Method and controller for vehicle control

Abstract

The present disclosure relates to a method and a controller for vehicle control, and relates to the technical field of vehicles, which comprises: obtaining point cloud data and image information of a non-communication vehicle through a target detection device. Wherein, the target detection device comprises a trackside detection device and / or a vehicle detection device, the trackside detection device is a detection device arranged on the trackside, and the vehicle detection device is a detection device arranged on the communication vehicle. According to the point cloud data and the image information, the target position and the target speed of the non-communication vehicle are determined. The communication vehicle is controlled to operate according to the target position and the target speed. The present disclosure obtains the position and the speed of the non-communication vehicle through the target detection device, and controls the communication vehicle to operate according to the position and the speed of the non-communication vehicle, which can avoid the collision between the communication vehicle and the non-communication vehicle, and ensure the safety of the vehicle-to-vehicle communication line.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more specifically, to a method and controller for vehicle control. Background Technology

[0002] On existing rail transit lines, communication vehicles operating on the main line are typically managed by an Object Controller (OC). However, sometimes non-communication vehicles enter the main line. These non-communication vehicles may lack communication equipment or have malfunctioning communication equipment, making it impossible for them to communicate with the Object Controller. Consequently, the Object Controller cannot obtain the position and operating information of the non-communication vehicles on the main line, leading to a risk of collision between the communication vehicles and non-communication vehicles, thus affecting the safety of the vehicle-to-vehicle communication line. Summary of the Invention

[0003] The purpose of this disclosure is to provide a vehicle control method and controller for improving the security of vehicle-to-vehicle communication lines.

[0004] According to a first aspect of the present disclosure, a method for vehicle control is provided, the method comprising:

[0005] Point cloud data and image information of non-communication vehicles are acquired through a target detection device; wherein, the target detection device includes a trackside detection device and / or a vehicle detection device, the trackside detection device being a detection device installed beside the track, and the vehicle detection device being a detection device installed on a communication vehicle.

[0006] Based on the point cloud data and the image information, the target position and target speed of the non-communication vehicle are determined;

[0007] The communication vehicle is controlled to operate based on the target location and the target vehicle speed.

[0008] Optionally, determining the target position and target speed of the non-communication vehicle based on the point cloud data and the image information includes:

[0009] The first location information and first speed information of the non-communication vehicle are determined based on the point cloud data.

[0010] The second location information and second speed information of the non-communication vehicle are determined based on the image information;

[0011] The target location is determined based on the first location information and the second location information, and the target vehicle speed is determined based on the first vehicle speed information and the second vehicle speed information.

[0012] Optionally, the target detection device includes a trackside detection device and a vehicle detection device; determining the first position information and first speed information of the non-communication vehicle based on the point cloud data includes:

[0013] The first location information and the first vehicle speed information are determined based on the first point cloud data obtained by the trackside detection device and the second point cloud data obtained by the vehicle detection device.

[0014] Optionally, determining the first location information and the first vehicle speed information based on the first point cloud data obtained by the trackside detection device and the second point cloud data obtained by the vehicle detection device includes:

[0015] The first point cloud data is processed to obtain the first candidate position and the first candidate vehicle speed;

[0016] The second point cloud data is processed to obtain the second candidate position and the second candidate vehicle speed;

[0017] The first position information is determined based on the first candidate position and the second candidate position;

[0018] The first vehicle speed information is determined based on the first candidate vehicle speed and the second candidate vehicle speed.

[0019] Optionally, determining the second location information and second speed information of the non-communication vehicle based on the image information includes:

[0020] The second position information and the second vehicle speed information are determined based on the first image information obtained by the trackside detection device and the second image information obtained by the vehicle detection device.

[0021] Optionally, determining the second position information and the second vehicle speed information based on the first image information acquired by the trackside detection device and the second image information acquired by the vehicle detection device includes:

[0022] The first image information is processed to obtain the third candidate position and the third candidate vehicle speed;

[0023] The second image information is processed to obtain the fourth candidate position and the fourth candidate vehicle speed;

[0024] The second position information is determined based on the third candidate position and the fourth candidate position;

[0025] The second vehicle speed information is determined based on the third candidate vehicle speed and the fourth candidate vehicle speed.

[0026] Optionally, determining the first location information and first speed information of the non-communication vehicle based on the point cloud data includes:

[0027] The point cloud data is input into a pre-trained first position determination model to obtain the first position information output by the first position determination model.

[0028] The point cloud data is input into a pre-trained first vehicle speed determination model to obtain the first vehicle speed information output by the first vehicle speed determination model.

