Automatic driving vehicle control method, device, storage medium and computer equipment

Abstract

The autonomous driving vehicle control method, device, storage medium and computer equipment provided by the present application can determine the vehicle safety distance between the main vehicle and the preceding vehicle and the rubbing distance of the preceding vehicle when detecting that the preceding vehicle of the main vehicle is reversing at a toll station, and adjust the distance between the main vehicle and the toll station based on these two distances; during the adjustment process, the gate pole status of the toll station and the operating status of the preceding vehicle can also be monitored; if the gate pole status is not raised and the operating status is reverse operation, the distance between the preceding vehicle and the toll station is determined, and the main vehicle is controlled to reverse operation according to the preset reversing strategy and distance; if the gate pole status is raised and the operating status is not reverse operation, the main vehicle is controlled to stop operation, and the main vehicle is controlled to move forward operation after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance. The autonomous driving system of the present application can respond in a timely manner according to the behavior of the preceding vehicle, thereby improving intelligence.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to an autonomous driving vehicle control method, device, storage medium, and computer equipment. Background Art

[0002] In the field of autonomous driving, the primary vehicle must not only avoid various obstacles and safely reach its destination from its starting point, but also respond to various special operating scenarios and adopt corresponding handling strategies based on the various operating conditions of the leading vehicle to escape from these situations. For example, in the queue at an ETC toll station, the leading vehicle may not be able to scan its license plate. In this case, the leading vehicle will make certain movements to allow the camera to recognize the license plate, and the primary vehicle will also need to take certain measures to adapt to the preceding vehicle's movements.

[0003] Currently, when the autonomous driving system installed on the lead vehicle fails to scan its license plate, it generally adopts the same action as the preceding vehicle. For example, when the preceding vehicle reverses, the lead vehicle also reverses, and when the preceding vehicle moves forward, the lead vehicle also moves forward. In this process, although the autonomous driving system responds, it cannot make room for the preceding vehicle to operate in a timely manner. Moreover, when the autonomous driving system cannot respond in a timely manner based on the preceding vehicle's behavior, it can cause certain difficulties for both the preceding and following vehicles. Therefore, the current autonomous driving system is not very intelligent in the scenario of queuing at ETC toll booths. Summary of the Invention

[0004] The purpose of this application is to solve at least one of the above-mentioned technical defects, especially the technical defect in the existing technology that the autonomous driving system is not very intelligent in the scenario of queuing for toll at ETC toll stations.

[0005] This application provides a method for controlling an autonomous driving vehicle, the method comprising:

[0006] When a vehicle preceding the host vehicle is detected to be reversing at a toll booth, a vehicle safety distance between the host vehicle and the preceding vehicle and a required reversing distance of the preceding vehicle at the toll booth are determined;

[0007] Adjusting the distance between the host vehicle and the toll station based on the vehicle safety distance and the rubbing distance, and during the adjustment process, monitoring the gate pole status of the toll station and the operating status of the previous vehicle in real time;

[0008] If the barrier bar is not raised and the operating state is reverse operation, determining a first distance between the preceding vehicle and the toll booth, and controlling the host vehicle to reverse according to a preset reverse strategy and the first distance;

[0009] If the barrier rod is in the raised state and the operating state is not a reverse operation, the main vehicle is controlled to perform a parking operation, and after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance, the main vehicle is controlled to perform a forward operation.

[0010] Optionally, determining a vehicle safety distance between the host vehicle and the preceding vehicle includes:

[0011] Determining the model of the preceding vehicle and a first safety distance corresponding to the model;

[0012] A second safety distance of the host vehicle is obtained, the first safety distance and the second safety distance are summed, and the sum is used as the vehicle safety distance between the host vehicle and the preceding vehicle.

[0013] Optionally, adjusting the distance between the host vehicle and the toll station based on the vehicle safety distance and the rubbing distance includes:

[0014] Calculating the rubbing space of the preceding vehicle according to the rubbing distance, and summing the vehicle safety distance and the rubbing space to obtain the parking spacing of the host vehicle;

[0015] determining a second distance between the host vehicle and the toll booth, and determining whether the second distance is equal to the parking distance;

[0016] If so, controlling the host vehicle to perform a parking operation;

[0017] If not, the host vehicle is controlled to move forward or backward until the second distance is equal to the parking distance.

[0018] Optionally, the real-time monitoring of the gate pole status of the toll station includes:

[0019] Determine a gate pole detection model and collect images of the gate poles at the toll station in real time;

[0020] The barrier pole detection model is used to identify the opening and closing state of the barrier pole in the barrier pole image, and the opening and closing state is used as the barrier pole state of the toll station.

[0021] Optionally, the real-time monitoring of the operating status of the previous vehicle includes:

[0022] Determining a vehicle detection model and acquiring a vehicle image of the preceding vehicle in real time;

[0023] The vehicle detection model is used to identify the state of the taillights in the vehicle image, and the running state of the previous vehicle is determined according to the state of the taillights.

[0024] Optionally, the method further includes:

[0025] When the operating state of the preceding vehicle is a reverse operation, a laser radar is used to reflect laser light from the preceding vehicle to obtain point cloud data of the preceding vehicle, and operating parameters of the preceding vehicle are determined based on the point cloud data.

[0026] Optionally, performing a reverse operation on the host vehicle according to a preset reversing strategy and the first distance includes:

[0027] If the first spacing is not greater than the rubbing distance of the preceding vehicle, determining the operating parameters of the preceding vehicle, and controlling the host vehicle to perform a reverse operation according to the operating parameters so that the second spacing between the host vehicle and the toll booth is equal to the parking spacing of the host vehicle;

[0028] If the first distance is greater than the rubbing distance of the previous vehicle, the road width at the location of the main vehicle is detected in real time, and the main vehicle is continuously controlled to perform a reverse operation until the road width is greater than a preset road width threshold, and the main vehicle is controlled to bypass the previous vehicle and go to the toll station.

