Control method and device of automatic driving vehicle and electronic equipment

Abstract

The invention discloses a control method and device of an automatic driving vehicle and electronic equipment, and relates to the technical field of automatic driving. A specific embodiment of the method comprises the following steps: receiving a passenger carrying task sent by a terminal, wherein the passenger carrying task carries starting place information and destination information; issuing the passenger carrying task to a vehicle so as to enable the vehicle to drive to the starting place; receiving a feature image of the periphery of the starting place uploaded by the vehicle, and sending the feature image to the terminal; and receiving confirmation information of the feature image returned by the terminal, and updating the departure place according to the confirmation information of the feature image, so that the vehicle drives to the updated departure place. According to the embodiment, the technical problem that the position of the passenger cannot be accurately identified can be solved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a control method, device and electronic equipment for an autonomous driving vehicle. Background Art

[0002] A control method for an autonomous vehicle to approach a passenger with high precision is known. When the vehicle approaches the approximate location of the passenger, the vehicle can perform facial recognition through the facial information logged in by the passenger when registering an account, or when making an appointment and placing an order, the passenger is required to upload a selfie for identification of facial, clothing and background features to identify the passenger's actual precise location. Then, the autonomous vehicle goes to the precise location and guides the passenger to get on the vehicle (for example, refer to Chinese invention patent CN110431378A).

[0003] However, in crowded places, it may not be possible to uniquely determine or accurately identify the corresponding passenger through facial information or clothing, background, etc., and therefore the passenger's location cannot be accurately identified, causing the vehicle to go to the wrong location. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a control method, device and electronic device for an autonomous driving vehicle to solve the technical problem of being unable to accurately identify the location of a passenger.

[0005] To achieve the above object, according to one aspect of an embodiment of the present invention, a control method for an autonomous driving vehicle is provided, which is applied to a server and includes:

[0006] receiving a passenger-carrying task sent by a terminal, wherein the passenger-carrying task carries information of a departure place and a destination;

[0007] Sending the passenger-carrying task to the vehicle so that the vehicle drives to the starting place;

[0008] Receiving a feature image of the surroundings of the origin uploaded by the vehicle, and sending the feature image to the terminal; wherein the feature image includes an environment image and / or a pedestrian image;

[0009] The confirmation information of the characteristic image returned by the terminal is received, so as to update the origin according to the confirmation information of the characteristic image, so that the vehicle drives to the updated origin.

[0010] Optionally, the passenger carrying mission also carries passenger characteristics;

[0011] Receiving a characteristic image around the origin uploaded by the vehicle and sending the characteristic image to the terminal; receiving confirmation information of the characteristic image returned by the terminal, thereby updating the origin according to the confirmation information of the characteristic image, so that the vehicle drives to the updated origin, including:

[0012] Receiving a feature image around the origin uploaded by the vehicle;

[0013] Determining whether there is a target pedestrian similar to the passenger in the feature image according to the passenger characteristics;

[0014] If yes, sending the feature image to the terminal;

[0015] Receive confirmation information of the target pedestrian in the feature image returned by the terminal, thereby updating the origin according to the confirmation information of the target pedestrian in the feature image, so that the vehicle drives to the updated origin.

[0016] Optionally, the passenger carrying mission also carries passenger characteristics;

[0017] Receiving a characteristic image around the origin uploaded by the vehicle and sending the characteristic image to the terminal; receiving confirmation information of the characteristic image returned by the terminal, thereby updating the origin according to the confirmation information of the characteristic image, so that the vehicle drives to the updated origin, including:

[0018] receiving an environmental image of the surroundings of the origin uploaded by the vehicle, and sending the environmental image to the terminal;

[0019] receiving confirmation information of the environment image returned by the terminal, thereby updating the origin according to the confirmation information of the environment image, so that the vehicle drives to the updated origin;

[0020] receiving the updated pedestrian image around the origin uploaded by the vehicle;

[0021] determining whether there is a target pedestrian similar to the passenger in the pedestrian image according to the passenger characteristics;

[0022] If yes, sending the pedestrian image to the terminal;

[0023] Receive confirmation information of the target pedestrian in the pedestrian image returned by the terminal, and update the origin again according to the confirmation information of the target pedestrian in the pedestrian image, so that the vehicle drives to the updated origin again.

[0024] Optionally, the passenger characteristics include at least one of the following:

[0025] Age characteristics, gender characteristics, clothing characteristics, facial features, and auxiliary characteristics.

[0026] In addition, according to another aspect of an embodiment of the present invention, a control method for an autonomous driving vehicle is provided, which is applied to an autonomous driving vehicle, and includes:

[0027] Receiving a passenger-carrying task issued by the service end, thereby driving to the origin, the passenger-carrying task carrying the origin information and the destination information;

[0028] In the process of driving to the origin, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the origin;

[0029] In response to the distance between the current position of the vehicle and the origin being less than a distance threshold, collecting a feature image around the origin, and uploading the feature image to the server; wherein the feature image includes an environment image and / or a pedestrian image;

[0030] Receive the updated departure location sent by the service end, and drive to the updated departure location.

[0031] Optionally, in response to the distance between the current position of the vehicle and the origin being less than a distance threshold, collecting a feature image around the origin and uploading the feature image to the server; receiving an updated origin sent by the server, thereby driving to the updated origin, comprising:

[0032] In response to the distance between the current position of the vehicle and the origin being less than a first distance threshold and greater than or equal to a second distance threshold, collecting an environmental image around the origin and uploading the environmental image to the server;

[0033] Receiving the updated originating place sent by the service end, thereby driving to the updated originating place;

[0034] In the process of driving to the updated departure point, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the departure point;

[0035] In response to the distance between the current position of the vehicle and the updated origin being less than a second distance threshold, pedestrian images around the updated origin are collected, the pedestrian images are uploaded to the server, and the updated origin sent by the server is received, thereby driving towards the updated origin.

[0036] In addition, according to another aspect of an embodiment of the present invention, a control device for an autonomous driving vehicle is provided, which is arranged at a server end and includes:

[0037] A task module is used to receive a passenger-carrying task sent by a terminal, the passenger-carrying task carrying information of a departure point and a destination; and send the passenger-carrying task to a vehicle so that the vehicle drives to the departure point;

[0038] A processing module is used to receive a feature image around the origin uploaded by the vehicle and send the feature image to the terminal; receive confirmation information of the feature image returned by the terminal, and update the origin according to the confirmation information of the feature image, so that the vehicle drives to the updated origin; wherein the feature image includes an environment image and / or a pedestrian image.