[0029] Determining the second position information and second speed information of the non-communication vehicle based on the image information includes:

[0030] The image information is input into a pre-trained second position determination model to obtain the second position information output by the second position determination model;

[0031] The image information is input into a pre-trained second vehicle speed determination model to obtain the second vehicle speed information output by the second vehicle speed determination model.

[0032] Optionally, determining the target location based on the first location information and the second location information, and determining the target vehicle speed based on the first vehicle speed information and the second vehicle speed information, includes:

[0033] The designated location between the first location represented by the first location information and the second location represented by the second location information is taken as the target location;

[0034] The weighted average of the first vehicle speed represented by the first vehicle speed information and the second vehicle speed represented by the second vehicle speed information is taken as the target vehicle speed.

[0035] Optionally, the target detection device includes a trackside detection device and a vehicle detection device; determining the target position and target speed of the non-communication vehicle based on the point cloud data and the image information includes:

[0036] Based on the first point cloud data and first image information obtained by the trackside detection device, the third position information and third speed information of the non-communication vehicle are determined.

[0037] Based on the second point cloud data and second image information acquired by the vehicle detection device, the fourth position information and fourth speed information of the non-communication vehicle are determined.

[0038] The target position is determined based on the third and fourth position information, and the target speed is determined based on the third and fourth vehicle speed information.

[0039] Optionally, determining the third position information and third speed information of the non-communication vehicle based on the first point cloud data and first image information acquired by the trackside detection device includes:

[0040] The first point cloud data is processed to obtain the fifth candidate position and the fifth candidate vehicle speed;

[0041] The first image information is processed to obtain the sixth candidate position and the sixth candidate vehicle speed;

[0042] The third position information is determined based on the fifth candidate position and the sixth candidate position;

[0043] The third vehicle speed information is determined based on the fifth candidate vehicle speed and the sixth candidate vehicle speed.

[0044] Optionally, determining the fourth location information and fourth speed information of the non-communication vehicle based on the second point cloud data and second image information acquired by the vehicle detection device includes:

[0045] The second point cloud data is processed to obtain the seventh candidate position and the seventh candidate vehicle speed;

[0046] The second image information is processed to obtain the eighth candidate position and the eighth candidate vehicle speed;

[0047] The fourth position information is determined based on the seventh candidate position and the eighth candidate position;

[0048] The fourth vehicle speed information is determined based on the seventh candidate vehicle speed and the eighth candidate vehicle speed.

[0049] Optionally, controlling the operation of the communication vehicle based on the target location and the target vehicle speed includes:

[0050] The control zone is determined based on the target location;

[0051] The communication vehicle operating within the controlled area is controlled based on the target location and the target speed.

[0052] Optionally, determining the control zone based on the target location includes:

[0053] The controlled section is defined as the segment obtained by extending the target position to both sides of the track by a predetermined length.

[0054] Optionally, controlling the communication vehicle operating within the controlled area based on the target location and the target speed includes:

[0055] Control the communication vehicle located in front of the non-communication vehicle within the controlled area to operate at a speed greater than the target speed;

[0056] Control the communication vehicle located behind the non-communication vehicle within the controlled area to operate at a speed lower than the target speed.

[0057] Optionally, the method further includes:

[0058] If the trackside detection device detects a target vehicle in the target area and receives target location information, the target vehicle is determined to be a communication vehicle; the location indicated by the target location information is within the target area; or...

[0059] If the trackside detection device detects the presence of a target vehicle in the target area but does not receive target location information, the target vehicle is determined to be a non-communication vehicle.

[0060] Optionally, the method further includes:

[0061] The image information is input into a pre-trained text recognition model to obtain the target vehicle identifier output by the text recognition model; or,

[0062] The image information is processed by a preset text recognition algorithm to obtain the target vehicle identifier in the image information.

[0063] According to a second aspect of the present disclosure, a controller is provided, comprising:

[0064] A memory on which computer programs are stored;

[0065] A processor is configured to execute the computer program in the memory to implement the steps of the method described in the first aspect of the present disclosure.

[0066] Through the above technical solution, this disclosure first acquires point cloud data and image information of non-communication vehicles using a target detection device. The target detection device includes a trackside detection device and / or a vehicle detection device; the trackside detection device is installed beside the track, and the vehicle detection device is installed on the communication vehicle. Then, based on the point cloud data and image information, the target position and target speed of the non-communication vehicle are determined, and the operation of the communication vehicle is controlled according to the target position and target speed. This disclosure, by acquiring the position and speed of the non-communication vehicle through a target detection device and controlling the operation of the communication vehicle based on the position and speed of the non-communication vehicle, can avoid collisions between the communication vehicle and the non-communication vehicle, ensuring the safety of the vehicle-to-vehicle communication line.