[0029] Optionally, the method further includes:

[0030] When controlling the main vehicle to perform a reverse operation, turning on the main vehicle's reversing lights and performing real-time detection of the running status of the vehicle behind the main vehicle;

[0031] If it is detected that the time for which the following vehicle has not performed a reverse operation exceeds a preset time length, a voice prompt is given to the following vehicle.

[0032] This application also provides an autonomous driving vehicle control device, comprising:

[0033] A distance determination module is used to determine the vehicle safety distance between the host vehicle and the preceding vehicle and the required rubbing distance of the preceding vehicle at the toll station when detecting that the preceding vehicle is reversing at the toll station;

[0034] A distance adjustment module is used to adjust the distance between the host vehicle and the toll station based on the vehicle safety distance and the rubbing distance, and during the adjustment process, monitor the status of the gate pole of the toll station and the operating status of the previous vehicle in real time;

[0035] a back-up processing module, configured to, if the barrier bar is not raised and the operating state is a back-up operation, determine a first distance between the preceding vehicle and the toll booth, and control the host vehicle to perform a back-up operation according to a preset back-up strategy and the first distance;

[0036] The forward processing module is used to control the main vehicle to perform a parking operation if the barrier pole is in the raised state and the operating state is not a reverse operation, and to control the main vehicle to perform a forward operation after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance.

[0037] The present application also provides a storage medium, characterized in that: the storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the autonomous driving vehicle control method as described in any of the above embodiments.

[0038] The present application also provides a computer device, characterized by comprising: one or more processors, and a memory;

[0039] The memory stores computer-readable instructions, which, when executed by the one or more processors, perform the steps of the autonomous driving vehicle control method as described in any one of the above embodiments.

[0040] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0041] The automatic driving vehicle control method, device, storage medium and computer equipment provided by the present application can first determine the vehicle safety distance between the main vehicle and the previous vehicle and the rubbing distance required by the previous vehicle at the toll station when it is detected that the previous vehicle of the main vehicle is reversing at the toll station, and adjust the distance between the main vehicle and the toll station based on the vehicle safety distance and the rubbing distance, so as to free up the operating space for the license plate scanning for the previous vehicle, realize effective avoidance, and enable the previous vehicle to pass the toll station quickly; during the adjustment process, the gate pole status of the toll station and the operating status of the previous vehicle can also be monitored in real time, so as to The corresponding processing strategy is adopted to cope with the ever-changing operating status of the preceding vehicle; for example, when the barrier pole is not raised and the operating status is reverse operation, the first distance between the preceding vehicle and the toll station is determined, and the main vehicle is controlled to perform a reverse operation according to the preset reversing strategy and the first distance to avoid insufficient operating space for the preceding vehicle; when the barrier pole is raised and the operating status is not reverse operation, the main vehicle is controlled to perform a parking operation, and after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance, the main vehicle is controlled to perform a forward operation, so that the main vehicle can follow the preceding vehicle through the toll station, thereby improving the vehicle traffic efficiency of the toll station. The vehicle control strategy adopted in this application comprehensively considers the possible operating states of the vehicle in front of the toll station, so that the main vehicle can react and avoid in time when facing various operating states of the preceding vehicle, thereby improving the intelligence of the automatic driving system in the scenario of queuing for toll collection at the toll station. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A flowchart of a method for controlling an autonomous vehicle provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of a process for adjusting the distance between a vehicle and a toll booth according to an embodiment of the present application;

[0045] Figure 3 One of the scenario diagrams of a vehicle control strategy provided in an embodiment of the present application;

[0046] Figure 4 A second schematic diagram of a vehicle control strategy provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of the structure of an autonomous driving vehicle control device provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of the internal structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0050] In the field of autonomous driving, the primary vehicle must not only avoid various obstacles and safely reach its destination from its starting point, but also respond to various special operating scenarios and adopt corresponding handling strategies based on the various operating conditions of the leading vehicle to escape from these situations. For example, in the queue at an ETC toll station, the leading vehicle may not be able to scan its license plate. In this case, the leading vehicle will make certain movements to allow the camera to recognize the license plate, and the primary vehicle will also need to take certain measures to adapt to the preceding vehicle's movements.

[0051] Currently, when the autonomous driving system installed on the lead vehicle fails to scan its license plate, it generally adopts the same action as the preceding vehicle. For example, when the preceding vehicle reverses, the lead vehicle also reverses, and when the preceding vehicle moves forward, the lead vehicle also moves forward. In this process, although the autonomous driving system responds, it cannot make room for the preceding vehicle to operate in a timely manner. Moreover, when the autonomous driving system cannot respond in a timely manner based on the preceding vehicle's behavior, it can cause certain difficulties for both the preceding and following vehicles. Therefore, the current autonomous driving system is not very intelligent in the scenario of queuing at ETC toll booths.

[0052] Based on this, this application proposes the following technical solutions, please refer to the following for details:

[0053] In one embodiment, Figure 1 As shown, Figure 1 Provided in the embodiments of this application Figure 1 This is a flow chart of a method for controlling an autonomous vehicle provided in an embodiment of the present application. This application also provides a method for controlling an autonomous vehicle, which specifically includes the following:

[0054] S110: When it is detected that the vehicle preceding the host vehicle is reversing at a toll station, a vehicle safety distance between the host vehicle and the preceding vehicle and a required rubbing distance of the preceding vehicle at the toll station are determined.

[0055] In this step, when the main vehicle arrives at the toll station and queues for toll collection, if the vehicle in front of the main vehicle is reversing at the license plate scanning position of the toll station, it means that the camera in the toll station cannot scan the license plate of the previous vehicle. Therefore, it is necessary to adjust the position back and forth repeatedly to allow the camera to scan the license plate. At this time, in order to make room for the previous vehicle to operate, the automatic driving system installed on the main vehicle can first determine the vehicle safety distance between the main vehicle and the previous vehicle and the rubbing distance required for the previous vehicle at the toll station, and then perform the next operation based on the vehicle safety distance and rubbing distance.

