Vehicle control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, a vehicle and a readable storage medium. The method comprises the steps of obtaining a planned path obtained by performing path planning on the vehicle; selecting a plurality of road adsorption points adsorbed by the planned path from the road points according to the distance between the planned path and the road points in each road of the target electronic map; determining a target road interval indicated by the plurality of road adsorption points in the road; controlling the vehicle to run according to the semantic description information of the target road interval in the target electronic map and the planned path; the semantic description information of the target road interval is used for indicating the road attribute of the target road interval. According to the method provided by the invention, accurate navigation in the vehicle driving process is realized.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a vehicle control method, device, vehicle, and computer-readable storage medium. Background Art

[0002] With the development of light map technology, autonomous driving solutions that rely on low-precision navigation maps have become a mainstream research direction. However, due to the limited information described by low-precision navigation maps, low-precision navigation maps cannot meet the real-time navigation needs of vehicles, resulting in low accuracy of low-precision navigation. Summary of the invention

[0003] The present application proposes a vehicle control method, device, vehicle and computer-readable storage medium to improve the accuracy of low-precision navigation.

[0004] In a first aspect, an embodiment of the present application provides a vehicle control method, the method comprising:

[0005] Obtaining a planned path obtained by performing path planning on the vehicle;

[0006] According to the distance between the planned path and the road points in each road of the target electronic map, a plurality of road adsorption points adsorbed by the planned path are selected from the road points;

[0007] Determine a target road section indicated by a plurality of road adsorption points on the road;

[0008] The vehicle is controlled to travel according to the semantic description information of the target road section in the target electronic map and the planned path; the semantic description information of the target road section is used to indicate the road attributes of the target road section.

[0009] In a second aspect, an embodiment of the present application further provides a vehicle control device, the device comprising:

[0010] An acquisition module is used to acquire a planned path obtained by performing path planning on a vehicle;

[0011] An adsorption point determination module, used for selecting a plurality of road adsorption points adsorbed by the planned path from the road points according to the distance between the planned path and the road points in each road of the target electronic map;

[0012] An interval determination module, used to determine a target road interval indicated by a plurality of road adsorption points on the road;

[0013] The control module is used to control the vehicle driving according to the semantic description information of the target road section in the target electronic map and the planned path; the semantic description information of the target road section is used to indicate the road attributes of the target road section.

[0014] In a third aspect, an embodiment of the present application further provides a vehicle, characterized in that the vehicle comprises: one or more processors; a memory; one or more applications, wherein one or more applications are stored in the memory and configured to be executed by one or more processors, and one or more programs are configured to execute the above method.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the above method.

[0016] The present application provides a vehicle control method, device, vehicle and computer-readable storage medium. In the present application, according to the planned path of the vehicle, multiple road adsorption points are selected from the road points in each road of the target electronic map, and then the target road section indicated by the multiple road adsorption points in the road is determined; thereafter, according to the semantic description information of the target road section in the target electronic map and the planned path, the vehicle driving is controlled, thereby, the vehicle driving process in the target road section can meet the road attributes of the target road section, and the accuracy of the vehicle driving process in the target road section is improved, thereby effectively avoiding the loss of semantic description information of the target road section, and the lack of basis when the vehicle is driving in the target road section, resulting in the vehicle driving process in the target road section not meeting the road attributes of the target road section, thereby achieving accurate navigation of the vehicle driving process.

[0017] Other features and advantages of the embodiments of the present application will be described in the subsequent description, and partly become apparent from the description, or can be understood by practicing the embodiments of the present application. The purposes and other advantages of the embodiments of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of a vehicle hardware environment suitable for an embodiment of the present application is shown.

[0020] Figure 2 A flow chart of a vehicle control method proposed according to an embodiment of the present application is shown.

[0021] Figure 3 Show Figure 2The steps before step S140 of the corresponding embodiment are a flowchart in an embodiment.

[0022] Figure 4 A schematic diagram showing an actual road adsorption point in an embodiment of the present application.

[0023] Figure 5 A schematic diagram showing a map updating process in an embodiment of the present application is shown.