[0039] Optionally, the passenger carrying mission also carries passenger characteristics;

[0040] The processing module is also used for:

[0041] Receiving a feature image around the origin uploaded by the vehicle;

[0042] Determining whether there is a target pedestrian similar to the passenger in the feature image according to the passenger characteristics;

[0043] If yes, sending the feature image to the terminal;

[0044] Receive confirmation information of the target pedestrian in the feature image returned by the terminal, thereby updating the origin according to the confirmation information of the target pedestrian in the feature image, so that the vehicle drives to the updated origin.

[0045] Optionally, the passenger carrying mission also carries passenger characteristics;

[0046] The processing module is also used for:

[0047] receiving an environmental image of the surroundings of the origin uploaded by the vehicle, and sending the environmental image to the terminal;

[0048] receiving confirmation information of the environment image returned by the terminal, thereby updating the origin according to the confirmation information of the environment image, so that the vehicle drives to the updated origin;

[0049] receiving the updated pedestrian image around the origin uploaded by the vehicle;

[0050] determining whether there is a target pedestrian similar to the passenger in the pedestrian image according to the passenger characteristics;

[0051] If yes, sending the pedestrian image to the terminal;

[0052] Receive confirmation information of the target pedestrian in the pedestrian image returned by the terminal, and update the origin again according to the confirmation information of the target pedestrian in the pedestrian image, so that the vehicle drives to the updated origin again.

[0053] Optionally, the passenger characteristics include at least one of the following:

[0054] Age characteristics, gender characteristics, clothing characteristics, facial features, and auxiliary characteristics.

[0055] In addition, according to another aspect of an embodiment of the present invention, a control device for an autonomous driving vehicle is provided, which is arranged in the autonomous driving vehicle, and includes:

[0056] A passenger carrying module, used for receiving a passenger carrying task issued by the service end, so as to drive to the origin, wherein the passenger carrying task carries the origin information and the destination information;

[0057] An image module, used for obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the origin in the process of driving to the origin; in response to the distance between the current position of the vehicle and the origin being less than a distance threshold, collecting a feature image around the origin and uploading the feature image to the server; wherein the feature image includes an environment image and / or a pedestrian image;

[0058] The passenger loading module is also used to receive the updated departure place sent by the service end, so as to drive to the updated departure place.

[0059] Optionally, the image module is further used for:

[0060] In response to the distance between the current position of the vehicle and the origin being less than a first distance threshold and greater than or equal to a second distance threshold, collecting an environmental image around the origin and uploading the environmental image to the server; in the process of driving to the updated origin, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the origin; in response to the distance between the current position of the vehicle and the updated origin being less than a second distance threshold, collecting pedestrian images around the updated origin and uploading the pedestrian images to the server;

[0061] The passenger module is also used for:

[0062] Receive the updated origin sent by the service end, and then drive to the updated origin; receive the again updated origin sent by the service end, and then drive to the again updated origin.

[0063] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, including:

[0064] one or more processors;

[0065] a storage device for storing one or more programs,

[0066] When the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any one of the above embodiments.

[0067] According to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0068] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0069] One embodiment of the above invention has the following advantages or beneficial effects: after the vehicle approaches the approximate location of the passenger, the embodiment of the present invention sends the characteristic image around the origin to the passenger for confirmation, and updates the origin according to the confirmation result of the passenger, and the vehicle drives to the updated origin, thereby accurately identifying the location of the passenger. Moreover, even if the actual location reached by the passenger deviates from the origin set by the passenger, the actual location of the passenger can be accurately identified through the embodiment of the present invention, so that the autonomous driving vehicle reaches the actual location without the passenger changing the origin on the terminal.

[0070] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0072] Figure 1 is a flow chart of a control method for an autonomous driving vehicle according to a first embodiment of the present invention;

[0073] Figure 2 is a schematic diagram of a passenger confirming an environmental image according to the present invention;

[0074] Figure 3 is a flow chart of a control method for an automatic driving vehicle according to a second embodiment of the present invention;

[0075] Figure 4 is a flowchart of a method for controlling an automatic driving vehicle according to a third embodiment of the present invention;

[0076] Figure 5 is a flowchart of a method for controlling an automatic driving vehicle according to a fourth embodiment of the present invention;

[0077] Figure 6 is a flowchart of a method for controlling an automatic driving vehicle according to a fifth embodiment of the present invention;

[0078] Figure 7 is a flowchart of a method for controlling an automatic driving vehicle according to a sixth embodiment of the present invention;

[0079] Figure 8 is a flowchart of a method for controlling an automatic driving vehicle according to a seventh embodiment of the present invention;

[0080] Fig. 9 A schematic diagram of a control device for an autonomous driving vehicle according to a first embodiment of the present invention;

[0081] Fig.10 A schematic diagram of a control device for an autonomous driving vehicle according to a second embodiment of the present invention;

[0082] Fig.11 It is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0083] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0084] It should be noted that in the technical solution of the present invention, the collection, analysis, use, transmission, storage and other aspects of user personal information involved are in compliance with the provisions of relevant laws and regulations, are used for legal and reasonable purposes, are not shared, leaked or sold outside of these legal uses, and are subject to supervision and management by regulatory authorities. Necessary measures should be taken for user personal information to prevent illegal access to such personal information data, ensure that persons who have access to personal information data comply with the provisions of relevant laws and regulations, and ensure the security of user personal information. Once these user personal information data are no longer needed, the risks should be minimized by limiting or even prohibiting data collection and / or deleting data.

[0085] When applicable, including in certain relevant applications, protect user privacy by de-identifying data, such as by removing specific identifiers (e.g., username, origin, destination, etc.) when applicable, controlling how data is stored, and / or other methods of de-identification.

[0086] Figure 1 is a flow chart of a control method for an automatic driving vehicle according to a first embodiment of the present invention. As an embodiment of the present invention, Figure 1 As shown, the control method of the autonomous driving vehicle is applied to the server and may include:

[0087] Step S101, receiving a passenger pick-up task sent by a terminal, wherein the passenger pick-up task carries origin information and destination information.

