lane numbers.

[0093] Specifically, if the lane of the road to which the rotated vehicle belongs is a single lane, then the number of lane numbers is one; if the lane of the road to which the rotated vehicle belongs is a multi-lane road, then the number of lane numbers is multiple.

[0094] The second sub-step: Determine the number of lanes based on the lane number.

[0095] For example, during the numbering process, the numbering can start from 1 and continue until all lanes in the road to which the rotated vehicle belongs are numbered, thereby determining the number of lanes based on the lane numbers.

[0096] For example, when the numbering is completed, the lane number is n (n is a positive integer greater than or equal to 1), then the number of lanes is n.

[0097] The third sub-step: Obtain the lane type and lane heading of the lane in the road to which the vehicle belongs after rotation processing.

[0098] The lane information includes the number of lanes, lane type, and lane direction.

[0099] The lane type is either a non-motorized vehicle lane, a motorized vehicle lane, or an emergency lane. The lane direction is either due north or not due north (such as due south).

[0100] In this embodiment, by combining the number of lanes, lane type, and lane heading to characterize lane information, the richness of lane information can be improved. As a result, when determining the target driving mode based on lane information, the accuracy and reliability of the determined target driving mode can be improved.

[0101] S704: Based on lane information, determine the target driving mode from the vehicle's preset driving modes.

[0102] The preset driving modes include left-hand drive and right-hand drive modes.

[0103] In this embodiment, compared to determining lane information based on the positioning function, combining lane information determined by any point is more accurate and precise, avoiding the drawback of low reliability caused by relatively coarse-grained positioning, improving the accuracy and effectiveness of determining lane information, and thus improving the effectiveness and reliability when determining the target driving mode by combining lane information.

[0104] In some embodiments, if the number of lanes is 1 and the lane heading is a preset direction, the target driving mode is either a left-hand drive driving mode or a right-hand drive driving mode.

[0105] If the first lane's direction is a preset direction, there are multiple lanes, and the first lane's lane type is a non-motorized vehicle lane or an emergency lane, then the target driving mode is left-hand drive mode, and the first lane is the lane corresponding to the first lane number.

[0106] If the first lane's direction is a preset direction, there are multiple lanes, and the last lane's lane type is a non-motorized vehicle lane or an emergency lane, then the target driving mode is right-hand drive mode, and the last lane is the lane corresponding to the last lane number.

[0107] If the first lane's lane direction is not the preset direction, and the last lane's lane direction is the preset direction, then the target driving mode is right-hand drive mode.

[0108] If the first lane's lane direction is the preset direction and the last lane's lane direction is a non-preset direction, then the target driving mode is left-hand drive mode.

[0109] S705: Determine the initial parking position based on the target driving mode.

[0110] For example, if the target driving mode is left-hand drive, the initial parking position is the parking position on the rightmost lane of the road, based on the vehicle's direction of travel.

[0111] If the target driving mode is right-hand drive, the initial parking position is the parking position in the leftmost lane of the road, based on the vehicle's direction of travel.

[0112] If the target driving mode is left-hand drive, the starting position is the starting position on the rightmost lane of the road, based on the vehicle's direction of travel.

[0113] If the target driving mode is right-hand drive, the starting position is the starting position in the leftmost lane of the road, based on the vehicle's direction of travel.

[0114] S706: Based on the target driving mode and the obtained destination location, the initial parking position is corrected to obtain the target parking position.

[0115] The destination location can be the pick-up location initiated by the passenger.

[0116] For example, the initial parking position is only a rough determination of the vehicle's parking location, while the target parking position obtained by correcting the target driving mode and the destination position is a fine-grained parking position.

[0117] In some embodiments, S706 may include the following steps:

[0118] First step: Determine the boundary position of the parking lane based on the initial parking position and the destination position.

[0119] In contrast, when parking, vehicles must be parked within the lane, specifically near the lane boundary, such as the outer edge of the lane.

[0120] The second step: Determine the target parking location based on the target driving mode and boundary position.

[0121] In some embodiments, if the target driving mode is left-hand drive, the target parking position is determined based on the sum of the boundary position and the preset parking safety distance.

