A vehicle control method, vehicle, and storage medium

Abstract

The present application provides a vehicle control method, a vehicle, and a storage medium, relating to the technical field of vehicle control. The method includes: receiving sensing data transmitted by an external vehicle sensing device to obtain first sensing data; screening the first sensing data to obtain second sensing data; and controlling the vehicle according to the second sensing data and third sensing data, where the third sensing data is obtained by a data acquisition module scanning the surrounding environment of the vehicle. The present application not only expands the sensing range of the vehicle but also improves the driving safety of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, a vehicle, and a storage medium in the field of vehicle control technology. Background Art

[0002] With the rapid development of intelligent driving technology, significant progress has been made in intelligent driving technology in recent years, driving the transformation of the automotive industry towards automation and intelligence. In existing intelligent driving systems, vehicles mainly rely on their own sensors to perceive the surrounding environment. However, due to the physical limitations of sensors (such as detection range, angle, accuracy, etc.), there may be perception blind spots in vehicles in certain situations. Therefore, only partial environmental information can be obtained, and it is difficult to obtain environmental information over a larger range. This makes it possible for vehicles to fail to react in a timely manner when facing emergencies (such as suddenly appearing obstacles or accidents ahead), increasing the risk of traffic accidents. Summary of the Invention

[0003] To improve the driving safety of vehicles, this application discloses a vehicle control method, a vehicle, and a storage medium.

[0004] In a first aspect, a vehicle control method is provided. The vehicle includes a data acquisition module. The vehicle control method is characterized by including:

[0005] Receiving perception data transmitted by an external vehicle perception device to obtain first perception data;

[0006] Screening the first perception data to obtain second perception data;

[0007] Controlling the vehicle according to the second perception data and third perception data, where the third perception data is obtained by the data acquisition module scanning the surrounding environment of the vehicle.

[0008] On the one hand, by screening the first perception data, not only can unnecessary data processing be reduced to reduce unnecessary consumption of computing resources, but also the bandwidth load and network latency can be reduced, and the response speed can be accelerated; on the other hand, by using the perception data transmitted by the external vehicle perception device, the limitation of the perception range of the data acquisition module can be effectively solved, thereby expanding the perception range of the vehicle and improving the driving safety of the vehicle.

[0009] In some embodiments, receiving the perception data transmitted by the vehicle exterior perception device to obtain first perception data includes: determining the working state of the data acquisition module, where the working state includes an abnormal state and a normal state; when the working state is the abnormal state, receiving the perception data transmitted by the vehicle exterior perception device to obtain the first perception data; or when the working state is the normal state and there is a detection blind area in the detection field of view corresponding to the data acquisition module, receiving the perception data transmitted by the vehicle exterior perception device to obtain the first perception data.

[0010] In some embodiments, screening the first perception data to obtain second perception data includes: determining a target screening strategy from a first screening strategy and a second screening strategy, where the first screening strategy is to screen the first perception data based on a first preset distance range, a second preset distance range, and the vehicle speed, the second screening strategy is to screen the first perception data based on the first preset distance range, and the first preset distance range includes the second preset distance range; screening the first perception data according to the target screening strategy to obtain the second perception data.

[0011] In some embodiments, determining the target screening strategy from the first screening strategy and the second screening strategy includes: when the working state is the normal state and there is a detection blind area in the detection field of view corresponding to the data acquisition module, determining the target screening strategy according to the first screening strategy; or when the working state is the abnormal state, determining the second screening strategy as the target screening strategy.

[0012] In some embodiments, the first screening strategy includes a first sub-screening strategy and a second sub-screening strategy; the first sub-screening strategy is to screen the first perception data based on the first preset distance range and the vehicle speed, the second sub-screening strategy is to screen the first perception data based on the second preset distance range and the vehicle speed; determining the target screening strategy according to the first screening strategy includes: when the vehicle speed is greater than a preset speed, determining the first sub-screening strategy as the target screening strategy; or when the vehicle speed is less than or equal to the preset speed, determining the second sub-screening strategy as the target screening strategy.

[0013] In some embodiments, there is at least one vehicle external perception device, and the vehicle external perception devices correspond one-to-one with the first perception data. It is characterized in that screening the first perception data according to the target screening strategy to obtain the second perception data includes: determining a third preset distance range, where the third preset distance range is the preset distance range corresponding to the target screening strategy; screening each of the first perception data according to the third preset distance range to obtain at least one fourth perception data; and obtaining the second perception data according to the at least one fourth perception data and the number of the vehicle external perception devices within a fourth preset distance range.

[0014] In some embodiments, screening each of the first perception data according to the third preset distance range to obtain at least one fourth perception data includes: obtaining a first distance corresponding to each of the first perception data, where the first distance is the distance between the vehicle external perception device corresponding to the first perception data and the vehicle; when the first distance corresponding to the first perception data is within the third preset distance range, screening the data within the third preset distance range in the first perception data to obtain the fourth perception data corresponding to the first perception data.

