Method and device for controlling vehicle driving, vehicle and storage medium

Abstract

The invention discloses a method and device for controlling vehicle driving, a vehicle and a storage medium. The method comprises the following steps: acquiring the current position of a vehicle in the driving process of the vehicle; determining a target scene switching position matched with the current position in a commuting map based on the current position of the vehicle; the target scene switching position refers to a position where a driving scene of the vehicle in the commuting area is switched from a first scene to a second scene; wherein the vehicle is configured with an intelligent driving function corresponding to the second scene; and if the target scene switching position matched with the current position of the vehicle exists, determining that the current driving scene of the vehicle is switched to a second scene, and controlling the vehicle to call an intelligent driving function corresponding to the second scene to perform driving control. According to the technical scheme provided by the embodiment of the invention, in the whole commuting process, a driver does not need to perform selection operation for many times, the operation complexity of selecting the intelligent driving function in the vehicle commuting process is reduced, and the driving efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of assisted driving technology, and in particular to a method, device, vehicle and storage medium for controlling vehicle travel. Background Art

[0002] The area between a driver's home and workplace is called a commuting area, which usually includes multiple sub-areas such as parking lots, urban roads, and highways.

[0003] When a vehicle is driving in different sub-areas of the commuting area, different assisted driving functions are required. For example, when a vehicle is parking in a parking lot, the assisted driving function used is the Auto Parking Assist (APA) system; for another example, when a vehicle is driving on an urban road, the assisted driving function used is the Navigated Driving Assist (NDA) system.

[0004] In the related art, when the vehicle travels in different sub-areas of the commuting area, the driver manually selects the corresponding assisted driving function. In this way, during the entire commuting process, the driver needs to make selections multiple times, which is complicated and inefficient. Summary of the invention

[0005] The present application proposes a method, device, vehicle and storage medium for controlling vehicle driving.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling vehicle driving, the method comprising: obtaining a current position of the vehicle during driving of the vehicle; determining a target scene switching position that matches the current position in a commuting map based on the current position of the vehicle; the commuting map is an electronic map corresponding to a commuting area through which the vehicle passes, the commuting map being marked with multiple scene switching positions, the target scene switching position referring to a position where the driving scene of the vehicle in the commuting area switches from a first scene to a second scene; wherein the vehicle is configured with an intelligent driving function corresponding to the second scene; if there is a target scene switching position that matches the current position of the vehicle, it is determined that the current driving scene of the vehicle is switched to the second scene, and the vehicle is controlled to call the intelligent driving function corresponding to the second scene for driving control.

[0007] In a second aspect, an embodiment of the present application provides a device for controlling vehicle driving, the device comprising: a position acquisition module, for acquiring the current position of the vehicle during the driving of the vehicle; a matching module, for determining a target scene switching position that matches the current position in a commuting map based on the current position of the vehicle; the commuting map is an electronic map corresponding to a commuting area through which the vehicle passes, the commuting map being marked with multiple scene switching positions, the target scene switching position referring to the position where the driving scene of the vehicle in the commuting area switches from a first scene to a second scene; wherein the vehicle is configured with an intelligent driving function corresponding to the second scene; a driving control module, for determining that the current driving scene of the vehicle switches to the second scene if there is a target scene switching position that matches the current position of the vehicle, and controlling the vehicle to call the intelligent driving function corresponding to the second scene for driving control.

[0008] In a third aspect, an embodiment of the present application provides a vehicle, comprising: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the method of the first aspect.

[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the method of the first aspect.

[0010] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when executed, is used to implement the method of the first aspect.

[0011] Compared with the prior art, the technical solution provided in the embodiment of the present application is that when the vehicle is traveling in different sub-areas of the commuting area, the vehicle can monitor whether there is a target scene switching position that matches the current position of the vehicle based on a pre-established commuting map, and then determine whether the current driving scene of the vehicle is about to switch from the first scene to the second scene. If so, the intelligent driving function corresponding to the second scene is called to perform driving control. In this way, during the entire commuting process, the driver does not need to make multiple selection operations, which reduces the operational complexity of selecting the intelligent driving function during the vehicle's commuting process and improves driving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1It is a schematic diagram of the implementation environment provided by the embodiment of the present application.

[0014] Figure 2 This is a flow chart of a method for controlling vehicle driving provided by an embodiment of the present application.

[0015] Figure 3 This is a flowchart of a commuting map generation process provided by an embodiment of the present application.

[0016] Figure 4 yes Figure 3 A schematic diagram of determining a scene switching position according to an embodiment.

[0017] Figure 5 yes Figure 3 A schematic diagram of a labeling layer involved in an embodiment.