[0067] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0068] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0069] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment;

[0070] Figure 2 This is a flowchart illustrating another method for vehicle control according to an exemplary embodiment;

[0071] Figure 3 This is a flowchart illustrating another method for vehicle control according to an exemplary embodiment;

[0072] Figure 4 This is a flowchart illustrating another method for vehicle control according to an exemplary embodiment;

[0073] Figure 5 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment;

[0074] Figure 6 This is a block diagram illustrating another vehicle control device according to an exemplary embodiment;

[0075] Figure 7 This is a block diagram illustrating another vehicle control device according to an exemplary embodiment;

[0076] Figure 8 This is a schematic diagram of a controller according to an exemplary embodiment. Detailed Implementation

[0077] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0078] Before introducing the vehicle control method and controller provided in this disclosure, the application scenarios involved in the various embodiments of this disclosure will first be described. The vehicles in this application scenario can be any type of vehicle running along a preset track, such as trains, subways, light rail, trams, etc. Vehicles running on the preset track can communicate with each other via TACS (Train Autonomous Circumambulate System). However, when non-communication vehicles without TACS equipment or whose TACS equipment is malfunctioning enter the vehicle-to-vehicle communication line, it may pose a safety hazard to the vehicle-to-vehicle communication line.

[0079] Figure 1 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 1 As shown, when applied to a controller, the method may include:

[0080] Step 101: Acquire point cloud data and image information of non-communication vehicles using target detection devices. The target detection devices include trackside detection devices and / or vehicle detection devices. The trackside detection devices are detection devices installed beside the track, and the vehicle detection devices are detection devices installed on the communication vehicles.

[0081] For example, the executing entity of this disclosure can be a target controller (OC), and the target detection device in this embodiment can include at least one of a trackside detection device and a vehicle detection device. That is, point cloud data and image information of non-communication vehicles can be acquired through the trackside detection device, or through the vehicle detection device, or jointly through both. Both the trackside detection device and the vehicle detection device can include radar and a camera. The radar can be, for example, a lidar capable of acquiring point cloud data, and the camera can be, for example, a monocular camera or a binocular camera. The trackside detection device can be located at the transition rail position and is higher than the track plane. A carrier pole can be erected near the transition rail position, or a device pole from a base station located near the transition rail can be used. The trackside detection devices can also be arranged sequentially along the track at preset intervals. For example, with a preset interval of 500 meters, multiple track detection devices can be set up along the track at 500-meter intervals. The vehicle detection device can be located at a designated position on the vehicle, such as the front or rear of the vehicle. Radar can acquire point cloud data of the detection area, while cameras can acquire image information of the detection area.

[0082] In some embodiments, there may be multiple trackside detection devices, and non-communication vehicles will pass through the detection areas of different trackside detection devices during their journey. Vehicle detection devices can be installed at designated locations (e.g., the front and rear of the vehicle) of each communication vehicle. Communication vehicles adjacent to non-communication vehicles and within the detection range can obtain point cloud data and image information of non-communication vehicles through the vehicle detection devices.

[0083] Step 102: Determine the target location and target speed of the non-communication vehicle based on point cloud data and image information.

[0084] For example, when the target detection device includes a trackside detection device, the first point cloud data acquired by the trackside detection device can be processed to obtain the corresponding location information and vehicle speed information. Similarly, the first image information acquired by the trackside detection device can be processed to obtain the corresponding location information and vehicle speed information. Then, the target location can be obtained by combining the location information corresponding to the first point cloud data and the location information corresponding to the first image information, and the target vehicle speed can be obtained by combining the vehicle speed information corresponding to the first point cloud data and the vehicle speed information corresponding to the first image information. When the target detection device includes a vehicle detection device, the second point cloud data acquired by the vehicle detection device can be processed to obtain the corresponding location information and vehicle speed information. Similarly, the second image information acquired by the vehicle detection device can be processed to obtain the corresponding location information and vehicle speed information. Then, the target location can be obtained by combining the location information corresponding to the second point cloud data and the location information corresponding to the second image information, and the target vehicle speed can be obtained by combining the vehicle speed information corresponding to the second point cloud data and the vehicle speed information corresponding to the second image information.

