Triangle warning board control method and device of intelligent vehicle, storage medium and vehicle

Abstract

This application discloses a method, device, storage medium, and vehicle for controlling a warning triangle on an intelligent vehicle, belonging to the field of autonomous driving technology. The method is used in the engine compartment of an intelligent vehicle, where a warning trolley is parked and communicated with. The warning trolley carries a warning triangle. The engine compartment determines whether to release the warning trolley based on fault information. When it is determined that the warning trolley needs to be released, the destination of the warning trolley is determined based on historical driving trajectory information and current location information. A path to the destination is generated based on historical environmental perception information. The current location information includes lane information of the lane occupied by the intelligent vehicle, and the destination is located within the lane. The warning trolley travels to the destination according to the path and stops in a lane that can warn following vehicles. This application ensures that the warning trolley stops in the lane where the intelligent vehicle is located to warn following vehicles in that lane and avoid secondary accidents.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, device, storage medium, and vehicle for controlling a triangular warning sign for an intelligent vehicle. Background Technology

[0002] The warning triangle for intelligent vehicles is a passive reflector made of plastic reflective material. When a driver encounters a sudden malfunction on the road and needs to stop for repairs, or when the intelligent vehicle is involved in an accident while driving, the driver needs to place the warning triangle at a certain distance behind the intelligent vehicle. The reflective properties of the warning triangle will alert other vehicles to take evasive action and prevent secondary accidents.

[0003] In related technologies, a warning triangle is installed on the car. When the current state of the car meets the warning conditions, the warning triangle is released. The environmental information and the driving trajectory of the car are obtained, and the target distance is determined based on the environmental information. Starting from the current rear of the car, the warning triangle is controlled to move along the reverse driving trajectory to the target distance, thereby realizing the automatic placement of the warning triangle.

[0004] When a car is hit and deviates from its original lane, or when a car changes lanes and deviates from its original lane, the warning triangle will move a target distance along the opposite trajectory and stop in the car's original lane instead of the car's current lane. This will prevent it from warning vehicles behind in the current lane and could easily cause a secondary accident. Summary of the Invention

[0005] This application provides a method, device, storage medium, and vehicle for controlling a warning triangle in an intelligent vehicle. It addresses the problem that after the warning triangle moves a target distance along a reverse driving trajectory, it may no longer be in the vehicle's current lane, thus failing to warn vehicles approaching from behind and potentially causing secondary accidents. The technical solution is as follows:

[0006] On one hand, a method for controlling a warning triangle in an intelligent vehicle is provided, for use in the engine compartment of the intelligent vehicle, wherein a warning vehicle is parked in the engine compartment and is communicatively connected to the warning vehicle, and the warning vehicle is equipped with a warning triangle; the method includes:

[0007] The cabin acquires the intelligent vehicle's historical driving trajectory information, historical environmental perception information, fault information, and current location information; and determines whether the warning vehicle needs to be released based on the fault information.

[0008] When it is determined that the warning vehicle needs to be released based on the fault information, the cabin determines the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information, and generates a path to the destination based on the historical environmental perception information. The current positioning information includes the lane information of the lane occupied by the intelligent vehicle, and the destination is located in the lane.

[0009] The cabin sends the path to the warning vehicle so that the warning vehicle travels to the destination based on the path and stops in a lane that can warn vehicles behind.

[0010] In one possible implementation, generating a path to the driving destination based on the historical environmental perception information includes:

[0011] The cabin identifies the lane lines of the lane occupied by the intelligent vehicle based on the historical environmental perception information.

[0012] The cabin generates a path along the lane lines to the destination.

[0013] In one possible implementation, the cabin generates a path along the lane lines to the destination, including:

[0014] The cabin detects whether there are obstacles on the path along the lane line to the destination based on the historical environmental perception information.

[0015] When an obstacle is present, the cabin generates a path to bypass the obstacle.

[0016] In one possible implementation, the cabin determines the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information, including:

[0017] The cabin determines the center of the lane occupied by the intelligent vehicle based on the historical driving trajectory information and the current positioning information.

[0018] The cabin determines the safe distance between vehicles;

[0019] The cabin determines the destination of the warning vehicle as the center of the lane at a safe distance from the intelligent vehicle.

