Method, device, vehicle and storage medium for controlling travel of a vehicle

Abstract

The application discloses a method and device for controlling vehicle driving, a vehicle and a storage medium. The method comprises: obtaining a current position of the vehicle during driving 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 at which a driving scene of the vehicle in a commuting area is switched from a first scene to a second scene; the vehicle is configured with an intelligent driving function corresponding to the second scene; if there is a target scene switching position matched with 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 to perform driving control. The technical scheme provided in the embodiment of the application does not require the driver to perform selection operation multiple times in the whole commuting process, reduces the operation complexity of selecting the intelligent driving function in the vehicle commuting process, and improves driving efficiency.

Description

TECHNICAL FIELD

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

[0002] The area between the home and the work site driven by the driver is the commuting area, which usually covers multiple sub-areas such as parking lots, urban roads, and highways.

[0003] When the vehicle drives in different sub-areas of the commuting area, different assisted driving functions need to be used. For example, in the parking lot parking scenario, the assisted driving function used by the vehicle is the auto parking assist system (APA); for example, in the urban road driving scenario, the assisted driving function used by the vehicle is the navigated driving assist system (NDA).

[0004] In the related art, when the vehicle drives in different sub-areas of the commuting area, the driver manually selects the corresponding assisted driving function, so that the driver needs to perform selection operations multiple times during the entire commuting process, which is complex and inefficient. SUMMARY

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

[0006] In a first aspect, the present application provides a method for controlling vehicle driving, which comprises: obtaining the current position of the vehicle during the driving process of the vehicle; determining the target scene switching position matched with 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 where the vehicle passes through, 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 is switched from the first scene to the second scene; wherein the vehicle is configured with the intelligent driving function corresponding to the second scene; if there is a target scene switching position matched with 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 configured to acquire a current position of the vehicle during driving of the vehicle; a matching module configured to determine a target scene switching position matched with the current position of the vehicle in a commuting map based on the current position of the vehicle, the commuting map being an electronic map corresponding to a commuting area in which the vehicle travels, the commuting map being marked with a plurality of scene switching positions, and the target scene switching position being a position at which a driving scene of the vehicle in the commuting area is switched from a first scene to a second scene; and a driving control module configured to determine that the current driving scene of the vehicle is switched to the second scene if the target scene switching position matched with the current position of the vehicle exists, and control the vehicle to invoke the intelligent driving function corresponding to the second scene to perform 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 application programs stored in the memory and configured to be executed by the one or more processors, the one or more application programs being configured to perform the method of the first aspect.

[0009] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium storing computer program instructions, the computer program instructions being executable by a processor to perform the method of the first aspect.

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

[0011] Compared with the prior art, the technical solution provided by the embodiment of the present application can monitor whether there is a target scene switching position matched with the current position of the vehicle based on the pre-established commuting map when the vehicle drives in different sub-areas of the commuting area, and then determine whether the current driving scene of the vehicle is about to be switched from a first scene to a second scene, and if so, invoke the intelligent driving function corresponding to the second scene to perform driving control. In this way, the driver does not need to perform selection operations multiple times during the entire commuting process, the operation complexity of selecting the intelligent driving function during the vehicle commuting process is reduced, and the driving efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

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

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

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

[0016] Figure 4 is Figure 3 is a schematic diagram of determining a scene switching position involved in an embodiment.

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

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

[0019] Figure 7 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 will be described in detail below with reference to the drawings, in which the same or similar components are denoted by the same or similar reference numerals, and therefore repeated description is omitted. The embodiments described below are exemplary only, and are used only for explaining the present application, and should not be understood as limiting the present application.

[0021] In order to enable those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0022] Reference is made 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 embodiments of the present application, the vehicle 100 includes an arbitration module, which is configured to determine a current scene in which the vehicle 100 is located, and invoke a corresponding intelligent driving function based on the current scene in which the vehicle 100 is located.