[0015] In some embodiments, obtaining the second perception data according to the at least one fourth perception data and the number of the vehicle external perception devices within a fourth preset distance range includes: when the number of the vehicle external perception devices within the fourth preset distance range is greater than or equal to a preset number, obtaining the detection range corresponding to each of the fourth perception data; and taking the fourth perception data with the largest detection range as the second perception data.

[0016] In a second aspect, a vehicle is provided. The vehicle includes a data acquisition module, a central controller, and a vehicle external communication module; the vehicle external communication module is configured to receive perception data transmitted by at least one vehicle external perception device to obtain first perception data; wherein, data exchange between the vehicle and the vehicle external perception device is performed through the vehicle external communication module; the central controller is configured to screen the first perception data to obtain second perception data, and the central controller is further configured to control the vehicle according to the second perception data and third perception data.

[0017] In a third aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores computer program code, and when the computer program code runs on a computer, the computer is caused to execute the vehicle control method in the first aspect or any possible implementation manner of the first aspect above.

[0018] Embodiments of the present application provide a vehicle control method, a vehicle, and a computer-readable storage medium. In the embodiments of the present application, an external vehicle communication module based on vehicle-to-vehicle (V2V) communication technology is configured for the vehicle. During the driving process of the vehicle, perception data in the external environment transmitted by an external perception device is received through the external vehicle communication module, and then the perception data transmitted by the external perception device is screened by the central controller of the vehicle to obtain perception data that cannot be collected by the data acquisition module of the vehicle. This not only reduces unnecessary data processing to reduce unnecessary consumption of computing resources, but also reduces bandwidth load and network latency, and speeds up the response speed. In addition, the vehicle is controlled according to the screened perception data and the perception data collected by the data acquisition module of the vehicle, which not only expands the perception range of the vehicle, but also improves the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The flowchart of a vehicle control method provided by an embodiment of the present application is shown;

[0020] Figure 2 The schematic diagram of a vehicle driving scenario provided by an embodiment of the present application is shown;

[0021] Figure 3 The schematic diagram of a vehicle driving scenario provided by an embodiment of the present application is shown

[0022] Figure 4 The schematic structural diagram of a vehicle provided by an embodiment of the present application is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] Hereinafter, the technical solutions in the present application will be clearly and elaborately described with reference to the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

[0024] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0025] In existing intelligent driving systems, vehicles mainly rely on their own sensors to perceive the surrounding environment. However, due to the physical limitations of sensors (such as detection range, angle, accuracy, etc.), vehicles may have perception blind spots in some cases, so they can only obtain local environmental information and it is difficult to obtain environmental information over a larger range. This makes it possible for vehicles not to be able to react in time when facing sudden situations (such as suddenly appearing obstacles or accidents ahead), increasing the risk of traffic accidents.

[0026] The embodiments of the present application provide a vehicle control method, a vehicle, and a computer-readable storage medium. By configuring an out-vehicle communication module based on vehicle-to-vehicle communication technology for the vehicle, during the driving process of the vehicle, the out-vehicle communication module receives the perception data in the out-vehicle environment transmitted by out-vehicle perception devices, and then the central controller of the vehicle screens the perception data transmitted by the out-vehicle perception devices to obtain the perception data that cannot be collected by the data acquisition module of the vehicle. This can not only reduce unnecessary data processing to reduce unnecessary consumption of computing resources, but also reduce bandwidth load and network latency, speed up the response speed, and then perform vehicle control through the screened perception data and the perception data collected by the data acquisition module of the vehicle, which not only improves the perception range of the vehicle, but also improves the driving safety of the vehicle.

[0027] In one embodiment, Figure 1 The schematic flowchart of a vehicle control method provided by the embodiments of the present application is shown. As Figure 1 shown, the vehicle control method provided by the embodiments of the present application is applied to a vehicle, which includes a data acquisition module, a central controller, and an out-vehicle communication module. The central controller is electrically connected to the data acquisition module and the out-vehicle communication module respectively. The out-vehicle communication module uses vehicle-to-vehicle communication technology. The data acquisition module of the vehicle includes one or a combination of sensors such as lidar, millimeter-wave radar, cameras, etc. The vehicle exchanges data with out-vehicle perception devices through the out-vehicle communication module. The out-vehicle perception devices include mobile carriers (such as other vehicles, drones, robots) and / or roadside devices (such as cameras, lidar, etc. installed beside the road). Among them, one or a combination of sensors such as lidar, millimeter-wave radar, cameras, etc. are installed on the mobile carriers. The out-vehicle perception devices are used to collect the perception data of the surrounding environment and transmit the collected perception data to the out-vehicle communication module of the vehicle.