[0018] Figure 6 This is a block diagram of a device for controlling vehicle travel provided by an embodiment of the present application.

[0019] Figure 7 It is a structural block diagram of a vehicle provided by an embodiment of the present application. DETAILED DESCRIPTION

[0020] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0021] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0022] Please refer to Figure 1 , which shows a schematic diagram of an implementation environment provided by an embodiment of the present application. The implementation environment includes a vehicle 100. In the embodiment of the present application, the vehicle 100 includes an arbitration module, which is used to determine the scene in which the vehicle 100 is currently located, and call the corresponding intelligent driving function based on the scene in which the vehicle 100 is currently located.

[0023] The scene in which the vehicle is located is the scene involved in the commuting area of ​​the vehicle, which may include the parking space exit scene, parking lot driving scene, urban road driving scene, highway driving scene, parking space entry scene, etc. Among them, the intelligent driving function corresponding to the parking lot parking scene (including parking space entry scene and parking space exit scene) is the automatic parking assist system (Auto Parkig Assist, APA); the intelligent driving function corresponding to the parking lot driving scene is the automated valet parking (Automated Valet Parking, AVP) technology; the intelligent driving function corresponding to the urban road driving scene is the urban navigation driving assist system (Navigated Driving Assist, NDA), and the intelligent driving function corresponding to the highway driving scene is the highway NDA.

[0024] APA is an important driver assistance function in modern automotive technology. It uses advanced sensor technology, such as ultrasonic radar, to sense the parking environment around the vehicle, help the driver automatically find a suitable parking space, and automatically control the vehicle to complete the parking process under the driver's monitoring. AVP is a low-speed L4 level autonomous driving technology that breaks the boundaries of traditional driving, allowing the vehicle to autonomously shuttle through the streets and alleys of the city without the driver's operation, completing all driving tasks such as overtaking, reversing, and avoiding pedestrians. Urban NDA refers to autonomous overtaking, lane changing, on-ramp and off-ramp, ramp passing, and merging into the main road on urban roads according to the guidance of the navigation path or the surrounding traffic environment. High-speed NDA refers to autonomous overtaking, lane changing, on-ramp and off-ramp, ramp passing, and merging into the main road on highways according to the guidance of the navigation path or the surrounding traffic environment.

[0025] Optionally, vehicle 100 also includes a mapping module, which can generate an electronic map corresponding to the commuting area of ​​vehicle 100, that is, a commuting map. A complete commuting area usually covers multiple sub-areas such as urban roads, highways, and parking lots. Accordingly, the commuting map also needs to cover the electronic maps corresponding to the above-mentioned multiple sub-areas. Exemplarily, the commuting area of ​​vehicle A is composed of a first parking lot (a parking lot near home), urban road 1, highway 1, urban road 2, a second parking lot (a parking lot near the company) and other areas connected in series. Therefore, the electronic map corresponding to the commuting area of ​​vehicle A includes a parking lot map of the first parking lot, a driving map (electronic maps corresponding to three areas such as urban road 1, highway 1, and urban road 2), and a parking lot map corresponding to the second parking lot.

[0026] In some embodiments, the mapping module uses different mapping algorithms to build parking maps and driving maps respectively. The specific mapping process will be described in the following embodiments. In the embodiments of the present application, the mapping module also sets a labeling layer to mark the scene switching positions between different scenes, so that when the vehicle is driving in the commuting area, it can monitor the scene it is in and call the corresponding intelligent driving function to achieve point-to-point commuting.

[0027] In the embodiment of the present application, the vehicle 100 further includes an on-board sensing system, which is used to detect environmental information around the vehicle 100, including but not limited to environmental images around the vehicle 100, the distance between the vehicle 100 and obstacles, the shape, speed, direction of obstacles, etc. The on-board sensing system may include: an image acquisition device (such as a driving recorder) arranged on the vehicle 100, an on-board radar (such as a laser radar, a millimeter wave radar, an ultrasonic radar), etc.

[0028] The embodiment of the present application provides a method for controlling vehicle driving. When the vehicle is driving in different sub-areas of a commuting area, the vehicle can monitor whether there is a target scene switching position that matches the current position of the vehicle based on a pre-established commuting map, and then determine whether the current driving scene of the vehicle is about to switch from the first scene to the second scene. If so, the intelligent driving function corresponding to the second scene is called to control driving. In this way, during the entire commuting process, the driver does not need to perform multiple selection operations, which reduces the complexity of selecting intelligent driving functions during the vehicle commuting process and improves driving efficiency. In addition, since the intelligent driving functions corresponding to different scenes are automatically selected by the vehicle, it is not necessary for the user to accurately identify various intelligent driving functions, nor is it necessary for the user to have a clear understanding of the boundaries of intelligent driving functions, which reduces the learning cost of driving the vehicle.