[0088] When a passenger needs to take a ride, he or she can enter the departure and destination information in the terminal and send a passenger-carrying task to the service end through the terminal.

[0089] Step S102, sending the passenger-carrying task to the vehicle so that the vehicle drives to the starting point.

[0090] After receiving the passenger-carrying task sent by the terminal, the server stores the passenger-carrying task and forwards it to the autonomous driving vehicle, which analyzes the passenger-carrying task to obtain the origin and destination information. Then, the autonomous driving vehicle drives to the origin to pick up passengers.

[0091] Step S103, receiving the feature image around the origin uploaded by the vehicle, and sending the feature image to the terminal.

[0092] When the autonomous driving vehicle is driving toward the origin, the current position of the vehicle is obtained in real time, and the distance between the current position of the vehicle and the origin is calculated. If the distance between the current position of the vehicle and the origin is less than the first distance threshold and greater than or equal to the second distance threshold, a feature image around the origin is collected and uploaded to the service end. In order to facilitate passengers to confirm the feature image, the vehicle's camera should face the origin to collect the feature image around it.

[0093] For example, if the distance between the current position of the vehicle and the origin is less than 200m and greater than or equal to 100m, the autonomous driving vehicle collects a feature image around the origin and uploads the feature image to the server. It should be noted that the first distance threshold and the second distance threshold can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0094] Optionally, the feature image includes an environment image and / or a pedestrian image. In some embodiments of the present invention, the feature image is an environment image. In other embodiments of the present invention, the feature image is a pedestrian image. In still other embodiments of the present invention, the feature image includes an environment image and a pedestrian image.

[0095] Step S104, receiving confirmation information of the characteristic image returned by the terminal, thereby updating the origin according to the confirmation information of the characteristic image, so that the vehicle drives to the updated origin.

[0096] The server forwards the received feature image to the terminal, and the terminal displays the feature image on the display screen for the passenger to select. The passenger views the feature image on the terminal display screen and confirms his or her approximate location on the feature image. Figure 2 As shown, after the terminal receives the confirmation information of the feature image submitted by the passenger (i.e., the approximate location confirmed by the passenger on the feature image), it returns the confirmation information to the server. After the server receives the confirmation information of the feature image returned by the terminal, it uses the approximate location confirmed by the passenger on the feature image as the departure point and updates the departure point in the passenger-carrying task. The server sends the updated departure point to the autonomous driving vehicle, which then updates the departure point and drives to the updated departure point.

[0097] It should be noted that the autonomous driving vehicle can collect one or more feature images, and the autonomous driving vehicle uploads the collected one or more feature images to the server, which forwards them to the terminal for confirmation. Passengers can view one or more feature images and finally choose to confirm their location on a certain feature image, or they can confirm their location on multiple feature images separately.

[0098] Optionally, the autonomous driving vehicle can upload the collected multiple feature images to the server in the form of a video stream, and the server forwards the video stream to the terminal. The passenger can confirm his position based on one frame of the feature image or multiple frames of the feature images in the video stream.

[0099] Optionally, in order to facilitate passengers to confirm the location of the feature image, the server can first analyze and identify the feature image, and provide multiple options for passengers to choose from. The passenger makes a choice according to the options provided by the server, and each option corresponds to a location information.

[0100] Optionally, the control method further includes: in response to not receiving confirmation information of the feature image returned by the terminal, controlling the vehicle to continue to drive to the origin. If the service end does not receive confirmation information of the feature image returned by the terminal within a certain period of time, no processing is performed, and the autonomous driving vehicle continues to drive to the origin of the passenger carrying task.

[0101] In some embodiments of the present invention, if the autonomous driving vehicle does not receive the updated origin sent by the server within a certain period of time, the feature image around the origin is collected again and the feature image is uploaded to the server. The server forwards the received feature image to the terminal, and the terminal displays the feature image on the display screen for the passenger to select. The autonomous driving vehicle will no longer collect feature images until the updated origin sent by the server is received. The number of image collection times can also be set. If the preset number of image collection times is exceeded, the autonomous driving vehicle will no longer collect feature images, and the autonomous driving vehicle will continue to drive to the origin in the passenger carrying mission. In other words, in the process of the autonomous driving vehicle driving to the origin, the origin can be updated based on the passenger's confirmation information on the feature image around the origin, which helps to accurately identify the passenger's location.

[0102] According to the various embodiments described above, it can be seen that the embodiments of the present invention receive the feature image around the origin uploaded by the vehicle, send the feature image to the terminal, and then receive the confirmation information of the feature image returned by the terminal, thereby updating the origin according to the confirmation information of the feature image, so that the vehicle drives to the updated origin. The technical means solves the technical problem that the existing technology cannot accurately identify the location of the passenger. Moreover, even if the actual location reached by the passenger deviates from the origin set by the passenger, the actual location of the passenger can be accurately identified through the embodiments of the present invention, so that the automatic driving vehicle reaches the actual location without the passenger changing the origin on the terminal.

[0103] Figure 3 is a flow chart of a control method for an automatic driving vehicle according to a second embodiment of the present invention. As another embodiment of the present invention, Figure 3 As shown, the control method of the autonomous driving vehicle is applied to the server and may include:

[0104] Step S301, receiving a passenger pick-up task sent by a terminal, wherein the passenger pick-up task carries departure information, destination information and passenger characteristics.

[0105] When a passenger needs to take a ride, he or she can input the departure information, destination information and passenger characteristics in the terminal, and send the passenger-carrying task to the service end through the terminal. Optionally, the passenger characteristics include at least one of the following: age characteristics, gender characteristics, clothing characteristics, facial characteristics, and auxiliary characteristics. For example, a passenger can upload a facial image, a partial image, or a full-body image of the passenger in the terminal, or input the passenger's age characteristics, gender characteristics, clothing characteristics (such as color, style, etc.), facial characteristics (long hair, short hair, whether wearing glasses, whether wearing a hat, etc.), auxiliary characteristics (such as whether carrying a baby stroller, wheelchair, or umbrella, etc.) in the terminal.

[0106] Step S302: Send the passenger-carrying task to the vehicle so that the vehicle drives to the starting point.

[0107] After receiving the passenger-carrying task sent by the terminal, the server stores the passenger-carrying task and forwards it to the autonomous driving vehicle, which analyzes the passenger-carrying task to obtain the origin and destination information. Then, the autonomous driving vehicle drives to the origin to pick up passengers.

