Vehicle control method and device

Abstract

The embodiment of the invention provides a vehicle control method and device. The method includes determining first state information of a group of signal lamps associated with a vehicle based on perception information of the vehicle, the first state information indicating whether the group of signal lamps work normally; sending an assistance request to a remote device if the first status information indicates that the set of signal lights are not operating normally and second status information indicates that the set of signal lights are operating normally, the second status information being determined based on map data; and in response to receiving an assistance message associated with the set of signal lights from the remote device, controlling the vehicle based on the assistance message. Therefore, according to the embodiment of the invention, the assistance request can be initiated according to the mismatching between the signal lamp working state detected by the vehicle end and the map data, so that the vehicle can be prevented from being trapped due to the signal lamp working state.

Description

Technical Field

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and more particularly, to vehicle control methods, devices, apparatuses, computer-readable storage media, and computer program products. Background Art

[0002] Autonomous driving is a technology that uses computers to replace human drivers or assist human drivers to perceive the vehicle's surroundings, plan the vehicle's movement trajectory, and control the vehicle to a designated destination.

[0003] Traffic light detection is an important perception capability during autonomous driving. The state of traffic lights can be used to guide autonomous vehicles through intersections or wait for traffic. In some scenarios, if traffic lights cannot be accurately perceived, this may cause the autonomous vehicle to lose autonomous control. Summary of the invention

[0004] In a first aspect of the present disclosure, a vehicle control method is provided. The method includes: determining first state information of a group of signal lights associated with the vehicle based on perception information of the vehicle, the first state information indicating whether the group of signal lights is working properly; if the first state information indicates that the group of signal lights is not working properly and the second state information indicates that the group of signal lights is working properly, sending an assistance request to a remote device, the second state information being determined based on map data; and in response to receiving an assistance message associated with the group of signal lights from the remote device, controlling the vehicle based on the assistance message.

[0005] In a second aspect of the present disclosure, a vehicle control device is provided. The device includes: a determination module configured to determine first state information of a group of signal lights associated with the vehicle based on perception information of the vehicle, the first state information indicating whether the group of signal lights is working properly; a sending module configured to send an assistance request to a remote device if the first state information indicates that the group of signal lights is not working properly and the second state information indicates that the group of signal lights is working properly, the second state information being determined based on map data; and a control module configured to control the vehicle based on the assistance message in response to receiving an assistance message associated with the group of signal lights from the remote device.

[0006] In a third aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory, the at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit. When the instructions are executed by the at least one processing unit, the device executes the method of the first aspect.

[0007] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the first aspect.

[0008] In a fifth aspect of the present disclosure, a computer program product is provided, which includes computer executable instructions, and when the computer executable instructions are executed by a processor, the method of the first aspect is implemented.

[0009] It should be understood that the contents described in the summary of the present invention are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0011] Figure 1 A schematic diagram showing an example environment in which embodiments of the present disclosure can be implemented;

[0012] Figure 2 A flow chart showing an example vehicle control process according to some embodiments of the present disclosure;

[0013] Figure 3A shows an example traffic environment according to some embodiments of the present disclosure;

[0014] Figure 3B shows an example assistance interface according to some embodiments of the present disclosure;

[0015] Figure 4 A schematic structural block diagram of a vehicle control device according to certain embodiments of the present disclosure is shown; and

[0016] Figure 5 A block diagram of a device capable of implementing various embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0017] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0018] It should be noted that the titles of any sections / subsections provided herein are not restrictive. Various embodiments are described throughout this article, and any type of embodiment may be included under any section / subsection. In addition, the embodiments described in any section / subsection may be combined in any manner with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0019] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may be included below. The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below.

[0020] The embodiments of the present disclosure may involve user data, data acquisition and / or use, etc. These aspects are subject to the corresponding laws, regulations and relevant provisions. In the embodiments of the present disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are carried out on the premise that the user knows and confirms. Accordingly, when implementing each embodiment of the present disclosure, the type, scope of use, usage scenario, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with the relevant laws and regulations. The specific notification and / or authorization method can vary according to the actual situation and application scenario, and the scope of the present disclosure is not limited in this respect.

[0021] In this specification and the embodiments, if personal information processing is involved, it will be processed on the premise of having a legal basis (such as obtaining the consent of the subject of personal information, or it is necessary to perform a contract, etc.), and will only be processed within the scope of regulations or agreements. If a user refuses to process personal information other than the necessary information for basic functions, it will not affect the user's use of basic functions.