[0024] Figure 6 A structural block diagram of a vehicle control device proposed in one embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] In order to make those skilled in the art better understand the present application scheme, the technical scheme in the present application embodiment will be clearly and completely described below in conjunction with the drawings in the present application embodiment. Obviously, the described embodiment is only a part of the present application embodiment, rather than all the embodiments. The components of the present application embodiment usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application for protection, but merely represents the selected embodiment of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment suitable for an embodiment of the present application is shown, wherein the vehicle 100 includes a driving system 110, which may have multiple built-in autonomous driving functions. The driving system 110 may store an electronic map, and the driving system 110 may plan a driving route based on the electronic map stored in the driving system, and may also control the vehicle's autonomous driving based on the planned driving route.

[0028] The driving system 110 may include a data acquisition device 111 , one or more (only one is shown in the figure) processors 112 , and a memory 113 .

[0029] The data acquisition device 111 is used to detect environmental information in and around the vehicle. The data acquisition device 111 may include sensors such as an in-vehicle camera, an in-vehicle infrared sensor, an in-vehicle monitoring radar, an out-vehicle camera, an out-vehicle monitoring radar, and a door monitoring radar.

[0030] The processor 112 may be a microcontroller unit (MCU) having a built-in memory 113 . The memory 113 stores a program that can execute the contents of the following embodiments, and the processor 112 may execute the program stored in the memory 113 .

[0031] The processor 112 may include one or more processors. The processor 112 uses various interfaces and lines to connect various parts of the entire vehicle 100, and executes various functions of the vehicle 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 113, and calling data stored in the memory 113.

[0032] The memory 113 may include a random access memory (RAM) or a read-only memory (ROM). The memory 15 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 15 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following various method embodiments, etc.

[0033] See also Figure 1 , Figure 1 A flow chart of a vehicle control method proposed according to an embodiment of the present application is shown, which is used for a vehicle, and the method includes:

[0034] S110: Obtain a planned path obtained by performing path planning on the vehicle.

[0035] The vehicle in this embodiment can be an electric vehicle or a fuel vehicle, or a car, an SUV, a bus, a truck, etc.

[0036] The planned path of the vehicle may be a path obtained by performing path planning using a target electronic map according to a planned starting point and a planned end point, wherein the planned starting point and the planned end point may be manually input by a user, or determined by the vehicle according to the user's driving habits, or determined by the vehicle according to a path planning instruction sent by the user.

[0037] The target electronic map refers to the electronic map stored in the vehicle, which may be a SD map (Standard Definition Map). The target electronic map includes multiple roads, each of which may be provided with multiple road points, and each road may be indicated by the multiple road points provided. For example, Road A is provided with 10 orderly road points, and the road obtained by connecting the 10 road points is Road A.

[0038] The vehicle can construct a path from the planned starting point to the planned end point using the target electronic map according to the planned starting point and the planned end point, and the path is used as the planned path, and the path involves at least one road in the target electronic map.

[0039] In another embodiment, the vehicle may construct a path from the planned starting point to the planned end point using a reference map according to the planned starting point and the planned end point, and the path is used as the planned path, wherein the reference map may refer to a high-precision map (HD map).

[0040] S120 , selecting a plurality of road adsorption points adsorbed by the planned path from the road points according to the distance between the planned path and the road points in each road of the target electronic map.

[0041] In one embodiment, after the planned path is obtained, the distance between the planned path and the road points in each road of the target electronic map can be determined, and then a specified number of road points are selected from small to large according to the distance as multiple road adsorption points adsorbed by the planned path, wherein the specified number can be determined based on the length of the planned path, and the longer the planned path, the larger the specified number.

[0042] In another embodiment, after the planned path is acquired, if the planned path includes multiple planned path points; S120 may include: determining the road point closest to each planned path point from the road points as the road adsorption point corresponding to each planned path point.

[0043] Each planned path point corresponds to a respective planned time point. When the vehicle travels along the planned path and reaches the planned time point corresponding to the planned path point, the vehicle is located at the position indicated by the planned path point. The interval between two adjacent planned time points may be fixed, for example, the interval between two adjacent planned time points is 0.1s.

