Vehicle converging method and system, electronic equipment and computer readable medium

Abstract

The invention relates to the technical field of computers, in particular to a vehicle converging method and system, electronic equipment and a computer readable medium. The vehicle confluence method comprises the following steps: acquiring the center line position of a lane of a vehicle; a plurality of longitudinal points are sequentially collected from near to far along the center line of the lane, a plurality of transverse points are sequentially collected along the longitudinal points in the transverse direction, and the longitudinal points and the transverse points are collected once every fixed distance; judging whether a confluence scene exists or not according to the change of the number of the longitudinal points acquired in two adjacent times; the transverse points are sequentially endowed with continuous lane numbers, and confluence points are confirmed; determining a confluence direction according to the confluence point; and confluence operation is executed according to the confluence direction. According to the method, the confluence scene and the confluence direction are judged by utilizing relatively stable road characteristics, dependence on behaviors of the vehicle is avoided, and misjudgment caused by abnormal behaviors such as failure or interference of a sensor of the vehicle and unstable vehicle driving is avoided.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to the fields of autonomous driving, intelligent transportation, and more specifically to a vehicle merging method, system, electronic device, and computer-readable medium. Background Art

[0002] In the actual application of autonomous driving, vehicles mainly rely on navigation systems to determine their own positions and driving routes. However, when the vehicle enters a complex intersection environment, the positioning error of the navigation system makes it difficult to ensure the accuracy of the vehicle's lane position during navigation. In addition, the vehicle's own sensors may be interfered with, the vehicle's driving is unstable, and the traffic conditions at the intersection are complex and changeable, such as irregular lane shapes and temporary traffic controls. These factors make it impossible to effectively confirm whether the lane is in a merging scenario and the merging direction the vehicle should take based solely on navigation information.

[0003] Based on this, in order to improve the safety and reliability of autonomous driving, a new solution is urgently needed. This solution should be able to get rid of the dependence on the behavior of the vehicle itself, and instead use relatively stable and easy-to-obtain road features such as lane lines and lane center lines to accurately determine the current merging scene and merging direction, thereby further improving the intelligence level of the vehicle and improving traffic efficiency and safety. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art navigation system, which has certain errors and cannot confirm whether the lane is in a merging scene and cannot judge the merging direction that the vehicle should take. A vehicle merging method is provided, which uses relatively stable road characteristics to judge the merging scene and merging direction, gets rid of the dependence on the behavior of the vehicle itself, avoids misjudgment caused by abnormal behavior such as vehicle's own sensor failure or interference, unstable vehicle driving, etc., further improves the intelligence level of the vehicle, and improves traffic efficiency and safety.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A vehicle merging method comprises the following steps: S1: Get the centerline position of the vehicle lane; S2: Set equal distances along the center line of the lane in the longitudinal direction to collect a number of longitudinal points from near to far, and collect a number of transverse points along the longitudinal points in the transverse direction according to the lane width, and collect longitudinal points and transverse points at fixed intervals; S3: judging whether the scene is a merging scene according to the change in the number of longitudinal points collected twice in a row, if yes, proceeding to step S4, if no, returning to step S2; S4: assigning consecutive lane numbers to the lateral points in order from left to right and confirming the merging points; S5: Determine the confluence direction according to the confluence point; S6: Perform a merging operation according to the merging direction.

[0006] The vehicle merging method of the present invention aims at the problem that the navigation system has a certain positioning error and it is impossible to effectively confirm whether the lane is in the merging scene and the merging direction that the vehicle should take by relying solely on the navigation information. The merging scene and the merging direction are judged by using relatively stable road features, that is, a plurality of longitudinal points are collected in the longitudinal direction and a plurality of transverse points are collected in the transverse direction by using the center line of the lane, and the merging scene is detected according to the change in the number of longitudinal points collected twice adjacently, and continuous lane numbers are assigned to the lanes in the transverse direction according to the lane sequence from left to right, and then the merging point is confirmed, and the merging direction is determined according to the merging point. The merging method is determined by using the road features, and the dependence on the vehicle's own behavior is eliminated, and misjudgment caused by abnormal behavior such as failure or interference of the vehicle's own sensors, unstable vehicle driving, etc. is avoided, thereby further improving the intelligence level of the vehicle and improving traffic efficiency and safety. The self-driving vehicle behavior referred to here refers to the dynamic decisions and actions generated by the autonomous driving vehicle based on real-time perception data, such as positioning, sensor information and navigation systems, including: ① Path planning: local path generation based on positioning error, such as lane change trajectory calculation; ② Motion control: lateral (obtained through steering wheel angle) and longitudinal (obtained through accelerator / brake) coordinated control instructions; ③ Intention inference: real-time judgment of its own driving goals, such as merging and going straight.