[0029] Please refer to Figure 2 , which shows a method for controlling vehicle driving provided by an embodiment of the present application, the method includes the following process.

[0030] S201, obtaining the current position of the vehicle during the driving process of the vehicle.

[0031] During the driving process of the vehicle, the vehicle can determine its current driving scene and call the intelligent driving function corresponding to the current driving scene to perform driving control.

[0032] The vehicle can obtain its current position through the positioning module. Optionally, the positioning module is a global positioning system (GPS) module. In some embodiments, if the signal strength of the GPS module is less than the preset strength, the vehicle can locate its current position through other positioning methods, and the above-mentioned other positioning methods include but are not limited to: UWB positioning method, Bluetooth positioning method, etc. The preset strength is set according to actual experience, and the embodiments of the present application are not limited to this. When the signal of the GPS module is weak (for example, the vehicle is driving in an indoor parking lot), the accuracy of positioning through the GPS module is poor. At this time, the vehicle adopts other positioning methods to improve the positioning accuracy.

[0033] In some embodiments, the vehicle periodically obtains its current position. The position acquisition period may be pre-set or may be adaptively adjusted by the vehicle.

[0034] In some embodiments, the vehicle obtains a navigation destination, and when the navigation destination is within a commuting area, the current location of the vehicle is obtained. Optionally, the display module of the vehicle displays a user interface of a navigation application, and the driver can enter the navigation destination on the user interface. Alternatively, the driver issues a voice command, and the vehicle can recognize the navigation destination in the voice command. When the vehicle obtains the navigation destination, it can obtain the location information corresponding to the navigation destination, and then detect whether the location information corresponding to the navigation destination falls within the location range corresponding to the commuting area. If the location information corresponding to the navigation destination falls within the location range corresponding to the commuting area, it means that the navigation destination is within the commuting area. In this way, the vehicle can be prevented from executing the method steps involved in the embodiments of the present application in other areas outside the commuting area, which can save the energy consumption of the vehicle.

[0035] In some embodiments, the vehicle detects whether the commuting function is in an on state or an off state, and when the commuting function is in an on state, the current state of the vehicle is obtained. The commuting function refers to the function of selecting a corresponding intelligent driving function according to the scene in which the vehicle is located when the vehicle is traveling in a commuting area. Optionally, the vehicle includes a flag bit for the commuting function, and the vehicle determines whether the commuting function is in an on state or an off state by reading the value of the flag bit. When the value of the flag bit of the commuting function is a first value, it indicates that the commuting function is in an on state, and the first value may be 1. When the value of the flag bit of the commuting function is a second value, it indicates that the commuting function is in an off state. The second value may be 0.

[0036] Optionally, the vehicle is provided with a switch for turning on or off the commuting function, and the driver can trigger the switch according to his own needs to turn on the commuting function. The above switch can be a physical switch set on the vehicle body, or a virtual switch of the display and the central control screen.

[0037] S202: Determine a target scene switching position matching the current position in the commuting map based on the current position of the vehicle.

[0038] The commuting map is an electronic map corresponding to the commuting area where vehicles pass, and the commuting map is marked with multiple scene switching positions. In addition, the commuting map includes a driving map and at least one parking lot map. Optionally, the commuting map includes multiple layers, the first layer displays a driving layer and at least one parking lot map, the annotated layer displays multiple scene switching positions, and the annotated layer can be displayed over the first layer. It should be noted that when the annotated layer is displayed over the first layer, its transparency is a preset transparency. For example, the preset transparency is 0. The generation process of the commuting map will be described in the following embodiments.

[0039] The target scene switching position refers to the position in the commuting area where the first scene switches to the second scene, that is, the connection position between the first scene and the second scene. The first scene is any one of the following: parking scene in a parking space, driving scene in a parking lot, driving scene on an urban road, and driving scene on a highway. The second scene is any one of the following: driving scene in a parking lot, driving scene on a highway, parking scene in a parking space, driving scene on a highway, and parking scene out of a parking space.

[0040] For example, if the first scene is a parking lot driving scene and the second scene is an urban road driving scene, the target scene switching position may be a road box in the parking lot.

[0041] In some embodiments, S202 includes the following process:

[0042] S2021, determining a first scene matching the current position based on the current position of the vehicle.

[0043] Optionally, the vehicle stores position intervals corresponding to different scenes, and the vehicle determines the scene corresponding to the position interval to which the current position belongs as the first scene.