[0023] The scenario in which the vehicle is located is a scenario involved in the commuting area of the vehicle, which can include a parking space parking-out scenario, a parking lot driving scenario, an urban road driving scenario, a highway driving scenario, a parking space parking-in scenario, and the like. Among them, the parking lot parking scenario (including the parking space parking-in scenario and the parking space parking-out scenario) corresponds to the intelligent driving function of the automatic parking assistance system (APA); the parking lot driving scenario corresponds to the intelligent driving function of the automated valet parking (AVP) technology; the urban road driving scenario corresponds to the intelligent driving function of the urban navigated driving assistance system (NDA), and the highway driving scenario corresponds to the intelligent driving function of the highway NDA.

[0024] APA is an important driving assistance function in modern automotive technology. It uses advanced sensor technology, such as ultrasonic radar, to perceive the parking environment around the vehicle, helping the driver to automatically find a suitable parking space, and under the monitoring of the driver, automatically controls the vehicle to complete the parking process. AVP is a low-speed L4 level of autonomous driving technology, which breaks through the boundaries of traditional driving, enabling vehicles to autonomously navigate through the streets of the city without the need for driver operation, completing all driving tasks such as overtaking, reversing, avoiding pedestrians, etc. Urban NDA refers to autonomous overtaking, lane changing, on-ramp, off-ramp, and merging into the main road on urban roads according to the guidance of the navigation path or the surrounding traffic environment. Highway NDA refers to autonomous overtaking, lane changing, on-ramp, off-ramp, and merging into the main road on highways according to the guidance of the navigation path or the surrounding traffic environment.

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

[0026] In some embodiments, the mapping module adopts different mapping algorithms to establish the parking lot map and the driving map respectively. The specific mapping process will be described in the following embodiments. In the embodiments of the present application, the mapping module further sets a labeling layer to label the scene switching positions between different scenes. In this way, when the vehicle drives in the commuting area, the vehicle can monitor the scene in which the vehicle is located and call the corresponding intelligent driving function to realize point-to-point commuting.

[0027] In the embodiments of the present application, the vehicle 100 further comprises a vehicle-mounted perception system. The vehicle-mounted perception system is used to detect the environmental information around the vehicle 100, including but not limited to the environmental image around the vehicle 100, the distance between the vehicle 100 and the obstacle, the shape of the obstacle, the speed, the direction, and the like. The vehicle-mounted perception system can include an image acquisition device (such as a driving recorder) arranged on the vehicle 100, a vehicle-mounted radar (such as a laser radar, a millimeter wave radar, an ultrasonic radar), and the like.

[0028] The embodiments of the present application provide a method for controlling vehicle driving. When the vehicle drives in different sub-areas of the commuting area, the vehicle can monitor whether there is a target scene switching position matching the current position of the vehicle based on the pre-established commuting map, and then judge whether the current driving scene of the vehicle is about to be switched from a first scene to a 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 perform selection operation multiple times, the operation complexity of selecting the intelligent driving function during the vehicle commuting process is reduced, and the driving efficiency is improved. In addition, since the intelligent driving functions corresponding to different scenes are all automatically selected by the vehicle, the user does not need to accurately identify various intelligent driving functions, and the user does not need to have a clear cognition of the boundaries of the intelligent driving functions, thereby reducing 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 comprises the following processes.

[0030] S201, in the driving process of the vehicle, the current position of the vehicle is acquired.

[0031] In the driving process of the vehicle, the vehicle can determine the current driving scene of the vehicle, 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 a positioning module. The positioning module can be a Global Positioning System (GPS) module. In some embodiments, if the signal strength of the GPS module is less than a preset strength, the vehicle can obtain its current position through other positioning methods, including but not limited to a UWB positioning method, a Bluetooth positioning method, and the like. The preset strength can be set according to actual experience, and the embodiments of the present application are not limited thereto. In the case where the signal of the GPS module is weak (for example, the vehicle is driving in an indoor parking lot), the positioning accuracy through the GPS module is poor, and at this time the vehicle uses other positioning methods to improve the positioning accuracy.