[0020] In one possible implementation, the cabin determines the safe distance by including:

[0021] The cabin obtains the vehicle speed of the intelligent vehicle;

[0022] The cabin obtains weather information;

[0023] The cabin calculates the safe following distance based on the vehicle speed and the weather information.

[0024] In one possible implementation, the method further includes:

[0025] When it is determined from the fault information that the warning vehicle needs to be released, the engine room sends a release request to the control system in the intelligent vehicle and starts timing.

[0026] If the control system does not send a cancellation release command when the timeout period reaches the predetermined time, the cabin triggers the step of determining the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information.

[0027] In one possible implementation, the cabin acquires fault information of the intelligent vehicle, including:

[0028] When the control system in the intelligent vehicle is not powered off, the engine compartment receives fault information sent by the control system; or,

[0029] When the control system in the intelligent vehicle is not powered off, the engine compartment receives fault information sent by the control system and acquires fault information collected by the sensors built into the engine compartment; or,

[0030] When the control system in the intelligent vehicle loses power, the cabin acquires fault information collected by the sensors built into the cabin.

[0031] On one hand, a triangular warning sign control device for intelligent vehicles is provided for use in the engine compartment of intelligent vehicles, wherein a warning trolley is parked in the engine compartment and is communicatively connected to the warning trolley, and the warning trolley is equipped with a triangular warning sign; the device includes:

[0032] The acquisition module is used to acquire the intelligent vehicle's historical driving trajectory information, historical environmental perception information, fault information, and current location information; and to determine whether the warning vehicle needs to be released based on the fault information.

[0033] The generation module is used to determine the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information when it is determined that the warning vehicle needs to be released according to the fault information, and to generate a path to the destination based on the historical environmental perception information, wherein the current positioning information includes the lane information of the lane occupied by the intelligent vehicle, and the destination is located in the lane.

[0034] The sending module is used to send the path to the warning vehicle so that the warning vehicle can travel to the destination based on the path and stop in a lane that can warn vehicles behind.

[0035] On the one hand, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, the at least one instruction being loaded and executed by a processor to implement the triangular warning sign control method for intelligent vehicles as described above.

[0036] On one hand, an intelligent vehicle is provided, which is equipped with a cabin and a warning vehicle, wherein the warning vehicle is parked in the cabin and is communicatively connected to the warning vehicle, and the warning vehicle is equipped with a triangular warning sign.

[0037] The cabin is used to acquire the intelligent vehicle's historical driving trajectory information, historical environmental perception information, fault information, and current location information; and to determine whether the warning vehicle needs to be released based on the fault information.

[0038] The cabin is also used to determine the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information when it is determined that the warning vehicle needs to be released according to the fault information, and to generate a path to the destination based on the historical environmental perception information, wherein the current positioning information includes lane information of the lane occupied by the intelligent vehicle, and the destination is located in the lane.

[0039] The cabin is also used to send the path to the warning vehicle;

[0040] The warning vehicle is used to travel along the route to the destination and stop in a lane that can warn vehicles behind.

[0041] The beneficial effects of the technical solution provided in this application include at least the following:

[0042] When it is determined that the warning vehicle needs to be released based on the fault information, the cabin determines the destination based on historical driving trajectory information and current positioning information, generates a path to the destination based on historical environmental perception information, and sends the path to the warning vehicle so that the warning vehicle can travel to the destination based on the path and stop in the lane where the intelligent vehicle is located to warn the following vehicles and avoid secondary accidents.

[0043] The cabin first determines the center of the lane occupied by the intelligent vehicle based on historical driving trajectory information and current positioning information; then it determines the safe distance; finally, it determines the destination of the warning car at the center of the lane that is a safe distance away from the intelligent vehicle. In this way, the warning car can be parked in a conspicuous center of the lane to warn vehicles behind and avoid secondary accidents. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the structure of an intelligent vehicle according to an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of the structure of a warning vehicle according to an embodiment of this application;

[0047] Figure 3 This is a flowchart of a method for controlling a warning triangle on an intelligent vehicle according to an embodiment of this application;

[0048] Figure 4 This is a flowchart of a method for controlling a warning triangle for an intelligent vehicle according to another embodiment of this application;