[0056] The vehicle safety distance refers to the safe distance a vehicle needs to maintain from the vehicle in front while driving, ensuring sufficient reaction time and distance to avoid an accident in the event of an emergency with the vehicle in front. The rubbing distance refers to the distance a vehicle needs to move forward or backward, centered around the scanning location, to adjust its position so the camera can scan the license plate. The rubbing distance is consistent for the same vehicle. The rubbing distance can be determined based on factors such as the vehicle model or camera position. The larger the vehicle model or the closer the camera is to the front, the longer the rubbing distance required; the smaller the vehicle model or the further back the camera is to the back, the shorter the rubbing distance required.

[0057] Furthermore, when the lead vehicle arrives at a queue, the autonomous driving system can use a combination of maps and perception to determine whether there is a toll booth ahead of the lead vehicle. If so, it can trigger the lead vehicle to activate the vehicle control logic. Specifically, the map data pre-stored in the autonomous driving system contains the location and attribute information of the toll booth, such as the latitude and longitude, altitude, width, or name of the toll booth. This information can be manually annotated using map editing tools or extracted from existing data using automated tools. The autonomous driving system can then use onboard sensors to collect data on the current driving section, including images, lidar, GPS, and other data. This data can provide information such as the vehicle's current location, speed, and direction. Finally, the autonomous driving system fuses the map data and sensor data to generate accurate map information for the current road. This allows it to determine whether there is a toll booth ahead of the vehicle queue and, therefore, whether the lead vehicle's vehicle control logic needs to be activated.

[0058] S120: Adjust the distance between the main vehicle and the toll station based on the vehicle safety distance and the rubbing distance, and during the adjustment process, monitor the gate pole status of the toll station and the operating status of the previous vehicle in real time.

[0059] In this step, after determining the safe distance between the host vehicle and the preceding vehicle and the required maneuvering distance of the preceding vehicle at the toll booth in step S110, the autonomous driving system can calculate the optimal spacing between the host vehicle and the toll booth based on the safe distance and maneuvering distance, and can then adjust the host vehicle's position based on this spacing. Furthermore, during this adjustment process, the autonomous driving system can also monitor the status of the toll booth's barrier and the operating status of the preceding vehicle in real time, so as to predict the preceding vehicle's likely behavior based on the monitoring results and be able to respond accordingly.

[0060] For example, when the autonomous driving system determines through monitoring results that the previous vehicle has switched from a position adjustment state to a reverse lane change operation or a forward operation to pass through a toll station, it can take corresponding processing measures to control the main vehicle in a timely manner according to the operating state switched by the previous vehicle to avoid causing trouble to the vehicles in front and behind, thereby improving the intelligence of the autonomous driving system.

[0061] It is understandable that when the automatic driving system determines that the previous vehicle has arrived at the toll station and is scanning the card to collect the fee, in addition to controlling the main vehicle to maintain a safe distance between the previous vehicle and the previous vehicle, it also needs to make room for the previous vehicle to operate based on the rubbing distance required by the previous vehicle when scanning the card to collect the fee, so as to avoid the main vehicle moving forward and backward when the previous vehicle adjusts its position, causing the entire vehicle team to swing in the narrow and crowded scene of the toll station, and then causing contact and collision between the front and rear vehicles.

[0062] S130: If the barrier pole is not raised and the operating state is reverse operation, determine the first distance between the previous vehicle and the toll station, and control the main vehicle to perform reverse operation according to the preset reversing strategy and the first distance.

[0063] In this step, when the barrier pole status of the toll station and the operating status of the previous vehicle are monitored in real time through step S120, if the monitoring result of the automatic driving system is that the barrier pole status is not raised and the operating status is reverse operation, the first distance between the previous vehicle and the toll station can be determined, and the main vehicle can be controlled to perform a reverse operation according to the preset reversing strategy and the first distance.

[0064] It is understandable that the automatic driving system controls the main vehicle to maintain a safe distance from the previous vehicle and follow the previous vehicle to the toll station. When the parking position of the previous vehicle at the toll station is incorrect and the camera cannot scan the license plate, the previous vehicle needs to adjust its position. At this time, the automatic driving system can monitor the gate pole status of the toll station and the operating status of the previous vehicle in real time when controlling the main vehicle to follow the previous vehicle to perform a reverse operation. When the monitored gate pole status is not raised and the operating status of the previous vehicle is a reverse operation, it means that the previous vehicle adjusted its position by reversing the vehicle when the camera at the toll station has not scanned the license plate of the previous vehicle. At this time, the automatic driving system can control the main vehicle and the previous vehicle to perform a synchronous reverse operation while determining the first distance between the previous vehicle and the toll station to judge the purpose of the previous vehicle's reverse operation, and then adopt a corresponding reversing strategy to control the distance the main vehicle retreats.

[0065] S140: If the barrier pole is in the raised state and the operating state is not the reverse operation, the main vehicle is controlled to perform a parking operation, and the main vehicle is controlled to perform a forward operation after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance.

[0066] In this step, when the gate pole status of the toll station and the operating status of the previous vehicle are monitored in real time through step S120, if the monitoring result of the automatic driving system is that the gate pole status is raised and the operating status is not a reverse operation, the main vehicle is controlled to perform a parking operation, and the main vehicle is controlled to move forward after the distance between the main vehicle and the previous vehicle is greater than the vehicle safety distance.

[0067] It is understood that in this application, the operating state not being a reverse operation refers to the operating state being a parking operation or a forward operation. When the automatic driving system detects that the barrier gate state is not raised and the operating state of the preceding vehicle is a reverse operation, it means that the camera at the toll station has successfully scanned the license plate of the preceding vehicle and the barrier gate is open. At this time, the preceding vehicle can directly proceed forward to pass through the toll station without having to reverse the vehicle. Therefore, in order to respond to the behavior of the preceding vehicle in a timely manner, the automatic driving system can control the preceding vehicle to stop regardless of the distance between the preceding vehicle and the preceding vehicle, and stop adjusting the distance until the distance between the preceding vehicle and the preceding vehicle is greater than the vehicle safety distance, and then control the preceding vehicle to proceed forward. In this way, the automatic driving system can achieve the best response efficiency to the switching of the preceding vehicle's operating state.