[0028] In one embodiment, the vehicle external communication module receives first perception data transmitted by a vehicle external perception device. The central controller filters the received first perception data according to a target filtering strategy to obtain second perception data. During the driving of the vehicle, the data acquisition module installed on the vehicle scans the surrounding environment of the vehicle body to obtain third perception data. Among them, one vehicle external perception device corresponds to one first perception data. The first perception data includes one or more combinations of point cloud data collected by a lidar, image data collected by a camera, millimeter wave data collected by a millimeter wave radar, a first obstacle information list, the position of the vehicle external perception device, and the device identifier of the vehicle external perception device. The first obstacle information list includes one or more combinations of parameters such as time information, the relative coordinate system of the vehicle external perception device, the classification identifier of the obstacle, the size and contour of the obstacle, the moving speed of the obstacle, and the driving direction of the obstacle. According to the relative coordinate system of the vehicle external perception device (a three-dimensional coordinate system established with any point on the vehicle external perception device as the origin) and the vehicle body coordinate system of the vehicle (a three-dimensional coordinate system established with any point on the vehicle as the origin), the coordinates (in the form of image coordinates or point cloud coordinates) of the obstacle measured by the vehicle external perception device can be converted to the vehicle body coordinate system. The image coordinates correspond to the two-dimensional coordinates of the pixel points in the camera image, and the point cloud coordinates correspond to the three-dimensional coordinates of the points in the point cloud. An obstacle refers to other vehicles, pedestrians, roadblocks, garbage, or animals on the lane. One obstacle corresponds to one or more coordinates, which are used to represent the spatial position or contour of the obstacle. If the vehicle external perception device corresponding to the first perception data is a moving vehicle, the first perception data also includes the speed and driving direction of the corresponding vehicle external perception device, the speed and driving direction of the obstacle detected by the vehicle external perception device, etc. For example, the first obstacle information list is as follows:

[0029] {

[0030] Global time, the relative coordinate system of the vehicle external perception device,

[0031] [Obstacle 1, coordinates, speed 1, direction 1];

[0032] [Obstacle 2, coordinates, speed 2, direction 2];

[0033] ……;

[0034] [Obstacle M, coordinates, speed M, direction M];

[0035] }

[0036] The third perception data includes one or a combination of the working state of the data acquisition module, the point cloud data collected by the lidar, the image data collected by the camera, the millimeter wave data collected by the millimeter wave radar, the second obstacle information list, the speed of the vehicle, and the driving direction of the vehicle. The second obstacle information list includes time information, the vehicle body coordinate system of the vehicle or the relative coordinate system of the data acquisition module, the position of the obstacle, the classification identifier of the obstacle, the size and contour of the obstacle, the moving speed of the obstacle, the driving direction of the obstacle, etc. For example, the second obstacle information list obtained according to the GPS timestamp (global time) and the point cloud data is as follows:

[0037] {

[0038] Global time, the vehicle body coordinate system of the vehicle,

[0039] [Obstacle 1, coordinates, speed 1, direction 1];

[0040] [Obstacle 2, coordinates, speed 2, direction 2];

[0041] ……;

[0042] [Obstacle N, coordinates, speed N, direction N];

[0043] }

[0044] Both M and N above are positive integers greater than or equal to 1. The global time is the GPS data timestamp, which is used to achieve time synchronization between the off-vehicle perception device and the data acquisition module of the vehicle.

[0045] In one embodiment, the vehicle control method includes steps S110 to S130.

[0046] S110: Receive the perception data transmitted by the off-vehicle perception device to obtain the first perception data.

[0047] S120: Screen the first perception data to obtain the second perception data.

[0048] S130: Control the vehicle according to the second perception data and the third perception data.

[0049] In one embodiment, step S110 includes steps S111 and S112.

[0050] S111. Determine the working state of the data acquisition module;

[0051] S112. When the working state is an abnormal state, receive the perception data transmitted by the off-vehicle perception device to obtain the first perception data; or

[0052] When the working state is the normal state and there is a detection blind area in the detection field of view corresponding to the data acquisition module, receive the perception data transmitted by the vehicle external perception device to obtain the first perception data.

[0053] The working states of the vehicle's data acquisition module include the abnormal state and the normal state. For example, when the data acquisition module includes a lidar, the existence of a detection blind area in the data acquisition module indicates that the detection field of view of the lidar is limited. Common reasons include that the window piece of the lidar is blocked by rain, fog, dust, dirt, etc., or there are obstacles relatively close to the vehicle (such as animals, bridge piers, dense crowds or other vehicles) in the detection field of view of the lidar, which affects the scanning of the vehicle's surrounding environment by the lidar. The abnormal states of the data acquisition module include: the lidar is affected by external electromagnetic interference or external network attacks, the power supply of the lidar is insufficient, the internal transmitting unit, receiving unit or other electronic components of the lidar are damaged, etc. The above abnormal states will cause the data acquisition module to be unable to scan the vehicle's surrounding environment to obtain perception data, or the reliability of the data scanned by the data acquisition module is relatively low.