[0049] Figure 5 This is a schematic diagram of one path of the warning vehicle provided in another embodiment of this application;

[0050] Figure 6 This is a schematic diagram of another path for the warning vehicle provided in another embodiment of this application;

[0051] Figure 7 This is a structural block diagram of a triangular warning sign control device for intelligent vehicles provided in one embodiment of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0053] The intelligent vehicle in this embodiment may include cars, driverless cars, trucks, etc. The intelligent vehicle includes a control system 110, a cabin 120, and a warning vehicle 130. The control system 110 is communicatively connected to the cabin 120, and the cabin 120 is communicatively connected to the warning vehicle 130. Figure 1 As shown.

[0054] The control system 110 may include a variety of sensors, such as an acceleration sensor, a GPS (Global Positioning System) positioning sensor, an air flow sensor, an odometer sensor, an oil pressure sensor, a coolant temperature sensor, an ABS sensor, a throttle position sensor, a crankshaft position sensor, a collision sensor, and so on.

[0055] The cabin 120 is a storage space with an openable bottom, within which the warning vehicle 130 can be parked. When it is necessary to release the warning vehicle 130, the bottom of the cabin 120 opens, and the warning vehicle 130 drives out of the cabin 120 through the exit at the bottom. The cabin 120 also houses an independent power supply and various sensors, such as an accelerometer and a GPS positioning sensor.

[0056] The warning vehicle 130 may include a vehicle chassis and a triangular warning sign located on the vehicle chassis, such as Figure 2 As shown. The warning triangle is foldable. When the warning vehicle 130 is inside the cabin 120, the warning triangle is folded to save space; when the warning vehicle 130 is released, the warning triangle is unfolded to serve its warning function. In one implementation, the folded warning triangle is parallel to the vehicle chassis; the unfolded warning triangle is perpendicular to the vehicle chassis.

[0057] Please refer to Figure 3 This document illustrates a flowchart of a method for controlling a warning triangle for an intelligent vehicle according to an embodiment of this application. This method can be applied to... Figure 1 The cabin shown. The method for controlling the warning triangle of this intelligent vehicle may include:

[0058] Step 301: The cabin acquires the intelligent vehicle's historical driving trajectory information, historical environmental perception information, fault information, and current location information; and determines whether to release the warning vehicle based on the fault information.

[0059] Historical driving trajectory information is the driving trajectory composed of the location of intelligent vehicles at historical moments.

[0060] Historical environmental perception information is obtained by the intelligent vehicle's visual perception devices from collecting data about the surrounding environment at historical moments. These visual perception devices can be cameras, LiDAR, etc. When the visual perception device is a camera, the collected environmental perception information is an image; when the visual perception device is LiDAR, the collected environmental perception information is point cloud data.

[0061] Fault information is generated when a fault occurs in the intelligent device. For example, fault information could be motor information at the time of the fault, which the control room uses to determine whether to release the warning vehicle; or, fault information could be position and / or acceleration information at the time of abnormal stopping, which the control room uses to determine whether to release the warning vehicle; or, fault information could be collision information generated during a collision, which the control room uses to determine whether to release the warning vehicle. If the warning vehicle needs to be released, step 302 is executed; if the warning vehicle does not need to be released, the control room continues to monitor the status of the intelligent vehicle.

[0062] Current location information refers to the current location of the intelligent vehicle, which may include lane information of the lane occupied by the intelligent vehicle. For example, when the intelligent vehicle stops in one lane due to a malfunction, the current location information includes the lane information of that lane; when the intelligent vehicle stops in two lanes due to a collision, the current location information includes the lane information of both lanes.

[0063] Step 302: When it is determined that the warning vehicle needs to be released based on the fault information, the cabin determines the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information, and generates a path to the destination based on the historical environmental perception information. The current positioning information includes the lane information of the lane occupied by the intelligent vehicle, and the destination is located within the lane.

[0064] The engine compartment can determine a safe following distance, and then generate a travel destination within the lane occupied by the intelligent vehicle based on the safe following distance, thus generating a path from the location of the intelligent vehicle to the travel destination. The safe following distance refers to the necessary separation distance maintained by a following vehicle from the vehicle in front to avoid accidental collisions.