[0044] In one embodiment, the plurality of planned path points are ordered, and the distance interval between two adjacent planned path points is fixed, for example, the distance interval between two adjacent planned path points is 5m. The order of the plurality of planned path points refers to the order in which the vehicle passes through the planned path points in turn when the vehicle travels from the planned starting point to the planned end point according to the planned path.

[0045] For each planned path point, determine the road point closest to it as the road adsorption point adsorbed by the planned path point, traverse all planned path points, and obtain the road adsorption points adsorbed by all planned path points as multiple road adsorption points adsorbed by the planned path.

[0046] S130: Determine a target road section indicated by a plurality of road adsorption points on the road.

[0047] After obtaining the multiple road adsorption points, the road sections indicated by the multiple road adsorption points in the road can be determined according to the positions of the multiple road adsorption points in the road of the target electronic map as the target road sections.

[0048] A road section refers to a part of a road between any two road points. For example, if road B has 13 road points in order, the part of road B between the 3rd and 4th road points is considered as a road section, and the part of road B between the 10th and 14th road points is also considered as a road section.

[0049] In some embodiments, as mentioned above, the multiple planned path points included in the planned path are ordered. In this case, S130 may include: determining the arrangement order of the multiple road adsorption points according to the arrangement order of the multiple planned path points in the planned path; for any two adjacent road adsorption points, taking the road section between the two adjacent road adsorption points in the road as a target road section indicated by the two adjacent road adsorption points.

[0050] Among them, for each planned path point, the sequence number of the arrangement order of the planned path point in the planned path can be used as the sequence number of the road adsorption point corresponding to the planned path point. In this way, each planned path point is traversed to obtain the sequence number of each road adsorption point, and the multiple road adsorption points are arranged according to their respective sequence numbers to determine the order of the multiple road adsorption points.

[0051] Then, for the ordered plurality of road adsorption points, a road section between two adjacent road adsorption points is taken as a target road section indicated by the two adjacent road adsorption points. In this way, all road adsorption points are traversed to obtain each target road section.

[0052] S140: Control the vehicle driving according to the semantic description information of the target road section in the target electronic map and the planned path.

[0053] The semantic description information of the target road section is used to indicate the road attributes of the target road section.

[0054] For each road section indicated by each road point in the road of the target electronic map, respective semantic description information may be configured for the road section based on demand and actual road conditions.

[0055] The semantic description information of a road section refers to information that describes the road attributes of the road section. The road attributes of the road section may include the speed limit information of the road section, the lane change information of the road section (whether the road section can change lanes), and the temporary shielding area of ​​the road section (the temporarily shielded area in the road section), etc., wherein the cause of the temporary shielding may be road construction or road operations, etc.

[0056] Semantic description information can be assigned to each road section based on user needs, or the semantic description information of each road section can be determined based on driving data uploaded by different vehicles. The driving data may include vehicle speed, acceleration, surrounding environment information (such as the speed, acceleration and position of surrounding obstacles), steering wheel angle, and lighting information.

[0057] For example, for a certain road section, the speed limit information of the road section can be updated (increasing the minimum speed limit or reducing the maximum speed limit, etc.) according to the actual driving speeds in the driving data of different vehicles, and the updated speed limit information can be used as the semantic description information of the road section.

[0058] For another example, for a certain road section, the lane change information of the road section can be updated (lane change allowed or not allowed) according to the actual lane change conditions in the driving data of different vehicles, and the updated lane change information can be used as the semantic description information of the road section.

[0059] For another example, for a certain road section, the existence of a temporary construction area in the road section can be determined based on the obstacle information in the driving data of different vehicles, the temporary construction area can be determined as a temporary shielding area of ​​the road section, and the temporary shielding area can be used as the semantic description information of the road section.

[0060] Of course, the technicians responsible for managing the target electronic map may also manually configure the semantic description information for each road section. The technicians may determine the semantic description information for each road section based on the driving data uploaded by different vehicles, or they may determine the semantic description information for each road section based on actual needs, which will not be elaborated here.