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

[0034] In some embodiments, the vehicle obtains a navigation end point, and obtains the current position of the vehicle in the case where the navigation end point is in the commuting area. Optionally, the display module of the vehicle displays a user interface of a navigation application, and the driver can input the navigation end point on the user interface. Alternatively, the driver issues a voice instruction, and the vehicle can recognize the navigation end point in the voice instruction. When the vehicle obtains the navigation end point, the vehicle can obtain the position information corresponding to the navigation end point, and then detect whether the position information corresponding to the navigation end point falls within the position range corresponding to the commuting area. If the position information corresponding to the navigation end point falls within the position range corresponding to the commuting area, it indicates that the navigation end point is in the commuting area. In this way, the vehicle can avoid executing the method steps involved in the embodiments of the present application in other areas outside the commuting area, and the energy consumption of the vehicle can be saved.

[0035] In some embodiments, the vehicle detects whether the commuting function is in an open state or a closed state, and obtains the current state of the vehicle in the case where the commuting function is in the open state. The commuting function refers to the function of the vehicle driving in the commuting area and selecting the corresponding intelligent driving function according to the scene in which the vehicle is located. Optionally, the vehicle includes a flag bit of the commuting function, and the vehicle determines whether the commuting function is in the open state or the closed 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 the open state, and the first value can 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 the closed state. The second value can be 0.

[0036] Optionally, the vehicle is provided with a switch for opening or closing the commuting function, and the driver can trigger the switch according to the needs of the driver to open the commuting function. The switch can be a physical switch provided on the vehicle body, or a virtual switch provided on the display and center screen.

[0037] S202, determining 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 a commuting area where the vehicle travels. The commuting map is marked with a plurality of scene switching positions. In addition, the commuting map includes a driving map and at least one parking lot map. Optionally, the commuting map includes a plurality of layers. The first layer displays the driving map and the at least one parking lot map. The marking layer displays a plurality of scene switching positions. The marking layer can be displayed on the first layer. It should be noted that when the marking layer is displayed on the first layer, the transparency is a preset transparency. For example, the preset transparency is 0. The generation process of the commuting map will be described in the embodiments below.

[0039] The target scene switching position refers to a position in the commuting area where the first scene is switched to the second scene, i.e., a position where the first scene and the second scene are connected. The first scene is any one of the following: a parking space parking scene, a parking lot driving scene, an urban road driving scene, and a highway driving scene. The second scene is any one of the following: a parking lot driving scene, a highway driving scene, a parking space parking-in scene, a highway driving scene, and a parking space parking-out scene.

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

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

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

[0043] Optionally, the vehicle stores a position interval corresponding to different scenes. 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 the parking lot, the vehicle obtains the driving speed of the vehicle. If the driving speed is greater than or equal to a preset speed, it indicates that the vehicle is in the parking lot driving scene. If the driving speed is less than the preset speed, it indicates that the vehicle is in the parking lot parking scene (parking space parking-in scene or parking space parking-out scene). The preset speed is set according to experiments or experience, which is not limited in the embodiments of the present application. For example, the preset speed is 20 km / h. Further, if it is determined that the vehicle is in the parking lot parking scene, it is detected whether there is a driving trajectory of the vehicle in the past preset time. If there is, it indicates that the vehicle is in the parking space parking-in scene. If there is not, it indicates that the vehicle is in the parking space parking-out scene. In the case where it is determined that the vehicle is in the parking space parking-in scene, it indicates that the journey of the vehicle is about to end, and the subsequent steps are not performed.