[0065] Step 303: The cabin sends the path to the warning vehicle so that the warning vehicle can travel to its destination based on the path and stop in a lane that can warn vehicles behind it.

[0066] After the cabin sends the route to the warning vehicle, the warning vehicle can travel along the route to the destination and stop there to warn vehicles behind in that lane.

[0067] The warning vehicle can unfold the folded triangular warning sign at any time after it is released. For example, the folded triangular warning sign can be unfolded when it is released to the ground, or it can be unfolded after it stops at its destination. In this embodiment, the timing of unfolding the triangular warning sign is not limited.

[0068] For example, if an intelligent vehicle is involved in a car accident while traveling east in the innermost lane of a highway, and the safe following distance is 100 meters, the control unit can control a warning car to travel 100 meters west along the innermost lane and display a warning triangle at that location to warn oncoming vehicles to slow down and avoid secondary accidents.

[0069] In summary, the intelligent vehicle warning triangle control method provided in this application, when it is determined that the warning vehicle needs to be released based on fault information, determines the destination based on historical driving trajectory information and current positioning information, generates a path to the destination based on historical environmental perception information, and sends the path to the warning vehicle so that the warning vehicle can travel to the destination based on the path and stop in the lane where the intelligent vehicle is located to warn the following vehicles and avoid secondary accidents.

[0070] Please refer to Figure 4 This document illustrates a flowchart of a method for controlling a warning triangle for an intelligent vehicle according to an embodiment of this application. This method can be applied to... Figure 1 The cabin shown. The method for controlling the warning triangle of this intelligent vehicle may include:

[0071] Step 401: The cabin acquires the intelligent vehicle's historical driving trajectory information, historical environmental perception information, fault information, and current location information; and determines whether to release the warning vehicle based on the fault information.

[0072] Historical driving trajectory information is the driving trajectory composed of the location of intelligent vehicles at historical moments.

[0073] Historical environmental perception information is obtained by the intelligent vehicle's visual perception devices from collecting data about the surrounding environment at historical moments. These visual perception devices can be cameras, LiDAR, etc. When the visual perception device is a camera, the collected environmental perception information is an image; when the visual perception device is LiDAR, the collected environmental perception information is point cloud data.

[0074] Fault information is generated when a fault occurs in the intelligent device. For example, fault information could be motor information at the time of the fault, which the control room uses to determine whether to release the warning vehicle; or, fault information could be position and / or acceleration information at the time of abnormal stopping, which the control room uses to determine whether to release the warning vehicle; or, fault information could be collision information generated during a collision, which the control room uses to determine whether to release the warning vehicle. If the warning vehicle needs to be released, step 302 is executed; if the warning vehicle does not need to be released, the control room continues to monitor the status of the intelligent vehicle.

[0075] In this embodiment, there are three ways to obtain fault information:

[0076] (1) When the control system in the intelligent vehicle is not powered off, the engine compartment receives fault information sent by the control system.

[0077] When the control system in an intelligent vehicle is powered on, the control system can send fault information collected by the sensors built into the control system to the engine compartment, which then receives the fault information.

[0078] (2) When the control system in the intelligent vehicle is not powered off, the engine compartment receives fault information sent by the control system and obtains fault information collected by the built-in sensors in the engine compartment.

[0079] On the one hand, when the control system in the intelligent vehicle is not powered off, the control system can send the fault information collected by the built-in sensors in the control system to the engine compartment, and the engine compartment receives the fault information; on the other hand, the engine compartment can also obtain the fault information collected by the built-in sensors in the engine compartment.

[0080] (3) When the control system in the intelligent vehicle loses power, the engine compartment obtains fault information collected by the built-in sensors in the engine compartment.

[0081] When the control system in an intelligent vehicle loses power, it cannot communicate with the engine compartment, but the engine compartment can obtain fault information collected by the sensors built into the engine compartment.

[0082] Current location information refers to the current location of the intelligent vehicle, which may include lane information of the lane occupied by the intelligent vehicle. For example, when the intelligent vehicle stops in one lane due to a malfunction, the current location information includes the lane information of that lane; when the intelligent vehicle stops in two lanes due to a collision, the current location information includes the lane information of both lanes.