[0061] The semantic description information of each road section indicated by each road point in the road of the target electronic map may be stored in the target electronic map. The semantic description information of the target road section may be directly obtained from the target electronic map, and then the vehicle driving may be controlled by combining the semantic description information of the target road section and the planned path so that the vehicle drives in reference to the semantic description information of the target road section.

[0062] For example, if the semantic description information of the target road section indicates that the maximum speed limit of the target road section is 60km / h, then when the vehicle travels in the target road section according to the planned path, the vehicle speed shall not exceed 60km / h. For another example, if the semantic description information of the target road section indicates that lane changing is not allowed in the target road section, then when the vehicle travels in the target road section according to the planned path, the vehicle is prohibited from changing lanes.

[0063] In this embodiment, according to the planned path of the vehicle, multiple road adsorption points are selected from the road points in each road of the target electronic map, and then the target road section indicated by the multiple road adsorption points in the road is determined; thereafter, the vehicle driving is controlled according to the semantic description information of the target road section in the target electronic map and the planned path, thereby, the driving process of the vehicle in the target road section can conform to the road attributes of the target road section, and the accuracy of the vehicle driving process in the target road section is improved, thereby effectively avoiding the lack of semantic description information of the target road section, the lack of basis when the vehicle drives in the target road section, resulting in the vehicle driving process in the target road section not conforming to the road attributes of the target road section, and realizing accurate navigation of the vehicle driving process.

[0064] Secondly, the target road section is indicated by at least two road adsorption points. The corresponding target road section is determined by the road adsorption points, and there is no need to perform similarity calculation of the road sections to determine the target road section. Therefore, the road adsorption points can be quickly determined from the target electronic map stored in the vehicle according to the distance between the road points in the target electronic map and the planned path, and then the target road section is quickly determined, which improves the efficiency of determining the target road section, and further improves the real-time performance of vehicle control according to the semantic description information of the target road section in the target electronic map and the planned path.

[0065] In one embodiment, if Figure 3 As shown, before S140, the method further includes:

[0066] S210, receiving multiple actual road adsorption points and configuration semantic description information configured for the road section to be processed sent by the cloud.

[0067] The road section to be processed refers to a road section indicated by a plurality of actual road adsorption points in the road; and the plurality of actual road adsorption points are determined from the road points.

[0068] The cloud refers to a server that is connected to the vehicle for communication. The server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), as well as big data and artificial intelligence platforms.

[0069] In the present application, the actual driving path of the vehicle can be collected during the driving process of the vehicle; based on the distance between the actual driving path and the road points in each road, multiple actual road adsorption points adsorbed by the actual driving path are selected from the road points; and the multiple actual road adsorption points are sent to the cloud.

[0070] In this application, the actual driving path may include multiple actual path points. During the driving process of the vehicle, the position of the vehicle is collected when each collection time point is reached to obtain an actual path point, wherein the collection time point can be set according to demand, for example, the interval between two adjacent collection time points is 0.1s, etc. During the driving process of the vehicle, the position of the vehicle can also be collected when the collection distance interval is reached to obtain an actual path point, for example, the collection distance interval can be 5m.

[0071] The multiple actual path points included in the actual driving path can be ordered, and the arrangement order of the multiple actual path points is the order in which they are collected by the vehicle during the vehicle's driving process; at this time, the road point closest to each actual path point can be determined from the road points as the actual road adsorption point corresponding to each actual path point, and each actual path point is traversed in this way to obtain multiple actual road adsorption points adsorbed by the actual driving path, and then the multiple actual road adsorption points are sent to the cloud.

[0072] In one embodiment, in response to triggering a target event during vehicle driving, the driving path of the vehicle in a target period corresponding to the target event can be collected as the actual driving path. In order to enable the actual driving path of the target period to accurately reflect the target event, the start time of the target period is earlier than the start time of the target event, and the end time of the target period is later than the end time of the target event.

[0073] The target event may refer to an abnormal lane change event, an abnormal deceleration event, an abnormal acceleration event, a construction obstacle detection event, and a user's trigger operation detection. The vehicle may be provided with a trigger button, and the vehicle responds to the user's operation on the trigger button (such as long press, double click, etc.) to determine that the user's trigger operation is detected.