[0085] In some embodiments, a first position determination model and a first vehicle speed determination model can be pre-trained. Inputting point cloud data into the first position determination model yields position information output by the model, and inputting point cloud data into the first vehicle speed determination model yields vehicle speed information output by the model. Similarly, a second position determination model and a second vehicle speed determination model can be pre-trained. Inputting image information into the second position determination model yields position information output by the model, and inputting image information into the second vehicle speed determination model yields vehicle speed information output by the model.

[0086] Furthermore, the target vehicle identifier can be obtained from the image information using image recognition methods, allowing for the identification and tracking of the target vehicle. The vehicle identifier can be a vehicle number. In one implementation, a text recognition model for recognizing text information in an image can be pre-trained. After acquiring the image information, the image information is input into the text recognition model to obtain the target vehicle identifier output by the model. In another implementation, the image information can be processed using a pre-defined text recognition algorithm to obtain the target vehicle identifier from the image information. This disclosure does not impose specific limitations on this approach.

[0087] When the target detection device includes a trackside detection device and a vehicle detection device, the position and speed information of the non-communication vehicle can be obtained based on the first point cloud data and first image information acquired by the trackside detection device. Similarly, the position and speed information of the non-communication vehicle can be obtained based on the second point cloud data and second image information acquired by the vehicle detection device. Then, the target position is obtained by combining the position information from the trackside detection device and the vehicle detection device, and the target speed is obtained by combining the speed information from both devices. In this way, by using both the trackside and vehicle detection devices to detect the position and speed of the non-communication vehicle, if one device fails to detect the vehicle, the other device can be used to detect its position and speed, avoiding situations where the non-communication vehicle is not detected. Furthermore, if both the trackside and vehicle detection devices can detect the non-communication vehicle, combining the point cloud data and image information acquired by both devices to determine its position and speed allows for more accurate location and speed measurement of the non-communication vehicle.

[0088] Step 103: Control the operation of the communication vehicle according to the target location and target speed.

[0089] For example, the speed of a communication vehicle running on the main line can be controlled according to the target position and target speed of the non-communication vehicle, so as to ensure that the distance between the communication vehicle and the non-communication vehicle is greater than a preset safe distance and to avoid collisions between the communication vehicle and the non-communication vehicle.

[0090] In summary, this disclosure first acquires point cloud data and image information of non-communication vehicles using a target detection device. The target detection device includes a trackside detection device and / or a vehicle detection device; the trackside detection device is installed beside the track, and the vehicle detection device is installed on the communication vehicle. Then, based on the point cloud data and image information, the target position and target speed of the non-communication vehicle are determined, and the operation of the communication vehicle is controlled according to the target position and target speed. This disclosure, by acquiring the position and speed of the non-communication vehicle using a target detection device and controlling the operation of the communication vehicle based on the position and speed of the non-communication vehicle, can avoid collisions between the communication vehicle and the non-communication vehicle, ensuring the safety of the vehicle-to-vehicle communication line.

[0091] Figure 2 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment, such as... Figure 2 As shown, step 102 can be achieved in the following way:

[0092] Step 1021: Determine the first location information and first speed information of the non-communication vehicle based on the point cloud data.

[0093] Step 1022: Determine the second position information and second speed information of the non-communication vehicle based on the image information.

[0094] Step 1023: Determine the target position based on the first position information and the second position information, and determine the target speed based on the first vehicle speed information and the second vehicle speed information.

[0095] For example, when a non-communication vehicle is located within the detection area of ​​a target detection device, the device can continuously acquire multiple sets of point cloud data and image information. The point cloud data can then be processed to obtain the first position and first speed information of the non-communication vehicle, and the image information can be processed to obtain the second position and second speed information of the non-communication vehicle. By combining the position information corresponding to the point cloud data and the position information corresponding to the image information, the target position can be obtained; by combining the speed information corresponding to the point cloud data and the speed information corresponding to the image information, the target speed can be obtained, thus enabling a more accurate determination of the non-communication vehicle's position and speed.

[0096] In some embodiments, a designated position between the first position represented by the first position information and the second position represented by the second position information can be used as the target position, wherein the designated position can be an intermediate position, and the weighted average of the first vehicle speed represented by the first vehicle speed information and the second vehicle speed represented by the second vehicle speed information can be used as the target vehicle speed, wherein the weighting coefficients corresponding to the first vehicle speed information and the second vehicle speed information can be set according to the actual situation.

[0097] According to some embodiments of this disclosure, when the target detection device includes a trackside detection device and a vehicle detection device, the point cloud data may include first point cloud data acquired by the trackside detection device and second point cloud data acquired by the vehicle detection device. The image information may include first image information acquired by the trackside detection device and second image information acquired by the vehicle detection device.

