Intelligent driving control method and device, electronic equipment and storage medium

Abstract

The invention belongs to the technical field of automobiles, and provides an intelligent driving control method and device, electronic equipment and a storage medium, and the method comprises the steps: receiving real-time dynamic differential positioning RTK positioning data and L-band satellite signals, the L-band satellite signals are directly broadcasted to an intelligent driving domain controller by a satellite, and the L-band satellite signals are used for generating first positioning data; fusing the RTK positioning data and the first positioning data to obtain target positioning data of the vehicle; receiving an image signal in front of the vehicle and radar sensing data; generating a driving control signal according to the target positioning data, the front image signal and the radar sensing data; and the driving control signal is sent to a corresponding execution system. Normal use of the intelligent driving function is achieved.

Description

Technical Field

[0001] The present disclosure belongs to the field of automobile technology, and in particular relates to an intelligent driving control method, device, electronic equipment and storage medium. Background Art

[0002] Intelligent driving means that the vehicle relies on the camera and millimeter wave radar installed on the vehicle body to monitor surrounding vehicles, pedestrians, two-wheeled vehicles and other targets in real time, and receives the real-time dynamic differential positioning (RTK) service signal. The RTK service signal is used to locate the lane and coordinate position of the vehicle in real time, and the situation ahead is detected based on the moving or stationary targets ahead. The vehicle's position and the situation ahead are used to control lane changes, steering, on- and off-ramps, etc. However, in areas where the RTK service signal is not covered or the signal is weak, the intelligent driving function is limited and cannot be used normally. Summary of the invention

[0003] To solve the above problems, the present disclosure provides an intelligent driving control method, device, electronic device and storage medium, the purpose of which is to achieve normal use of the intelligent driving function.

[0004] In order to achieve the above objectives, the present disclosure mainly provides the following technical solutions:

[0005] In a first aspect, the present disclosure provides an intelligent driving control method, which is applied to an intelligent driving domain controller, comprising:

[0006] Receiving real-time dynamic differential positioning RTK positioning data and L-band satellite signals, wherein the L-band satellite signals are directly broadcast by satellites to the intelligent driving domain controller, and the L-band satellite signals are used to generate first positioning data;

[0007] The RTK positioning data and the first positioning data are integrated to obtain target positioning data of the vehicle;

[0008] Receive image signals and radar perception data in front of the vehicle;

[0009] generating a driving control signal according to the target positioning data, the front image signal and the radar perception data;

[0010] The driving control signal is sent to a corresponding execution system.

[0011] Furthermore, the target positioning data of the vehicle is obtained by fusing the RTK positioning data with the first positioning data, including:

[0012] Determine the signal strength of the RTK service signal corresponding to the RTK positioning data;

[0013] If the signal strength is greater than or equal to a first strength threshold, the RTK positioning data is determined as the target positioning data of the vehicle;

[0014] If the signal strength is less than a first strength threshold, the first positioning data is determined as the target positioning data of the vehicle.

[0015] Furthermore, the target positioning data of the vehicle is obtained by fusing the RTK positioning data with the first positioning data, including:

[0016] Determine the signal strength of the RTK service signal corresponding to the RTK positioning data;

[0017] When the signal strength is greater than or equal to a first strength threshold and less than a second strength threshold, calculating a difference between the RTK positioning data and the first positioning data;

[0018] If the difference is greater than the difference threshold, the RTK positioning data is corrected using the first positioning data, and the corrected RTK positioning data is determined as the target positioning data of the vehicle;

[0019] If the difference is less than or equal to the difference threshold, the RTK positioning data is determined as the target positioning data of the vehicle.

[0020] Furthermore, receiving the image signal and radar perception data in front of the vehicle includes:

[0021] Receive the image signal in front of the vehicle sent by the front-view camera through the low-voltage differential signal technology LVDS;

[0022] Receive radar sensing data sent by the millimeter-wave radar through the CAN line, wherein the radar sensing data includes obstacle distance data, speed data, and angle data.