[0108] It should be pointed out that the server may send passenger characteristics, origin information and destination information together to the autonomous driving vehicle, or may not send passenger characteristics, depending on actual needs, and the embodiments of the present invention do not impose any restrictions on this.

[0109] Step S303: receiving a feature image around the origin uploaded by the vehicle.

[0110] The feature image includes an environment image and / or a pedestrian image. For example, the feature image includes only the environment image or only the pedestrian image, or for another example, the feature image includes both the environment image and the pedestrian image.

[0111] Step S304, judging whether there is a target pedestrian similar to the passenger in the feature image according to the passenger characteristics; if so, executing step S305; if not, executing step S307.

[0112] The server determines whether there is a target pedestrian similar to the passenger in the feature image collected by the autonomous driving vehicle based on the passenger features uploaded by the terminal. The target pedestrian similar to the passenger can be one or more.

[0113] It should be pointed out that the server identifies the target pedestrian in the feature image through the image recognition model, calculates the similarity based on the passenger characteristics, and finds one or more target pedestrians similar to the passenger from the feature image.

[0114] Step S305: sending the feature image to the terminal.

[0115] Step S306, receiving confirmation information of the target pedestrian in the feature image returned by the terminal, thereby updating the originating place according to the confirmation information of the target pedestrian in the feature image, so that the vehicle drives to the updated originating place.

[0116] If there is a target pedestrian similar to the passenger in the feature image, the server will forward the received feature image to the terminal, and the terminal will display the feature image on the display screen for the passenger to select. For example, the passenger can view the feature image on the terminal display screen and confirm his / her location on the feature image (that is, select the passenger himself / herself on the feature image). After the terminal receives the confirmation information of the feature image submitted by the passenger (that is, the target pedestrian selected by the passenger on the feature image), it returns the confirmation information to the server. After the server receives the confirmation information of the feature image returned by the terminal, it takes the location of the target pedestrian confirmed by the passenger on the feature image as the starting point and updates the starting point in the passenger-carrying task. The server sends the updated starting point to the autonomous driving vehicle, and the autonomous driving vehicle also updates the starting point and drives to the updated starting point.

[0117] Step S307, controlling the vehicle to continue driving toward the starting point.

[0118] It should be noted that the autonomous driving vehicle can collect one feature image or multiple feature images. The autonomous driving vehicle uploads the collected one or more feature images to the server. The server determines whether there is a target pedestrian similar to the passenger in each feature image based on the passenger characteristics. If there is, the one or more feature images containing the target pedestrian are forwarded to the terminal for confirmation. The passenger can view one or more feature images and finally choose which pedestrian is the passenger in a feature image.

[0119] Optionally, the control method further includes: in response to not receiving confirmation information of the characteristic image returned by the terminal, controlling the vehicle to continue to drive to the origin. If the service end does not receive confirmation information of the characteristic image returned by the terminal within a certain period of time, no processing is performed, and the autonomous driving vehicle continues to drive to the original origin, that is, the origin in step S302.

[0120] In some embodiments of the present invention, if the autonomous driving vehicle does not receive the updated origin sent by the server within a certain period of time, the feature image around the origin is collected again and the feature image is uploaded to the server. The server determines whether there is a target pedestrian similar to the passenger in the feature image according to the passenger characteristics. If there is a target pedestrian similar to the passenger in the feature image, the server forwards the received feature image to the terminal, and the terminal displays the feature image on the display screen for the passenger to select. Until the updated origin sent by the server is received, the autonomous driving vehicle no longer collects feature images. The number of image collections can also be set. If the number of image collections exceeds the preset number, the autonomous driving vehicle no longer collects feature images, and the autonomous driving vehicle continues to drive to the origin in step S302. That is, in the process of the autonomous driving vehicle driving to the origin, the origin can be updated based on the passenger's confirmation information on the feature image around the origin, which helps to more accurately identify the passenger's location.

[0121] It should be noted that, in the embodiment of the present invention, steps S303 to S307 may be repeatedly executed so that the departure point is closer to the current location of the passenger, which helps to more accurately identify the current location of the passenger.

[0122] In the embodiment of the present invention, after the vehicle approaches the approximate location of the passenger, the feature image around the origin is sent to the passenger for confirmation, and the origin is updated according to the passenger's confirmation result. The vehicle drives to the updated origin, thereby more accurately identifying the passenger's location.

[0123] Figure 4 is a flow chart of a control method for an automatic driving vehicle according to a third embodiment of the present invention. As another embodiment of the present invention, Figure 4 As shown, the control method of the autonomous driving vehicle is applied to the server and may include:

[0124] Step S401, receiving a passenger pick-up task sent by a terminal, wherein the passenger pick-up task carries departure information, destination information and passenger characteristics.

[0125] Step S402: Send the passenger-carrying task to the vehicle so that the vehicle drives to the starting point.

[0126] Step S403: receiving the environment image around the origin uploaded by the vehicle, and sending the environment image to the terminal.

[0127] Step S404: receiving confirmation information of the environment image returned by the terminal, thereby updating the departure location according to the confirmation information of the environment image, so that the vehicle drives to the updated departure location.

[0128] Step S405: receiving the updated pedestrian image around the origin uploaded by the vehicle.

[0129] When the autonomous driving vehicle is driving towards the updated departure point, the current position of the vehicle is obtained in real time, and the distance between the current position of the vehicle and the updated departure point is calculated. If the distance between the current position of the vehicle and the updated departure point is less than a second distance threshold (such as 100m, 120m or 150m), pedestrian images around the updated departure point are collected and uploaded to the service end. In order to facilitate passengers to confirm the pedestrian images, the camera on the vehicle should collect pedestrian images around the updated departure point.

[0130] Step S406, judging whether there is a target pedestrian similar to the passenger in the pedestrian image according to the passenger characteristics; if so, executing step S407; if not, executing step S409.

[0131] The server determines whether there is a target pedestrian similar to the passenger in the pedestrian image collected by the autonomous driving vehicle based on the passenger features uploaded by the terminal. The target pedestrian similar to the passenger can be one or more.

[0132] It should be pointed out that the server identifies the target pedestrian in the pedestrian image through the image recognition model, calculates the similarity based on the passenger characteristics, and finds one or more target pedestrians similar to the passenger from the pedestrian image.