[0007] Preferably, the specific operation of determining whether the vehicle is in a merging scene in step S3 is as follows: based on the number of longitudinal points collected twice adjacently, if the number of longitudinal points collected the latter time is less than the number of longitudinal points collected the previous time, it is determined that the vehicle is in a merging scene; if the number of longitudinal points collected the two adjacent times is equal, it is determined that the vehicle is not in a merging scene.

[0008] Preferably, the specific operation of confirming the merging point is as follows: counting the number of longitudinal points of each lane, and confirming the lanes on the side of the own vehicle with a larger number of longitudinal points than the own vehicle as the column where the merging point is located; counting the number of transverse points in each row, and confirming the row with the smallest number of transverse points closest to the own vehicle as the row where the merging point is located; then the intersection of the column where the merging point is located and the row where the merging point is located is the merging point.

[0009] Preferably, in step S5, the merging direction is determined by obtaining the lane number of the vehicle's location and the lane number of the merging point.

[0010] Preferably, the specific operation of determining the merging direction in step S5 is as follows: If the lane number of the vehicle is smaller than the lane number of the merging point, the merging direction is right, and the vehicle should merge to the right in step S6; if the lane number of the vehicle is larger than the lane number of the merging point, the merging direction is left, and the vehicle should merge to the left in step S6.

[0011] Preferably, in step S6, it is first determined whether the lane in the merging direction meets the safe merging conditions. If so, a merging instruction is issued to guide the vehicle to complete the merging action smoothly. If the lane in the merging direction does not meet the safe merging conditions, a deceleration instruction is issued until the merging direction meets the safe merging conditions, and then a merging instruction is issued.

[0012] Preferably, on-board sensors are used to conduct comprehensive and real-time monitoring and analysis of the vehicle driving status, speed, safe distance from the own vehicle, and whether there are obstacles in the lane that needs to merge. If all of them meet the lane change requirements, it is considered that the conditions for safe merging are met; if any one of them is not met, it is considered that the conditions for safe merging are not met.

[0013] The present invention further provides a vehicle merging system, which is applied to the vehicle merging method as described above, and the merging system comprises: The acquisition unit obtains the lane centerline position and collects longitudinal and transverse point information and vehicle information; A receiving unit, used for receiving information from a collecting unit; A transmission unit, used for transmitting the information of the collection unit to the receiving unit; A control unit, used to control the acquisition unit and control the operation of the vehicle according to the information of the receiving unit; The acquisition unit is communicatively connected to the receiving unit via the transmission unit, and both the acquisition unit and the receiving unit are communicatively connected to the control unit.

[0014] The vehicle merging system of the present invention collects inherent characteristics of road infrastructure and determines whether there is a merging scene, and determines the merging direction in the merging scene. It does not require the aid of high-precision maps or complex external auxiliary equipment, effectively reducing the system's hardware cost and dependence on specific environments. It has excellent universality and adaptability, and can be widely used in various road scenes and intersection conditions, providing a strong guarantee for the safe driving of autonomous vehicles in complex road conditions.

[0015] The present invention also provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the above method are executed.

[0016] The present invention also provides a computer-readable medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the above method are executed.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The vehicle merging method of the present invention aims at the problem that the navigation system has certain positioning errors and the navigation information alone cannot effectively confirm whether the lane is in the merging scene and the merging direction that the vehicle should take. The merging scene and the merging direction are judged by using relatively stable road features, that is, a plurality of longitudinal points and transverse points are collected in the longitudinal direction by using the center line of the lane, and the merging scene is detected according to the change in the number of longitudinal points. In the transverse direction, continuous lane numbers are assigned to the lanes according to the lane sequence from left to right, and then the merging point, the lane number of the position of the own vehicle and the lane number of the merging point are confirmed, and the merging direction is determined. The on-board sensor is used to ensure that the lane in the merging direction has the conditions for safe merging, and then the merging instruction is issued to complete the merging action, so as to get rid of the dependence on the behavior of the own vehicle, avoid the misjudgment caused by abnormal behavior such as failure or interference of the vehicle's own sensor, unstable driving of the vehicle, etc., further improve the intelligence level of the vehicle, and improve traffic efficiency and safety; 2. The present invention relies solely on the inherent features of road infrastructure such as lane lines and lane center lines to make merging judgments, without the need for high-precision maps or complex external auxiliary equipment, effectively reducing the hardware cost of the system and the degree of dependence on specific environments. It has excellent universality and adaptability, and can be widely used in various road scenes and intersection conditions, providing a strong guarantee for the safe driving of autonomous vehicles in complex road conditions; 3. The present invention strictly detects and evaluates the safety status of the left or right lane through a safety detection mechanism to ensure that there is no risk of collision with vehicles in the left or right lane, and that there is enough space and appropriateness to actually complete the left or right merging operation, thereby ensuring the safety and stability of the entire merging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a flow chart of a vehicle merging method.