[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 a case where the first scene is a parking space parking-out scene, the at least one scene switching position corresponding to the first scene includes a scene switching position between the parking space parking-out scene and a parking lot driving scene, and a scene switching position between the parking space parking-out scene and an urban road driving scene. In a case where the first scene is a parking lot driving scene, the at least one scene switching position corresponding to the first scene includes a scene switching position between the parking lot driving scene and an urban road driving scene, and a scene switching position between the parking lot driving scene and a parking space parking-in scene. In a case where the first scene is an urban road driving scene, the at least one scene switching position corresponding to the first scene includes a scene switching position between the urban road driving scene and a highway driving scene, a scene switching position between the urban road driving scene and a parking lot driving scene, and a scene switching position between the urban road driving scene and a parking space parking-in scene. In a case where the first scene is a highway driving scene, the at least one scene switching position corresponding to the first scene includes a scene switching position between the highway driving scene and an urban road driving scene.

[0048] S2023, match the current position of the vehicle with the 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 a scene switching position that is in the planned path of the vehicle for this time and has not been passed by the vehicle as a candidate scene switching position, and then obtains the distance between each candidate scene switching position and the current position, and determines a candidate scene switching position with a distance less than a preset distance from the current position as the target scene switching position. The preset distance is set according to experiments or experience, for example, the preset distance is 5 meters.

[0050] S203, if there is a target scene switching position matching 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, at which time the vehicle calls the intelligent driving function corresponding to the second scene for driving control. For example, the first scene is a parking lot driving scene, and the second scene is an urban road driving scene, and the intelligent driving function called by the vehicle is switched from AVP to urban NDA.

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

[0053] To sum up, the technical scheme provided by the embodiments of the present application, when the vehicle travels in different sub-areas of the commuting area, the vehicle can monitor whether there is a target scene switching position matching the current position of the vehicle based on the 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 perform selection operation multiple times, the operation complexity of selecting the intelligent driving function during the vehicle commuting process is reduced, and the driving efficiency is improved.

[0054] The vehicle needs to use an electronic map to realize assisted driving during commuting. However, on the one hand, a high-precision map usually does not cover the parking lot area, and on the other hand, when the road is updated, the high-precision map needs to adapt to the update. However, the update cycle of the high-precision map cannot meet the frequent use demand of the commuting scene.

[0055] Based on the above problems, the embodiments of the present application provide a self-built map scheme applied to a general scene. A driving map related to a commuting area or / and a parking lot map related to a commuting area is obtained by mapping in a first layer, and scene switching positions between different scenes are labeled in a label layer. In this way, the high-precision map can be abandoned, and full-scene map coverage of the commuting area can be realized. In addition, the vehicle can also monitor whether it is about to switch to other scenes based on the scene switching positions labeled by the label layer, so as to select the corresponding intelligent driving function. During the entire commuting process, the driver does not need to perform selection operation multiple times, the operation complexity of selecting the intelligent driving function during the vehicle commuting process is reduced, and the driving efficiency is improved.

[0056] The generation process of the commuting map will be described below. It should be noted that the commuting map can be generated by the vehicle or by a server in communication connection with the vehicle. The embodiments of the present application only take the vehicle to generate the commuting map for illustration. The generation process of the commuting map includes the following steps.

[0057] S301, identify a commuting area passed by the vehicle.

[0058] The commuting area of the vehicle refers to the area between the home and the workplace driven by the driver.

[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 according to experience, such as 7-9:30 am.

[0060] Specifically, the vehicle records its own travel trajectory when it travels during the specified time period on weekdays, and determines the road, parking lot, etc. where the travel trajectory is located as the candidate commuting area of the vehicle, and then counts the number of occurrences of each candidate commuting area in the recent period of time, and determines the candidate commuting area with the most occurrences as the commuting area of the vehicle. The recent period of time can be the last month, the last three months, the last half year, etc.

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

[0062] S302, in the case where the vehicle travels in the commuting area, collecting map generation elements of the commuting area.