[0074] An abnormal lane change event refers to the inconsistency between the lane change information of the vehicle and the lane change information in the target electronic map. For example, the vehicle changes lanes but the lane change information in the target electronic map indicates that lane change is not allowed. An abnormal deceleration event refers to the vehicle speed decreasing below the minimum speed limit of the road on which the vehicle is located in the target electronic map. An abnormal acceleration event refers to the vehicle speed increasing above the maximum speed limit of the road on which the vehicle is located in the target electronic map.

[0075] There is no construction obstacle information at a certain location in the target electronic map, but a construction obstacle is detected when a vehicle is driving near the location (near, for example, may mean that the distance between the vehicle and the location does not exceed a specified distance, where the specified distance may be, for example, 10m or 20m), and a construction obstacle event is determined to be detected.

[0076] After determining that the target event occurs, the actual driving path of the vehicle within the target period is obtained, and then a plurality of actual road adsorption points are determined in the road of the target electronic map stored in the vehicle according to the actual driving path.

[0077] In some embodiments, the cloud selects multiple actual road adsorption points adsorbed by the simulated driving path from the road points based on the distance between the simulated driving path and the road points in each road; the cloud simulates the driving process of the vehicle to obtain the simulated driving path.

[0078] That is to say, the cloud can simulate the driving process of the vehicle based on the driving data of the vehicle in a certain period of time (which can be specified based on demand) to obtain a simulated driving path, and then determine multiple actual road adsorption points from the roads of the target electronic map stored in the cloud based on the simulated driving path.

[0079] Wherein, the simulated driving path may include multiple simulated path points. At this time, the road point adsorbed by each simulated path point (that is, the road point closest to the simulated path point) can be determined from the road of the target electronic map stored in the vehicle as the actual road adsorption point corresponding to each simulated path point. Wherein, during the simulated vehicle driving process, the position of the vehicle is collected when each simulated time point is reached to obtain a simulated path point, wherein the simulated time point can be set according to demand, for example, the interval between two adjacent simulated time points is 0.1s, etc., or during the simulated vehicle driving process, when the simulated distance interval is reached, the position of the vehicle is collected to obtain a simulated path point, for example, the simulated distance interval can be 5m.

[0080] After obtaining multiple actual road adsorption points, the cloud can determine the road section indicated by the multiple actual road adsorption points in the road of the target electronic map as the road section to be processed according to the multiple actual road adsorption points. Among them, the roads and road points in the target electronic map stored in the cloud and the target electronic map stored in the vehicle are consistent, and the semantic description information corresponding to the road section may be different.

[0081] Specifically, when the actual road adsorption points are determined according to the actual driving path of the vehicle, the arrangement order of the multiple actual road adsorption points can be determined according to the arrangement order of the multiple actual path points in the actual driving path; for any two adjacent actual road adsorption points, the road section between the two adjacent actual road adsorption points is taken as a road section to be processed indicated by the two adjacent actual road adsorption points;

[0082] Among them, for each actual path point, the sequence number of the arrangement order of the actual path point in the actual driving path can be used as the sequence number of the actual road adsorption point corresponding to the actual path point. In this way, each actual path point is traversed to obtain the sequence number of each actual road adsorption point, and the multiple actual road adsorption points are arranged according to their respective sequence numbers to determine the order of the multiple actual road adsorption points.

[0083] Then, for a plurality of ordered actual road adsorption points, a road section between two adjacent actual road adsorption points is taken as a road section to be processed indicated by the two adjacent actual road adsorption points. In this way, all actual road adsorption points are traversed to obtain at least one road section to be processed.

[0084] like Figure 4 As shown, 401 and 402 are roads on the target electronic map, and the actual driving path of the vehicle in the target period is 403. According to the actual driving path 403, the actual path points 4031, 4032, 4033 and 4034 involved in the actual driving path 403, the actual road adsorption points determined from 401 and 402 are 4041 closest to 4031, 4042 closest to 4032, 4043 closest to 4033 and 4044 closest to 4034. At this time, the road sections to be processed determined according to the four actual road adsorption points may refer to 4051, 4052 and 4053.