[0133] Step S407: sending the pedestrian image to the terminal.

[0134] It should be noted that after the server identifies a target pedestrian similar to the passenger from the pedestrian image, it can forward the pedestrian image to the terminal, or it can forward the pedestrian image containing only the target pedestrian to the terminal, and the embodiment of the present invention does not limit this.

[0135] Step S408, receiving confirmation information of the pedestrian image returned by the terminal, thereby updating the origin again according to the confirmation information of the pedestrian image, so that the vehicle drives to the updated origin again.

[0136] Step S409, controlling the vehicle to continue driving toward the updated departure point.

[0137] If there is a target pedestrian similar to the passenger in the pedestrian image, the server will forward the received pedestrian image to the terminal, and the terminal will display the pedestrian image on the display screen for the passenger to select. For example, the passenger can view the pedestrian image on the terminal display screen and confirm his / her location on the pedestrian image (that is, select the passenger himself / herself on the pedestrian image). After the terminal receives the confirmation information of the pedestrian image submitted by the passenger (that is, the target pedestrian selected by the passenger on the pedestrian image), it returns the confirmation information to the server. After the server receives the confirmation information of the pedestrian image returned by the terminal, it takes the location of the target pedestrian confirmed by the passenger on the pedestrian image as the starting point and updates the starting point in the passenger-carrying task again. The server sends the updated starting point to the autonomous driving vehicle, and the autonomous driving vehicle also updates the starting point again and drives to the updated starting point.

[0138] Optionally, the control method further includes: in response to not receiving confirmation information of the pedestrian image returned by the terminal, controlling the vehicle to continue to drive to the last updated starting point. If the service end does not receive confirmation information of the pedestrian image returned by the terminal within a certain period of time, no processing is performed, and the autonomous driving vehicle continues to drive to the last updated starting point, that is, the updated starting point in step S404.

[0139] In some embodiments of the present invention, if the autonomous driving vehicle does not receive the updated origin sent by the server within a certain period of time, the pedestrian image around the origin is collected again and the pedestrian image is uploaded to the server. The server determines whether there is a target pedestrian similar to the passenger in the pedestrian image according to the characteristics of the passenger. If there is a target pedestrian similar to the passenger in the pedestrian image, the server forwards the received pedestrian image to the terminal, and the terminal displays the pedestrian image on the display screen for the passenger to select. Until the updated origin sent by the server is received, the autonomous driving vehicle will no longer collect pedestrian images. The number of image collections can also be set. If the number of image collections exceeds the preset number, the autonomous driving vehicle will no longer collect pedestrian images, and the autonomous driving vehicle will continue to drive to the updated origin in step S404. That is, in the process of the autonomous driving vehicle driving to the updated origin, the origin can be updated again based on the passenger's confirmation information on the pedestrian images around the origin, which helps to more accurately identify the passenger's location.

[0140] In the embodiment of the present invention, after the vehicle approaches the approximate location of the passenger, the pedestrian images around the origin are sent to the passenger for confirmation, and the origin is updated again according to the passenger's confirmation result. The vehicle drives to the updated origin, thereby more accurately identifying the passenger's location.

[0141] In other embodiments of the present invention, the order of environment confirmation and pedestrian confirmation can be flexibly changed according to actual conditions, such as confirming pedestrians first and then confirming the environment, and the embodiments of the present invention do not limit this.

[0142] Figure 5 is a flow chart of a control method for an automatic driving vehicle according to a fourth embodiment of the present invention. As another embodiment of the present invention, Figure 5 As shown, the control method of the autonomous driving vehicle is applied to the server and may include:

[0143] Step S501, receiving a passenger pick-up task sent by a terminal, wherein the passenger pick-up task carries origin information and destination information.

[0144] Step S502: Send the passenger-carrying task to the vehicle so that the vehicle drives to the starting point.

[0145] Step S503: receiving the environment image around the origin uploaded by the vehicle, and sending the environment image to the terminal.

[0146] Step S504: receiving confirmation information of the environment image returned by the terminal, thereby updating the departure location according to the confirmation information of the environment image, so that the vehicle drives to the updated departure location.

[0147] Step S505, receiving the updated environment image around the origin uploaded by the vehicle, and sending the environment image to the terminal.

[0148] Step S506, receiving confirmation information of the environment image returned by the terminal, thereby updating the departure point again according to the confirmation information of the environment image, so that the vehicle drives to the updated departure point.

[0149] In this embodiment, the location of the passenger may be determined through multiple progressive environmental confirmations, and the number of confirmations may be two or even more times, which is not limited in this embodiment of the present invention.

[0150] Figure 6 is a flow chart of a control method for an automatic driving vehicle according to a fifth embodiment of the present invention. As another embodiment of the present invention, Figure 6 As shown, the control method of the autonomous driving vehicle is applied to the autonomous driving vehicle and may include:

[0151] Step S601, receiving a passenger-carrying task issued by a service end, thereby driving to the origin, wherein the passenger-carrying task carries the origin information and the destination information.

[0152] Step S602, in the process of driving to the origin, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the origin.

[0153] Step S603, determining whether the distance between the current position of the vehicle and the departure point is less than a first distance threshold and greater than or equal to a second distance threshold; if so, executing step S604; if not, executing step S602.

[0154] Step S604: Collect characteristic images around the origin and upload the characteristic images to the server.

[0155] Step S605, receiving the updated departure location sent by the service end, and driving to the updated departure location.

[0156] After receiving the passenger-carrying task sent by the service end, the autonomous driving vehicle parses it, obtains the origin information and the destination information, and then drives to the origin. In the process of driving to the origin, the autonomous driving vehicle obtains the current position of the vehicle in real time, and calculates the distance between the current position of the vehicle and the origin. If the distance between the current position of the vehicle and the origin is less than the first distance threshold and greater than or equal to the second distance threshold, the camera on the vehicle collects the feature image around the origin, and uploads the feature image to the server. In order to facilitate passengers to confirm the feature image, the camera on the vehicle should collect the feature image around the origin. Among them, the feature image includes an environmental image and / or a pedestrian image.

[0157] For example, if the distance between the current position of the vehicle and the origin is less than 220m and greater than or equal to 140m, the autonomous driving vehicle collects a feature image around the origin and uploads the feature image to the server. It should be noted that the first distance threshold and the second distance threshold can be set according to actual needs, and the embodiment of the present invention does not limit this.