[0044] Further, if the current position of the vehicle is in a parking lot, the vehicle obtains its own driving speed. If the driving speed is greater than or equal to the preset speed, it indicates that the vehicle is in a parking lot driving scene. If the driving speed is less than the preset speed, it indicates that the vehicle is in a parking lot parking scene (parking space parking entry scene or parking space parking exit scene). The preset speed is set based on experiments or experience, and the embodiments of the present application are not limited to this. For example, the preset speed is 20km / h. Further, if it is determined that the vehicle is in a parking lot parking scene, it is detected whether the vehicle has a driving trajectory within the past preset time period. If so, it indicates that the vehicle is in a parking space parking entry scene. If not, it indicates that the vehicle is in a parking space parking scene. When it is determined that the vehicle is in a parking space parking entry scene, it indicates that the vehicle's journey is about to end, and the subsequent steps are not executed at this time.

[0045] S2022: Read at least one scene switching position corresponding to the first scene in the commuting map.

[0046] The vehicle reads at least one scene switching position corresponding to the first scene on the annotation layer of the commuting map.

[0047] In the case where the first scene is a parking exit scene, at least one scene switching position corresponding to the first scene includes a scene switching position between a parking exit scene and a parking lot driving scene, and a scene switching position between a parking exit scene and an urban road driving scene. In the case where the first scene is a parking lot driving scene, at least one scene switching position corresponding to the first scene includes: a scene switching position between a parking lot driving scene and an urban road driving scene, and a scene switching position between a parking lot driving scene and a parking entry scene. In the case where the first scene is an urban road driving scene, at least one scene switching position corresponding to the first scene includes: a scene switching position between an urban road driving scene and a highway driving scene, a scene switching position between an urban road driving scene and a parking lot driving scene, and a scene switching position between an urban road driving scene and a parking entry scene. In the case where the first scene is a highway driving scene, at least one scene switching position corresponding to the first scene includes: a scene switching position between a highway driving scene and an urban road driving scene.

[0048] S2023: Match the current position of the vehicle with at least one scene switching position corresponding to the first scene to obtain a target scene switching position.

[0049] In some embodiments, the vehicle first determines the scene switching positions that are within the planned path of the vehicle and that the vehicle has not passed through as candidate scene switching positions, and then obtains the distance between each candidate scene switching position and the current position, and determines the candidate scene switching position whose distance from the current position is less than a preset distance as the target scene switching position. The preset distance is set based on experiments or experience, for example, the preset distance is 5 meters.

[0050] S203: If there is a target scene switching position that matches the current position of the vehicle, it is determined that the current driving scene of the vehicle is switched to the second scene, and the vehicle is controlled to call the intelligent driving function corresponding to the second scene for driving control.

[0051] If the current position of the vehicle matches the target scene switching position, it means that the vehicle is about to enter the second scene, and the vehicle calls the intelligent driving function corresponding to the second scene for driving control. For example, if the first scene is a parking lot driving scene and the second scene is an urban road driving scene, the intelligent driving function called by the vehicle switches from AVP to urban NDA.

[0052] If there is no target scene switching position matching the current position, the vehicle continues to monitor whether it is about to switch to the second scene, that is, execution starts again from S201.

[0053] To sum up, according to the technical solution provided by the embodiment of the present application, when the vehicle is traveling in different sub-areas of the commuting area, the vehicle can monitor whether there is a target scene switching position that matches the current position of the vehicle based on a pre-established commuting map, and then determine whether the current driving scene of the vehicle is about to switch from the first scene to the second scene. If so, the intelligent driving function corresponding to the second scene is called to perform driving control. In this way, during the entire commuting process, the driver does not need to make multiple selection operations, which reduces the operational complexity of selecting the intelligent driving function during the vehicle's commuting process and improves driving efficiency.

[0054] Vehicles need to use electronic maps to achieve assisted driving during commuting. However, on the one hand, high-precision maps usually do not cover parking areas. On the other hand, when roads are updated, high-precision maps need to adapt to the updates. However, the update cycle of high-precision maps is difficult to meet the frequent use needs of commuting scenarios.

[0055] Based on the above problems, an embodiment of the present application provides a self-map solution for application in general scenarios. A driving map involving the commuting area or / and a parking map involving the commuting area is obtained by mapping the first layer, and the scene switching positions between different scenes are marked on the annotation layer. This can get rid of the constraints of high-precision maps and achieve full-scene map coverage of the commuting area. In addition, the vehicle can also monitor whether it is about to switch to other scenes based on the scene switching position marked by the annotation layer to select the corresponding intelligent driving function. During the entire commuting process, the driver does not need to make multiple selection operations, which reduces the operational complexity of selecting the intelligent driving function during the vehicle commuting process and improves driving efficiency.