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

[0064] The road topology information includes road boundaries, lane lines, intersections, etc. The vehicle can collect the road topology information through the vehicle-mounted perception system when the vehicle travels on the road. In other possible implementations, the vehicle can also send a first information acquisition request to a server, the first information acquisition request carrying relevant information of the road in the commuting area, including the road name, the specified positions in the road (the positions of the two endpoints of the road overlapping with the commuting area), the server returning the road topology information to the vehicle according to 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] The driving semantic information includes traffic indication information of a road in the commuting area, such as a traffic light, a stop line, speed limit information, and the like. When the vehicle is driving on the road, the road topology information can be collected by a vehicle-mounted perception system carried on the vehicle, or a second information acquisition request carrying relevant information of the road in the commuting area, including a road name and a specified position in the road (positions of two endpoints of the road overlapping the commuting area), can be sent to the server, and the server returns the road topology information to the vehicle according to the second information acquisition request.

[0066] The parking semantic information includes elements in a parking lot that affect parking, such as a parking space line, a column, a fire hydrant, a wall, and the like. When the vehicle is driving in the parking lot, the parking semantic information can be collected by a vehicle-mounted perception system carried on the vehicle.

[0067] It should be noted that in the next driving process after the vehicle identifies the commuting area, if the driving process is in the commuting area, S302 is performed.

[0068] S303, mapping processing is performed 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, the mapping processing is performed on the map generation elements of the commuting area based on the first layer to obtain a driving map of the commuting area, or / and a parking lot map of the commuting area.

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

[0072] The first mapping algorithm can 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 are not limited in the embodiments of the present application.

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

[0074] The second mapping algorithm can 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 are not limited in the embodiments of the present application. The second mapping algorithm and the first mapping algorithm can be the same or different. In the embodiments of the present application, the vehicle uses different mapping algorithms to establish the driving map of the commuting area and the parking lot map of the commuting area, which can solve the limitation that the current driving map and the parking lot map are difficult to unify.

[0075] In other possible implementation manners, the vehicle can also generate a driving map of the commuting area and a parking lot map of the commuting area respectively in different layers, and the embodiments of the present application do not limit this.

[0076] S3033, mark the plurality of scene switching positions on the mark layer.

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

[0078] In combination with reference Figure 4 which shows a schematic diagram for determining the scene switching position provided by the embodiments of the present application. In Figure 4 In the embodiments, the area 41 occupied by the urban road semantic information is composed of 6 irregular areas, and the ratio between the area 41 and a 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 position of the entrance gate of the highway toll as the scene switching position between the urban road driving scene and the highway driving scene.

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

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

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

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

[0084] In combination with reference Figure 5 FIG. 1 shows a schematic diagram of a marking layer provided by an embodiment of the present application. The marking layer marks the scene switching position 51 between the parking lot parking-out scene and the parking lot driving scene, the scene switching position 52 between the parking lot driving scene and the urban road driving scene, the scene switching position 53 between the urban road driving scene and the highway driving scene, the scene switching position 54 between the highway driving scene and the urban road driving scene, the scene switching position 55 between the urban road driving scene and the parking lot driving scene, and the scene switching position 56 between the parking lot driving scene and the parking space parking-in scene.

[0085] In some embodiments, the marking layer further marks the intelligent driving functions corresponding to different scenes, so that the arbitration module can query the intelligent driving function required by the current scene of the vehicle based on the marking layer. Please refer again to FIG. 1. Figure 5 In Figure 5 In an embodiment, the intelligent driving function corresponding to the parking space parking-in scene and the parking space parking-out scene is APA, the intelligent driving function corresponding to the parking lot driving scene is AVP, the intelligent driving function corresponding to the urban road driving scene is urban NDA, and the intelligent driving function corresponding to the highway driving scene is highway NDA.

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

[0087] The first layer and the marking layer form the commuting map. It should be noted that since a driving process can 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 the complete commuting map is generated.