[0122] The preset safe parking distance can be determined based on demand, historical records, and experiments, and this embodiment does not impose any limitations.

[0123] For example, if the coordinates of the boundary position are (Sr, Lr), the safe stopping distance is D, and the coordinates of the target stopping position are (Se', Le'), then Se' = Sr, Le' = Lr + D.

[0124] If the target driving mode is right-hand drive, the target parking position is determined based on the difference between the boundary position and the preset safe parking distance.

[0125] For example, if the coordinates of the boundary position are (Sr, Lr), the safe stopping distance is D, and the coordinates of the target stopping position are (Se', Le'), then Se' = Sr, Le' = Lr - D.

[0126] In this embodiment, by combining the target driving mode and boundary position to determine the target parking position, the accuracy and reliability of the target parking position can be improved.

[0127] S707: Control vehicle movement according to the target parking location.

[0128] In this embodiment, by first roughly determining the initial parking position and then determining the precise target parking position based on it, the effectiveness and reliability of the target parking position can be improved. As a result, when controlling the vehicle's movement based on the target parking position, the accuracy of vehicle control can be improved, and the vehicle's driving safety can be enhanced.

[0129] In some embodiments, control information can be generated based on the target parking location. This control information includes at least one of navigation path, real-time trajectory information, driving strategy information, and turn signal information; however, this embodiment does not limit the scope of the information.

[0130] For example, combining the above examples, a navigation path can be generated based on the starting position and the target stopping position. Accordingly, real-time trajectory information can be generated based on the navigation path to complete the vehicle's automatic driving based on the real-time trajectory information.

[0131] Based on preset driving strategy information and the mapping relationship between turn signal information and driving modes, the driving strategy information and turn signal information corresponding to the target driving mode can be determined.

[0132] For example, if the target driving mode is left-hand drive, the driving strategy information includes: driving on the right side of the driving direction; when the vehicle is driving in a roundabout scenario, the vehicle turns right in the driving direction to enter the environment scenario.

[0133] If the target driving mode is right-hand drive, the driving strategy information includes driving on the left side of the driving direction; when the vehicle is driving in a roundabout scene, the vehicle turns left into the environment scene in the driving direction.

[0134] If the target driving mode is left-hand drive, the turn signal information includes: when the vehicle is turning right, the right turn signal is activated regardless of traffic lights; when the vehicle is turning left, the left turn signal is activated regardless of traffic lights (e.g., stop at red lights and go at green lights); when the vehicle is making a U-turn in the leftmost lane of the driving direction, the left turn signal is activated; and when the vehicle is entering a station in the rightmost lane of the driving direction, the right turn signal is activated.

[0135] If the target driving mode is right-hand drive, the turn signal information includes: when turning right, the left turn signal is activated if the vehicle is subject to traffic lights (stop at red lights, go at green lights); when turning right, the right turn signal is activated if the vehicle is not subject to traffic lights; when making a U-turn in the rightmost lane of the driving direction, the right turn signal is activated; and when entering a station in the leftmost lane of the driving direction, the left turn signal is activated.

[0136] Figure 8 This is a schematic diagram based on the third embodiment of the present disclosure, as shown below. Figure 8 As shown, the vehicle control device 800 of this disclosure includes:

[0137] The acquisition unit 801 is used to acquire the vehicle's location information.

[0138] The determining unit 802 is used to determine a target driving mode that matches the location information from the vehicle's preset driving modes based on the location information and a preset high-precision map. The preset driving modes include a left-hand drive driving mode and a right-hand drive driving mode.

[0139] Control unit 803 is used to control the vehicle's movement according to the target driving mode.

[0140] Figure 9 This is a schematic diagram based on the fourth embodiment of the present disclosure, as shown below. Figure 9 As shown, the vehicle control device 900 of this disclosure includes:

[0141] The acquisition unit 901 is used to acquire the vehicle's location information.

[0142] The determining unit 902 is used to determine a target driving mode that matches the location information from the vehicle's preset driving modes based on the location information and a preset high-precision map. The preset driving modes include a left-hand drive driving mode and a right-hand drive driving mode.