[0056] The following is an explanation of the generation process of the commuting map. It should be noted that the commuting map can be generated by the vehicle or by a server that is in communication with the vehicle. The embodiment of the present application only uses the vehicle to generate the commuting map for illustration. The generation process of the commuting map includes the following steps.

[0057] S301, identifying a commuting area where vehicles pass.

[0058] The commuting area of ​​a vehicle refers to the area between the driver's home and workplace.

[0059] In some embodiments, the vehicle determines the area where the vehicle travels most frequently on weekdays as the commuting area. Further, the vehicle determines the area where the vehicle travels most frequently during a specified time period on weekdays as the commuting area. The specified time period is set based on experience, such as 7:00 a.m. to 9:30 a.m.

[0060] Specifically, when a vehicle is traveling during a specified time period on a weekday, it records its own driving trajectory, and determines the roads and parking lots where the driving trajectory is located as the candidate commuting area of ​​the vehicle. Then, the number of occurrences of each candidate commuting area in the recent period is counted, and the candidate commuting area with the most occurrences is determined as the commuting area of ​​the vehicle. The recent period can be the recent month, the recent three months, the recent six months, etc.

[0061] In other embodiments, the vehicle acquires a first location tagged with a first designated tag, acquires a second location tagged with a second designated tag, and the vehicle driving area between the first location and the second location is determined as a commuting area. The first designated tag may be "home", "residence", etc. The second designated tag is "company". Optionally, if there are multiple vehicle driving areas between the first location and the second location, the vehicle may determine the vehicle driving area with the most driving times as the commuting area, or may determine all vehicle driving areas as the commuting area.

[0062] S302, when the vehicle is traveling in a commuting area, map generation elements of the commuting area are collected.

[0063] Map generation elements include road topology information, driving semantic information, and parking semantic information.

[0064] Road topology information includes road boundaries, lane lines, intersections, etc. When a vehicle is traveling on a road, the road topology information can be collected through the vehicle-mounted sensing system on the vehicle. In other possible implementations, the vehicle can also send a first information acquisition request to the server, and the first information acquisition request carries relevant information about the roads in the commuting area, including the road name, the specified location in the road (the location of the two endpoints where the road overlaps with the commuting area), and the server returns the road topology information to the vehicle based on the information acquisition request. The above-mentioned server can be a background server corresponding to a map application, or a background server corresponding to a navigation application.

[0065] Driving semantic information includes traffic indication information of roads in the commuting area, such as traffic lights, stop lines, speed limit information, etc. When a vehicle is driving on a road, it can collect road topology information through the vehicle-mounted sensing system on the vehicle, or send a second information acquisition request to the server. The second information acquisition request carries relevant information of the roads in the commuting area, including the road name and the specified position in the road (the positions of the two end points of the road overlapping the commuting area). The server returns the road topology information to the vehicle according to the second information acquisition request.

[0066] Parking semantic information includes elements in the parking lot that affect parking, such as parking space lines, pillars, fire hydrants, walls, etc. When a vehicle is driving in the parking lot, the parking semantic information can be collected through the vehicle-mounted sensing system.

[0067] It should be noted that, during the next driving process after the vehicle recognizes the commuting area, if the driving process is within the commuting area, S302 is executed.

[0068] S303, performing mapping processing on the map generation elements of the commuting area to obtain a commuting map.

[0069] In some embodiments, S303 includes the following process.

[0070] S3031, performing mapping processing on the first layer based on the map generation elements of the commuting area to obtain a driving map of the commuting area, and / or a parking map of the commuting area.

[0071] Optionally, the vehicle uses a first mapping algorithm to map the road topology information and driving semantic information on the first layer to obtain a driving map of the commuting area.

[0072] The first mapping algorithm may be a filter-based mapping algorithm, a graph optimization-based mapping algorithm, a registration-based mapping algorithm, and a deep learning-based mapping algorithm, which is not limited in the embodiments of the present application.

[0073] Optionally, the vehicle uses a second mapping algorithm to map the parking semantic information on the first layer to obtain a parking lot map of the commuting area.

[0074] The second mapping algorithm can be a mapping algorithm based on a filter, a mapping algorithm based on graph optimization, a mapping algorithm based on registration, and a mapping algorithm based on deep learning, which is not limited in the embodiments of the present application. The second mapping algorithm and the first mapping algorithm may be the same or different. In the embodiments of the present application, the vehicle uses different mapping algorithms to respectively establish a driving map of the commuting area and a parking map of the commuting area, which can solve the limitation that the current driving map and the parking map are difficult to unify.

[0075] In other possible implementations, the vehicle may also generate a driving map of the commuting area and a parking map of the commuting area on different layers, which is not limited in this embodiment of the present application.