[0023] Further, generating a driving control signal according to the target positioning data, the front image signal and the radar perception data includes:

[0024] Determine obstacles in front of the vehicle according to the front image signal;

[0025] Obtain radar perception data corresponding to each obstacle;

[0026] Planning a driving path according to the radar perception data and the target positioning data;

[0027] A driving control signal is generated based on the driving path and the current driving state of the vehicle.

[0028] Furthermore, receiving RTK positioning data includes:

[0029] Receive RTK positioning data sent by a remote communication terminal T-BOX, where the T-BOX is connected to the RTK base station via 5G communication.

[0030] In a second aspect, the present disclosure provides an intelligent driving control device, which is configured in an intelligent driving domain controller, and the device includes:

[0031] A first receiving unit is used to receive real-time dynamic differential positioning RTK positioning data and an L-band satellite signal, where the L-band satellite signal is directly broadcast by a satellite to the intelligent driving domain controller, and the L-band satellite signal is used to generate first positioning data;

[0032] A fusion unit, used for fusing the RTK positioning data and the first positioning data to obtain target positioning data of the vehicle;

[0033] The second receiving unit is used to receive the image signal in front of the vehicle and the radar perception data;

[0034] A generating unit, configured to generate a driving control signal according to the target positioning data, the front image signal and the radar sensing data;

[0035] The sending unit is used to send the driving control signal to the corresponding execution system.

[0036] On the other hand, the present disclosure further provides a storage medium, which is used to store a computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the method of the first aspect above.

[0037] On the other hand, the present disclosure also provides an electronic device, comprising at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; and the processor is used to call program instructions in the memory to execute the method of the first aspect as described above.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] The present invention receives RTK positioning data and L-band satellite signals. Since L-band satellite signals have strong penetration, L-band satellite signals are not easily blocked, and L-band satellite signals are directly received by the intelligent driving domain controller through direct broadcast services, without the need for other devices and network forwarding, while also avoiding the problem of being unable to receive signals due to forwarding devices. Therefore, L-band satellite signals can be normally received in areas where RTK service signals are blocked or not covered by RTK service signals. First positioning data is generated based on the L-band satellite signal, and the RTK positioning data and the first positioning data are fused to obtain target positioning data. A driving control signal is generated through the target positioning data, as well as the image signal in front of the vehicle and the radar perception data. The present invention realizes the normal use of the intelligent driving function.

[0040] Other features and advantages of the present disclosure will be described in the following description, and partly become apparent from the description, or be understood by implementing the present disclosure. The purpose and other advantages of the present disclosure can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A schematic diagram of the structure of an intelligent driving control system according to an embodiment of the present disclosure is shown;

[0043] Figure 2 A schematic diagram of a process of an intelligent driving control method according to an embodiment of the present disclosure is shown;

[0044] Figure 3 A schematic diagram of a process of another intelligent driving control method according to an embodiment of the present disclosure is shown;

[0045] Figure 4 A schematic diagram of a process for fusing RTK positioning data and first positioning data according to an embodiment of the present disclosure is shown;

[0046] Figure 5 A schematic structural diagram of an intelligent driving control device according to an embodiment of the present disclosure is shown;

[0047] Figure 6 A schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0049] In the process of intelligent driving, the intelligent driving domain controller generates a driving control signal based on the RTK positioning data. If the vehicle enters an area where the RTK service signal is blocked or the signal is not covered, the vehicle cannot know its current location, which will cause the intelligent driving domain controller to be unable to generate a driving control signal, resulting in the vehicle's intelligent driving function not being able to work properly. Based on this, the embodiments of the present disclosure provide an intelligent driving control system, such as Figure 1 As shown, the intelligent driving control system includes an intelligent driving domain controller, a front millimeter-wave radar, a corner millimeter-wave radar, a front-view camera, a remote communication terminal (T-BOX), a gateway, a braking system, a steering system, a power system, and a human-computer interaction system. Among them, after receiving the RTK service signal sent by the RTK reference, the T-BOX sends the RTK positioning data corresponding to the RTK service signal to the intelligent driving domain controller. The intelligent driving domain controller directly receives the L-band satellite signal sent by the L-band satellite through the L-band satellite broadcast service. The intelligent driving domain controller receives the image signal in front of the vehicle collected by the front-view camera, as well as the radar perception data sent by the front millimeter-wave radar and the corner millimeter-wave radar. After the intelligent driving domain controller generates a driving control signal, it sends the driving control signal to the gateway, and the gateway forwards it to the corresponding execution system, which is the braking system, steering system, power system, etc.