[0098] In some embodiments, first point cloud data and second point cloud data acquired at the same time can be fused first, and then the fused point cloud data can be processed to obtain first position information and first vehicle speed information. Similarly, first image information and second image information acquired at the same time can be fused first, and then the fused image information can be processed to obtain second position information and second vehicle speed information. Specific implementation methods for processing point cloud data and image information to obtain corresponding position and speed information can be found in relevant existing technologies and will not be elaborated here.

[0099] In other embodiments, a first candidate position and a first candidate vehicle speed can be obtained based on the first point cloud data acquired by the trackside detection device, and a second candidate position and a second candidate vehicle speed can be obtained based on the second point cloud data acquired by the vehicle detection device. Then, the first candidate position and the second candidate position are combined to obtain first position information, and the first candidate vehicle speed and the second candidate vehicle speed are combined to obtain first vehicle speed information. Similarly, a third candidate position and a third candidate vehicle speed can be obtained based on the second image information acquired by the vehicle detection device, and a fourth candidate position and a fourth candidate vehicle speed can be obtained based on the second image information acquired by the vehicle detection device. Then, the third candidate position and the fourth candidate position are combined to obtain second position information, and the third candidate vehicle speed and the fourth candidate vehicle speed are combined to obtain second vehicle speed information. The specific implementation methods for processing point cloud data and image information to obtain the corresponding position and speed information can be found in relevant existing technologies and will not be elaborated here.

[0100] According to other embodiments of this disclosure, when the target detection device includes a trackside detection device and a vehicle detection device, the third position information and third speed information of the non-communication vehicle can be determined first based on the first point cloud data and first image information acquired by the trackside detection device, and the fourth position information and fourth speed information of the non-communication vehicle can be determined based on the second point cloud data and second image information acquired by the vehicle detection device. Then, the target position is determined based on the third and fourth position information, and the target speed is determined based on the third and fourth speed information. In this way, by combining the point cloud data and image information acquired by the two detection devices to determine the position and speed of the non-communication vehicle, the location and speed of the non-communication vehicle can be more accurately located and measured.

[0101] In some embodiments, the first point cloud data can be processed to obtain a fifth candidate position and a fifth candidate vehicle speed, and the first image information can be processed to obtain a sixth candidate position and a sixth candidate vehicle speed. Then, the fifth and sixth candidate positions are combined to obtain third position information, and the fifth and sixth candidate vehicle speeds are combined to obtain third vehicle speed information. Similarly, the second point cloud data can be processed to obtain a seventh candidate position and a seventh candidate vehicle speed, and the second image information can be processed to obtain an eighth candidate position and an eighth candidate vehicle speed. Then, the seventh and eighth candidate positions are combined to obtain fourth position information, and the seventh and eighth candidate vehicle speeds are combined to obtain fourth vehicle speed information. The specific implementation methods for processing point cloud data and image information to obtain corresponding position and speed information can be found in existing technologies and will not be elaborated here.

[0102] Figure 3 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment, such as... Figure 3 As shown, step 103 can be achieved in the following way:

[0103] Step 1031: Determine the control zone based on the target location.

[0104] Step 1032: Control the communication vehicles operating within the controlled area based on the target location and target speed.

[0105] For example, after obtaining the target location of the non-communication vehicle, a control zone can be determined based on the target location in order to control the communication vehicles within the control zone and avoid collisions with the non-communication vehicles.

[0106] In some embodiments, the controlled area can be defined as a segment extending a predetermined length to both sides of the target location along the track direction. For example, with a predetermined length of 1 kilometer and an east-west track direction, a segment 1 kilometer east of the target location and a segment 1 kilometer west of the target location can be defined as the target segment. During the operation of the non-communication vehicle, the target location changes continuously, and correspondingly, the range of the controlled area can be updated accordingly.

[0107] In other embodiments, for a communication vehicle located in front of a non-communication vehicle, the communication vehicle can be controlled to travel at a speed greater than a target speed, so that the communication vehicle in front of the non-communication vehicle moves away from the non-communication vehicle. For a communication vehicle located behind a non-communication vehicle, the communication vehicle can be controlled to travel at a speed less than a target speed, so that the communication vehicle behind the non-communication vehicle moves away from the non-communication vehicle. In this way, controlling the speed of the communication vehicle according to the position and speed of the non-communication vehicle can ensure that a certain safe distance is maintained between the communication vehicle and the non-communication vehicle near the non-communication vehicle, avoiding collisions between the communication vehicle and the non-communication vehicle.