[0076] S3033, marking multiple scene switching positions on the annotation layer.

[0077] In some embodiments, the vehicle determines the location of the parking lot exit gate as the scene switching location between the parking lot driving scene and the urban road driving scene. In other embodiments, during the driving process of the vehicle, the vehicle obtains the proportion of the area occupied by the urban road semantic information in the first preset area. If the proportion is greater than the first ratio, the current location of the vehicle is determined as the scene switching location between the parking lot driving scene and the urban road driving scene. The first preset area refers to a grid area with a preset area including the vehicle. The first ratio is set according to experiments or experience. For example, the first ratio is 20%.

[0078] Combined with reference Figure 4 , which shows a schematic diagram of determining a scene switching position provided by an embodiment of the present application. Figure 4 In the embodiment, the area 41 occupied by the urban road semantic information is composed of 6 irregular areas, and the ratio between the area 41 and the first preset area 42 is 20%, so the current position of the vehicle is determined as the scene switching position between the parking lot driving scene and the urban road driving scene.

[0079] In some embodiments, the vehicle determines the location of the highway toll entrance gate as the scene switching position between the urban road driving scene and the highway driving scene.

[0080] In some embodiments, the vehicle determines the location of the highway toll exit gate as the scene switching position between the highway driving scene and the urban road driving scene.

[0081] In some embodiments, the vehicle determines the location of the parking lot entrance gate as the scene switching location between the urban road driving scene and the parking lot driving scene. In other embodiments, during the driving process of the vehicle, the vehicle obtains the proportion of the area occupied by the urban road semantic information in the second preset area. If the proportion is less than the first ratio, the current location of the vehicle is determined as the scene switching location between the urban road driving scene and the parking lot driving scene. The second preset area refers to an area with a preset area including the vehicle. The second ratio is set according to experiments or experience. For example, the second ratio is 20%.

[0082] In some embodiments, when a vehicle is driving out of a parking space, if the length direction of the parking space is perpendicular to the driving direction of the vehicle, the current position of the vehicle is determined as the scene switching position between the parking space exit scene and the parking lot driving scene.

[0083] In some embodiments, when the vehicle is in a parking lot, if the vehicle's driving gear is switched to reverse gear, the vehicle's current position is determined as the scene switching position between the parking lot driving scene and the parking space parking scene. In other embodiments, when the vehicle detects a parking space, the vehicle's current position is determined as the scene switching position between the parking lot driving scene and the parking space parking scene. The above-mentioned parking space can be a fixed parking space or a mobile parking space selected by the user.

[0084] Combined with reference Figure 5 , which shows a schematic diagram of an annotation layer provided by an embodiment of the present application. The annotation layer is annotated with a scene switching position 51 between a parking lot exiting scene and a parking lot driving scene, a scene switching position 52 between a parking lot driving scene and an urban road driving scene, a scene switching position 53 between an urban road driving scene and a highway driving scene, a scene switching position 54 between a highway driving scene and an urban road driving scene, a scene switching position 55 between an urban road driving scene and a parking lot driving scene, and a scene switching position 56 between a parking lot driving scene and a parking space parking scene.

[0085] In some embodiments, the annotation layer also annotates the intelligent driving functions corresponding to different scenarios, so that the arbitration module can query the intelligent driving function that needs to be used in the current scenario of the vehicle based on the annotation layer. Figure 5 ,exist Figure 5 In the embodiment, the intelligent driving function corresponding to the parking space parking entry scenario and the parking space parking exit scenario is APA, the intelligent driving function corresponding to the parking lot driving scenario is AVP, the intelligent driving function corresponding to the urban road driving scenario is urban NDA, and the intelligent driving function corresponding to the highway driving scenario is highway NDA.

[0086] S3034, determining a commuting map based on the first layer and the annotation layer.

[0087] The first layer and the annotation layer constitute the commuting map. It should be noted that since one driving process may not cover the entire commuting area, the above steps S302-S303 are usually not steps performed in one driving process, but steps that need to be performed in multiple driving processes after identifying the commuting area until a complete commuting map is generated.

[0088] To sum up, the technical solution provided by the embodiment of the present application builds a map on the first layer to obtain a driving map involving the commuting area and a parking map involving the commuting area, and marks the scene switching positions between different scenes on the annotation layer. This can get rid of the constraints of high-precision maps and achieve full-scene map coverage of the commuting area. In addition, the vehicle can also monitor whether it is about to switch to other scenes based on the scene switching position marked by the annotation layer to select the corresponding intelligent driving function. During the entire commuting process, the driver does not need to make multiple selection operations, which reduces the operational complexity of selecting intelligent driving functions during vehicle commuting and improves driving efficiency.