[0054] When the working state of the data acquisition module is the abnormal state, in order to precisely control the vehicle. Receive the perception data transmitted by the vehicle external perception device through the vehicle's vehicle external communication module to obtain the first perception data, and then execute step S120. And mark the third perception data as invalid data, thereby improving driving safety.

[0055] When the working state of the data acquisition module is the normal state and it is detected that there is a detection blind area in the detection field of view corresponding to the data acquisition module, receive the perception data transmitted by the vehicle external perception device through the vehicle's vehicle external communication module to obtain the first perception data, and then execute step S120.

[0056] When the working state of the data acquisition module is the normal state and there is no detection blind area in the data acquisition module, there is no need to receive the first perception data at this time, and the vehicle can be controlled according to the third perception data. Or continue to execute the subsequent steps S120 and S130, thereby improving the detection range of the vehicle for the surrounding environment and further improving the driving safety of the vehicle.

[0057] In another embodiment, when the working state of the data acquisition module is the normal state and there is no detection blind area in the data acquisition module, the central controller is further configured to preprocess the third perception data (data processing such as data verification, filtering, data compression, etc.) to obtain the preprocessed third perception data; and broadcast the preprocessed third perception data based on the vehicle external communication module so that other vehicles can receive the preprocessed third perception data.

[0058] In one embodiment, step S120 includes step S121 and step S122.

[0059] S121. Determine the target screening strategy from the first screening strategy and the second screening strategy;

[0060] S122. Screen the first perception data according to the target screening strategy to obtain the second perception data.

[0061] For the screening of the first perception data, multiple different screening strategies are set in advance, and the screening strategy is switched in real time according to the vehicle driving distance (such as every 1 kilometer of driving mileage interval), the working state of the lidar, the change of the detection field of view corresponding to the data acquisition module, and the vehicle speed. The multiple different screening strategies include the first screening strategy and the second screening strategy. The first screening strategy is to screen the first perception data based on the first preset distance range, the second preset distance range, and the vehicle speed. The second screening strategy is to screen the first perception data based on the first preset distance range. The first preset distance range includes the second preset distance range. For example, the first preset distance range is 0 - 200m, and the second preset distance range is 0 - 100m, that is, the first preset distance range corresponds to environmental targets within a larger detection range.

[0062] The first screening strategy involves screening the first perception data with different distance ranges and vehicle speeds, which is more flexible for data screening. It can adjust the screening criteria according to the actual operating conditions of the vehicle (such as vehicle speed), enabling refined screening of data, thereby improving the vehicle's adaptability to environmental changes, helping to provide more accurate risk assessment and decision support under different driving conditions, and enhancing driving safety. The second screening strategy only involves screening the first perception data by distance range, and the screening process is relatively simple, which can reduce complex computational workload.

[0063] By determining the target screening strategy from the first screening strategy and the second screening strategy, and then using the target screening strategy to screen the perception data transmitted by the out-of-vehicle perception device, it not only improves the flexibility of the vehicle in screening the perception data transmitted by the out-of-vehicle perception device, but also helps the vehicle reduce unnecessary data processing burdens and improve the response speed.

[0064] In one embodiment, step S121 includes the following steps: when the working state of the data acquisition module is normal and there is a detection blind area in the detection field of view corresponding to the data acquisition module, determine the target screening strategy according to the first screening strategy; or

[0065] When the working state is abnormal, determine the second screening strategy as the target screening strategy.

[0066] Exemplarily, if the working state of the data acquisition module is normal and there is a detection blind area in the detection field of view corresponding to the data acquisition module. It means that the vehicle's data acquisition module can scan reliable perception data, and it can itself collect perception data containing environmental information within a larger distance range. However, due to the occlusion of the detection field of view, a certain range of visual blind areas are generated, and only the perception data corresponding to the environmental area between the vehicle and the obstacle can be collected. At this time, it is necessary to screen the perception data within different preset distance ranges in combination with the vehicle speed.

[0067] When the working state of the data acquisition module is abnormal, or the first perception data collected by the data acquisition module is unreliable, in order to ensure the driving safety of the vehicle, the vehicle mainly focuses on the perception data within the first preset distance range, that is, focuses on the perception data within a larger distance range. Therefore, the second screening strategy is determined as the target screening strategy.

[0068] In one embodiment, the first screening strategy includes a first sub-screening strategy and a second sub-screening strategy. Determining the target screening strategy according to the first screening strategy includes: when the vehicle speed is greater than the preset speed, determining the first sub-screening strategy as the target screening strategy; when the vehicle speed is less than or equal to the preset speed, determining the second sub-screening strategy as the target screening strategy.