[0085] Similarly, when the actual road adsorption points are determined based on the simulated driving path of the vehicle, the arrangement order of multiple actual road adsorption points can be determined based on the arrangement order of multiple simulated path points in the simulated driving path; for any two adjacent actual road adsorption points, the road section between the two adjacent actual road adsorption points is used as a road section to be processed indicated by the two adjacent actual road adsorption points.

[0086] Among them, for each simulated path point, the sequence number of the arrangement order of the simulated path point in the simulated driving path can be used as the sequence number of the actual road adsorption point corresponding to the simulated path point. In this way, each simulated path point is traversed to obtain the sequence number of each actual road adsorption point, and the multiple actual road adsorption points are arranged according to their respective sequence numbers to determine the order of the multiple actual road adsorption points.

[0087] Then, for a plurality of ordered actual road adsorption points, a road section between two adjacent actual road adsorption points is taken as a road section to be processed indicated by the two adjacent actual road adsorption points. In this way, all actual road adsorption points are traversed to obtain at least one road section to be processed.

[0088] In some embodiments, different road points in the road network of the target electronic map correspond to respective point identifiers. When multiple actual road adsorption points are determined from the roads of the target electronic map, the point identifiers of the actual road adsorption points can be recorded, and the actual road adsorption points can be indicated by the point identifiers of the actual road adsorption points. Afterwards, the vehicle can send the point identifiers of the actual road adsorption points to the cloud to achieve the purpose of sending the actual road adsorption points to the cloud. The point identifiers used to indicate different road points in the roads of the target electronic map can be point IDs, and the point IDs can be a combination of numbers, letters, and symbols.

[0089] After the cloud receives the actual road adsorption point, for each road section to be processed, the cloud can determine the semantic description information of the road section to be processed in the manner of determining the semantic description information of the road section in the aforementioned S140 as the configuration semantic description information of the configuration of the road section to be processed.

[0090] Afterwards, the cloud can send multiple actual road adsorption points and configuration semantic description information configured for the road section to be processed to the vehicle.

[0091] It is worth mentioning that if the point identifier sent by the vehicle to the cloud is the actual road adsorption point, the point identifier returned by the cloud can also be the actual road adsorption point, so as to achieve the purpose of returning the actual road adsorption point.

[0092] S220: determining a road section to be processed indicated by a plurality of actual road adsorption points from the roads in the target electronic map stored in the vehicle, and replacing the semantic description information of the road section to be processed in the target electronic map according to the configuration semantic description information, so as to update the semantic description information of the road section to be processed.

[0093] The vehicle can determine the road section to be processed indicated by multiple actual road adsorption points from the roads of the target electronic map stored in itself, and then directly replace the semantic description information of the road section to be processed in the target electronic map according to the configuration semantic description information of the road section to be processed, so as to update the semantic description information of the road section to be processed and realize the update of the target electronic map stored in itself.

[0094] The process in which the vehicle can determine the road sections to be processed indicated by multiple actual road adsorption points from the roads in the target electronic map stored in the vehicle itself refers to the description in the aforementioned S210, which will not be repeated here.

[0095] For example, the actual road adsorption points indicating the road section q to be processed are q1 and q2, q1 and q2 are determined in the road of the target electronic map of the vehicle, and then a section of road between q1 and q2 is used as the road section to be processed.

[0096] For example, the map update process is as follows: Figure 5 As shown, the vehicle side (that is, the vehicle) determines the actual road adsorption point, and then uploads the actual road adsorption point to the cloud. The cloud determines the road section to be processed and obtains the configuration semantic description information of the road section to be processed. The cloud can store the road section to be processed and the corresponding configuration semantic description information as vehicle control data in json format, and send the vehicle control data to the vehicle side; thereafter, the vehicle side determines the road section to be processed according to the vehicle control data, and replaces the semantic description information: the semantic description information of the road section to be processed in the target electronic map is replaced with the configuration semantic description information of the road section to be processed in the vehicle control data, thereby realizing the update of the map.