[0143] In some embodiments, combined with Figure 9 It can be seen that the determined unit 902 includes:

[0144] The acquisition sub-unit 9021 is used to obtain any point on the road to which the vehicle belongs from a preset high-precision map based on the location information.

[0145] The first determining subunit 9022 is used to determine the lane information of the road to which the vehicle belongs based on any point.

[0146] In some embodiments, any point has coordinate information; the first determining subunit 9022 includes:

[0147] The rotation module is used to rotate the road to which the vehicle belongs based on the marker information to obtain the rotated road to which the vehicle belongs. The heading direction of the lane to which any point in the rotated road belongs is a preset direction.

[0148] In some embodiments, the coordinate system in which the coordinate information is located is the coordinate system of a preset high-precision map, and the coordinate information includes vertical coordinate information; the rotation module includes:

[0149] The second determination submodule is used to determine the driving direction of the vehicle at any point based on the vertical coordinate information.

[0150] The rotation submodule is used to rotate the road to which the vehicle belongs according to the driving direction, so that the driving direction coincides with the preset direction, and thus obtain the rotated road to which the vehicle belongs.

[0151] The preset direction is due north, which is the coordinate system of the preset high-precision map.

[0152] The generation module is used to generate lane information based on the road to which the vehicle belongs after rotation processing.

[0153] In some embodiments, the generation module includes:

[0154] The numbering submodule is used to number the lanes in the road to which the rotated vehicle belongs, thus obtaining the lane number.

[0155] The first determination submodule is used to determine the number of lanes based on the lane number.

[0156] The acquisition submodule is used to obtain the lane type and lane heading of the lane in the road to which the vehicle belongs after rotation processing.

[0157] The lane information includes the number of lanes, lane type, and lane direction.

[0158] The second determining subunit 9023 is used to determine the target driving mode based on lane information.

[0159] Control unit 903 is used to control the vehicle's movement according to the target driving mode.

[0160] Combination Figure 9 It is understood that, in some embodiments, the control unit 903 includes:

[0161] The third determining subunit 9031 is used to determine the initial parking position based on the target driving mode.

[0162] The correction subunit 9032 is used to correct the initial parking position based on the target driving mode and the obtained destination position to obtain the target parking position.

[0163] In some embodiments, the correction subunit 9032 includes:

[0164] The first determining module is used to determine the boundary position of the parking lane based on the initial parking position and the destination position.

[0165] The second determining module is used to determine the target parking location based on the target driving mode and boundary position.

[0166] In some embodiments, if the target driving mode is left-hand drive, the target parking position is determined based on the sum of the boundary position and the preset parking safety distance.

[0167] If the target driving mode is right-hand drive, the target parking position is determined based on the difference between the boundary position and the preset safe parking distance.

[0168] The control subunit 9033 is used to control the vehicle's movement based on the target parking position.

[0169] Figure 10 This is a schematic diagram based on the fifth embodiment of the present disclosure, as shown below. Figure 10 As shown, the electronic device 1000 in this disclosure may include a processor 1001 and a memory 1002.

[0170] Memory 1002 is used to store programs. Memory 1002 may include volatile memory, such as random-access memory (RAM), such as static random-access memory (SRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.; memory may also include non-volatile memory, such as flash memory. Memory 1002 is used to store computer programs (such as application programs, functional modules, etc. that implement the above methods), computer instructions, etc. The computer programs, computer instructions, etc., can be partitioned and stored in one or more memories 1002. Furthermore, the computer programs, computer instructions, data, etc., can be accessed by processor 1001.

[0171] The aforementioned computer programs and instructions can be stored in one or more partitions of memory 1002. Furthermore, the aforementioned computer programs and instructions can be invoked by processor 1001.

[0172] The processor 1001 is configured to execute the computer program stored in the memory 1002 to implement the various steps in the methods described in the above embodiments.

[0173] For details, please refer to the relevant descriptions in the preceding method embodiments.