[0022] As used herein, the term "model" can learn the association between the corresponding input and output from the training data, so that after the training is completed, the corresponding output can be generated for a given input. The generation of the model can be based on machine learning technology. Deep learning is a machine learning algorithm that processes inputs and provides corresponding outputs by using multiple layers of processing units. In this article, "model" may also be referred to as "machine learning model", "machine learning network" or "network", and these terms are used interchangeably in this article.

[0023] Traffic light detection is an important perception capability during autonomous driving. The state of traffic lights can be used to guide autonomous vehicles through intersections or wait for traffic. In some scenarios, if traffic lights cannot be accurately perceived, this may cause the autonomous vehicle to lose autonomous control.

[0024] For example, if an autonomous vehicle cannot obtain the light status of the traffic light ahead, the vehicle may be "stuck" and unable to continue the subsequent journey, which may have a negative impact on traffic.

[0025] Embodiments of the present disclosure propose a vehicle control scheme. According to various embodiments of the present disclosure, based on the perception information of the vehicle, first state information of a group of signal lights associated with the vehicle is determined, the first state information indicating whether the group of signal lights is working normally; if the first state information indicates that the group of signal lights is not working normally and the second state information indicates that the group of signal lights is working normally, an assistance request is sent to a remote device, the second state information is determined based on map data; and in response to receiving an assistance message associated with the group of signal lights from the remote device, the vehicle is controlled based on the assistance message.

[0026] Based on this approach, the embodiments of the present disclosure can initiate an assistance request based on the mismatch between the working state of the traffic light perceived by the vehicle and the map data, thereby preventing the vehicle from being trapped due to the working state of the traffic light. In this way, the ability of the autonomous driving vehicle to cope with different traffic light scenarios can be improved, and the reliability of the autonomous driving vehicle can be improved.

[0027] Example Environment

[0028] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. In the environment 100, an assisting person 110 can interact with a remote device 120 directly or with an attached device via the remote device 120. The remote device 120 can present a user interface 140 to the assisting person 110 for the assisting person 110 to view vehicle information or perform route planning and other operations.

[0029] The remote device 120 may include, for example, a cloud device or an edge computing device. In some embodiments, such a remote device 120 may be configured to provide the vehicle 101 with supplementary perception information about the traffic environment, and / or provide guidance for the trapped vehicle 101.

[0030] Environment 100 may include vehicle 101. In some embodiments, vehicle 101 may be any type of vehicle that can carry people and / or objects and move through a power system such as an engine, including but not limited to cars, trucks, buses, electric vehicles, RVs, etc. Vehicle 101 may be an autonomous driving vehicle (also called an autonomous vehicle) that integrates functions such as environmental perception, planning and decision-making, and multi-level assisted driving.

[0031] like Figure 1 As shown, the vehicle 101 is equipped with an electronic device 150, which can be connected to the remote device 120. For example, the electronic device 150 can communicate with the remote device 120 via an appropriate wireless communication method. The electronic device 150 can be any device with computing capabilities, and can generate a driving route or execute corresponding instructions according to the path planning information sent by the remote device 120.

[0032] It should be understood that the structure and functionality of environment 100 are described for exemplary purposes only and does not imply any limitation on the scope of the present disclosure.

[0033] Example Process

[0034] Some example embodiments of the present disclosure will be described below with continued reference to the accompanying drawings. Figure 2 FIG. 2 is a flow chart showing an example vehicle control process 200 according to some embodiments of the present disclosure. The process 200 may be, for example, Figure 1 The electronic device 150 is implemented. Figure 1 To describe Figure 2 process 200.

[0035] like Figure 2 As shown, in box 210, the electronic device 150 determines first status information of a group of signal lights associated with the vehicle 101 based on the perception information of the vehicle 101, wherein the first status information indicates whether the group of signal lights are working normally.

[0036] In some embodiments, a set of signal lights associated with vehicle 101 may include one or more signal lights used to control the travel of vehicle 101 .

[0037] Figure 3A An example traffic environment 300A is shown according to some embodiments of the present disclosure. Figure 3A As shown, traffic environment 300A may include vehicle 302. Figure 3A As an example, vehicle 302 may be traveling in lane 304 .