[0050] Corresponding to the intelligent driving control system, the embodiment of the present disclosure also provides an intelligent driving control method, which is applied to an intelligent driving domain controller, such as Figure 2 As shown, the method includes:

[0051] 101. Receive real-time kinematic differential positioning RTK positioning data and L-band satellite signals, where the L-band satellite signals are used to generate first positioning data.

[0052] Among them, the L-band satellite signal is broadcast directly by the L-band satellite to the intelligent driving domain controller. The L-band satellite signal is used to generate the positioning data of the vehicle, that is, the first positioning data. L-band is the L band, and the L band is in the range of 1-2GHz, which can maintain good stability and penetration during the propagation process. RTK positioning data is used to indicate the position of the vehicle determined by the RTK service signal. The T-BOX of the embodiment of the present disclosure can receive the RTK service signal sent by the RTK reference, and can also receive the satellite signals corresponding to the RTK service signal, and calculate the RTK positioning data using the RTK service signal and the corresponding satellite signals.

[0053] In this step, after the driver turns on the intelligent driving function through the human-computer interaction system, the intelligent driving domain controller receives the RTK positioning data sent by the T-BOX, and receives the L-band satellite signal directly broadcasted to the intelligent driving domain controller by the L-band satellite. Direct broadcast means that the L-band satellite directly sends the signal to the intelligent driving domain controller without forwarding it through other intermediate devices or networks. The direct broadcast method enables the intelligent driving domain controller to receive the L-band satellite signal in real time and accurately, thereby using high-precision positioning data to generate the target positioning data of the vehicle.

[0054] 102. The RTK positioning data and the first positioning data are integrated to obtain target positioning data of the vehicle.

[0055] The target positioning data is the coordinate position data of the vehicle used to generate the travel control signal.

[0056] In this step, when the RTK positioning data is received and the L-band satellite signal is received, the target positioning data of the vehicle can be obtained according to the RTK positioning data and the first positioning data. When the RTK positioning data is not received, that is, the RTK positioning data is empty, and only the first positioning data is obtained, the first positioning data is determined as the target positioning data of the vehicle. When the RTK positioning data cannot be received, the embodiment of the present disclosure uses the first positioning data to locate the vehicle, so that the intelligent driving domain controller can know the position of the vehicle in real time, and then use the position of the vehicle for normal intelligent driving.

[0057] 103. Receive image signals and radar perception data in front of the vehicle.

[0058] The image signal in front of the vehicle is the signal collected by the front-view camera. The radar perception data is the data sent to the intelligent driving domain controller by the front millimeter-wave radar and the corner millimeter-wave radar.

[0059] 104. Generate a driving control signal according to the target positioning data, the front image signal and the radar perception data.

[0060] Among them, the driving control signals include control command signals such as lane changing, turning, and entering the ramp.

[0061] In this step, after the intelligent driving domain controller obtains the front image signal, the perception algorithm can be used to extract the target objects such as vehicles, pedestrians, two-wheeled vehicles, traffic lights, etc. in the vehicle's front view image corresponding to the front image signal, and the various obstacles in the driving direction are determined among the target objects. The radar perception data is used to determine the relevant information of each obstacle, which includes the distance between each obstacle and the vehicle, the relative speed and angle, etc. Based on the relevant information of each obstacle, driving control signals such as braking, acceleration, and lane changing are generated.

[0062] 105. Send a driving control signal to a corresponding execution system.

[0063] The execution system is one or more of a braking system, a steering system, and a power system.

[0064] The driving control signal in the embodiment of the present disclosure may be one or more, and each driving control signal corresponds to an execution system. After the intelligent driving domain controller generates each driving control signal, it is sent to the gateway in sequence, and the gateway forwards it to the corresponding execution system.