[0069] Exemplarily, when the vehicle speed is greater than the preset speed (such as 60, 80, or 100 kilometers per hour), it means the vehicle is in a high-speed driving scenario (for example, driving on a highway). When the vehicle is driving at high speed, in order to facilitate the vehicle to react in advance, it is necessary to focus on the perception data within a larger distance range. Therefore, the first sub-screening strategy is determined as the target screening strategy. When the vehicle speed is less than or equal to the preset speed, it means the vehicle is in a low-speed driving scenario. For example: driving scenarios such as traffic congestion, urban roads, and many pedestrians outside the vehicle. The vehicle needs to scan the objects in the vicinity of the vehicle more carefully. Therefore, the second sub-screening strategy is determined as the target screening strategy.

[0070] In one embodiment, step S122 includes the following steps:

[0071] S1221. Determine the third preset distance range, where the third preset distance range is the preset distance range corresponding to the target screening strategy;

[0072] S1222. Screen each first perception data according to the third preset distance range to obtain at least one fourth perception data;

[0073] S1223. Obtain the second perception data according to at least one fourth perception data and the number of external perception devices within the fourth preset distance range.

[0074] In step S1221, the third preset distance range is the preset distance range corresponding to the target screening strategy. If the target screening strategy is the first sub-screening strategy, the third preset distance range is the first preset distance range, such as 0 - 200 m; if the target screening strategy is the second sub-screening strategy, the third preset distance range is the second preset distance range, such as 0 - 100 m; if the target screening strategy is the second screening strategy, the third preset distance range is the first preset distance range.

[0075] In one embodiment, when there are Q vehicle exterior sensing devices, there are Q pieces of first sensing data, where Q is a positive integer greater than or equal to 1. The vehicle exterior sensing devices and the first sensing data Qi are in one-to-one correspondence, that is, each vehicle exterior sensing device corresponds to one piece of first sensing data. Suppose Q = 3, that is, the vehicle exterior sensing devices include, for example, 3 devices, namely vehicle exterior sensing device 1, vehicle exterior sensing device 2, and vehicle exterior sensing device 3. The sensing data transmitted by vehicle exterior sensing device 1 is the first sensing data Q1, then vehicle exterior sensing device 1 corresponds to the first sensing data Q1; the sensing data transmitted by vehicle exterior sensing device 2 is the first sensing data Q2, then vehicle exterior sensing device 2 corresponds to the first sensing data Q2; the sensing data transmitted by vehicle exterior sensing device 3 is the first sensing data Q3, then vehicle exterior sensing device 3 corresponds to the first sensing data Q3.

[0076] Step S1222 includes: obtaining the first distance corresponding to each piece of first sensing data, where the first distance is the distance between the vehicle exterior sensing device corresponding to the first sensing data and the vehicle; when the first distance corresponding to the first sensing data is within the third preset distance range, screening the data within the third preset distance range in each piece of first sensing data to obtain the fourth sensing data corresponding to each piece of first sensing data.

[0077] For example: the third preset distance range is 0 - 100 m. Since the coordinate systems corresponding to the first sensing data Qi and the third sensing data are not unified, both the first sensing data Qi and the third sensing data are converted to the vehicle body coordinate system (the coordinate system where the vehicle is located), obtaining the converted first sensing data Qi and the converted third sensing data. The first position coordinate of the vehicle exterior sensing device i corresponding to the first sensing data Qi in the vehicle body coordinate system is obtained from the converted first sensing data Qi, and the second position coordinate of the vehicle in the vehicle body coordinate system is obtained from the third sensing data. By calculating the distance between the first position coordinate and the second position coordinate, the first distance is obtained. If the first distance corresponding to the first sensing data Qi is within the third preset distance range, then the data within the third preset distance range in the first sensing data Qi is screened to obtain the fourth sensing data corresponding to the first sensing data Qi. Only retaining the detection distance range corresponding to the target screening strategy can reduce the data processing amount of the central controller while meeting the detection requirements.

[0078] When the first distance corresponding to the first sensing data Qi is greater than 100 m, it indicates that the distance between the corresponding off-vehicle sensing device i and the vehicle is too far. At this time, the first sensing data Qi is less helpful for the vehicle to sense the surrounding environment. The central controller can delete this set of first sensing data Qi. While reducing the data calculation amount, it speeds up the vehicle's response speed to different first sensing data Qi.

[0079] Step S1223 includes: when the number of off-vehicle sensing devices within the fourth preset distance range is greater than or equal to the preset number, obtaining the detection range corresponding to each fourth sensing data; using the fourth sensing data with the largest detection range as the second sensing data.