[0038] In some embodiments, the electronic device 150 may determine at least one signal light corresponding to the lane 304 in which the vehicle 302 is located as a group of signal lights associated with the vehicle 302. For example, the signal light 306 corresponding to the through lane 304 may be determined as a signal light associated with the vehicle 302.

[0039] Further, the electronic device 150 may obtain perception information of the vehicle 302. Such perception information may include information captured by an image acquisition device or other appropriate sensing device deployed in the vehicle 302. Accordingly, the electronic device 150 may determine the first state information of the signal light 306 based on the perception information, that is, whether the signal light 306 is working normally.

[0040] In some scenarios, lane 304 may also correspond to a plurality of signal lights, for example. The electronic device 150 may determine whether the plurality of signal lights are working properly based on the perception information.

[0041] Continue to refer Figure 2 In block 220 , the electronic device 150 sends an assistance request to the remote device 120 if the first status information indicates that a group of signal lights are not functioning properly and the second status information indicates that a group of signal lights are functioning properly, the second status information being determined based on the map data.

[0042] In some embodiments, the electronic device 150 may compare the first state information determined based on the perception information with the second state information indicated by the map data. Such map data may include, for example, real-time map data (RTM).

[0043] Further, if the first status information indicates that one or more signal lights associated with the vehicle 302 are not working properly, and the second status information indicates that the one or more signal lights are working properly, the electronic device 150 may send an assistance request to the remote device 120 .

[0044] by Figure 3A As an example, the vehicle 302 is associated with a signal light 306 , and if the perception data indicates that the signal light 306 is not functioning properly (eg, broken) and the real-time map data indicates that the signal light 306 is functioning properly (eg, not broken), the electronic device 150 may initiate remote assistance.

[0045] In some embodiments, when the distance between the vehicle 302 and the stop line associated with a set of signal lights reaches a preset distance, the electronic device 150 can send an assistance request to the remote device. Figure 3A As an example, when the distance between the vehicle 302 and the stop line ahead reaches a preset distance, for example, the electronic device 150 may initiate a remote assistance request.

[0046] In response to receiving an assistance message associated with a set of signal lights from a remote device, the electronic device 150 controls the vehicle based on the assistance message at block 230 .

[0047] After receiving an assistance request from, for example, vehicle 302, remote device 120 may display, for example, Figure 3B Interface 300B shown. Figure 3B As shown, the interface 300B may display multiple elements associated with the vehicle 101 , such as a map element, a real-time image 316 captured by the vehicle 101 , an element 312 corresponding to the vehicle 302 , and a signal light status 314 indicated based on real-time map data.

[0048] In some embodiments, the assistance request may indicate a query about whether one or more signal lights corresponding to the lane where the vehicle 302 is located are broken. Accordingly, the interface 300B may include an interactive component 318, which may present information related to the query, such as “Is it a broken light?”. Accordingly, the interactive component 318 may include a set of options for answering the query to indicate whether one or more signal lights associated with the vehicle 302 are working properly.

[0049] The assistant 110 can determine whether the signal light is a faulty light based on the image data (eg, the real-time image 316 ). Further, the assistant 110 can indicate whether the signal light 306 is working properly by interacting with the interaction component 318 .

[0050] In some cases, the assistance personnel 110 can determine that the one or more signal lights are all broken through the image data, and can trigger the remote device 120 to send an assistance message to the electronic device 150 through the interaction component 318, for example. The assistance message can indicate that one or more signal lights associated with the vehicle 302 are not working properly.

[0051] In this case, the electronic device 150 can control the vehicle 302 based on a preset logic, for example. For example, the electronic device 150 can trigger a planning and control module (eg, a PNC module) to plan a driving route for the vehicle 302 based on a no-traffic-light mode.

[0052] In some embodiments, if one or more signal lights associated with the vehicle 302 are determined by the remote device 150 to be malfunctioning, the real-time map data may also be updated accordingly to indicate that the one or more signal lights are malfunctioning, eg, broken.

[0053] In other cases, the assistant 110 can determine, for example, through image data, that the one or more signal lights include at least one signal light that is functioning normally (also referred to as a third signal light). Accordingly, the assistant 110 can, for example, trigger the remote device 120 to send an assistance message to the electronic device 150 when the third signal light that is functioning normally turns green, so as to instruct the vehicle 302 to move forward.