[0089] Please refer to Figure 6 , which shows a block diagram of a device for controlling vehicle travel provided by an embodiment of the present application. The device includes: a position acquisition module 610, a matching module 620, and a travel control module 630.

[0090] The position acquisition module 610 is used to acquire the current position of the vehicle while the vehicle is traveling.

[0091] The position determination module 620 is used to determine a target scene switching position that matches the current position in the commuting map based on the current position of the vehicle; the commuting map is an electronic map corresponding to the commuting area through which the vehicle passes, and the commuting map is marked with multiple scene switching positions. The target scene switching position refers to the position where the driving scene of the vehicle in the commuting area switches from the first scene to the second scene; wherein the vehicle is equipped with an intelligent driving function corresponding to the second scene.

[0092] The driving control module 630 is used to determine that the current driving scene of the vehicle is switched to the second scene if there is a target scene switching position that matches the current position of the vehicle, and control the vehicle to call the intelligent driving function corresponding to the second scene for driving control.

[0093] In some embodiments, the matching module 620 is used to determine a first scene that matches the current position based on the current position of the vehicle; read at least one scene switching position corresponding to the first scene in the commuting map; match the current position of the vehicle with at least one scene switching position corresponding to the first scene to obtain a target scene switching position.

[0094] In some embodiments, the first scene is any one of the following: parking space parking exit scene, parking lot driving scene, highway driving scene, urban road driving scene; the second scene is any one of the following: parking lot driving scene, highway driving scene, parking space parking entry scene, highway driving scene, parking space parking exit scene.

[0095] In some embodiments, the device further includes: a mapping module (not shown in the figure). The mapping module is used to identify the commuting area where the vehicle passes; when the vehicle travels in the commuting area, collect map generation elements of the commuting area; wherein the map generation elements include at least one of the following: road topology information, driving semantic information, parking semantic information; map generation elements of the commuting area are processed to obtain a commuting map.

[0096] In some embodiments, a mapping module is used to perform mapping processing on a first layer based on map generation elements of a commuting area to obtain a driving map of the commuting area, or / and a parking map of the commuting area; mark multiple scene switching positions on a marking layer; and determine a commuting map based on the first layer and the marking layer.

[0097] In some embodiments, a mapping module is used to determine the area where vehicles travel the most on weekdays as a commuting area; or / and, obtain a first location labeled with a first specified label, obtain a second location labeled with a second specified label, and determine the vehicle driving area between the first location and the second location as a commuting area.

[0098] In some embodiments, the location acquisition module 610 is used to acquire the navigation destination of the vehicle; when the navigation destination of the vehicle is within the commuting area, the step of acquiring the current location of the vehicle is performed.

[0099] In some embodiments, the location acquisition module 610 is used to detect whether the commuting function of the vehicle is in an on state or an off state; if the commuting function of the vehicle is in an on state, the step of acquiring the current location of the vehicle is executed.

[0100] To sum up, according to the technical solution provided by the embodiment of the present application, when the vehicle is traveling in different sub-areas of the commuting area, the vehicle can monitor whether there is a target scene switching position that matches the current position of the vehicle based on a pre-established commuting map, and then determine whether the current driving scene of the vehicle is about to switch from the first scene to the second scene. If so, the intelligent driving function corresponding to the second scene is called to perform driving control. In this way, during the entire commuting process, the driver does not need to make multiple selection operations, which reduces the operational complexity of selecting the intelligent driving function during the vehicle's commuting process and improves driving efficiency.

[0101] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0102] In several embodiments provided in the present application, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0103] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0104] See also Figure 7 , which shows that the embodiment of the present application also provides a vehicle 700, which includes: one or more processors 710, a memory 720, an ultrasonic radar, a laser radar, and one or more applications. Among them, the one or more applications are stored in the memory 720 and are configured to be executed by the one or more processors 710, and the one or more applications are configured to execute the method described in the above embodiment.

[0105] The processor 710 may include one or more processing cores. The processor 710 uses various interfaces and lines to connect various parts of the entire battery management system, and executes various functions and processes data of the battery management system by running or executing instructions, programs, code sets or instruction sets stored in the memory 720, and calling data stored in the memory 720. Optionally, the processor 710 can be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 710 can integrate one or more combinations of a central processing unit 710 (CPU), a graphics processing unit 710 (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 710, but may be implemented separately through a communication chip.

[0106] The memory 720 may include a random access memory 720 (Random Access Memory, RAM), and may also include a read-only memory 720 (Read-Only Memory). The memory 720 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 720 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described below, etc. The data storage area may also store data created by the electronic device during use (such as a phone book, audio and video data, chat record data), etc.