[0068] Schematically, as Figure 3 As shown, Figure 3 One of the scenario diagrams of a vehicle control strategy provided in an embodiment of the present application; Figure 3 The first scenario shows a situation where the main vehicle can start. When the automatic driving system detects that the vehicle in front has a large acceleration and the ETC is raised, that is, the operating status of the vehicle in front is not reverse operation and the barrier pole of the toll station is raised, it means that the vehicle in front is about to pass through the toll station. At this time, the automatic driving system no longer needs to adjust the vehicle distance. Instead, the vehicle will be shifted to D gear after the distance between the main vehicle and the vehicle in front is greater than the safe distance, that is, the vehicle will move forward.

[0069] In the above embodiment, when it is detected that the vehicle in front of the main vehicle is reversing at the toll station, the vehicle safety distance between the main vehicle and the previous vehicle and the rubbing distance required by the previous vehicle at the toll station can be determined first, and the distance between the main vehicle and the toll station can be adjusted based on the vehicle safety distance and the rubbing distance, so as to free up the operating space for the license plate scanning for the previous vehicle, realize effective avoidance, and enable the previous vehicle to pass through the toll station quickly; during the adjustment process, the gate pole status of the toll station and the operating status of the previous vehicle can also be monitored in real time, so that corresponding processing strategies can be adopted in time to deal with it. The operating state of the preceding vehicle changes at any time; for example, when the barrier pole is not raised and the operating state is reverse operation, the first distance between the preceding vehicle and the toll station is determined, and the main vehicle is controlled to reverse according to the preset reversing strategy and the first distance to avoid insufficient operating space for the preceding vehicle; when the barrier pole is raised and the operating state is not reverse operation, the main vehicle is controlled to stop, and after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance, the main vehicle is controlled to move forward, so that the preceding vehicle can pass through the toll station closely, thereby improving the vehicle traffic efficiency at the toll station. The vehicle control strategy adopted in this application comprehensively considers the possible operating states of the vehicle in front of the toll station, so that the main vehicle can react and avoid in time when facing various operating states of the preceding vehicle, thereby improving the intelligence of the automatic driving system in the scenario of queuing for toll collection at the toll station.

[0070] In one embodiment, determining the vehicle safety distance between the host vehicle and the preceding vehicle in step S110 may include:

[0071] S111: Determine the model of the preceding vehicle and a first safety distance corresponding to the model.

[0072] S112: Obtain a second safety distance of the host vehicle, sum the first safety distance and the second safety distance, and use the sum as the vehicle safety distance between the host vehicle and the preceding vehicle.

[0073] In this embodiment, when the automatic driving system determines the vehicle safety distance between the main vehicle and the previous vehicle, it can first determine the model of the previous vehicle and the first safety distance corresponding to the model, and then obtain the second safety distance of the main vehicle, so that the first safety distance and the second safety distance can be summed, and the summation result can be used as the vehicle safety distance between the main vehicle and the previous vehicle.

[0074] It's understood that each vehicle has a safe distance in front and behind it, allowing the vehicle to react and adjust within this safe distance to avoid an accident in the event of an emergency. This safe distance varies for different vehicle models; generally, larger vehicles require a greater safe distance. Therefore, when a vehicle is ahead of the main vehicle, the autonomous driving system can first detect the vehicle's model and then determine the safe distance for that vehicle from a pre-stored database of vehicle models.

[0075] Furthermore, the safe distance between each vehicle is also affected by the vehicle's operating status. When the vehicle is driving, the greater the speed, the greater the required safe distance. According to international highway traffic safety standards, for every 10 km / h increase in speed, the safe distance needs to increase by 3 meters. Since the application scenario of this application is toll booth queuing, this application can determine the safe distance between vehicles based solely on the vehicle model.

[0076] In one embodiment, Figure 2 As shown, Figure 2 A schematic diagram of a process for adjusting the distance between a vehicle and a toll booth according to an embodiment of the present application; Figure 2 In step S120, adjusting the distance between the host vehicle and the toll station based on the vehicle safety distance and the rubbing distance may include:

[0077] S121: Calculate the rubbing space of the previous vehicle based on the rubbing distance, and sum the vehicle safety distance and the rubbing space to obtain the parking spacing of the main vehicle.

[0078] S122: Determine the second distance between the host vehicle and the toll station, and determine whether the second distance is equal to the parking distance; if so, return to step S123; if not, return to step S124.

[0079] S123: Control the host vehicle to perform a parking operation.

[0080] S124: Control the host vehicle to move forward or backward until the second distance is equal to the parking distance.

[0081] In this embodiment, when the automatic driving system adjusts the distance between the main vehicle and the toll station, it can first calculate the rubbing space of the previous vehicle based on the rubbing distance, and sum the vehicle safety distance and the rubbing space to obtain the parking distance of the main vehicle. Then, it can determine the second distance between the main vehicle and the toll station, and compare the second distance with the parking distance. Then, according to the comparison results, corresponding processing measures can be taken to adjust the position of the main vehicle.

[0082] Among them, the rubbing space refers to the size of the space required when a vehicle adjusts its position by moving forward and backward. This application can take the scanning position of the camera in the toll station as the center, add the rubbing distance required in front of the center position and the rubbing distance required behind the center position, so as to obtain the rubbing space required by the previous vehicle at the toll station.