[0083] Step 402: When it is determined that the warning vehicle needs to be released based on the fault information, the cabin determines the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information. The current positioning information includes the lane information of the lane occupied by the intelligent vehicle, and the destination is located within the lane.

[0084] When it is determined that the warning vehicle needs to be released based on the fault information, the engine room sends a release request to the control system in the intelligent vehicle and starts timing. If the release cancellation command is not received from the control system after the predetermined time has elapsed, the engine room triggers the step of determining the destination of the warning vehicle based on historical driving trajectory information and current positioning information. If the release cancellation command is received from the control system before the predetermined time has elapsed, the engine room continues to monitor the status of the intelligent vehicle.

[0085] Before releasing the warning trolley, the pilot must be consulted. If the pilot confirms that the warning trolley does not need to be released, a cancellation release command will be sent to the cabin through the control system. If the pilot confirms that the warning trolley needs to be released, or if the pilot loses consciousness or is unable to move due to the impact, no operation is required. The warning trolley will be automatically released if the cabin does not receive a cancellation release command within the predetermined time.

[0086] Specifically, the cabin determines the destination of the warning vehicle based on historical driving trajectory information and current positioning information. This can include: the cabin determining the center of the lane occupied by the intelligent vehicle based on historical driving trajectory information and current positioning information; the cabin determining a safe distance; and the cabin determining the center of the lane at a safe distance from the intelligent vehicle as the destination of the warning vehicle.

[0087] The engine compartment can determine a safe following distance, and then generate a travel destination within the lane occupied by the intelligent vehicle based on the safe following distance, thus generating a path from the location of the intelligent vehicle to the travel destination. The safe following distance refers to the necessary separation distance maintained by a following vehicle from the vehicle in front to avoid accidental collisions.

[0088] When determining a safe following distance, the cabin can acquire the vehicle's speed and weather information, and calculate the target driving distance based on these factors. There is a positive correlation between vehicle speed and safe following distance: the higher the speed, the greater the safe following distance; the lower the speed, the smaller the safe following distance. Weather information is used to represent visibility, road slipperiness, etc. There is a negative correlation between visibility and safe following distance: the lower the visibility, the greater the safe following distance; the higher the visibility, the smaller the safe following distance. There is a positive correlation between road slipperiness and safe following distance: the higher the road slipperiness, the greater the safe following distance; the lower the road slipperiness, the smaller the safe following distance. The cabin can comprehensively evaluate the safe following distances corresponding to vehicle speed, visibility, and road slipperiness, and determine the evaluated safe following distance as the final safe following distance.

[0089] For example, if the intelligent vehicle is in the innermost lane and the safe following distance is 100 meters, the cabin can determine the destination as a location 100 meters behind the intelligent vehicle in the innermost lane.

[0090] Step 403: The cabin identifies the lane lines of the lane occupied by the intelligent vehicle based on historical environmental perception information; the cabin generates a path along the lane lines to the destination.

[0091] When an intelligent vehicle occupies a lane, and the warning vehicle and the destination are in the same lane, the cabin generates a straight path from the warning vehicle's current location to the destination, such as... Figure 5As shown. When the intelligent vehicle occupies at least two lanes, and the warning vehicle and the destination are not in the same lane, the cabin generates a straight + turning path from the warning vehicle's current location to the destination, as shown. Figure 6 As shown by the solid arrow in the image, or, the cabin generates a straight + turn + straight path from the current location of the warning vehicle to its destination, as shown in the image. Figure 6 The dashed arrows in the diagram illustrate this. Turns can occur anywhere on the path; this embodiment only illustrates two possible turn locations.

[0092] In this embodiment, the cabin generates a path along the lane line to the destination, which may include: the cabin detecting whether there are obstacles on the path along the lane line to the destination based on historical environmental perception information; when there are obstacles, the cabin generates a path to bypass the obstacles.

[0093] In one implementation, the turning point can be set at the obstacle, so that the warning vehicle can turn directly when it reaches the obstacle, thus simplifying the driving path.

[0094] Step 404: The cabin sends a route to the warning vehicle so that the warning vehicle can travel to its destination based on the route and stop in a lane that can warn vehicles behind it.