[0019] Figure 2 This is a schematic diagram of three lanes merging into two lanes in Example 1 of the present invention.

[0020] Figure 3 This is a schematic diagram of the situation in which four lanes merge into three lanes in Example 2 of the present invention.

[0021] Figure 4 This is a schematic diagram of merging at a complex intersection in Example 3 of the present invention.

[0022] Among them, 1 represents the vehicle position, and 2 represents the merging point position. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] Embodiment 1 This embodiment is an embodiment of a vehicle merging method. Figure 1 As shown, the following steps are included: S1: Get the centerline position of the vehicle lane; The position of the lane centerline is obtained through sensors, including: real-time capture of the geometric features of the road through on-board visual sensors and laser radar and other equipment, accurate extraction and positioning of the lane centerline, so as to accurately identify and obtain the centerline position of each lane and provide reliable basic data. The road infrastructure is an inherent feature, without the need for high-precision maps or complex external assistance, and is free from interference caused by factors such as inaccurate positioning of the vehicle and fluctuations in driving trajectory, greatly improving the accuracy and reliability of merging scene detection.

[0025] The self-driving vehicle behavior referred to here refers to the dynamic decisions and actions generated by the autonomous driving vehicle based on real-time perception data, such as positioning, sensor information and navigation systems, including: ① Path planning: local path generation based on positioning error, such as lane change trajectory calculation; ② Motion control: lateral (obtained through steering wheel angle) and longitudinal (obtained through accelerator / brake) coordinated control instructions; ③ Intention inference: real-time judgment of its own driving goals, such as merging and going straight.

[0026] S2: Set equal distances along the center line of the lane in the longitudinal direction to collect a number of longitudinal points from near to far, and collect a number of transverse points along the longitudinal points in the transverse direction according to the lane width, and collect longitudinal points and transverse points at fixed intervals; Taking the current position of the vehicle as the starting point, within a range of 30 meters, point collection is performed every 5 meters in the longitudinal direction along the center line of the lane. In the processing of lateral intervals, a threshold range based on the actual road width and common lane layout is set. For example, in standard urban roads, the lateral interval threshold can be set within a certain reasonable range (such as 0.5 meters to 1.5 meters) to filter out messy and overlapping centerline data caused by sensor errors or complex road conditions, ensuring that the collected point data has good accuracy and scene generalization capabilities, and can adapt to different types of road conditions. Within the scope of cognition of technical personnel in this field, the interval distance between two adjacent longitudinal points and the interval distance between two adjacent lateral points can be flexibly set according to actual needs, and the collection range can also be flexibly set according to the performance of the sensor.

[0027] All collected points are stored in a specially designed map data structure in order according to their longitudinal position information. In this map structure, the longitudinal position is used as the key, and its corresponding value is a set of all points with the same longitudinal position. This storage method facilitates the subsequent rapid query and processing of data related to the longitudinal position.

[0028] S3: judging whether the scene is a merging scene according to the change in the number of longitudinal points collected twice in a row, if yes, proceeding to step S4, if no, returning to step S2; The judgment of the confluence scenario is as follows: According to the number of longitudinal points collected twice adjacently, if the number of longitudinal points collected in the latter time is less than the number of longitudinal points collected in the previous time, it is determined that the vehicle is in a merging scene; if the number of longitudinal points collected in the two adjacent times is equal, it is determined that the vehicle is not in a merging scene; Starting from the longitudinal position of the vehicle, traverse upwards row by row along the map data structure. During the traversal process, carefully count the number of points contained in each longitudinal position, and compare the number of points at the current longitudinal position with the number of points at the previous longitudinal position collected and the number of points at the previous two longitudinal positions collected in real time. Once it is found that there is an inconsistency between the number of points at the current longitudinal position being less than the number of points at the previous longitudinal position collected, it is preliminarily considered that the vehicle is in a merging scenario. This is based on the principle that a reduction in the number of lanes during the merging process will lead to a corresponding reduction in the number of points at the corresponding longitudinal position on the center line of the lane. In this way, the occurrence of the merging scenario can be captured more accurately.