[0174] The processor 1001 and the memory 1002 can be independent structures or integrated structures. When the processor 1001 and the memory 1002 are independent structures, the memory 1002 and the processor 1001 can be coupled together via the bus 1003.

[0175] The electronic device in this embodiment can execute the technical solution in the above method, and its specific implementation process and technical principles are the same, so they will not be repeated here. …

[0176] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0177] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0178] According to embodiments of this disclosure, this disclosure also provides a computer program product comprising: a computer program stored in a readable storage medium, at least one processor of an electronic device being able to read the computer program from the readable storage medium, and the at least one processor executing the computer program causing the electronic device to perform the scheme provided in any of the above embodiments.

[0179] Figure 11 A schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0180] like Figure 11 As shown, device 1100 includes a computing unit 1101, which can perform various appropriate actions and processes according to a computer program stored in read-only memory (ROM) 1102 or a computer program loaded from storage unit 1108 into random access memory (RAM) 1103. The RAM 1103 may also store various programs and data required for the operation of device 1100. The computing unit 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. Input / output (I / O) interface 1105 is also connected to bus 1104.

[0181] Multiple components in device 1100 are connected to I / O interface 1105, including: input unit 1106, such as keyboard, mouse, etc.; output unit 1107, such as various types of monitors, speakers, etc.; storage unit 1108, such as disk, optical disk, etc.; and communication unit 1109, such as network card, modem, wireless transceiver, etc. Communication unit 1109 allows device 1100 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0182] The computing unit 1101 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1101 performs the various methods and processes described above, such as vehicle control methods. For example, in some embodiments, the vehicle control method may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 1108. In some embodiments, part or all of the computer program may be loaded and / or installed on device 1100 via ROM 1102 and / or communication unit 1109. When the computer program is loaded into RAM 1103 and executed by the computing unit 1101, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the computing unit 1101 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0183] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0184] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0185] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0186] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0187] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with embodiments of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0188] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service ecosystem, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0189] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0190] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A vehicle control method, comprising: Obtain vehicle location information; Based on the location information and the preset high-precision map, a target driving mode matching the location information is determined from the preset driving modes of the vehicle, wherein the preset driving modes include a left-hand drive driving mode and a right-hand drive driving mode. Control the vehicle's driving according to the target driving mode; Controlling the vehicle's movement according to the target driving mode includes: The initial parking position is determined according to the target driving mode; the initial parking position is corrected according to the target driving mode and the obtained destination position to obtain the target parking position; the vehicle is controlled to drive according to the target parking position.

2. The method according to claim 1, wherein, Based on the location information and a preset high-precision map, a target driving mode matching the location information is determined from the vehicle's preset driving modes, including: Based on the location information, obtain any point on the road to which the vehicle belongs from the preset high-precision map; The lane information of the road to which the vehicle belongs is determined based on the arbitrary point; The target driving mode is determined based on the lane information.

3. The method according to claim 2, wherein, The arbitrary point has coordinate information; based on the arbitrary point, the lane information of the road to which the vehicle belongs includes: The road to which the vehicle belongs is rotated based on the coordinate information to obtain the rotated road to which the vehicle belongs, wherein the heading direction of the lane to which any point in the rotated road to which the vehicle belongs is a preset direction; The lane information is generated based on the road to which the vehicle belongs after the rotation process.

4. The method according to claim 3, wherein, Based on the road to which the vehicle belongs after the rotation processing, the lane information is generated, including: The lanes of the road to which the vehicle belongs after the rotation process are numbered to obtain lane numbers; The number of lanes is determined based on the lane number; Obtain the lane type and lane heading of the lane in the road to which the vehicle belongs after the rotation processing; The lane information includes the number of lanes, the lane type, and the lane direction.

5. The method according to claim 3 or 4, wherein, The coordinate system in which the coordinate information is located is the coordinate system to which the preset high-precision map belongs, and the coordinate information includes vertical coordinate information; The road to which the vehicle belongs is rotated based on the coordinate information to obtain the rotated road to which the vehicle belongs, including: Based on the vertical coordinate information, determine the driving direction of the vehicle at any point; The road to which the vehicle belongs is rotated according to the driving direction so that the driving direction coincides with the preset direction, thus obtaining the rotated road to which the vehicle belongs; The preset direction is the due north direction of the coordinate system to which the preset high-precision map belongs.