[0095] After the cabin sends the route to the warning vehicle, the warning vehicle can travel along the route to the destination and stop there to warn vehicles behind in that lane.

[0096] The warning vehicle can unfold the folded triangular warning sign at any time after it is released. For example, the folded triangular warning sign can be unfolded when it is released to the ground, or it can be unfolded after it stops at its destination. In this embodiment, the timing of unfolding the triangular warning sign is not limited.

[0097] For example, if an intelligent vehicle is involved in a car accident while traveling east in the innermost lane of a highway, and the safe following distance is 100 meters, the control unit can control a warning car to travel 100 meters west along the innermost lane and display a warning triangle at that location to warn oncoming vehicles to slow down and avoid secondary accidents.

[0098] In summary, the intelligent vehicle warning triangle control method provided in this application, when it is determined that the warning vehicle needs to be released based on fault information, determines the destination based on historical driving trajectory information and current positioning information, generates a path to the destination based on historical environmental perception information, and sends the path to the warning vehicle so that the warning vehicle can travel to the destination based on the path and stop in the lane where the intelligent vehicle is located to warn the following vehicles and avoid secondary accidents.

[0099] The cabin first determines the center of the lane occupied by the intelligent vehicle based on historical driving trajectory information and current positioning information; then it determines the safe distance; finally, it determines the destination of the warning car at the center of the lane that is a safe distance away from the intelligent vehicle. In this way, the warning car can be parked in a conspicuous center of the lane to warn vehicles behind and avoid secondary accidents.

[0100] Please refer to Figure 7 This diagram illustrates a structural block diagram of a warning triangle control device for intelligent vehicles according to an embodiment of this application. This warning triangle control device for intelligent vehicles can be applied to… Figure 1 The cabin shown. The warning triangle control device for this intelligent vehicle may include:

[0101] The acquisition module 710 is used to acquire the historical driving trajectory information, historical environmental perception information, fault information and current location information of the intelligent vehicle; and to determine whether the warning vehicle needs to be released based on the fault information.

[0102] The generation module 720 is used to determine the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information when it is determined that the warning vehicle needs to be released according to the fault information, and to generate a path to the destination based on the historical environmental perception information, wherein the current positioning information includes the lane information of the lane occupied by the intelligent vehicle, and the destination is located in the lane.

[0103] The sending module 730 is used to send the path to the warning vehicle so that the warning vehicle can travel to the destination based on the path and stop in a lane that can warn vehicles behind.

[0104] In an optional embodiment, the generation module 720 is further configured to:

[0105] The lane markings of the lanes occupied by intelligent vehicles are identified based on historical environmental perception information.

[0106] Generate a path along the lane lines to the destination.

[0107] In an optional embodiment, the generation module 720 is further configured to:

[0108] Based on historical environmental perception information, detect whether there are obstacles on the path along the lane line to the destination;

[0109] When obstacles exist, generate a path to bypass them.

[0110] In an optional embodiment, the generation module 720 is further configured to:

[0111] The center of the lane occupied by the intelligent vehicle is determined based on historical driving trajectory information and current location information.

[0112] Determine a safe following distance;

[0113] The center of the lane at a safe distance from the intelligent vehicle is determined as the destination of the warning vehicle.

[0114] In an optional embodiment, the generation module 720 is further configured to:

[0115] Obtain the speed of intelligent vehicles;

[0116] Get weather information;

[0117] Calculate the safe following distance based on vehicle speed and weather information.

[0118] In an optional embodiment, the generation module 720 is configured to:

[0119] When it is determined from the fault information that the warning vehicle needs to be released, a release request is sent to the control system in the intelligent vehicle, and a timer is started.

[0120] If the control system does not send a cancellation release command when the timer reaches the predetermined time, the step of determining the destination of the warning vehicle based on historical driving trajectory information and current location information will be triggered.

[0121] In an optional embodiment, the acquisition module 710 is further configured to:

[0122] When the control system in the intelligent vehicle is not powered off, it receives fault information sent by the control system; or,

[0123] When the control system in the intelligent vehicle is not powered off, it receives fault information sent by the control system and acquires fault information collected by sensors built into the engine compartment; or,

[0124] When the control system in an intelligent vehicle loses power, it acquires fault information collected by sensors built into the engine compartment.