[0054] In this case, the electronic device 150 can control the vehicle 302 based on the green light state indicated in the assistance message. For example, the electronic device 150 can mark one or more signal lights associated with the vehicle 302 as green light states, so that the planning and control module can plan the driving route of the vehicle 302 based on the green light state.

[0055] In some embodiments, if a group of signal lights associated with the vehicle 302 only includes a third signal light marked as being in normal operation by the remote device 150, the real-time map data may also be updated accordingly so that the real-time map data marks the third signal light as being in a green light state. On the contrary, if the group of signal lights includes multiple signal lights, the real-time map data may not be updated until the states of the other signal lights are taken into consideration.

[0056] In some embodiments, the remote device 120 may also receive an indication that it cannot determine whether the set of signal lights is functioning properly, for example, and may terminate the remote assistance process accordingly.

[0057] Based on this approach, the embodiments of the present disclosure can initiate an assistance request based on the mismatch between the working state of the traffic light perceived by the vehicle and the map data, thereby preventing the vehicle from being trapped due to the working state of the traffic light. In this way, the ability of the autonomous driving vehicle to cope with different traffic light scenarios can be improved, and the reliability of the autonomous driving vehicle can be improved.

[0058] In some embodiments, if the vehicle 101 is associated with multiple signal lights, and the first status information determined based on the perception data indicates that the multiple signal lights include a normally functioning signal light (also called a first signal light), the electronic device 150 controls the vehicle based on the first signal light, for example.

[0059] Continue with Figure 3A As an example, if the multiple signal lights associated with vehicle 101 include signal light 306, and the signal light 306 is determined to be working normally based on the perception data of vehicle 302, the electronic device 150 can control vehicle 302 based on signal light 306, regardless of whether the real-time map data marks the signal light 306 as being in a normal working state.

[0060] Specifically, the electronic device 150 may determine whether the light state of the first signal light can be determined based on the perception information of the vehicle. If the light state of the first signal light can be determined based on the perception information, the electronic device 150 may control the vehicle based on the light state.

[0061] by Figure 3A As an example, if the electronic device 150 is able to identify the light state of the signal light 306 based on the perception information, the electronic device 150 may control the vehicle 302 based on the light state.

[0062] In contrast, if the electronic device 150 cannot determine the light state of the first signal light based on the perception information, the electronic device 150 controls the vehicle based on the predicted light state of the first signal light.

[0063] Specifically, if the light state of the signal light 306 cannot be determined because it is blocked or exceeds the perception field of view, the electronic device 150 can, for example, determine the predicted light state of the signal light 306. Exemplarily, the planning and control module can be used to predict the light state of the signal light 306. It should be understood that any appropriate light state prediction technology can be used to predict the light state of the signal light, and the present disclosure is not intended to be limited to this.

[0064] In some embodiments, if the first status information based on the perception data and the second status information based on the map data both indicate that a second signal light among the plurality of signal lights is not functioning properly, the electronic device 150 may control the vehicle based on a preset logic.

[0065] Continue with Figure 3A As an example, if one or more traffic lights associated with vehicle 101 include traffic light 306, and traffic light 306 is determined to be malfunctioning based on both perception data and map data of vehicle 302, the electronic device 150 can, for example, trigger a planning and control module (e.g., a PNC module) to plan the vehicle's driving route based on a no traffic light mode.

[0066] In some embodiments, the electronic device 150 may also continuously obtain updated perception information of the vehicle. Further, if a target light state of a group of signal lights is determined based on the updated perception information, the electronic device 150 may control the vehicle based on the target light state.

[0067] For example, Figure 3A As an example, after initiating a remote assistance request, if the electronic device 150 determines the light state of the signal light 306 based on the updated perception information, the electronic device 150 can directly control the vehicle 302 based on the light state without waiting for or considering the remote device's response to the assistance request.

[0068] On the contrary, if the electronic device 150 fails to determine the light state of the signal light 306 based on the perception information and has not yet received an assistance message, the electronic device 150 can, for example, control the vehicle 302 to slow down until the stop line, and can wait to identify the light state of the signal light 306 based on the perception information or wait for an assistance message from the remote device 120.

[0069] In some embodiments, the electronic device 150 may initiate only one remote assistance request for the same traffic scenario (eg, an intersection to be passed).

[0070] Based on the process described above, the embodiments of the present disclosure can determine different vehicle control strategies based on the comparison of perception data and map data, so as to cope with different traffic light situations, thereby improving the reliability of vehicle control.