6. The method according to any one of claims 1-4, wherein, Based on the target driving mode and the obtained destination location, the initial parking position is corrected to obtain the target parking position, including: The boundary position of the parking lane is determined based on the initial parking position and the destination position; The target parking location is determined based on the target driving mode and the boundary position.

7. The method according to claim 6, wherein, Determining the target parking location based on the target driving mode and the boundary position includes: If the target driving mode is the left-hand drive driving mode, then the target parking position is determined based on the sum of the boundary position and the preset parking safety distance; If the target driving mode is the right-hand drive driving mode, then the target parking position is determined based on the difference between the boundary position and the preset parking safety distance.

8. A vehicle control device, comprising: The acquisition unit is used to acquire the vehicle's location information; The determining unit is configured to determine a target driving mode that matches the location information from the preset driving modes of the vehicle, based on the location information and the preset high-precision map, wherein the preset driving modes include a left-hand drive driving mode and a right-hand drive driving mode. A control unit is used to control the driving of the vehicle according to the target driving mode; The control unit includes: The third determining subunit is used to determine the initial parking position based on the target driving mode; The correction subunit is used to correct the initial parking position according to the target driving mode and the obtained destination position to obtain the target parking position; A control subunit is used to control the vehicle's movement based on the target parking position.

9. The apparatus according to claim 8, wherein, The determining unit includes: The acquisition subunit is used to acquire any point on the road to which the vehicle belongs from the preset high-precision map based on the location information; The first determining subunit is used to determine the lane information of the road to which the vehicle belongs based on the arbitrary point; The second determining subunit is used to determine the target driving mode based on the lane information.

10. The apparatus according to claim 9, wherein, The arbitrary point has coordinate information; the first determining subunit includes: A rotation module is used to rotate the road to which the vehicle belongs based on the coordinate information to obtain the rotated road to which the vehicle belongs, wherein the heading direction of the lane to which any point in the rotated road to which the vehicle belongs is a preset direction; The generation module is used to generate the lane information based on the road to which the vehicle belongs after the rotation processing.

11. The apparatus according to claim 10, wherein, The generation module includes: The numbering submodule is used to number the lanes in the road to which the rotated vehicle belongs, and obtain lane numbers. The first determining submodule is used to determine the number of lanes based on the lane number; The acquisition submodule is used to acquire the lane type and lane heading of the lane in the road to which the vehicle belongs after the rotation processing; The lane information includes the number of lanes, the lane type, and the lane direction.

12. The apparatus according to claim 10 or 11, wherein, The coordinate system in which the coordinate information is located is the coordinate system to which the preset high-precision map belongs, and the coordinate information includes vertical coordinate information; The rotating module includes: The second determining submodule is used to determine the driving direction of the vehicle at any point based on the vertical coordinate information; The rotation submodule is used to rotate the road to which the vehicle belongs according to the driving direction, so that the driving direction coincides with the preset direction, and obtain the rotated road to which the vehicle belongs; The preset direction is the due north direction of the coordinate system to which the preset high-precision map belongs.

13. The apparatus according to any one of claims 8-11, wherein, The correction subunit includes: The first determining module is used to determine the boundary position of the parking lane based on the initial parking position and the end position; The second determining module is used to determine the target parking position based on the target driving mode and the boundary position.

14. The apparatus according to claim 13, wherein, If the target driving mode is the left-hand drive driving mode, then the target parking position is determined based on the sum of the boundary position and the preset parking safety distance; If the target driving mode is the right-hand drive driving mode, then the target parking position is determined based on the difference between the boundary position and the preset parking safety distance.

15. An electronic device comprising: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.

16. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-7.

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

18. A vehicle comprising the means as claimed in any one of claims 8-14; The vehicle is equipped with preset driving modes, including a left-hand drive driving mode and a right-hand drive driving mode.

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