[0097] In this embodiment, the cloud determines the road section to be processed according to multiple actual road adsorption points determined in the target electronic map, and obtains the configuration semantic description information assigned to each road section to be processed, and then sends the road section to be processed and the configuration semantic description information assigned to each road section to be processed to the vehicle. The vehicle determines the road section to be processed from the road network of the target electronic map stored in the vehicle, and then replaces the semantic description information of the road section to be processed in the target electronic map stored in the vehicle according to the configuration semantic description information corresponding to each road section to be processed, thereby realizing the update of the semantic description information of the road section to be processed in the target electronic map stored in the vehicle, thereby realizing the update of the target electronic map stored in the vehicle, so that the updated target electronic map can meet the real-time navigation needs of the vehicle.

[0098] Secondly, the road section to be processed is indicated by at least two actual road adsorption points. Therefore, the corresponding road section to be processed is determined by the actual road adsorption points, and it is not necessary to perform similarity calculation of the road section to determine the road section to be processed. Therefore, the actual road adsorption points can be quickly determined from the target electronic map stored by the vehicle according to the distance between the road point in the target electronic map and the driving path (actual driving path or simulated driving path), and then the road section to be processed is quickly determined, which improves the efficiency of determining the road section to be processed, and then improves the update efficiency of the target electronic map. And by indicating the road section by at least two actual road adsorption points, the road section is no longer indicated by a section of road corresponding to the road section, which reduces the data indicating the road section, thereby reducing the amount of data transmitted from the cloud to the vehicle, improving data transmission efficiency, and reducing network bandwidth pressure.

[0099] In addition, according to the actual driving path of the vehicle, multiple actual road adsorption points are determined, and the target electronic map is updated according to the semantic description information of the road sections determined by the multiple actual road adsorption points, thereby realizing real-time updating of the target electronic map according to the vehicle driving conditions and improving the real-time accuracy of the target electronic map.

[0100] Furthermore, the vehicle driving can be simulated to obtain a simulated driving path, and multiple actual road adsorption points can be determined from the target electronic map stored in the cloud according to the simulated driving path. Therefore, multiple actual road adsorption points can be determined without the need for the vehicle to drive in real time, thereby reducing the difficulty and cost of obtaining the actual road adsorption points and improving the efficiency of obtaining the actual road adsorption points.

[0101] See attached Figure 6 , Figure 6 The structure block diagram of a vehicle control device proposed in one embodiment of the present application is shown. For use in a vehicle, the device 800 includes:

[0102] An acquisition module 810 is used to acquire a planned path obtained by performing path planning on a vehicle;

[0103] The adsorption point determination module 820 is used to select a plurality of road adsorption points adsorbed by the planned path from the road points according to the distance between the planned path and the road points in each road of the target electronic map;

[0104] The section determination module 830 is used to determine the target road section indicated by the plurality of road adsorption points on the road;

[0105] The control module 840 is used to control the vehicle to travel according to the semantic description information of the target road section in the target electronic map and the planned path; the semantic description information of the target road section is used to indicate the road attributes of the target road section.

[0106] Optionally, the planned path includes multiple planned path points; the adsorption point determination module 820 is further used to determine the road point closest to each planned path point from the road points as the road adsorption point corresponding to each planned path point.

[0107] Optionally, the interval determination module 830 is also used to determine the arrangement order of multiple road adsorption points according to the arrangement order of multiple planned path points in the planned path; for any two adjacent road adsorption points, the road interval between the two adjacent road adsorption points in the road is used as a target road interval indicated by the two adjacent road adsorption points.

[0108] Optionally, the device also includes an update module for receiving multiple actual road adsorption points sent by the cloud and configuration semantic description information configured for the road section to be processed; the road section to be processed refers to the road section indicated by multiple actual road adsorption points in the road; the multiple actual road adsorption points are determined from the road points; the road section to be processed indicated by the multiple actual road adsorption points is determined from the roads in the target electronic map stored in the vehicle, and the semantic description information of the road section to be processed in the target electronic map is replaced according to the configuration semantic description information to update the semantic description information of the road section to be processed.

[0109] Optionally, the update module is also used to collect the actual driving path of the vehicle during the driving process of the vehicle; select multiple actual road adsorption points adsorbed by the actual driving path from the road points according to the distance between the actual driving path and the road points in each road; and send the multiple actual road adsorption points to the cloud.