[0158] The server forwards the received feature image to the terminal, and the terminal displays the feature image on the display screen for the passenger to select. After receiving the confirmation information of the feature image returned by the terminal, the server takes the approximate location confirmed by the passenger on the feature image as the departure point and updates the departure point in the passenger-carrying task. The server sends the updated departure point to the autonomous driving vehicle, which also updates the departure point and drives to the updated departure point.

[0159] Figure 7 is a flow chart of a control method for an automatic driving vehicle according to a sixth embodiment of the present invention. As another embodiment of the present invention, Figure 7As shown, the control method of the autonomous driving vehicle is applied to the autonomous driving vehicle and may include:

[0160] Step S701, receiving a passenger-carrying task sent by the service end, thereby driving to the origin, and the passenger-carrying task carries the origin information and the destination information.

[0161] Step S702, in the process of driving to the origin, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the origin.

[0162] Step S703, determining whether the distance between the current position of the vehicle and the departure point is less than a first distance threshold and greater than or equal to a second distance threshold; if so, executing step S704; if not, executing step S702.

[0163] Step S704, collecting an environmental image around the origin, and uploading the environmental image to the server.

[0164] Step S705, receiving the updated departure location sent by the service end, and driving to the updated departure location.

[0165] Step S706, in the process of driving to the updated departure point, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the departure point.

[0166] Step S707, determining whether the distance between the current position of the vehicle and the updated departure point is less than a second distance threshold, if so, executing step S708; if not, executing step S706.

[0167] Step S708, collecting pedestrian images around the updated origin, and determining whether there are pedestrians in the pedestrian images; if so, executing step S709; if not, executing step S706.

[0168] Step S709: upload the pedestrian image to the server.

[0169] Step S710, receiving the updated originating place sent by the service end, and driving to the updated originating place.

[0170] When the autonomous driving vehicle is driving toward the updated departure point, the current position of the vehicle is obtained in real time, and the distance between the current position of the vehicle and the updated departure point is calculated. If the distance between the current position of the vehicle and the updated departure point is less than a second distance threshold (such as 140m, 80m or 90m), pedestrian images around the updated departure point are collected, and then it is determined whether there are pedestrians in the pedestrian images. If so, the pedestrian images are uploaded to the server; if not, the vehicle continues to drive toward the updated departure point. In order to facilitate passengers to confirm pedestrian images, the camera on the vehicle should face the updated departure point and collect pedestrian images around it.

[0171] It should be noted that step S708 can also be executed by the server. In this embodiment, the autonomous driving vehicle directly uploads the collected pedestrian images to the server, eliminating the need to execute step S708.

[0172] The server determines whether there is a target pedestrian similar to the passenger in the pedestrian image collected by the autonomous driving vehicle based on the passenger characteristics uploaded by the terminal. The target pedestrian similar to the passenger can be one or more. If there is a target pedestrian similar to the passenger in the pedestrian image, the server forwards the received pedestrian image to the terminal, and the terminal displays the pedestrian image on the display screen for the passenger to select. The passenger views the pedestrian image on the terminal display screen and confirms his / her location on the pedestrian image (that is, selects the passenger himself / herself on the pedestrian image). After the terminal receives the confirmation information of the pedestrian image submitted by the passenger, it returns the confirmation information to the server. After the server receives the confirmation information of the pedestrian image returned by the terminal, it takes the location of the target pedestrian confirmed by the passenger on the pedestrian image as the starting point and updates the starting point in the passenger-carrying task again. The server sends the updated starting point to the autonomous driving vehicle, and the autonomous driving vehicle also updates the starting point again and drives to the updated starting point.

[0173] Figure 8 is a flow chart of a control method for an automatic driving vehicle according to a seventh embodiment of the present invention. As another embodiment of the present invention, Figure 8 As shown, the control method of the autonomous driving vehicle may include:

[0174] Step S801: The terminal sends a passenger-carrying task to the server, where the passenger-carrying task carries passenger characteristics, origin information, and destination information.

[0175] Step S802: the server receives the passenger-carrying task sent by the terminal, and sends the passenger-carrying task to the vehicle.

[0176] Step S803, the vehicle receives the passenger-carrying task sent by the service end, and drives to the starting point.

[0177] Step S804, in the process of driving to the origin, obtaining the current position of the vehicle, calculating the distance between the current position of the vehicle and the origin; in response to the distance between the current position of the vehicle and the origin being less than a first distance threshold and greater than or equal to a second distance threshold, collecting an environmental image around the origin, and uploading the environmental image to the server.

[0178] Step S805, receiving the environment image around the origin uploaded by the vehicle, and sending the environment image to the terminal.

[0179] Step S806: The terminal displays the environment image on a display screen for the passenger to select. The passenger confirms the location of the environment image and returns the confirmation information to the server.

[0180] Step S807: receiving confirmation information of the environment image returned by the terminal, thereby updating the origin according to the confirmation information of the environment image, and sending the updated origin to the vehicle.

[0181] Step S808, receiving the updated origin sent by the server, and driving to the updated origin; in the process of driving to the updated origin, obtaining the current position of the vehicle, and calculating the distance between the current position of the vehicle and the updated origin; in response to the distance between the current position of the vehicle and the updated origin being less than a second distance threshold, collecting pedestrian images around the updated origin, and determining whether there are pedestrians in the pedestrian images; if so, uploading the pedestrian images to the server; if not, continuing to drive to the updated origin.

[0182] Step S809, receiving the updated pedestrian image around the origin uploaded by the vehicle; judging whether there is a target pedestrian similar to the passenger in the pedestrian image according to the characteristics of the passenger; if so, sending the target pedestrian to the terminal.

[0183] Step S810: The terminal displays the pedestrian image on a display screen for the passenger to select. The passenger confirms his / her location on the pedestrian image and returns the confirmation information to the terminal.

[0184] Step S811, receiving confirmation information of the target pedestrian returned by the terminal, thereby updating the origin again according to the confirmation information of the target pedestrian, and sending the updated origin again to the vehicle.

[0185] Step S812, receiving the updated originating place sent by the service end, and driving to the updated originating place.