[0065] The disclosed embodiment receives RTK positioning data and L-band satellite signals. Since L-band satellite signals have strong penetration, they are not easily blocked. In addition, L-band satellite signals are directly received by the intelligent driving domain controller through direct broadcast services, without the need for other devices and network forwarding. This also avoids the problem of being unable to receive signals due to forwarding devices. Therefore, L-band satellite signals can be received normally in areas where RTK service signals are blocked or not covered by RTK service signals. First positioning data is generated based on the L-band satellite signal, and the RTK positioning data and the first positioning data are fused to obtain target positioning data. A driving control signal is generated through the target positioning data, as well as the image signal in front of the vehicle and the radar perception data. The disclosed embodiment realizes the normal use of the intelligent driving function.

[0066] In order to explain the intelligent driving control method proposed in the present disclosure in more detail, the present disclosure proposes another embodiment of the intelligent driving control method, which is applied to the intelligent driving domain controller. The specific implementation steps of the embodiment of the present disclosure are as follows: Figure 3 As shown, including:

[0067] 201. Receive RTK positioning data sent by a remote communication terminal T-BOX, and receive L-band satellite signals through an L-band satellite broadcast service.

[0068] Among them, T-BOX communicates with the RTK base station via 5G.

[0069] The T-BOX in the embodiment of the present disclosure receives the RTK service signal via 5G. When judging the signal strength of the RTK service signal below, the signal strength can be easily determined by directly judging the strength of the 5G signal. In addition, the intelligent driving domain controller in the embodiment of the present disclosure can integrate an L-band satellite broadcast service device, through which the satellite signal sent by the L-band satellite can be directly received.

[0070] 202. Determine whether the signal strength of the RTK service signal corresponding to the RTK positioning data is greater than or equal to a first strength threshold.

[0071] In the process of fusing RTK positioning data and first positioning data to obtain target positioning data, the embodiment of the present disclosure can use RTK service to locate the vehicle when there is an RTK service signal, and use L-band satellite service for positioning when there is no RTK service signal. When the signal strength of the RTK service signal is weak, the signal may be unstable, that is, the signal is received at times, but not at times. If the above method is still used to locate the vehicle in this case, the two types of positioning data will be constantly switched. Since there will be errors in the two types of positioning data, the constantly switched positioning data may cause the intelligent driving domain controller to continuously generate different driving control signals, which will bring hidden dangers to driving safety and reduce the riding experience of passengers. Therefore, the intelligent driving control system in the embodiment of the present disclosure can monitor the signal strength of the RTK service signal and send the monitoring results to the intelligent driving domain controller. The intelligent driving domain controller generates target positioning data based on the signal strength to prevent the driving control signal from changing frequently.

[0072] In this step, it can be determined whether the signal strength of the current 5G signal is greater than or equal to the first strength threshold. If so, it indicates that the signal strength is strong, and step 203 is executed. If not, it indicates that the surface signal strength is weak or there is no signal, and step 204 is executed.

[0073] 203. Determine the RTK positioning data as the target positioning data of the vehicle.

[0074] 204. Determine the first positioning data as target positioning data of the vehicle.

[0075] When the signal strength of the RTK service signal is weak, the embodiment of the present disclosure uses the L-band satellite signal to accurately locate the position of the vehicle, thereby avoiding driving safety hazards caused by frequent changes in the driving control signal.

[0076] 205. Receive the image signal in front of the vehicle sent by the front-view camera through low-voltage differential signaling technology (Low-Voltage Differential Signa ling, LVDS), and receive the radar perception data sent by the millimeter-wave radar through the CAN line.

[0077] Among them, radar perception data may include obstacle distance data, speed data, and angle data.

[0078] The front-view camera in the disclosed embodiment uses LVDS to send the image signal in front of the vehicle to the intelligent driving domain controller. LVDS has the advantages of low power consumption, high speed, strong anti-interference ability, etc. It can maintain the integrity and stability of the signal during the transmission process, ensuring that high-quality image data is accurately delivered to the intelligent driving domain controller. The disclosed embodiment uses LVDS to send the image signal in front of the vehicle, realizing real-time and accurate environmental perception.

[0079] 206. Generate a driving control signal according to the target positioning data, the front image signal and the radar perception data, so as to send the driving control signal to a corresponding execution system.