[0029] S4: assigning consecutive lane numbers to the lateral points in order from left to right and confirming the merging points; The horizontal points and the vertical points collected in the previous step form a matrix. In the entire matrix, the horizontal points are assigned consecutive lane numbers in order from left to right. For the set of points with the same vertical position stored in the map data structure, consecutive numbers (1, 2, ...) are assigned in order from left to right. In the numbering process, the order from left to right is determined by comparing the horizontal coordinate values ​​of the points, and a close association is established between the numbers and the actual coordinate information of the points, so that the position information and number information of the points can be quickly and accurately obtained in the subsequent merging judgment process, providing strong support for the judgment of the merging direction.

[0030] The confluence point is confirmed as follows: Count the number of longitudinal points of each lane, and identify the lane with a larger number of longitudinal points beside the vehicle as the column where the merging point is located; count the number of transverse points in each row, and identify the row with the smallest number of transverse points closest to the vehicle as the row where the merging point is located; the intersection of the column where the merging point is located and the row where the merging point is located is the merging point. S5: Determine the confluence direction according to the confluence point; Specifically, the merging direction is determined by obtaining the lane number of the vehicle and the lane number of the merging point: If the lane number of the vehicle is smaller than the lane number of the merging point, the merging direction is right, and the vehicle should merge to the right in step S6; if the lane number of the vehicle is larger than the lane number of the merging point, the merging direction is left, and the vehicle should merge to the left in step S6; S6: performing a merging operation according to the merging direction; First, determine whether the lane in the merging direction meets the safe merging conditions. If so, issue a merging command to guide the vehicle to complete the merging action smoothly. If the lane in the merging direction does not meet the safe merging conditions, issue a deceleration command until the merging direction meets the safe merging conditions, and then issue a merging command again; Whether the conditions for safe merging are met is determined as follows: The on-board sensors are used to conduct comprehensive and real-time monitoring and analysis of the driving status, speed, safe distance from the vehicle, and whether there are obstacles in the lane that needs to merge. If all the lane change requirements are met, it is considered that the conditions for safe merging are met; if any one of them is not met, it is considered that the conditions for safe merging are not met.

[0031] In this system model, it is assumed that The time is the time when the lane-changing vehicle (Agent) makes a lane-changing decision. The horizontal speed of the vehicle ready to change lanes is , the longitudinal speed of the vehicle preparing to change lanes is , estimated lane change time is , the horizontal distance from the target lane is The longitudinal distances of the vehicle preparing to change lanes from the vehicle behind and the vehicle in front of the target lane are and , the longitudinal speeds of the rear and front vehicles in the target lane are and The condition that the lane-changing vehicle does not collide with the vehicle behind can be expressed as follows: , , In addition, the condition that the lane-changing vehicle does not collide with the vehicle in front can be expressed as follows: , When both of the above conditions are met, the vehicle will not collide with the vehicle in front or behind the target lane when changing lanes, that is, the lane change requirements are met and it is considered that the conditions for safe merging are met.

[0032] A specific example of vehicle merging is as follows: Example 1: Three lanes merge into two lanes like Figure 2 As shown, 1 represents the position of the vehicle and 2 represents the position of the merging point. Assume that there are three lanes on a highway and the vehicle is located in the leftmost lane (the lane number of the vehicle is 1). After obtaining the center line of the lane and taking the point number, traversing the map data structure upwards, it is found that the number of points at a certain longitudinal position is reduced compared to the previous one, and it is determined that it is in a merging scene. After further confirmation of the merging point, it is found that the lane number of the merging point is 2. Since the lane number 1 of the vehicle's position is less than the lane number 2 of the merging point, according to the rules, the vehicle should merge to the right, that is, merge from the leftmost lane to the middle lane.