[0083] Specifically, when the automatic control system determines that the second distance between the host vehicle and the toll booth is equal to the host vehicle's stopping distance, the host vehicle's position is just sufficient to avoid the preceding vehicle, leaving room for the preceding vehicle to maneuver. Therefore, the automatic control system can directly control the host vehicle to stop. When the automatic control system determines that the second distance between the host vehicle and the toll booth is greater than the host vehicle's stopping distance, the host vehicle's position is relatively far from the preceding vehicle, leaving more room than the preceding vehicle to maneuver. To prevent the host vehicle from lagging behind after the preceding vehicle passes through the toll booth, the automatic control system can control the host vehicle to move forward until the second distance equals the stopping distance, thereby improving traffic efficiency at the toll booth. When the automatic control system determines that the second distance between the host vehicle and the toll booth is less than the host vehicle's stopping distance, the host vehicle's position encroaches on the preceding vehicle's maneuverable space. Therefore, the automatic control system can control the host vehicle to move backward until the second distance equals the stopping distance, thereby avoiding causing interference to the preceding vehicle.

[0084] Schematically, as Figure 3 As shown, Figure 3 The second scenario shows a situation where the main vehicle gives the front vehicle rubbing space. On the premise of maintaining the required safety distance from the rear vehicle, the main vehicle can determine the rubbing width required by the front vehicle, that is, the rubbing distance, and determine the parking position of the main vehicle based on the rubbing distance and the safety distance between the main vehicle and the front vehicle. After adjusting to the parking position, it is prohibited to move forward to make room for the front vehicle to operate.

[0085] In one embodiment, the real-time monitoring of the gate pole status of the toll station in step S120 may include:

[0086] S125: Determine a barrier pole detection model and collect images of the barrier poles at the toll station in real time.

[0087] S126: Using the barrier pole detection model to identify the open / closed state of the barrier pole in the barrier pole image, and using the open / closed state as the barrier pole state of the toll station.

[0088] In this embodiment, the automatic driving system monitors the status of the gate pole at the toll station in real time, can determine the gate pole detection model, and collect the gate pole image of the toll station in real time. Then, the gate pole detection model can be used to identify the opening and closing status of the gate pole in the gate pole image, and the opening and closing status can be used as the gate pole status of the toll station.

[0089] The barrier pole detection model of this application refers to a model that detects barrier poles in input barrier pole images and determines their states. During model training, this barrier pole model can use sample barrier pole images of different types and states as training samples, and annotate each training sample with a sample label, i.e., the corresponding actual barrier pole state. Once all training samples are labeled, these labeled training samples can be input into a preset initial barrier pole model for forward propagation to train the model. During the model's backward propagation, a preset target loss function is used to optimize the model's parameters. When the model meets certain training conditions or parameter convergence conditions, such as when the number of iterations reaches a set value, training is considered complete, and the trained model can be used as the final barrier pole detection model.

[0090] In addition, the present application can also store the trained barrier pole detection model in the autonomous driving system so that when the barrier pole status is subsequently detected, the pre-stored barrier pole detection model can be directly called to perform status detection on the barrier pole image. In addition, the barrier pole detection model in the present application can select a semantic segmentation model as a preset model for improvement and training. The semantic segmentation model can be a network such as Segnet, Mask RCNN, DeepLabv3+, or a neural network such as Unet, U2net, or a similar structure, without limitation.

[0091] Specifically, the autonomous driving system can use a camera to shoot the gate pole at a preset frequency to obtain a gate pole image. Furthermore, after obtaining the gate pole image, the autonomous driving system can also perform preprocessing operations on the gate pole image, and the preprocessing operations include but are not limited to normalization, sharpening, denoising, etc. Among them, normalization refers to mapping the data of each dimension of the data vector to an interval between (0, 1) or (-1, 1), or mapping a norm of the data vector to 1. It can be understood that the pixel value of the gate pole image in this application is an integer in the range of 0 to 255. Although the pixel data of the original image can be directly used as the training data of the neural network model, it may bring some problems to the model training process, such as causing the model training speed to slow down, too many iterations leading to slow convergence, etc. Therefore, this application can improve the efficiency of model training by normalization.

[0092] Sharpening here refers to compensating for the image contours, enhancing the image edges and grayscale jumps, and making the image clearer. It can be divided into two categories: spatial domain processing and frequency domain processing. By highlighting the edges and contours of objects in the image, or the characteristics of certain linear target elements, the contrast between the edges of objects and surrounding pixels is improved. De-noising refers to the process of reducing noise in digital images. Generally, during the digitization and transmission of images, they are often affected by interference from imaging equipment and external environmental noise. That is, the received image information generally includes noise, which will become a major cause of image interference. By performing denoising on the image, the noise in the image is removed, further improving the authenticity and accuracy of the obtained image.

[0093] In one embodiment, the real-time monitoring of the operating status of the previous vehicle in step S120 may include:

[0094] S127: Determine a vehicle detection model and collect a vehicle image of the preceding vehicle in real time.

[0095] S128: Using the vehicle detection model to identify the state of the taillights in the vehicle image, and determining the running state of the previous vehicle based on the state of the taillights.

[0096] In this embodiment, when the automatic driving system monitors the operating status of the previous vehicle in real time, it can first determine the vehicle detection model and collect the vehicle image of the previous vehicle in real time. Then, it can use the vehicle detection model to identify the taillight status in the vehicle image and determine the operating status of the previous vehicle based on the taillight status.

[0097] For example, the taillight status may include the brake lights, turn signals, and reverse lights. Turning on the brake lights can alert vehicles behind you that the vehicle ahead is about to brake; turning on the turn signals can alert vehicles behind you that the vehicle ahead is about to turn; and turning on the reverse lights can alert vehicles behind you that the vehicle ahead is about to reverse.

[0098] It is understood that the vehicle detection model of this application refers to a model that detects the taillights in an input vehicle image and obtains the vehicle's operating status. During model training, this vehicle detection model can use sample vehicle images of different types and states as training samples, and annotate each training sample with a sample label, i.e., the corresponding actual taillight state. The training process of the vehicle detection model here is consistent with the training process of the barrier pole detection model in the above embodiment and is not repeated here.

[0099] In one embodiment, the method may further include:

[0100] S150: When the operating state of the previous vehicle is reverse operation, a laser radar is used to reflect laser light to the previous vehicle to obtain point cloud data of the previous vehicle, and the operating parameters of the previous vehicle are determined based on the point cloud data.