[0080] In one embodiment, the fourth preset distance range is 0 - 10 m, 0 - 15 m, or 0 - 20 m, etc. The number of off-vehicle sensing devices within the fourth preset distance range is used to determine the density of the off-vehicle sensing devices within the fourth preset distance range. Exemplarily, the at least one fourth sensing data obtained in step S1222 includes P. The P fourth sensing data are screened according to the number of off-vehicle sensing devices within the fourth preset distance range to obtain the second sensing data. Each fourth sensing data corresponds to a detection distance range. After obtaining the P fourth sensing data, it is judged whether the number of off-vehicle sensing devices within the fourth preset distance range is greater than or equal to the preset number, and the preset number is 1, 2, or 3, etc. If the number of off-vehicle sensing devices within the fourth preset distance range is less than the preset number, it means that the density of the off-vehicle sensing devices within the fourth preset distance range is small, that is, the off-vehicle sensing devices within the fourth preset distance range are relatively sparse. To help the vehicle obtain sufficient sensing data, any one or more of the fourth sensing data can be fused as the second sensing data; if the number of off-vehicle sensing devices within the fourth preset distance range is greater than or equal to the preset number, it means that the density of the off-vehicle sensing devices within the fourth preset distance range is large, that is, the off-vehicle sensing devices within the fourth preset distance range are relatively dense. The vehicle does not necessarily need to use all the total P fourth sensing data for vehicle control. To reduce the data calculation amount, the P fourth sensing data are screened, that is, the detection range corresponding to each fourth sensing data is obtained to get P detection ranges, and the fourth sensing data corresponding to the largest detection range among the P detection ranges is used as the second sensing data. If there are at least two of the largest detection ranges among the P detection ranges, any one of the fourth sensing data corresponding to the largest detection range can be used as the second sensing data, which can further reduce unnecessary data processing and reduce the computing power requirement for the central controller.

[0081] In another embodiment, when the number of external perception devices within the fourth preset distance range is greater than or equal to the preset number, calculate the reliability of each fourth perception data, and use the fourth perception data with the highest reliability as the second perception data. If there is more than one fourth perception data with the highest reliability, then among the several fourth perception data with the highest reliability, select the one with the largest detection distance range as the second perception data; or perform data fusion on the several fourth perception data with the highest reliability to obtain the second perception data. The evaluation dimensions of reliability include the level of ranging accuracy, the data packet loss rate, the data error rate, and so on.

[0082] In one embodiment, step S130 includes: after the central controller screens the first perception data to obtain the second perception data, since the coordinate system where the second perception data is located (the relative coordinate system of the external perception device) is different from the coordinate system where the third perception data is located (the vehicle body coordinate system of the vehicle), the central controller can calculate the coordinate transformation matrix between the relative coordinate system corresponding to the second perception data and the vehicle body coordinate system corresponding to the third perception data through calculation. Then, based on the coordinate transformation matrix, convert the parameters such as the coordinates, speed, and direction of the obstacles included in the second perception data to the vehicle body coordinate system to obtain the converted second perception data. Furthermore, perform data fusion processing such as point cloud registration, image registration, or data deduplication on the converted second perception data and the third perception data to obtain the fused perception data; and control the vehicle according to the fused perception data. For example, high-speed driving control, low-speed driving control, obstacle avoidance control, parking control, etc., thereby improving the safety and reliability of autonomous driving.

[0083] By controlling the vehicle according to the second perception data and the third perception data, it is possible to make up for the limitations of the perception range of the vehicle's data acquisition module by using the perception data transmitted by the external perception device, thereby expanding the perception range of the vehicle's data acquisition module. It is equivalent to building a more comprehensive and accurate model of the vehicle's surrounding environment for the vehicle, enabling precise control of the vehicle and facilitating the improvement of the driving safety of the vehicle.

[0084] In the embodiment of the present application, by adopting the technical solution of receiving the perception data transmitted by the vehicle external perception device to obtain the first perception data, screening out the perception data that cannot be collected by the data collection module of the vehicle from the first perception data to obtain the second perception data, and controlling the vehicle according to the second perception data and the third perception data scanned by the data collection module of the vehicle. On the one hand, by screening the first perception data, it can not only reduce unnecessary data processing to reduce unnecessary consumption of computing resources, but also reduce the bandwidth load and network latency, and speed up the response speed. On the other hand, by controlling the vehicle according to the second perception data and the third perception data, it realizes making up for the limitation of the perception range of the data collection module of the vehicle by using the perception data transmitted by the vehicle external perception device, thereby expanding the perception range of the data collection module of the vehicle, enabling precise control of the vehicle, and being beneficial to improving the driving safety of the vehicle.