[0186] Fig. 9 Schematic diagram of a control device for an autonomous driving vehicle according to a first embodiment of the present invention. Fig. 9 As shown, the control device 900 of the autonomous driving vehicle is arranged at the server end, and includes a task module 901 and a processing module 902; wherein, the task module 901 is used to receive a passenger-carrying task sent by a terminal, and the passenger-carrying task carries information of a departure point and a destination; the passenger-carrying task is sent to the vehicle so that the vehicle drives toward the departure point; the processing module 902 is used to receive a feature image around the departure point uploaded by the vehicle, and send the feature image to the terminal; receive confirmation information of the feature image returned by the terminal, thereby updating the departure point according to the confirmation information of the feature image, so that the vehicle drives toward the updated departure point; wherein the feature image includes an environmental image and / or a pedestrian image.

[0187] Optionally, the passenger carrying mission also carries passenger characteristics;

[0188] The processing module 902 is further configured to:

[0189] Receiving a feature image around the origin uploaded by the vehicle;

[0190] Determining whether there is a target pedestrian similar to the passenger in the feature image according to the passenger characteristics;

[0191] If yes, sending the feature image to the terminal;

[0192] Receive confirmation information of the target pedestrian in the feature image returned by the terminal, thereby updating the origin according to the confirmation information of the target pedestrian in the feature image, so that the vehicle drives to the updated origin.

[0193] Optionally, the passenger carrying mission also carries passenger characteristics;

[0194] The processing module 902 is further configured to:

[0195] receiving an environmental image of the surroundings of the origin uploaded by the vehicle, and sending the environmental image to the terminal;

[0196] receiving confirmation information of the environment image returned by the terminal, thereby updating the origin according to the confirmation information of the environment image, so that the vehicle drives to the updated origin;

[0197] receiving the updated pedestrian image around the origin uploaded by the vehicle;

[0198] determining whether there is a target pedestrian similar to the passenger in the pedestrian image according to the passenger characteristics;

[0199] If yes, sending the pedestrian image to the terminal;

[0200] Receive confirmation information of the target pedestrian in the pedestrian image returned by the terminal, and update the origin again according to the confirmation information of the target pedestrian in the pedestrian image, so that the vehicle drives to the updated origin again.

[0201] Optionally, the passenger characteristics include at least one of the following:

[0202] Age characteristics, gender characteristics, clothing characteristics, facial features, and auxiliary characteristics.

[0203] It should be noted that the specific implementation content of the control device of the autonomous driving vehicle described in the present invention has been described in detail in the control method of the autonomous driving vehicle described above, so the repeated content will not be described here.

[0204] Fig.10 Schematic diagram of a control device for an automatic driving vehicle according to a second embodiment of the present invention. Fig.10 As shown, the control device 1000 of the autonomous driving vehicle is arranged in the autonomous driving vehicle, including a passenger carrying module 1001 and an image module 1002; wherein, the passenger carrying module 1001 is used to receive a passenger carrying task issued by the server, so as to drive to the origin, and the passenger carrying task carries the origin information and the destination information; the image module 1002 is used to obtain the current position of the vehicle and calculate the distance between the current position of the vehicle and the origin in the process of driving to the origin; in response to the distance between the current position of the vehicle and the origin being less than a distance threshold, a feature image around the origin is collected, and the feature image is uploaded to the server; wherein, the feature image includes an environment image and / or a pedestrian image; the passenger carrying module 1001 is also used to receive an updated origin issued by the server, so as to drive to the updated origin.

[0205] Optionally, the image module 1002 is further used for:

[0206] In response to the distance between the current position of the vehicle and the origin being less than a first distance threshold and greater than or equal to a second distance threshold, collecting an environmental image around the origin and uploading the environmental image to the server; in the process of driving to the updated origin, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the origin; in response to the distance between the current position of the vehicle and the updated origin being less than a second distance threshold, collecting pedestrian images around the updated origin and uploading the pedestrian images to the server;

[0207] The passenger module 1001 is also used for:

[0208] Receive the updated origin sent by the service end, and then drive to the updated origin; receive the again updated origin sent by the service end, and then drive to the again updated origin.

[0209] It should be noted that the specific implementation content of the control device of the autonomous driving vehicle described in the present invention has been described in detail in the control method of the autonomous driving vehicle described above, so the repeated content will not be described here.

[0210] Reference below Fig.11 , which shows a schematic diagram of the structure of a computer system 1100 of a terminal device suitable for implementing an embodiment of the present invention. Fig.11 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0211] like Fig.11 As shown, the computer system 1100 includes a central processing unit (CPU) 1101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1102 or a program loaded from a storage part 1108 into a random access memory (RAM) 1103. In the RAM 1103, various programs and data required for the operation of the system 1100 are also stored. The CPU 1101, the ROM 1102, and the RAM 1103 are connected to each other via a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0212] The following components are connected to the I / O interface 1105: an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1105 as needed. A removable medium 1111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage section 1108 as needed.

[0213] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1109, and / or installed from the removable medium 1111. When the computer program is executed by the central processing unit (CPU) 1101, the above-mentioned functions defined in the system of the present invention are executed.

[0214] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0215] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0216] The modules involved in the embodiments of the present invention may be implemented by software or hardware. The modules described may also be set in a processor, for example, it may be described as: a processor includes a task module and a processing module, wherein the names of these modules do not constitute a limitation on the modules themselves in some cases.

[0217] The modules involved in the embodiments of the present invention may be implemented by software or hardware. The modules described may also be set in a processor, for example, it may be described as: a processor includes a passenger module and an image module, wherein the names of these modules do not constitute limitations on the modules themselves in some cases.

[0218] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by a device, the device implements the following method: receiving a passenger-carrying task sent by a terminal, the passenger-carrying task carries the origin information and the destination information; sending the passenger-carrying task to a vehicle so that the vehicle drives to the origin; receiving a feature image around the origin uploaded by the vehicle, and sending the feature image to the terminal; wherein the feature image includes an environment image and / or a pedestrian image; receiving confirmation information of the feature image returned by the terminal, thereby updating the origin according to the confirmation information of the feature image, so that the vehicle drives to the updated origin.

[0219] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs. When the above one or more programs are executed by a device, the device implements the following method: receiving a passenger-carrying task issued by a service end, thereby driving to the origin, the passenger-carrying task carries the origin information and the destination information; in the process of driving to the origin, obtaining the current position of the vehicle, calculating the distance between the current position of the vehicle and the origin; in response to the distance between the current position of the vehicle and the origin being less than the distance threshold, collecting the feature image around the origin, and uploading the feature image to the server; wherein the feature image includes an environmental image and / or a pedestrian image; receiving the updated origin issued by the server, thereby driving to the updated origin.