[0125] In summary, the intelligent vehicle warning triangle control device provided in this application, when determining that the warning vehicle needs to be released based on fault information, determines the destination based on historical driving trajectory information and current positioning information, generates a path to the destination based on historical environmental perception information, and sends the path to the warning vehicle so that the warning vehicle can travel to the destination based on the path and stop in the lane where the intelligent vehicle is located to warn the following vehicles and avoid secondary accidents.

[0126] The cabin first determines the center of the lane occupied by the intelligent vehicle based on historical driving trajectory information and current positioning information; then it determines the safe distance; finally, it determines the destination of the warning car at the center of the lane that is a safe distance away from the intelligent vehicle. In this way, the warning car can be parked in a conspicuous center of the lane to warn vehicles behind and avoid secondary accidents.

[0127] like Figure 1 As shown, one embodiment of this application provides an intelligent vehicle, which is equipped with a cabin 120 and a warning vehicle 130. The warning vehicle 130 is parked inside the cabin 120 and is communicatively connected to the warning vehicle 130. The warning vehicle 130 is equipped with a triangular warning sign.

[0128] The engine compartment 120 is used to acquire historical driving trajectory information, historical environmental perception information, fault information and current location information of the intelligent vehicle; and to determine whether to release the warning car 130 based on the fault information.

[0129] The cabin 120 is also used to determine the destination of the warning vehicle 130 based on historical driving trajectory information and current positioning information when it is determined that the warning vehicle 130 needs to be released based on fault information, and to generate a path to the destination based on historical environmental perception information. The current positioning information includes lane information of the lane occupied by the intelligent vehicle, and the destination is located within the lane.

[0130] The cabin 120 is also used to send the path to the warning vehicle 130;

[0131] Warning vehicle 130 is used to travel along a route to its destination and stop in a lane that can warn vehicles behind it.

[0132] In summary, the intelligent vehicle provided in this application, when it is determined that a warning vehicle needs to be released based on fault information, determines the destination based on historical driving trajectory information and current positioning information, generates a path to the destination based on historical environmental perception information, and sends the path to the warning vehicle so that the warning vehicle can travel to the destination based on the path and stop in the lane where the intelligent vehicle is located to warn the following vehicles and avoid secondary accidents.

[0133] One embodiment of this application provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the above-described intelligent vehicle warning triangle control method.

[0134] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0135] The above is not intended to limit the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A method for controlling a warning triangle on an intelligent vehicle, characterized in that, In the cabin of an intelligent vehicle, a warning vehicle is parked inside the cabin and is communicatively connected to the warning vehicle, the warning vehicle is equipped with a triangular warning sign, the method includes: The cabin acquires the intelligent vehicle's historical driving trajectory information, historical environmental perception information, fault information, and current location information; and determines whether the warning vehicle needs to be released based on the fault information. When it is determined that the warning vehicle needs to be released based on the fault information, the cabin determines the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information, and generates a path to the destination based on the historical environmental perception information. The current positioning information includes the lane information of the lane occupied by the intelligent vehicle, and the destination is located in the lane. The cabin sends the path to the warning vehicle so that the warning vehicle travels to the destination based on the path and stops in a lane that can warn vehicles behind it. The cabin determines the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information, including: if the current positioning information includes lane information of at least two lanes where the intelligent vehicle stopped due to a collision after deviating from the original lane, and the warning vehicle and the destination are not in the same lane, the cabin generates a straight and turning path from the current positioning of the warning vehicle to the destination, wherein the destination is located in the at least two lanes.

2. The method for controlling a warning triangle on an intelligent vehicle according to claim 1, characterized in that, The process of generating a path to the destination based on the historical environmental perception information includes: The cabin identifies the lane lines of the lane occupied by the intelligent vehicle based on the historical environmental perception information. The cabin generates a path along the lane lines to the destination.

3. The method for controlling a warning triangle on an intelligent vehicle according to claim 2, characterized in that, The cabin generates a path along the lane lines to the destination, including: The cabin detects whether there are obstacles on the path along the lane line to the destination based on the historical environmental perception information. When an obstacle is present, the cabin generates a path to bypass the obstacle.