[0085] The control of the vehicle during highway driving will be described below with reference to the accompanying drawings. In one embodiment, as Figure 2 and Figure 3 shown, Figure 2 shows a schematic diagram of a vehicle driving scenario. Figure 3 shows a schematic diagram of a vehicle driving scenario. Among them, 101 represents a vehicle belonging to a large obstacle (such as a large truck), 102 represents vehicle F equipped with an external vehicle communication module, 103 represents the perception range of vehicle A, 104 represents the communication range of vehicle A, 105 represents other types of vehicles, 106 represents a data communication link, 107 represents a highway, 108 represents the perception range of vehicle D, 109 represents the perception range of vehicle B, and vehicles A to F are all equipped with external vehicle communication modules.

[0086] As Figure 2 shown, the vehicles around vehicle A are relatively dense, and there are multiple large trucks around vehicle A, causing a detection "blind area" in the detection field of view corresponding to the data collection module of vehicle A due to the occlusion of the large trucks. In order to be able to perceive a larger range of road information, vehicle A receives multiple first perception data transmitted by vehicles B to F through the external vehicle communication module. In one example, after the central controller on vehicle A screens the multiple first perception data transmitted by vehicles B to F, the obtained second perception data includes the first perception data transmitted by vehicle B and the first perception data transmitted by vehicle D, including perception data that cannot be collected by the data collection module of vehicle A. The perception data collected by vehicle B and vehicle D in the second perception data makes up for the limitation of the perception range of vehicle A, thereby effectively expanding the perception range of vehicle A. Vehicle A performs intelligent driving control according to the second perception data and the third perception data, provides more information for intelligent driving decision-making, enables precise control of vehicle A, and is beneficial to improving the driving safety of vehicle A.

[0087] As Figure 3 shown, the vehicles around vehicle A are relatively sparse, and other vehicles do not block the detection field of view of the data acquisition module of vehicle A. Vehicle A does not need to receive multiple first perception data transmitted from vehicle B to vehicle F through the vehicle-to-vehicle communication module. Vehicle A only performs intelligent driving control based on the third perception data, providing information for intelligent driving decision-making, which is beneficial to reducing the time of data processing and network load.

[0088] The following is an apparatus embodiment of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the method embodiment of the present application.

[0089] Figure 4 The schematic structural diagram of a vehicle provided by an embodiment of the present application is shown. As Figure 4 shown, the vehicle 400 includes: a data acquisition module 410, a central controller 420, and a vehicle-to-vehicle communication module 430;

[0090] The vehicle-to-vehicle communication module 430 is configured to receive perception data transmitted by at least one vehicle-to-vehicle perception device to obtain first perception data; wherein, vehicle 400 exchanges data with the vehicle-to-vehicle perception device through the vehicle-to-vehicle communication module 430. The central controller 420 is configured to screen the first perception data to obtain second perception data, and the central controller 420 is further configured to control the vehicle 400 according to the second perception data and the third perception data; wherein, the third perception data includes perception data in the first perception data that cannot be collected by the data acquisition module 410.

[0091] In some embodiments, the central controller is a field-programmable gate array (FPGA), a system on chip (SoC), a central processing unit (CPU), a network processor (NP), a digital signal processing circuit, a microcontroller unit (MCU), an application-specific integrated circuit (ASIC), or any combination thereof for implementing related functions.

[0092] In the embodiment of the present application, by using an in-vehicle communication module to receive the perception data transmitted by an out-of-vehicle perception device to obtain first perception data, and by using a central controller to screen out the perception data that cannot be collected by the data collection module of the vehicle from the first perception data to obtain second perception data, and then controlling the vehicle according to the second perception data and the third perception data obtained by scanning the surrounding environment of the vehicle by the data collection module of the vehicle. On the one hand, by screening the first perception data, not only can unnecessary data processing be reduced to reduce unnecessary consumption of computing resources, but also the bandwidth load and network latency can be reduced, and the response speed can be accelerated. On the other hand, by controlling the vehicle according to the second perception data and the third perception data, it is realized that the perception data transmitted by the out-of-vehicle perception device is used to make up for the limitation of the perception range of the data collection module of the vehicle, thereby expanding the perception range of the data collection module of the vehicle, enabling precise control of the vehicle, and being beneficial to improving the driving safety of the vehicle.

[0093] It should be noted that when the vehicle provided in the above embodiment executes the vehicle control method, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the vehicle provided in the above embodiment and the embodiment of the vehicle control method belong to the same concept. Therefore, for the details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the vehicle control method of the present application above, and details will not be described here again.

[0094] The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages and disadvantages of the embodiments.

[0095] This embodiment also provides a computer-readable storage medium, in which computer program code is stored. When the computer program code runs on a computer, the computer is enabled to execute the above-related method steps to implement a vehicle control method in the above embodiment.

[0096] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is enabled to execute the above-related steps to implement a vehicle control method in the above embodiment.