[0220] As another aspect, an embodiment of the present invention further provides a computer program product, including a computer program, and when the computer program is executed by a processor, the method described in any of the above embodiments is implemented.

[0221] After the vehicle approaches the approximate location of the passenger, the embodiment of the present invention sends the characteristic image around the origin to the passenger for confirmation, and updates the origin based on the passenger's confirmation result. The vehicle drives to the updated origin, thereby accurately identifying the passenger's location. Moreover, even if the actual location reached by the passenger deviates from the origin set by the passenger, the embodiment of the present invention can accurately identify the actual location of the passenger, allowing the autonomous driving vehicle to reach the actual location without the passenger having to change the origin on the terminal.

[0222] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for an autonomous driving vehicle, characterized in that: Applied to the server, including: receiving a passenger-carrying task sent by a terminal, wherein the passenger-carrying task carries information of a departure place and a destination; Sending the passenger-carrying task to the vehicle so that the vehicle drives to the starting place; Receiving a feature image of the surroundings of the origin uploaded by the vehicle, and sending the feature image to the terminal; wherein the feature image includes an environment image and / or a pedestrian image; The confirmation information of the characteristic image returned by the terminal is received, so as to update the origin according to the confirmation information of the characteristic image, so that the vehicle drives to the updated origin.

2. The control method of the automatic driving vehicle according to claim 1, characterized in that: The passenger-carrying mission also carries passenger characteristics; Receiving a characteristic image around the origin uploaded by the vehicle and sending the characteristic image to the terminal; receiving confirmation information of the characteristic image returned by the terminal, thereby updating the origin according to the confirmation information of the characteristic image, so that the vehicle drives to the updated origin, including: Receiving a feature image around the origin uploaded by the vehicle; Determining whether there is a target pedestrian similar to the passenger in the feature image according to the passenger characteristics; If yes, sending the feature image to the terminal; The confirmation information of the target pedestrian in the feature image is received from the terminal, so as to update the origin according to the confirmation information of the target pedestrian in the feature image, so as to make the vehicle drive to the updated origin.

3. The control method of the automatic driving vehicle according to claim 1, characterized in that: The passenger-carrying mission also carries passenger characteristics; Receiving a characteristic image around the origin uploaded by the vehicle and sending the characteristic image to the terminal; receiving confirmation information of the characteristic image returned by the terminal, thereby updating the origin according to the confirmation information of the characteristic image, so that the vehicle drives to the updated origin, including: receiving an environmental image of the surroundings of the origin uploaded by the vehicle, and sending the environmental image to the terminal; receiving confirmation information of the environment image returned by the terminal, thereby updating the origin according to the confirmation information of the environment image, so that the vehicle drives to the updated origin; receiving the updated pedestrian image around the origin uploaded by the vehicle; determining whether there is a target pedestrian similar to the passenger in the pedestrian image according to the passenger characteristics; If yes, sending the pedestrian image to the terminal; Receive confirmation information of the target pedestrian in the pedestrian image returned by the terminal, and update the origin again according to the confirmation information of the target pedestrian in the pedestrian image, so that the vehicle drives to the updated origin again.

4. The control method of the automatic driving vehicle according to claim 2 or 3, characterized in that: The passenger characteristics include at least one of the following: Age characteristics, gender characteristics, clothing characteristics, facial features, and auxiliary characteristics.

5. A control method for an autonomous driving vehicle, characterized in that: Applications in autonomous vehicles include: Receiving a passenger-carrying task issued by the service end, thereby driving to the origin, the passenger-carrying task carrying the origin information and the destination information; In the process of driving to the origin, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the origin; In response to the distance between the current position of the vehicle and the origin being less than a distance threshold, collecting a feature image around the origin, and uploading the feature image to the server; wherein the feature image includes an environment image and / or a pedestrian image; Receive the updated departure location sent by the service end, and drive to the updated departure location.

6. The control method of the automatic driving vehicle according to claim 5, characterized in that: In response to the distance between the current position of the vehicle and the origin being less than a distance threshold, collecting a feature image around the origin and uploading the feature image to the server; receiving an updated origin sent by the server, thereby driving to the updated origin, including: In response to the distance between the current position of the vehicle and the origin being less than a first distance threshold and greater than or equal to a second distance threshold, collecting an environmental image around the origin and uploading the environmental image to the server; Receiving the updated originating place sent by the service end, thereby driving to the updated originating place; In the process of driving to the updated departure point, obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the departure point; In response to the distance between the current position of the vehicle and the updated origin being less than a second distance threshold, pedestrian images around the updated origin are collected, the pedestrian images are uploaded to the server, and the updated origin sent by the server is received, thereby driving towards the updated origin.

7. A control device for an autonomous driving vehicle, characterized in that: Set on the server side, including: A task module is used to receive a passenger-carrying task sent by a terminal, the passenger-carrying task carrying information of a departure point and a destination; and send the passenger-carrying task to a vehicle so that the vehicle drives to the departure point; A processing module is used to receive a feature image around the origin uploaded by the vehicle and send the feature image to the terminal; receive confirmation information of the feature image returned by the terminal, and update the origin according to the confirmation information of the feature image, so that the vehicle drives to the updated origin; wherein the feature image includes an environment image and / or a pedestrian image.

8. A control device for an autonomous driving vehicle, characterized in that: Set in an autonomous driving vehicle, including: A passenger carrying module, used for receiving a passenger carrying task issued by the service end, so as to drive to the origin, wherein the passenger carrying task carries the origin information and the destination information; An image module, used for obtaining the current position of the vehicle and calculating the distance between the current position of the vehicle and the origin in the process of driving to the origin; in response to the distance between the current position of the vehicle and the origin being less than a distance threshold, collecting a feature image around the origin and uploading the feature image to the server; wherein the feature image includes an environment image and / or a pedestrian image; The passenger loading module is also used to receive the updated departure place sent by the service end, so as to drive to the updated departure place.

9. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the control method of the autonomous driving vehicle as described in any one of claims 1-6.

10. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the autonomous driving vehicle as described in any one of claims 1-6 is implemented.

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