4. The method for controlling a warning triangle on an intelligent vehicle according to claim 1, characterized in that, The cabin determines the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information, including: The cabin determines the center of the lane occupied by the intelligent vehicle based on the historical driving trajectory information and the current positioning information. The cabin determines the safe distance between vehicles; The cabin determines the destination of the warning vehicle as the center of the lane at a safe distance from the intelligent vehicle.

5. The method for controlling a warning triangle on an intelligent vehicle according to claim 4, characterized in that, The cabin determines the safe distance between vehicles, including: The cabin obtains the vehicle speed of the intelligent vehicle; The cabin obtains weather information; The cabin calculates the safe following distance based on the vehicle speed and the weather information.

6. The method for controlling a warning triangle on an intelligent vehicle according to claim 1, characterized in that, The method further includes: When it is determined from the fault information that the warning vehicle needs to be released, the engine room sends a release request to the control system in the intelligent vehicle and starts timing. If the control system does not send a cancellation release command when the timeout period reaches the predetermined time, the cabin triggers the step of determining the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information.

7. The method for controlling a warning triangle on an intelligent vehicle according to any one of claims 1 to 6, characterized in that, The cabin acquires fault information of the intelligent vehicle, including: When the control system in the intelligent vehicle is not powered off, the engine compartment receives fault information sent by the control system; or, When the control system in the intelligent vehicle is not powered off, the engine compartment receives fault information sent by the control system and acquires fault information collected by the sensors built into the engine compartment; or, When the control system in the intelligent vehicle loses power, the cabin acquires fault information collected by the sensors built into the cabin.

8. A triangular warning sign control device for intelligent vehicles, characterized in that, For use in the cabin of an intelligent vehicle, wherein a warning vehicle is parked in the cabin and is communicatively connected to the warning vehicle, the warning vehicle is equipped with a triangular warning sign, the device includes: The acquisition module is used to acquire the intelligent vehicle's historical driving trajectory information, historical environmental perception information, fault information, and current location information; and to determine whether the warning vehicle needs to be released based on the fault information. The generation module is used to determine the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information when it is determined that the warning vehicle needs to be released according to the fault information, and to generate a path to the destination based on the historical environmental perception information, wherein the current positioning information includes the lane information of the lane occupied by the intelligent vehicle, and the destination is located in the lane. The sending module is used to send the path to the warning vehicle so that the warning vehicle can travel to the destination based on the path and stop in a lane that can warn vehicles behind it. The generation module is further configured to: if the current positioning information includes lane information of at least two lanes where the intelligent vehicle stopped due to a collision after deviating from the original lane, and the warning vehicle and the destination are not in the same lane, generate a straight and turning path from the current positioning of the warning vehicle to the destination, wherein the destination is located in the at least two lanes.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to implement the triangular warning sign control method for intelligent vehicles as described in any one of claims 1 to 7.

10. An intelligent vehicle, characterized in that, The intelligent vehicle is equipped with a cabin and a warning vehicle. The warning vehicle is parked inside the cabin and is communicatively connected to it. The warning vehicle is equipped with a triangular warning sign. The cabin is used to acquire the intelligent vehicle's historical driving trajectory information, historical environmental perception information, fault information, and current location information; and to determine whether the warning vehicle needs to be released based on the fault information. The cabin is also used to determine the destination of the warning vehicle based on the historical driving trajectory information and the current positioning information when it is determined that the warning vehicle needs to be released according to the fault information, and to generate a path to the destination based on the historical environmental perception information, wherein the current positioning information includes lane information of the lane occupied by the intelligent vehicle, and the destination is located in the lane. The cabin is also used to send the path to the warning vehicle; The warning vehicle is used to travel to the destination based on the route and stop in a lane that can warn vehicles behind it. The cabin is further configured to: if the current positioning information includes lane information of at least two lanes where the intelligent vehicle stopped due to a collision after deviating from the original lane, and the warning vehicle and the destination are not in the same lane, generate a straight and turning path from the current positioning of the warning vehicle to the destination, wherein the destination is located in the at least two lanes.

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