[0088] In summary, the technical scheme provided by the embodiments of the present application obtains the driving map related to the commuting area and the parking lot map related to the commuting area in the first layer mapping, and labels the scene switching positions between different scenes in the labeling layer. In this way, the high-precision map can be abandoned, and full-scene map coverage of the commuting area can be realized. In addition, the vehicle can also monitor whether it is about to switch to other scenes based on the scene switching positions labeled by the labeling layer, so as to select the corresponding intelligent driving function. During the entire commuting process, the driver does not need to perform selection operations multiple times, the operation complexity of selecting the intelligent driving function during the vehicle commuting process is reduced, and the driving efficiency is improved.

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

[0090] The position acquisition module 610 is configured to acquire the current position of the vehicle during the driving of the vehicle.

[0091] The position determination module 620 is configured to determine a target scene switching position matched with the current position of the vehicle 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 travels. The commuting map labels a plurality of scene switching positions. The target scene switching position refers to a position at which the driving scene of the vehicle in the commuting area is switched from a first scene to a second scene. The vehicle is configured with an intelligent driving function corresponding to the second scene.

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

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

[0094] In some embodiments, the first scene is any one of the following: a parking space parking-out scene, a parking lot driving scene, a highway driving scene, and an urban road driving scene. The second scene is any one of the following: a parking lot driving scene, a highway driving scene, a parking space parking-in scene, a highway driving scene, and a parking space parking-out scene.

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

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

[0097] In some embodiments, the mapping module is configured to determine an area where the vehicle travels most frequently on weekdays as the 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 a vehicle travel area between the first location and the second location as the commuting area.

[0098] In some embodiments, the position acquisition module 610 is configured to obtain a navigation end point of the vehicle; and perform the step of acquiring the current position of the vehicle when the navigation end point of the vehicle is in the commuting area.

[0099] In some embodiments, the position acquisition module 610 is configured to detect whether a commuting function of the vehicle is in an open state or a closed state; and perform the step of acquiring the current position of the vehicle when the commuting function of the vehicle is in the open state.

[0100] In summary, the technical scheme provided by the embodiments of the present application, when the vehicle travels in different sub-areas of the commuting area, the vehicle can monitor whether there is a target scene switching position matching the current position of the vehicle based on the pre-established commuting map, and then determine whether the current travel scene of the vehicle is about to be switched from a first scene to a second scene, and if so, call the intelligent driving function corresponding to the second scene to perform travel control. In this way, during the entire commuting process, the driver does not need to perform selection operations multiple times, thereby reducing the operation complexity of selecting the intelligent driving function during the vehicle commuting process and improving the driving efficiency.

[0101] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and module can refer to the corresponding process in the foregoing method embodiments, which will not be described herein.

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

[0103] In addition, each of the functional modules in the embodiments of the present application can be integrated in one processing module, or each of the modules can be physically present alone, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0104] Referring to Figure 7 It is shown that the embodiments of the present application further provide a vehicle 700, which comprises one or more processors 710, a memory 720, an ultrasonic radar, a laser radar and one or more application programs. Wherein the one or more application programs are stored in the memory 720 and configured to be executed by the one or more processors 710, and the one or more application programs are configured to execute the method described in the above embodiments.

[0105] The processor 710 can include one or more processing cores. The processor 710 connects various parts within the battery management system through various interfaces and lines, executes various functions of the battery management system and processes data 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 realized in the form of at least one of digital signal processing (DSP), field programmable gate array (FPGA), programmable logic array (PLA). The processor 710 can integrate a combination of one or several of central processing unit (CPU), graphics processing unit (GPU) and modem, etc. Among them, the CPU mainly processes operating system, user interface and application programs, etc.; the GPU is responsible for rendering and drawing display content; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 710, but be realized by a separate communication chip.

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

[0107] The embodiments of the present application also provide a computer readable storage medium, which stores computer program instructions. The computer program instructions can be invoked by a processor to execute the methods described in the above embodiments.

[0108] The computer readable storage medium can 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. Alternatively, 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 described above. These computer program instructions can be read from or written to one or more computer program products.