[0108] Figure 4 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment, such as... Figure 4 As shown, the method may further include:

[0109] Step 104: When the trackside detection device detects the presence of a target vehicle in the target area and receives the target location information, the target vehicle is determined to be a communication vehicle, wherein the location represented by the target location information is within the target area.

[0110] Step 105: If the trackside detection device detects the presence of a target vehicle in the target area but does not receive target location information, the target vehicle is determined to be a non-communication vehicle.

[0111] For example, when each vehicle leaves the depot and enters the main line from the transfer rail, it can send its position to the controller. If the trackside detection device at the transfer rail detects the presence of the target vehicle in the target area and receives the target position information indicating that its location is within the target area, it means that the target vehicle about to enter the main line has successfully sent its position information to the controller, and the target vehicle's communication function is normal. In this case, the target vehicle can be identified as a communicating vehicle. If the trackside detection device at the transfer rail detects the presence of the target vehicle in the target area, but the controller does not receive the target position information indicating that its location is within the target area, it means that the target vehicle about to enter the main line has not sent its position information to the controller, and the target vehicle's communication function is abnormal. In this case, the target vehicle can be identified as a non-communicating vehicle.

[0112] In summary, this disclosure first acquires point cloud data and image information of non-communication vehicles using a target detection device. The target detection device includes a trackside detection device and / or a vehicle detection device; the trackside detection device is installed beside the track, and the vehicle detection device is installed on the communication vehicle. Then, based on the point cloud data and image information, the target position and target speed of the non-communication vehicle are determined, and the operation of the communication vehicle is controlled according to the target position and target speed. This disclosure, by acquiring the position and speed of the non-communication vehicle using a target detection device and controlling the operation of the communication vehicle based on the position and speed of the non-communication vehicle, can avoid collisions between the communication vehicle and the non-communication vehicle, ensuring the safety of the vehicle-to-vehicle communication line.

[0113] Figure 5 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment, such as... Figure 5 As shown, the device 200 may include:

[0114] The acquisition module 201 is configured to acquire point cloud data and image information of non-communication vehicles through a target detection device. The target detection device includes a trackside detection device and / or a vehicle detection device, wherein the trackside detection device is a detection device installed beside the track, and the vehicle detection device is a detection device installed on the communication vehicle.

[0115] The first determining module 202 is configured to determine the target position and target speed of the non-communication vehicle based on point cloud data and image information.

[0116] The control module 203 is configured to control the operation of the communication vehicle based on the target location and the target vehicle speed.

[0117] In some embodiments, the first determining module 202 is configured to:

[0118] The first location and first speed of the non-communication vehicle are determined based on point cloud data.

[0119] The second position information and second speed information of the non-communication vehicle are determined based on the image information.

[0120] The target location is determined based on the first location information and the second location information, and the target speed is determined based on the first vehicle speed information and the second vehicle speed information.

[0121] In other embodiments, the target detection device includes a trackside detection device and a vehicle detection device. The first determining module 202 is configured to:

[0122] Based on the first point cloud data obtained by the trackside detection device and the second point cloud data obtained by the vehicle detection device, the first position information and the first vehicle speed information are determined.

[0123] In other embodiments, the first determining module 202 is configured to:

[0124] Based on the first image information obtained by the trackside detection device and the second image information obtained by the vehicle detection device, the second position information and the second vehicle speed information are determined.

[0125] In other embodiments, the target detection device includes a trackside detection device and a vehicle detection device. The first determining module 202 is configured to:

[0126] Based on the first point cloud data and first image information obtained by the trackside detection device, the third position information and third speed information of the non-communication vehicle are determined.

[0127] Based on the second point cloud data and second image information obtained by the vehicle detection device, the fourth position information and fourth speed information of the non-communication vehicle are determined.

[0128] The target location is determined based on the third and fourth location information, and the target speed is determined based on the third and fourth vehicle speed information.

[0129] Figure 6 This is a block diagram illustrating another vehicle control device according to an exemplary embodiment, such as... Figure 6 As shown, the control module 203 includes:

[0130] Submodule 2031 is configured to determine the control zone based on the target location.

[0131] The control submodule 2032 is configured to control the communication vehicle operating within the controlled area based on the target location and target vehicle speed.

[0132] In other embodiments, the control submodule 2032 is configured as follows:

[0133] Communication vehicles located in front of non-communication vehicles within the controlled area shall operate at a speed greater than the target speed.

[0134] Communication vehicles located behind non-communication vehicles within the controlled area shall operate at a speed less than the target speed.