[0071] Example devices and equipment

[0072] Figure 4 A schematic structural block diagram of a vehicle control device 400 according to some embodiments of the present disclosure is shown. The device 400 may be implemented as or included in the electronic device 150. Each module / component in the device 400 may be implemented by hardware, software, firmware, or any combination thereof.

[0073] As shown in the figure, the device 400 includes a determination module 410, which is configured to determine first status information of a group of signal lights associated with the vehicle based on the perception information of the vehicle, the first status information indicating whether the group of signal lights are working normally; a sending module 420, which is configured to send an assistance request to a remote device if the first status information indicates that the group of signal lights are not working normally and the second status information indicates that the group of signal lights are working normally, and the second status information is determined based on map data; and a control module 430, which is configured to control the vehicle based on the assistance message received from the remote device in response to the assistance message associated with the group of signal lights.

[0074] In some embodiments, the apparatus 400 further includes a detection module configured to: determine at least one signal light corresponding to a lane in which the vehicle is located as a group of signal lights associated with the vehicle.

[0075] In some embodiments, the group of signal lights includes a plurality of signal lights, and the control module 430 is further configured to: if the first status information indicates that a first signal light among the plurality of signal lights is operating normally, control the vehicle based on the first signal light.

[0076] In some embodiments, the control module 430 is further configured to: determine whether the light state of the first signal light can be determined based on the perception information of the vehicle; and if the light state of the first signal light can be determined based on the perception information, control the vehicle based on the light state.

[0077] In some embodiments, the control module 430 is further configured to: if the light state of the first signal light cannot be determined based on the perception information, control the vehicle based on the predicted light state of the first signal light.

[0078] In some embodiments, a group of signal lights includes a plurality of signal lights, and the control module 430 is further configured to control the vehicle based on a preset logic if both the first status information and the second status information indicate that a second signal light among the plurality of signal lights is not functioning properly.

[0079] In some embodiments, the sending module 420 is further configured to send an assistance request to a remote device when the distance between the vehicle and a stop line associated with a group of signal lights reaches a preset distance.

[0080] In some embodiments, the assistance message indicates that a group of signal lights are not functioning properly, and the control module 430 is further configured to control the vehicle based on a preset logic.

[0081] In some embodiments, the remote device is further configured to trigger an update of the map data such that the map data marks a group of signal lights as not functioning properly.

[0082] In some embodiments, the assistance message is sent based on a green light state of a third signal light in the group of signal lights, and the control module 430 is further configured to control the vehicle based on the green light state.

[0083] In some embodiments, the map data is real-time map data, and if the group of signal lights only includes the third signal light, the remote device is further configured to trigger an update of the real-time map data so that the real-time map data marks the third signal light as a green light state.

[0084] In some embodiments, the apparatus 400 further includes an updating module configured to: obtain updated perception information of the vehicle; and in response to determining a target light state of a group of signal lights based on the updated perception information, control the vehicle based on the target light state.

[0085] Figure 5 A block diagram illustrating a computing device 500 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that Figure 5 The computing device 500 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein. Figure 5 The computing device 500 shown may be used to implement Figure 1 remote device 120 or electronic device 150.

[0086] like Figure 5As shown, computing device 500 is in the form of a general-purpose computing device. Components of computing device 500 may include, but are not limited to, one or more processors or processing units 510, memory 520, storage device 530, one or more communication units 540, one or more input devices 550, and one or more output devices 560. Processing unit 510 may be an actual or virtual processor and is capable of performing various processes according to a program stored in memory 520. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to increase the parallel processing capabilities of computing device 500.

[0087] The computing device 500 typically includes a plurality of computer storage media. Such media may be any accessible media that is accessible to the computing device 500, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 520 may be a volatile memory (e.g., registers, caches, random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. The storage device 530 may be a removable or non-removable medium, and may include a machine-readable medium, such as a flash drive, a disk, or any other medium, which may be capable of being used to store information and / or data (e.g., training data for training) and may be accessed within the computing device 500.

[0088] The computing device 500 may further include additional removable / non-removable, volatile / non-volatile storage media. Figure 5 As shown in , a disk drive for reading or writing from a removable, non-volatile disk (e.g., a "floppy disk") and an optical drive for reading or writing from a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to the bus (not shown) by one or more data media interfaces. The memory 520 may include a computer program product 525 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.