[0110] Optionally, the update module is also used to collect the vehicle's driving path within a target time period corresponding to the target event as the actual driving path in response to triggering a target event during the vehicle's driving process; the start time of the target time period is earlier than the start time of the target event, and the end time of the target time period is later than the end time of the target event.

[0111] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0112] In addition, each function in each embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of software function module.

[0113] On the other hand, the present application also provides a computer-readable storage medium, in which program code is stored. The program code can be called by a processor to execute the method described in the above method embodiment.

[0114] 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 cluster of ROMs. Optionally, the computer readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written into one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: Obtaining a planned path obtained by performing path planning on the vehicle; According to the distance between the planned path and the road points in each road of the target electronic map, a plurality of road adsorption points adsorbed by the planned path are selected from the road points; Determine a target road section indicated by the plurality of road adsorption points on the road; The vehicle is controlled to travel according to the semantic description information of the target road section in the target electronic map and the planned path; the semantic description information of the target road section is used to indicate the road attribute of the target road section.

2. The method according to claim 1, characterized in that: The planned path includes a plurality of planned path points; The selecting, from the road points, a plurality of road adsorption points adsorbed by the planned path according to the distance between the planned path and the road points in each road of the target electronic map comprises: A road point closest to each of the planned path points is determined from the road points as a road adsorption point corresponding to each of the planned path points.

3. The method according to claim 2, characterized in that The determining a target road section indicated by the plurality of road adsorption points on the road comprises: Determining an arrangement order of the plurality of road adsorption points according to an arrangement order of the plurality of planned path points in the planned path; For any two adjacent road adsorption points, a road section between the two adjacent road adsorption points in the road is taken as a target road section indicated by the two adjacent road adsorption points.

4. The method according to claim 1, characterized in that: Before controlling the vehicle to travel according to the semantic description information of the target road section in the target electronic map and the planned path, the method further includes: Receiving multiple actual road adsorption points and configuration semantic description information configured for a road section to be processed sent by a cloud; the road section to be processed refers to a road section indicated by the multiple actual road adsorption points in the road; the multiple actual road adsorption points are determined from the road points; The road section to be processed indicated by the multiple actual road adsorption points is determined from the roads of the target electronic map stored in the vehicle, and the semantic description information of the road section to be processed in the target electronic map is replaced according to the configuration semantic description information to update the semantic description information of the road section to be processed.

5. The method according to claim 4, characterized in that Before receiving the plurality of actual road adsorption points and the configuration semantic description information configured for the road section to be processed sent by the cloud, the method further includes: During the driving process of the vehicle, the actual driving path of the vehicle is collected; According to the distance between the actual driving path and each road point in the road, selecting a plurality of actual road adsorption points adsorbed by the actual driving path from the road points; The multiple actual road adsorption points are sent to the cloud.

6. The method according to claim 5, characterized in that The collecting of the actual driving path of the vehicle during the driving process of the vehicle includes: During vehicle driving, in response to triggering a target event, the vehicle's driving path within a target time period corresponding to the target event is collected as the actual driving path; the start time of the target time period is earlier than the start time of the target event, and the end time of the target time period is later than the end time of the target event.

7. The method according to claim 4, characterized in that The cloud end selects a plurality of actual road adsorption points adsorbed by the simulated driving path from the road points according to the distance between the simulated driving path and each road point in the road; the cloud end simulates the driving process of the vehicle to obtain the simulated driving path.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module is used to acquire a planned path obtained by performing path planning on a vehicle; An adsorption point determination module, configured to select a plurality of road adsorption points adsorbed by the planned path from the road points according to the distance between the planned path and the road points in each road of the target electronic map; An interval determination module, used to determine a target road interval indicated by the plurality of road adsorption points on the road; The control module is used to control the vehicle to travel according to the semantic description information of the target road section in the target electronic map and the planned path; the semantic description information of the target road section is used to indicate the road attribute of the target road section.

9. A vehicle, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the method according to any one of claims 1 to 7.

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