[0135] Figure 7 This is a block diagram illustrating another vehicle control device according to an exemplary embodiment, such as... Figure 7 As shown, the device 200 further includes a second determining module 204, which is configured to:

[0136] If the trackside detection device detects a target vehicle in the target area and receives the target location information, the target vehicle is determined to be a communication vehicle. The target location information indicates that the vehicle's location is within the target area. Alternatively,

[0137] If the trackside detection device detects the presence of a target vehicle in the target area but does not receive target location information, the target vehicle is determined to be a non-communication vehicle.

[0138] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0139] In summary, this disclosure first acquires point cloud data and image information of non-communication vehicles using a target detection device. The target detection device includes a trackside detection device and / or a vehicle detection device; the trackside detection device is installed beside the track, and the vehicle detection device is installed on the communication vehicle. Then, based on the point cloud data and image information, the target position and target speed of the non-communication vehicle are determined, and the operation of the communication vehicle is controlled according to the target position and target speed. This disclosure, by acquiring the position and speed of the non-communication vehicle using a target detection device and controlling the operation of the communication vehicle based on the position and speed of the non-communication vehicle, can avoid collisions between the communication vehicle and the non-communication vehicle, ensuring the safety of the vehicle-to-vehicle communication line.

[0140] Figure 8 This is a block diagram illustrating a controller according to an exemplary embodiment. Figure 8 As shown, the controller 300 may include a processor 301 and a memory 302. The controller 300 may also include one or more of a multimedia component 303, an input / output (I / O) interface 304, and a communication component 305.

[0141] The processor 301 controls the overall operation of the controller 300 to complete all or part of the steps in the vehicle control method described above. The memory 302 stores various types of data to support the operation of the controller 300. This data may include, for example, instructions for any application or method operating on the controller 300, and application-related data such as contact data, sent and received messages, images, audio, video, etc. The memory 302 can be implemented using any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. Multimedia component 303 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 302 or transmitted via communication component 305. The audio component also includes at least one speaker for outputting audio signals. I / O interface 304 provides an interface between processor 301 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 305 is used for wired or wireless communication between controller 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited here. Therefore, the corresponding communication component 305 may include: a Wi-Fi module, a Bluetooth module, an NFC module, etc.

[0142] In an exemplary embodiment, the controller 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the vehicle control method described above.

[0143] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the vehicle control method described above. For example, the computer-readable storage medium may be the memory 302 including program instructions described above, which may be executed by the processor 301 of the controller 300 to complete the vehicle control method described above.

[0144] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described vehicle control method when executed by the programmable device.

[0145] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0146] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0147] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A method for vehicle control, characterized in that, The method includes: Point cloud data and image information of non-communication vehicles are acquired through a target detection device; wherein, the target detection device includes a trackside detection device and a vehicle detection device, the trackside detection device is a detection device set beside the track, the trackside detection devices are arranged sequentially along the track at preset intervals, and the vehicle detection device is a detection device set on the communication vehicle; the communication vehicle and the non-communication vehicle are vehicles running along a preset track. Based on the point cloud data and the image information, the target position and target speed of the non-communication vehicle are determined; The communication vehicle is controlled to operate based on the target location and the target vehicle speed; The step of controlling the operation of the communication vehicle based on the target location and the target vehicle speed includes: The sections obtained by extending the target position to both sides of the track direction by a predetermined length are designated as control sections. The communication vehicle operating within the controlled area is controlled based on the target location and the target speed.

2. The method according to claim 1, characterized in that, Determining the target position and target speed of the non-communication vehicle based on the point cloud data and the image information includes: The first location information and first speed information of the non-communication vehicle are determined based on the point cloud data. The second location information and second speed information of the non-communication vehicle are determined based on the image information; The target location is determined based on the first location information and the second location information, and the target vehicle speed is determined based on the first vehicle speed information and the second vehicle speed information.

3. The method according to claim 2, characterized in that, The target detection device includes a trackside detection device and a vehicle detection device; Determining the first location information and first speed information of the non-communication vehicle based on the point cloud data includes: The first location information and the first vehicle speed information are determined based on the first point cloud data obtained by the trackside detection device and the second point cloud data obtained by the vehicle detection device.

4. The method according to claim 3, characterized in that, Determining the first location information and the first vehicle speed information based on the first point cloud data obtained by the trackside detection device and the second point cloud data obtained by the vehicle detection device includes: The first point cloud data is processed to obtain the first candidate position and the first candidate vehicle speed; The second point cloud data is processed to obtain the second candidate position and the second candidate vehicle speed; The first position information is determined based on the first candidate position and the second candidate position; The first vehicle speed information is determined based on the first candidate vehicle speed and the second candidate vehicle speed.