[0107] An embodiment of the present application further provides a computer-readable storage medium, in which computer program instructions are stored. The computer program instructions can be called by a processor to execute the method described in the above embodiment.

[0108] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for computer program instructions for executing any of the method steps of the above method. These computer program instructions may be read from or written to one or more computer program products.

[0109] The above are only preferred embodiments of the present application, and are not intended to limit the present application in any form. Although the present application has been disclosed as above with preferred embodiments, it is not intended to limit the present application. Any technical personnel in the field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present application. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A method for controlling vehicle travel, characterized in that: The method comprises: During the driving process of the vehicle, the current position of the vehicle is obtained; Determining a target scene switching position matching the current position in a commuting map based on the current position of the vehicle; the commuting map is an electronic map corresponding to a commuting area through which the vehicle passes, the commuting map being marked with a plurality of scene switching positions, the target scene switching position being a position where the driving scene of the vehicle in the commuting area switches from a first scene to a second scene; wherein the vehicle is equipped with an intelligent driving function corresponding to the second scene; If there is a target scene switching position that matches the current position of the vehicle, it is determined that the current driving scene of the vehicle is switched to the second scene, and the vehicle is controlled to call the intelligent driving function corresponding to the second scene for driving control.

2. The method according to claim 1, characterized in that The determining, based on the current position of the vehicle, in the commuting map, a target scene switching position that matches the current position includes: Determining a first scene matching the current position based on the current position of the vehicle; reading at least one scene switching position corresponding to the first scene in the commuting map; The current position of the vehicle is matched with at least one scene switching position corresponding to the first scene to obtain the target scene switching position.

3. The method according to claim 2, characterized in that The first scene is any one of the following: parking space parking exit scene, parking lot driving scene, highway driving scene, urban road driving scene; the second scene is any one of the following: parking lot driving scene, highway driving scene, parking space parking entry scene, highway driving scene, parking space parking exit scene.

4. The method according to any one of claims 1 to 3, characterized in that The steps of generating the commuting map include: identifying a commuting area traveled by the vehicle; When the vehicle is traveling in the commuting area, map generation elements of the commuting area are collected; wherein the map generation elements include at least one of the following: road topology information, driving semantic information, and parking semantic information; The map generation elements of the commuting area are processed to obtain the commuting map.

5. The method according to claim 4, characterized in that The step of performing mapping processing on the map generation elements of the commuting area to obtain the commuting map includes: Performing mapping processing on the first layer based on the map generation elements of the commuting area to obtain a driving map of the commuting area, or / and a parking lot map of the commuting area; Marking a plurality of scene switching positions on the marking layer; The commuting map is determined based on the first layer and the annotation layer.

6. The method according to claim 4, characterized in that The identifying the commuting area comprises: Determine the area where the vehicle travels most frequently on weekdays as the commuting area; or / and, A first location tagged with a first designated tag is acquired, a second location tagged with a second designated tag is acquired, and a vehicle driving area between the first location and the second location is determined as the commuting area.

7. The method according to any one of claims 1 to 3, characterized in that The obtaining of the current position of the vehicle comprises: Obtaining the navigation destination of the vehicle; In a case where the navigation destination of the vehicle is within the commuting area, the step of acquiring the current position of the vehicle is performed.

8. The method according to any one of claims 1 to 3, characterized in that The obtaining of the current position of the vehicle comprises: detecting whether a commuting function of the vehicle is on or off; If the commuting function of the vehicle is in the on state, the step of obtaining the current position of the vehicle is performed.

9. A device for controlling vehicle travel, characterized in that: The device comprises: A position acquisition module is used to obtain the current position of the vehicle during the driving process of the vehicle; A matching module, configured to determine, based on the current position of the vehicle, a target scene switching position that matches the current position in a commuting map; the commuting map is an electronic map corresponding to a commuting area through which the vehicle passes, the commuting map being marked with a plurality of scene switching positions, the target scene switching position being a position where the driving scene of the vehicle in the commuting area switches from a first scene to a second scene; wherein the vehicle is configured with an intelligent driving function corresponding to the second scene; A driving control module is used to determine that the current driving scene of the vehicle is switched to a second scene if there is a target scene switching position that matches the current position of the vehicle, and control the vehicle to call the intelligent driving function corresponding to the second scene for driving control.

10. A vehicle, characterized in that: include: one or more processors; Memory; One or more applications, wherein one or more of the applications are stored in the memory and configured to be executed by one or more of the processors, and one or more of the applications are configured to execute the method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and the computer program instructions can be called by a processor to execute the method according to any one of claims 1 to 8.

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