[0080] In one achievable manner, the specific steps of generating the driving control signal are as follows:

[0081] Step 1: Determine the obstacles in front of the vehicle based on the front image signal.

[0082] The intelligent driving domain controller obtains real-time forward image signals through the front millimeter-wave radar. The forward image signals include roads, vehicles, pedestrians, traffic signs, etc. The intelligent driving domain controller uses image processing algorithms and machine learning models to analyze and identify each forward image signal to determine obstacles on the road ahead.

[0083] During the recognition process, the intelligent driving domain controller can remove redundant information in the image and highlight the features of obstacles through grayscale, binarization, edge detection, etc.; then use feature extraction methods to extract key features of the obstacles from the processed image, including shape, size, color, texture, etc.; finally, use classification algorithms to classify and identify obstacles and divide them into different categories, such as vehicles, pedestrians, two-wheeled vehicles, etc.

[0084] Step 2: Obtain radar perception data corresponding to each obstacle.

[0085] After identifying obstacles, the intelligent driving domain controller will obtain radar perception data corresponding to each obstacle.

[0086] It should be noted that the intelligent driving domain controller receives the raw data sent by the radar sensor and performs preprocessing, filtering and denoising operations to obtain processed data to improve the accuracy and reliability of the data. Then, the processed data is analyzed based on the obstacles determined by the front image signal to extract key information such as the position, speed, acceleration, etc. of each obstacle, that is, the radar perception data corresponding to each obstacle is obtained.

[0087] Step 3: Plan the driving route based on radar perception data and target positioning data.

[0088] After obtaining the radar perception data of the obstacle, the intelligent driving domain controller can plan the driving route based on the radar perception data and target positioning data, navigation destination, road information, traffic rules, etc.

[0089] Step 4: Generate a driving control signal based on the driving path and the current driving state of the vehicle.

[0090] The disclosed embodiment obtains the target positioning data of the vehicle by fusing the RTK positioning data and the first positioning data, and generates a driving control signal using the target positioning data. Since there is a deviation between the RTK positioning data and the first positioning data, if the deviation is large, emergency braking, emergency steering, etc. may occur. In order to improve the riding experience, the target positioning data of the vehicle is obtained by fusing the RTK positioning data and the first positioning data. The specific steps are as follows:

[0091] 301. Determine the signal strength of the RTK service signal corresponding to the RTK positioning data.

[0092] In this step, the intelligent driving domain controller obtains the monitoring data of the signal strength monitoring device to determine the signal strength of the current RTK service signal. The disclosed embodiment sets a second strength threshold based on the first strength threshold, and the second strength threshold is greater than the first strength threshold. When the signal strength of the RTK service signal is greater than or equal to the second strength threshold, it indicates that the signal strength is good. When the second strength threshold is greater than or equal to the signal strength of the RTK service signal, it indicates that there is a sign of switching positioning data.

[0093] 302. When the signal strength is greater than or equal to a second strength threshold, the RTK positioning data is determined as the target positioning data of the vehicle.

[0094] 303. When the signal strength is less than a first strength threshold, determine the first positioning data as target positioning data of the vehicle.

[0095] 304. When the signal strength is greater than or equal to the first strength threshold and less than the second strength threshold, calculate the difference between the RTK positioning data and the first positioning data.

[0096] The difference is used to indicate the difference between the position coordinates obtained according to the RTK positioning data and the first positioning data.

[0097] In this step, when the intelligent driving domain controller determines that the signal strength of the RTK service signal is greater than or equal to the first strength threshold and less than the second strength threshold, it will calculate the difference between the RTK positioning data and the first positioning data. When the difference is too large, in order to avoid the generation of corresponding driving control instructions such as emergency braking and emergency steering due to excessive differences, the embodiment of the present disclosure will eliminate part of the difference in advance.

[0098] 305. Determine whether the difference is greater than a difference threshold.

[0099] In this step, it is determined whether the difference is greater than the difference threshold, if so, step 306 is executed, if not, step 307 is executed.

[0100] 306. Correct the RTK positioning data using the first positioning data, and determine the corrected RTK positioning data as the target positioning data of the vehicle.