[0101] In this embodiment, when the automatic driving system detects that the operating status of the previous vehicle is a reverse operation, it can also use a laser radar to reflect the laser of the previous vehicle to obtain the point cloud data of the previous vehicle, and determine the operating parameters of the previous vehicle based on the point cloud data.

[0102] Specifically, the autonomous driving system can use a lidar to emit laser to scan the previous vehicle, and collect point cloud data of the previous vehicle based on the reflected laser. The autonomous driving system can then cluster the collected point cloud data and outline the clustered point cloud data to obtain the vehicle model outline of the previous vehicle and the orientation corresponding to the outline. Finally, the autonomous driving system can solve the center position of the previous vehicle based on the vehicle model outline and orientation, and then calculate the speed of the previous vehicle based on the solved center position, thereby forming the operating parameters of the previous vehicle.

[0103] In one embodiment, controlling the host vehicle to perform a reverse operation according to the preset reversing strategy and the first distance in step S130 may include:

[0104] S131: If the first distance is not greater than the rubbing distance of the previous vehicle, determine the operating parameters of the previous vehicle, and control the main vehicle to perform a reverse operation according to the operating parameters so that the second distance between the main vehicle and the toll station is equal to the parking distance of the main vehicle.

[0105] S132: If the first distance is greater than the rubbing distance of the previous vehicle, the road width of the main vehicle is detected in real time, and the main vehicle is continuously controlled to perform a reverse operation until the road width is greater than the preset road width threshold, and the main vehicle is controlled to bypass the previous vehicle and go to the toll station.

[0106] In this embodiment, when the automatic driving system controls the main vehicle to perform a reverse operation, it can first compare the first distance between the previous vehicle and the toll station with the rubbing distance of the previous vehicle. Since different comparison results represent different purposes of the previous vehicle when performing a reverse operation, corresponding processing measures can be taken according to the comparison results to control the main vehicle to perform a reverse operation.

[0107] Specifically, when the autonomous driving system detects that the first distance between the preceding vehicle and the toll booth is not greater than the rubbing distance of the preceding vehicle, it indicates that the preceding vehicle's reverse operation is to allow the toll booth's camera to scan the license plate and adjust the vehicle's position. Therefore, the autonomous driving system can determine the preceding vehicle's operating parameters and control the host vehicle to reverse according to the operating parameters until the second distance between the host vehicle and the toll booth is equal to the host vehicle's parking distance, so that the host vehicle can timely make room for the preceding vehicle to adjust. When the autonomous driving system detects that the first distance is greater than the rubbing distance of the preceding vehicle, it indicates that the preceding vehicle has exited the vehicle adjustment behavior and needs to continue to reverse to make a U-turn. Therefore, the autonomous driving system can detect the road width at the host vehicle's location in real time and continue to control the host vehicle to reverse to make room for the preceding vehicle to turn around until the road width exceeds a preset road width threshold. At this time, the host vehicle is controlled to bypass the preceding vehicle and proceed to the toll booth to avoid congestion at the toll booth.

[0108] Schematically, as Figure 4 As shown, Figure 4 A second schematic diagram of a vehicle control strategy provided in an embodiment of the present application; Figure 4 The first scenario in the figure shows a situation where the main vehicle is reversing on a narrow road. When the road width is small, if the main vehicle detects that the reversing distance of the front vehicle is too long and has exceeded the rubbing distance, the autonomous driving system can confirm that the front vehicle has stopped the rubbing behavior and is continuing to reverse. At this time, the autonomous driving system can control the main vehicle to continue the reverse operation while maintaining the required safe distance from the rear vehicle. Figure 4 The second scenario shows a situation where the main vehicle has space to go around. When the road where the main vehicle is located is wide, if it detects that the reversing distance of the front vehicle is too long and has exceeded the rubbing distance, the autonomous driving system can confirm that the front vehicle has exited the rubbing behavior and is continuing to reverse. At this time, the autonomous driving system can control the main vehicle to go around the front vehicle and go to the toll station.

[0109] In one embodiment, the method may further include:

[0110] S160: When controlling the main vehicle to perform a reverse operation, turning on the main vehicle's reversing lights and performing real-time detection on the running status of the vehicle behind the main vehicle.

[0111] S170: If it is detected that the time for which the following vehicle has not performed a reverse operation exceeds a preset time period, a voice prompt is given to the following vehicle.

[0112] In this embodiment, when the automatic driving system controls the main vehicle to perform a reverse operation, it can turn on the main vehicle's reversing lights, and at the same time perform real-time detection of the operating status of the vehicle behind the main vehicle. When it is detected that the rear vehicle has not performed a reverse operation for more than a preset time, a voice prompt is given to the rear vehicle.

[0113] It is understood that when the lead vehicle is waiting in line at a toll booth, there may be other vehicles queuing closely behind it. Therefore, when the lead vehicle needs to back up, the automated driving system can activate its reverse lights to alert the following vehicle that it is about to back up. To avoid contact or collision between the lead vehicle and the following vehicle, the automated driving system can also monitor the following vehicle's operating status. If the following vehicle remains stuck and does not back up, the automated driving system can time the duration of the vehicle's stoppage and, if this time exceeds a preset duration, issue a voice prompt to the following vehicle using methods such as a horn or audio announcement.

[0114] The following describes the autonomous driving vehicle control device provided in an embodiment of the present application. The autonomous driving vehicle control device described below and the autonomous driving vehicle control method described above can be referenced to each other.

[0115] In one embodiment, Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of an autonomous vehicle control device provided in an embodiment of the present application. The present application also provides an autonomous vehicle control device, including a distance determination module 210, a spacing adjustment module 220, a backward processing module 230, and a forward processing module 240, specifically including the following:

[0116] The distance determination module 210 is used to determine the vehicle safety distance between the main vehicle and the preceding vehicle and the required rubbing distance of the preceding vehicle at the toll station when it is detected that the preceding vehicle of the main vehicle is reversing at the toll station.