[0109] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with a preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make slight changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, without departing from the technical solution of the present application. Any modification, change, equivalent change, and modification of the above embodiments, which does not depart from the technical solution of the present application, is still within the scope of the technical solution of the present application.

Claims

1. A method of controlling travel of a vehicle, characterized by, The method comprises: acquiring a current position of the vehicle during driving of the vehicle; 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 where the vehicle travels, and the commuting map is marked with a plurality of scene switching positions; 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 intelligent driving functions corresponding to the second scene; if there is a target scene switching position matching the current position of the vehicle, determining that the current driving scene of the vehicle is switched to the second scene, and controlling the vehicle to call the intelligent driving functions corresponding to the second scene to perform driving control; wherein the generation of the commuting map comprises: identifying a commuting area where the vehicle travels; under the condition that the vehicle travels in the commuting area, collecting map generation elements of the commuting area; wherein the map generation elements comprise at least one of the following: road topology information, driving semantic information, parking semantic information; performing mapping processing on the map generation elements of the commuting area to obtain the commuting map.

2. The method of claim 1, wherein, The determination of the target scene switching position matching the current position in the commuting map based on the current position of the vehicle comprises: 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; matching the current position of the vehicle and the at least one scene switching position corresponding to the first scene to obtain the target scene switching position.

3. The method of claim 2, wherein, The first scene is any one of the following: a parking space exit scene, a parking lot driving scene, a highway driving scene, and an urban road driving scene; and the second scene is any one of the following: a parking lot driving scene, a highway driving scene, a parking space entry scene, a highway driving scene, and a parking space exit scene.

4. The method of claim 1, wherein, The mapping processing on the map generation elements of the commuting area to obtain the commuting map comprises: 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; annotating a plurality of scene switching positions on the annotation layer; determining the commuting map based on the first layer and the annotation layer.

5. The method of claim 1, wherein, The identification of the commuting area comprises: determining an area where the vehicle travels most frequently on weekdays as the commuting area; or / and acquiring a first location with a first specified label and a second location with a second specified label, and determining a vehicle travel area between the first location and the second location as the commuting area.

6. The method according to any one of claims 1 to 3, characterized in that, The acquisition of the current position of the vehicle comprises: acquiring a navigation end point of the vehicle; under the condition that the navigation end point of the vehicle is within the commuting area, performing the step of acquiring the current position of the vehicle.

7. The method according to any one of claims 1 to 3, characterized in that, The acquisition of the current position of the vehicle comprises: detecting whether a commute function of the vehicle is in an open state or a closed state; if the commute function of the vehicle is in the open state, performing the step of acquiring the current position of the vehicle.

8. A device for controlling the movement of a vehicle, characterized in that, The device comprises: a position acquisition module configured to acquire a current position of the vehicle during driving of the vehicle; a matching module configured to determine a target scene switching position matched with the current position of the vehicle in a commute map, the commute map being an electronic map corresponding to a commute area in which the vehicle travels, the commute map being marked with a plurality of scene switching positions, the target scene switching position being a position at which a driving scene of the vehicle in the commute area is switched from a first scene to a second scene, the vehicle being configured with an intelligent driving function corresponding to the second scene; a driving control module configured to, if there is a target scene switching position matched with the current position of the vehicle, determine that the current driving scene of the vehicle is switched to the second scene, and control the vehicle to invoke the intelligent driving function corresponding to the second scene to perform driving control. The generation of the commute map comprises: identifying a commute area in which the vehicle travels; under the condition that the vehicle travels in the commute area, collecting map generation elements of the commute area, the map generation elements comprising at least one of the following: road topology information, driving semantic information, and parking semantic information; performing mapping processing on the map generation elements of the commute area to obtain the commute map.

9. A vehicle characterized by comprising: comprise: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more application programs are configured to perform the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions can be invoked by a processor to perform the method according to any one of claims 1-7.

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