[0089] The communication unit 540 enables communication with other computing devices via a communication medium. Additionally, the functions of the components of the computing device 500 can be implemented in a single computing cluster or multiple computing machines that can communicate via a communication connection. Therefore, the computing device 500 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.

[0090] Input device 550 may be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 560 may be one or more output devices, such as a display, speaker, printer, etc. Computing device 500 may also communicate with one or more external devices (not shown) through communication unit 540 as needed, such as storage devices, display devices, etc., communicate with one or more devices that allow a user to interact with computing device 500, or communicate with any device that allows computing device 500 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via an input / output (I / O) interface (not shown).

[0091] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, wherein the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, and the computer-executable instructions are executed by a processor to implement the method described above.

[0092] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices, equipment, and computer program products implemented according to the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0093] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0094] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0095] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple implementations of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

[0096] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the various implementations disclosed herein.

Claims

1. A vehicle control method, include: Determining first state information of a set of signal lights associated with the vehicle based on the perception information of the vehicle; sending a request for assistance to a remote device if the first status information indicates that the group of signal lights is not functioning properly and the second status information indicates that the group of signal lights is functioning properly, the second status information being determined based on map data; as well as In response to receiving an assistance message associated with the set of signal lights from the remote device, the vehicle is controlled based on the assistance message.

2. The method according to claim 1, further comprising: include: At least one signal light corresponding to the lane in which the vehicle is located is determined as the group of signal lights associated with the vehicle.

3. The method of claim 1, wherein the group of signal lights comprises a plurality of signal lights, the method further comprising: include: If the first state information indicates that a first signal lamp among the plurality of signal lamps is functioning normally, the vehicle is controlled based on the first signal lamp.

4. The method according to claim 3, wherein the vehicle is controlled based on the first signal light include: determining whether the light state of the first signal light can be determined based on the perception information of the vehicle; as well as If the light state of the first signal light can be determined based on the perception information, the vehicle is controlled based on the light state.

5. The method according to claim 4, wherein the vehicle is further controlled based on the first signal light. include: If the light state of the first signal light cannot be determined based on the perception information, the vehicle is controlled based on a predicted light state of the first signal light.

6. The method of claim 1, wherein the group of signal lights comprises a plurality of signal lights, the method further comprising: include: If both the first state information and the second state information indicate that a second signal light among the plurality of signal lights is not operating normally, the vehicle is controlled based on a preset logic.

7. The method of claim 1 , wherein a request for assistance is sent to a remote device. include: When the distance between the vehicle and the stop line associated with the group of signal lights reaches a preset distance, the assistance request is sent to the remote device.

8. The method of claim 1, wherein the assistance message indicates that the set of signal lights is not functioning properly, and Controlling the vehicle based on the assistance message include: The vehicle is controlled based on preset logic. 9 . The method of claim 8 , wherein the remote device is further configured to trigger an update of the map data such that the map data marks the group of signal lights as not functioning properly.

10. The method of claim 1, wherein the assistance message is sent based on a green light state of a third signal light in the group of signal lights, and Controlling the vehicle based on the assistance message include: The vehicle is controlled based on the green light state.

11. The method according to claim 10, wherein the map data is real-time map data, and if the group of signal lights only includes the third signal light, the remote device is further configured to trigger an update of the real-time map data so that the real-time map data marks the third signal light as the green light state.

12. The method according to claim 1, further comprising: include: Obtaining updated perception information of the vehicle; as well as In response to determining a target light state for the set of signal lights based on the updated perception information, the vehicle is controlled based on the target light state.

13. A device for vehicle control, include: a determination module configured to determine first state information of a group of signal lights associated with the vehicle based on the perception information of the vehicle, the first state information indicating whether the group of signal lights are working normally; a sending module configured to send an assistance request to a remote device if the first state information does not match second state information of the group of signal lights, the second state information being determined based on map data; as well as A control module is configured to, in response to receiving an assistance message associated with the set of signal lights from the remote device, control the vehicle based on the assistance message.

14. An electronic device, include: at least one processing unit; as well as At least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 12 when executed by the at least one processing unit.

15. A computer-readable storage medium having a computer program stored thereon, wherein the computer program can be executed by a processor to implement the method according to any one of claims 1 to 12.

16. A computer program product comprising computer executable instructions, wherein the computer executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 12.

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