[0117] The spacing adjustment module 220 is used to adjust the spacing between the main vehicle and the toll station based on the vehicle safety distance and the rubbing distance, and during the adjustment process, monitor the gate pole status of the toll station and the operating status of the previous vehicle in real time.

[0118] The back-up processing module 230 is used to determine the first distance between the previous vehicle and the toll station if the barrier pole is not raised and the operating state is back-up operation, and control the main vehicle to back-up according to the preset back-up strategy and the first distance.

[0119] The forward processing module 240 is used to control the main vehicle to perform a parking operation if the barrier pole state is raised and the operating state is not a reverse operation, and to control the main vehicle to perform a forward operation after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance.

[0120] In the above embodiment, when it is detected that the vehicle in front of the main vehicle is reversing at the toll station, the vehicle safety distance between the main vehicle and the previous vehicle and the rubbing distance required by the previous vehicle at the toll station can be determined first, and the distance between the main vehicle and the toll station can be adjusted based on the vehicle safety distance and the rubbing distance, so as to free up the operating space for the license plate scanning for the previous vehicle, realize effective avoidance, and enable the previous vehicle to pass through the toll station quickly; during the adjustment process, the gate pole status of the toll station and the operating status of the previous vehicle can also be monitored in real time, so that corresponding processing strategies can be adopted in time to deal with it. The operating state of the preceding vehicle changes at any time; for example, when the barrier pole is not raised and the operating state is reverse operation, the first distance between the preceding vehicle and the toll station is determined, and the main vehicle is controlled to reverse according to the preset reversing strategy and the first distance to avoid insufficient operating space for the preceding vehicle; when the barrier pole is raised and the operating state is not reverse operation, the main vehicle is controlled to stop, and after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance, the main vehicle is controlled to move forward, so that the preceding vehicle can pass through the toll station closely, thereby improving the vehicle traffic efficiency at the toll station. The reversing processing strategy adopted in this application comprehensively considers the possible operating states of the vehicle in front of the toll station, so that the main vehicle can react and avoid in time when facing various operating states of the preceding vehicle, thereby improving the intelligence of the automatic driving system in the scenario of queuing for toll collection at the toll station.

[0121] In one embodiment, the distance determination module 210 may include:

[0122] The vehicle type determination submodule is used to determine the vehicle type of the previous vehicle and the first safety distance corresponding to the vehicle type.

[0123] The distance calculation submodule is used to obtain the second safety distance of the host vehicle, sum the first safety distance and the second safety distance, and use the sum as the vehicle safety distance between the host vehicle and the preceding vehicle.

[0124] In one embodiment, the spacing adjustment module 220 may include:

[0125] The spacing calculation submodule is used to calculate the rubbing space of the previous vehicle based on the rubbing distance, and sum the vehicle safety distance and the rubbing space to obtain the parking spacing of the main vehicle.

[0126] The distance judgment submodule is used to determine the second distance between the host vehicle and the toll station, and to judge whether the second distance is equal to the parking distance.

[0127] The first control submodule is used to control the main vehicle to perform a parking operation.

[0128] The second control submodule is used to control the main vehicle to move forward or backward until the second distance is equal to the parking distance.

[0129] In one embodiment, the spacing adjustment module 220 may further include:

[0130] The first image acquisition submodule is used to determine the gate pole detection model and acquire the gate pole image of the toll station in real time.

[0131] The first model detection submodule is used to identify the opening and closing state of the barrier pole in the barrier pole image using the barrier pole detection model, and use the opening and closing state as the barrier pole state of the toll station.

[0132] In one embodiment, the spacing adjustment module 220 may further include:

[0133] The second image acquisition submodule is used to determine the vehicle detection model and acquire the vehicle image of the previous vehicle in real time.

[0134] The second model detection submodule is used to use the vehicle detection model to identify the state of the taillights in the vehicle image and determine the running state of the previous vehicle according to the state of the taillights.

[0135] In one embodiment, the apparatus may further include:

[0136] The parameter acquisition module is used to use the laser radar to reflect the laser of the previous vehicle when the previous vehicle is in the reverse operation state, obtain the point cloud data of the previous vehicle, and determine the operating parameters of the previous vehicle based on the point cloud data.

[0137] In one embodiment, the fallback processing module 230 may include:

[0138] The first retreat processing submodule is used to determine the operating parameters of the previous vehicle if the first distance is not greater than the rubbing distance of the previous vehicle, and control the main vehicle to perform a retreat operation according to the operating parameters so that the second distance between the main vehicle and the toll station is equal to the parking distance of the main vehicle.

[0139] The second retreat processing submodule is used to detect the road width of the main vehicle in real time if the first distance is greater than the rubbing distance of the previous vehicle, and continue to control the main vehicle to perform a retreat operation until the road width is greater than the preset road width threshold, then control the main vehicle to bypass the previous vehicle and go to the toll station.

[0140] In one embodiment, the apparatus may further include:

[0141] The status detection module is used to turn on the main vehicle's reversing lights when controlling the main vehicle to perform a reverse operation, and to perform real-time detection of the operating status of the vehicle behind the main vehicle.

[0142] The voice prompt module is used to give a voice prompt to the following vehicle if it is detected that the following vehicle has not performed a reverse operation for a period of time exceeding a preset time.

[0143] In one embodiment, the present application also provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the autonomous driving vehicle control method as described in any of the above embodiments.

[0144] In one embodiment, the present application also provides a computer device having computer-readable instructions stored therein. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the autonomous driving vehicle control method as described in any one of the above embodiments.

[0145] Schematically, as Figure 6 As shown, Figure 6 This is a schematic diagram of the internal structure of a computer device provided in an embodiment of the present application. The computer device 300 can be provided as a server. Figure 5 Computer device 300 includes a processing component 302, which further includes one or more processors, and a memory resource represented by memory 301 for storing instructions executable by processing component 302, such as an application. The application stored in memory 301 may include one or more modules, each corresponding to a set of instructions. In addition, processing component 302 is configured to execute the instructions to perform the autonomous vehicle control method of any of the above embodiments.