[0101] In this step, the RTK positioning data is corrected using the first positioning data to reduce the difference between the RTK positioning data and the first positioning data. The correction may be performed using a weighted average method to obtain the corrected RTK positioning data.

[0102] 307. Determine the RTK positioning data as the target positioning data of the vehicle.

[0103] Based on the above method, the embodiment of the present disclosure provides an intelligent driving control device, which is used to realize the normal use of the intelligent driving function in areas where the RTK service signal is blocked or the RTK service is not covered. The embodiment of the device corresponds to the aforementioned method embodiment. For ease of reading, this embodiment will no longer repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspond to all the contents of the aforementioned method embodiment. Specifically, Figure 5 As shown, the device is configured in an intelligent driving domain controller, and includes:

[0104] A first receiving unit 31 is used to receive real-time dynamic differential positioning RTK positioning data and an L-band satellite signal, where the L-band satellite signal is directly broadcast by a satellite to the intelligent driving domain controller, and the L-band satellite signal is used to generate first positioning data;

[0105] A fusion unit 32, used for fusing the RTK positioning data and the first positioning data to obtain target positioning data of the vehicle;

[0106] The second receiving unit 33 is used to receive the image signal in front of the vehicle and the radar perception data;

[0107] A generating unit 34, configured to generate a driving control signal according to the target positioning data, the front image signal and the radar sensing data;

[0108] The sending unit 35 is used to send the driving control signal to the corresponding execution system.

[0109] Furthermore, the fusion unit comprises:

[0110] A monitoring module, used to monitor the signal strength of the RTK service signal corresponding to the RTK positioning data;

[0111] A first determination module, configured to determine the RTK positioning data as target positioning data of the vehicle if the signal strength is greater than or equal to a first strength threshold;

[0112] The second determination module is used to determine the first positioning data as the target positioning data of the vehicle if the signal strength is less than a first strength threshold.

[0113] Furthermore, the fusion unit also includes:

[0114] A third determination module is used to determine the signal strength of the RTK service signal corresponding to the RTK positioning data;

[0115] a calculation module, configured to calculate the difference between the RTK positioning data and the first positioning data when the signal strength is greater than or equal to a first strength threshold and less than a second strength threshold;

[0116] a correction module, configured to correct the RTK positioning data using the first positioning data if the difference is greater than a difference threshold, and determine the corrected RTK positioning data as the target positioning data of the vehicle;

[0117] The fourth determination module is used to determine the RTK positioning data as the target positioning data of the vehicle if the difference is less than or equal to the difference threshold.

[0118] Furthermore, the second receiving unit includes:

[0119] The first receiving module is used to receive the image signal in front of the vehicle sent by the front-view camera through the low voltage differential signal technology LVDS;

[0120] The second receiving module is used to receive radar sensing data sent by the millimeter wave radar through the CAN line, and the radar sensing data includes obstacle distance data, speed data, and angle data.

[0121] Furthermore, the generating unit includes:

[0122] A determination module, used to determine obstacles in front of the vehicle according to the front image signal;

[0123] An acquisition module, used to acquire radar perception data corresponding to each obstacle;

[0124] A planning module, used for planning a driving path according to the radar sensing data and the target positioning data;

[0125] A generating module is used to generate a driving control signal based on the driving path and the current driving state of the vehicle.

[0126] Furthermore, the first receiving unit includes:

[0127] The receiving module is used to receive RTK positioning data sent by a remote communication terminal T-BOX, and the T-BOX is connected to the RTK base station through 5G communication.

[0128] Furthermore, the embodiment of the present disclosure also provides a processor, the processor is used to run a program, wherein the program executes the above Figure 2-3 The method described in .

[0129] Furthermore, the embodiment of the present disclosure also provides a storage medium, wherein the storage medium is used to store a computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the above Figure 2-3 The method described in .

[0130] Furthermore, the present disclosure provides an electronic device 6, such as Figure 5 As shown, the device includes at least one processor 41, at least one memory 42 and a bus 43 connected to the processor 41; wherein the processor 41 and the memory 42 communicate with each other through the bus 43; the processor 41 is used to call the program instructions in the memory 42 to execute the above-mentioned intelligent driving control method. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0131] Furthermore, the present disclosure also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the steps of the inspection method for network devices as described above.