[0097] In addition, the vehicle provided in the embodiment of the present application may specifically be a chip, a component or a module. The vehicle may include a processor and a memory connected to each other. Among them, the memory is used to store instructions. When the vehicle runs, the processor can call and execute the instructions to enable the chip to execute a vehicle control method in the above embodiment.

[0098] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding vehicle control method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding vehicle control method provided above, and will not be elaborated here.

[0099] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0100] In the embodiments provided in this application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0101] The above content is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application, and all should be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method, wherein the vehicle comprises a data acquisition module, characterized in that: The vehicle control method comprises: Receiving sensing data transmitted by an external sensing device to obtain first sensing data; Determining a target screening strategy from a first screening strategy and a second screening strategy, wherein the first screening strategy is to screen the first perception data based on a first preset distance range, a second preset distance range and a speed of the vehicle, and the second screening strategy is to screen the first perception data based on the first preset distance range, and the first preset distance range includes the second preset distance range; Filtering the first sensed data according to the target screening strategy to obtain second sensed data; The vehicle is controlled according to the second perception data and the third perception data, wherein the third perception data is obtained by the data acquisition module by scanning the surrounding environment of the vehicle.

2. The vehicle control method according to claim 1, characterized in that: The receiving the sensing data transmitted by the external sensing device to obtain the first sensing data includes: Determining the working state of the data acquisition module, wherein the working state includes an abnormal state and a normal state; When the working state is an abnormal state, receiving the sensing data transmitted by the external sensing device to obtain the first sensing data; or When the working state is normal and there is a detection blind spot in the detection field of view corresponding to the data acquisition module, the perception data transmitted by the external perception device is received to obtain the first perception data.

3. The vehicle control method according to claim 2, characterized in that: Determining the target screening strategy from the first screening strategy and the second screening strategy includes: When the working state is normal and there is a detection blind spot in the detection field corresponding to the data acquisition module, the target screening strategy is determined according to the first screening strategy; or When the working state is an abnormal state, the second screening strategy is determined as the target screening strategy.

4. The vehicle control method according to claim 3, characterized in that: The first screening strategy includes a first sub-screening strategy and a second sub-screening strategy; The first sub-screening strategy is to screen the first perception data based on the first preset distance range and the vehicle speed, and the second sub-screening strategy is to screen the first perception data based on the second preset distance range and the vehicle speed; The determining the target screening strategy according to the first screening strategy includes: when the vehicle speed is greater than a preset speed, determining the first sub-screening strategy as the target screening strategy; or When the vehicle speed is less than or equal to the preset speed, the second sub-screening strategy is determined as the target screening strategy.

5. The vehicle control method according to claim 1, wherein there is at least one external vehicle sensing device, and the external vehicle sensing device corresponds to the first sensing data in a one-to-one manner, characterized in that: The step of screening the first sensed data according to the target screening strategy to obtain the second sensed data includes: Determine a third preset distance range, wherein the third preset distance range is a preset distance range corresponding to the target screening strategy; Filter each of the first sensed data according to the third preset distance range to obtain at least one fourth sensed data; The second perception data is obtained according to the at least one fourth perception data and the number of the external vehicle perception devices within a fourth preset distance range.

6. The vehicle control method according to claim 5, characterized in that: The step of screening each of the first sensed data according to the third preset distance range to obtain at least one fourth sensed data includes: Acquire a first distance corresponding to each first perception data, wherein the first distance is the distance between the external perception device corresponding to the first perception data and the vehicle; When the first distance corresponding to the first perception data is within the third preset distance range, data in the first perception data that is within the third preset distance range is filtered to obtain the fourth perception data corresponding to the first perception data.

7. The vehicle control method according to claim 5, characterized in that: The obtaining the second perception data according to the at least one fourth perception data and the number of the external perception devices within a fourth preset distance range includes: When the number of the external sensing devices within the fourth preset distance range is greater than or equal to a preset number, obtaining a detection range corresponding to each of the fourth sensing data; The fourth perception data with the largest detection range is used as the second perception data.

8. A vehicle, characterized in that: The vehicle includes a data acquisition module, a central controller and an off-vehicle communication module; The off-vehicle communication module is used to receive the sensing data transmitted by at least one off-vehicle sensing device to obtain the first sensing data; wherein the vehicle and the off-vehicle sensing device exchange data through the off-vehicle communication module; The central controller is used to determine a target screening strategy from the first screening strategy and the second screening strategy, and screen the first perception data according to the target screening strategy to obtain second perception data. The central controller is also used to control the vehicle according to the second perception data and the third perception data, wherein the first screening strategy is to screen the first perception data based on a first preset distance range, a second preset distance range and the vehicle speed, the second screening strategy is to screen the first perception data based on the first preset distance range, the first preset distance range includes the second preset distance range, and the third perception data is obtained by the data acquisition module scanning the surrounding environment of the vehicle.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 7 is implemented.

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