[0146] The computer device 300 may further include a power supply component 303 configured to perform power management of the computer device 300, a wired or wireless network interface 304 configured to connect the computer device 300 to a network, and an input / output (I / O) interface 305. The computer device 300 may operate based on an operating system stored in the memory 301, such as Windows Server™, Mac OS X™, Unix™, Linux™, Free BSD™, or the like.

[0147] Those skilled in the art will understand that Figure 6The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0148] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0149] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referenced to each other.

[0150] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling an autonomous vehicle, characterized in that: The method comprises: When a vehicle preceding the host vehicle is detected to be reversing at a toll booth, a vehicle safety distance between the host vehicle and the preceding vehicle and a required reversing distance of the preceding vehicle at the toll booth are determined; Adjusting the distance between the host vehicle and the toll station based on the vehicle safety distance and the rubbing distance, and during the adjustment process, monitoring the gate pole status of the toll station and the operating status of the previous vehicle in real time; If the barrier bar is not raised and the operating state is reverse operation, determining a first distance between the preceding vehicle and the toll booth, and controlling the host vehicle to reverse according to a preset reverse strategy and the first distance; If the barrier rod is in the raised state and the operating state is not a reverse operation, the main vehicle is controlled to perform a parking operation, and after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance, the main vehicle is controlled to perform a forward operation.

2. The automatic driving vehicle control method according to claim 1, characterized in that: The determining of the vehicle safety distance between the host vehicle and the preceding vehicle includes: Determining the model of the preceding vehicle and a first safety distance corresponding to the model; A second safety distance of the host vehicle is obtained, the first safety distance and the second safety distance are summed, and the sum is used as the vehicle safety distance between the host vehicle and the preceding vehicle.

3. The automatic driving vehicle control method according to claim 1, characterized in that: The adjusting the distance between the host vehicle and the toll station based on the vehicle safety distance and the rubbing distance includes: Calculating the rubbing space of the preceding vehicle according to the rubbing distance, and summing the vehicle safety distance and the rubbing space to obtain the parking spacing of the host vehicle; determining a second distance between the host vehicle and the toll booth, and determining whether the second distance is equal to the parking distance; If so, controlling the host vehicle to perform a parking operation; If not, the host vehicle is controlled to move forward or backward until the second distance is equal to the parking distance.

4. The automatic driving vehicle control method according to claim 1, wherein: The real-time monitoring of the gate pole status of the toll station includes: Determine a gate pole detection model and collect images of the gate poles at the toll station in real time; The barrier pole detection model is used to identify the opening and closing state of the barrier pole in the barrier pole image, and the opening and closing state is used as the barrier pole state of the toll station.

5. The automatic driving vehicle control method according to claim 1, characterized in that: The real-time monitoring of the operating status of the previous vehicle includes: Determining a vehicle detection model and acquiring a vehicle image of the preceding vehicle in real time; The vehicle detection model is used to identify the state of the taillights in the vehicle image, and the running state of the previous vehicle is determined according to the state of the taillights.

6. The automatic driving vehicle control method according to claim 1 or 5, characterized in that: The method further comprises: When the operating state of the preceding vehicle is a reverse operation, a laser radar is used to reflect laser light from the preceding vehicle to obtain point cloud data of the preceding vehicle, and operating parameters of the preceding vehicle are determined based on the point cloud data.

7. The automatic driving vehicle control method according to claim 3, characterized in that: The performing a reverse operation on the host vehicle according to a preset reversing strategy and the first distance includes: If the first spacing is not greater than the rubbing distance of the preceding vehicle, determining the operating parameters of the preceding vehicle, and controlling the host vehicle to perform a reverse operation according to the operating parameters so that the second spacing between the host vehicle and the toll booth is equal to the parking spacing of the host vehicle; If the first distance is greater than the rubbing distance of the previous vehicle, the road width at the location of the main vehicle is detected in real time, and the main vehicle is continuously controlled to perform a reverse operation until the road width is greater than a preset road width threshold, and the main vehicle is controlled to bypass the previous vehicle and go to the toll station.

8. The automatic driving vehicle control method according to claim 1, wherein: The method further comprises: When controlling the main vehicle to perform a reverse operation, turning on the main vehicle's reversing lights and performing real-time detection of the running status of the vehicle behind the main vehicle; If it is detected that the time for which the following vehicle has not performed a reverse operation exceeds a preset time length, a voice prompt is given to the following vehicle.

9. An automatic driving vehicle control device, characterized in that: include: A distance determination module is used to determine the vehicle safety distance between the host vehicle and the preceding vehicle and the required rubbing distance of the preceding vehicle at the toll station when detecting that the preceding vehicle is reversing at the toll station; A distance adjustment module is used to adjust the distance between the host vehicle and the toll station based on the vehicle safety distance and the rubbing distance, and during the adjustment process, monitor the status of the gate pole of the toll station and the operating status of the previous vehicle in real time; a back-up processing module, configured to, if the barrier bar is not raised and the operating state is a back-up operation, determine a first distance between the preceding vehicle and the toll booth, and control the host vehicle to perform a back-up operation according to a preset back-up strategy and the first distance; The forward processing module is used to control the main vehicle to perform a parking operation if the barrier pole is in the raised state and the operating state is not a reverse operation, and to control the main vehicle to perform a forward operation after the distance between the main vehicle and the preceding vehicle is greater than the vehicle safety distance.

10. A storage medium, characterized in that: The storage medium stores computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to execute the steps of the automatic driving vehicle control method as described in any one of claims 1 to 8.

11. A computer device, characterized in that: include: one or more processors, and memory; The memory stores computer-readable instructions, which, when executed by the one or more processors, perform the steps of the autonomous driving vehicle control method as described in any one of claims 1 to 8.

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