[0132] Although the present disclosure 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; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. An intelligent driving control method, characterized in that: Applied to an intelligent driving domain controller, the method comprises: Receiving real-time dynamic differential positioning RTK positioning data and L-band satellite signals, wherein the L-band satellite signals are directly broadcast by satellites to the intelligent driving domain controller, and the L-band satellite signals are used to generate first positioning data; The RTK positioning data and the first positioning data are integrated to obtain target positioning data of the vehicle; Receive image signals and radar perception data in front of the vehicle; generating a driving control signal according to the target positioning data, the front image signal and the radar perception data; The driving control signal is sent to a corresponding execution system.

2. The method according to claim 1, characterized in that The RTK positioning data and the first positioning data are integrated to obtain the target positioning data of the vehicle, including: Determine the signal strength of the RTK service signal corresponding to the RTK positioning data; If the signal strength is greater than or equal to a first strength threshold, the RTK positioning data is determined as the target positioning data of the vehicle; If the signal strength is less than a first strength threshold, the first positioning data is determined as the target positioning data of the vehicle.

3. The method according to claim 1, characterized in that The RTK positioning data and the first positioning data are integrated to obtain the target positioning data of the vehicle, including: Determine the signal strength of the RTK service signal corresponding to the RTK positioning data; When the signal strength is greater than or equal to a first strength threshold and less than a second strength threshold, calculating a difference between the RTK positioning data and the first positioning data; If the difference is greater than the difference threshold, the RTK positioning data is corrected using the first positioning data, and the corrected RTK positioning data is determined as the target positioning data of the vehicle; If the difference is less than or equal to the difference threshold, the RTK positioning data is determined as the target positioning data of the vehicle.

4. The method according to claim 1, characterized in that: Receive image signals and radar perception data in front of the vehicle, including: Receive the image signal in front of the vehicle sent by the front-view camera through the low-voltage differential signal technology LVDS; Receive radar sensing data sent by the millimeter-wave radar through the CAN line, wherein the radar sensing data includes obstacle distance data, speed data, and angle data.

5. The method according to claim 1, characterized in that Generating a driving control signal according to the target positioning data, the front image signal and the radar perception data includes: Determine obstacles in front of the vehicle according to the front image signal; Obtain radar perception data corresponding to each obstacle; Planning a driving path according to the radar perception data and the target positioning data; A driving control signal is generated based on the driving path and the current driving state of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that: Receive RTK positioning data, including: Receive RTK positioning data sent by a remote communication terminal T-BOX, where the T-BOX is connected to the RTK base station via 5G communication.

7. An intelligent driving control device, characterized in that: Configured in an intelligent driving domain controller, the device includes: A first receiving unit is used to receive real-time dynamic differential positioning RTK positioning data and an L-band satellite signal, where the L-band satellite signal is directly broadcast by a satellite to the intelligent driving domain controller, and the L-band satellite signal is used to generate first positioning data; A fusion unit, used for fusing the RTK positioning data and the first positioning data to obtain target positioning data of the vehicle; The second receiving unit is used to receive the image signal in front of the vehicle and the radar perception data; A generating unit, configured to generate a driving control signal according to the target positioning data, the front image signal and the radar sensing data; The sending unit is used to send the driving control signal to the corresponding execution system.

8. The device according to claim 7, characterized in that The fusion unit comprises: A monitoring module, used to monitor the signal strength of the RTK service signal corresponding to the RTK positioning data; A first determination module, configured to determine the RTK positioning data as target positioning data of the vehicle if the signal strength is greater than or equal to a first strength threshold; The second determination module is used to determine the first positioning data as the target positioning data of the vehicle if the signal strength is less than a first strength threshold.

9. An electronic device, characterized in that: The device includes at least one processor, and at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other through the bus; and the processor is used to call program instructions in the memory to execute the method described in any one of claims 1-6.

10. A computer storage medium, characterized in that: The storage medium is used to store a computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

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