5. The method according to claim 3, characterized in that, Determining the second position information and second speed information of the non-communication vehicle based on the image information includes: The second position information and the second vehicle speed information are determined based on the first image information obtained by the trackside detection device and the second image information obtained by the vehicle detection device.

6. The method according to claim 5, characterized in that, The step of determining the second position information and the second vehicle speed information based on the first image information obtained by the trackside detection device and the second image information obtained by the vehicle detection device includes: The first image information is processed to obtain the third candidate position and the third candidate vehicle speed; The second image information is processed to obtain the fourth candidate position and the fourth candidate vehicle speed; The second position information is determined based on the third candidate position and the fourth candidate position; The second vehicle speed information is determined based on the third candidate vehicle speed and the fourth candidate vehicle speed.

7. The method according to claim 2, characterized in that, Determining the first location information and first speed information of the non-communication vehicle based on the point cloud data includes: The point cloud data is input into a pre-trained first position determination model to obtain the first position information output by the first position determination model. The point cloud data is input into a pre-trained first vehicle speed determination model to obtain the first vehicle speed information output by the first vehicle speed determination model. Determining the second position information and second speed information of the non-communication vehicle based on the image information includes: The image information is input into a pre-trained second position determination model to obtain the second position information output by the second position determination model; The image information is input into a pre-trained second vehicle speed determination model to obtain the second vehicle speed information output by the second vehicle speed determination model.

8. The method according to claim 2, characterized in that, Determining the target location based on the first location information and the second location information, and determining the target vehicle speed based on the first vehicle speed information and the second vehicle speed information, includes: The designated location between the first location represented by the first location information and the second location represented by the second location information is taken as the target location; The weighted average of the first vehicle speed represented by the first vehicle speed information and the second vehicle speed represented by the second vehicle speed information is taken as the target vehicle speed.

9. The method according to claim 1, characterized in that, The target detection device includes a trackside detection device and a vehicle detection device; Determining the target position and target speed of the non-communication vehicle based on the point cloud data and the image information includes: Based on the first point cloud data and first image information obtained by the trackside detection device, the third position information and third speed information of the non-communication vehicle are determined. Based on the second point cloud data and second image information acquired by the vehicle detection device, the fourth position information and fourth speed information of the non-communication vehicle are determined. The target position is determined based on the third and fourth position information, and the target speed is determined based on the third and fourth vehicle speed information.

10. The method according to claim 9, characterized in that, The step of determining the third position information and third speed information of the non-communication vehicle based on the first point cloud data and first image information obtained by the trackside detection device includes: The first point cloud data is processed to obtain the fifth candidate position and the fifth candidate vehicle speed; The first image information is processed to obtain the sixth candidate position and the sixth candidate vehicle speed; The third position information is determined based on the fifth candidate position and the sixth candidate position; The third vehicle speed information is determined based on the fifth candidate vehicle speed and the sixth candidate vehicle speed.

11. The method according to claim 9, characterized in that, The step of determining the fourth position information and fourth speed information of the non-communication vehicle based on the second point cloud data and second image information acquired by the vehicle detection device includes: The second point cloud data is processed to obtain the seventh candidate position and the seventh candidate vehicle speed; The second image information is processed to obtain the eighth candidate position and the eighth candidate vehicle speed; The fourth position information is determined based on the seventh candidate position and the eighth candidate position; The fourth vehicle speed information is determined based on the seventh candidate vehicle speed and the eighth candidate vehicle speed.

12. The method according to claim 1, characterized in that, The method of controlling the communication vehicle operating within the controlled area based on the target location and the target vehicle speed includes: Control the communication vehicle located in front of the non-communication vehicle within the controlled area to operate at a speed greater than the target speed; Control the communication vehicle located behind the non-communication vehicle within the controlled area to operate at a speed lower than the target speed.

13. The method according to claim 1, characterized in that, The method further includes: If the trackside detection device detects a target vehicle in the target area and receives target location information, the target vehicle is determined to be a communication vehicle; the location indicated by the target location information is within the target area; or... If the trackside detection device detects the presence of a target vehicle in the target area but does not receive target location information, the target vehicle is determined to be a non-communication vehicle.

14. The method according to any one of claims 1-13, characterized in that, The method further includes: The image information is input into a pre-trained text recognition model to obtain the target vehicle identifier output by the text recognition model; or, The image information is processed by a preset text recognition algorithm to obtain the target vehicle identifier in the image information.

15. A controller, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1-14.

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