[0033] Example 2: Four lanes merge into three lanes like Figure 3 As shown in the figure, 1 represents the position of the vehicle, 2 represents the position of the merging point, and the vehicle is originally driving in the rightmost lane (the lane number of the vehicle is 4) in a merging area of ​​an urban expressway. After obtaining and processing the lane centerline information according to the method, the merging situation is detected, and the lane number of the merging point is determined to be 3. At this time, the lane number 4 of the vehicle's position is greater than the lane number 3 of the merging point, so the vehicle should merge to the left, that is, merge from the rightmost lane to the middle lane to successfully complete the lane merging.

[0034] Example 3: Complex intersection merging like Figure 4As shown in the figure, 1 represents the position of the vehicle and 2 represents the position of the merging point. At an intersection with five lanes and irregular shapes, the center line of the lane has a certain curvature. The vehicle is located in the middle lane (the lane number of the vehicle is 3). After sampling points and numbering the center line of the lane and analyzing the map data, it is determined that a merging scene has occurred. The lane number of the merging point found is 4. The lane number 3 of the vehicle's position is smaller than the lane number 4 of the merging point, which means that the vehicle needs to merge to the right and drive in the direction of the adjacent lane on the right. At the same time, the autonomous driving system will ensure the safety of the merging according to the surrounding vehicles and obstacles.

[0035] Embodiment 2 This embodiment is an embodiment of a vehicle merging system, which is applied to the above vehicle merging method. The merging system includes: The acquisition unit obtains the lane centerline position and collects longitudinal and transverse point information and vehicle information; A receiving unit, used for receiving information from a collecting unit; A transmission unit, used for transmitting the information of the collection unit to the receiving unit; A control unit, used to control the acquisition unit and control the operation of the vehicle according to the information of the receiving unit; The collection unit is communicatively connected to the receiving unit via the transmission unit, and both the collection unit and the receiving unit are communicatively connected to the control unit.

[0036] The vehicle merging system of the present invention collects inherent characteristics of road infrastructure and determines whether there is a merging scene, and determines the merging direction in the merging scene. It does not require the aid of high-precision maps or complex external auxiliary equipment, effectively reducing the system's hardware cost and dependence on specific environments. It has excellent universality and adaptability, and can be widely used in various road scenes and intersection conditions, providing a strong guarantee for the safe driving of autonomous vehicles in complex road conditions.

[0037] Embodiment 3 This embodiment is an embodiment of an electronic device, including a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the above method are executed.

[0038] The electronic equipment in this embodiment may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc.

[0039] Embodiment 4 This embodiment is a computer-readable medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method are executed.

[0040] In the present embodiment, the computer-readable medium can be a tangible medium, which can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The computer-readable medium can be a machine-readable signal medium or a machine-readable storage medium. The computer-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. A more specific example of a computer-readable medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0041] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A vehicle merging method, characterized in that: The following steps are involved: S1: Get the centerline position of the vehicle lane; S2: Set equal distances along the center line of the lane in the longitudinal direction to collect a number of longitudinal points from near to far, and collect a number of transverse points along the longitudinal points in the transverse direction according to the lane width, and collect longitudinal points and transverse points at fixed intervals; S3: judging whether the scene is a merging scene according to the change in the number of longitudinal points collected twice in a row, if yes, proceeding to step S4, if no, returning to step S2; S4: assigning consecutive lane numbers to the lateral points in order from left to right and confirming the merging points; S5: Determine the confluence direction according to the confluence point; S6: Perform a merging operation according to the merging direction.

2. The vehicle merging method according to claim 1, characterized in that: The specific operation of judging whether the scene is a merging scene in step S3 is as follows: according to the number of longitudinal points collected twice adjacently, if the number of longitudinal points collected the latter time is less than the number of longitudinal points collected the previous time, it is judged that the scene is a merging scene; if the number of longitudinal points collected the two adjacent times is equal, it is judged that the scene is not a merging scene.

3. The vehicle merging method according to claim 1, characterized in that: In step S4, the specific operation of confirming the merging point is as follows: count the number of longitudinal points of each lane, and confirm the lane with a larger number of longitudinal points beside the own vehicle as the column where the merging point is located; count the number of transverse points in each row, and confirm the row with the smallest number of transverse points closest to the own vehicle as the row where the merging point is located; then the intersection of the column where the merging point is located and the row where the merging point is located is the merging point.

4. The vehicle merging method according to claim 1, characterized in that: In step S5, the merging direction is determined by obtaining the lane number of the vehicle and the lane number of the merging point.

5. The vehicle merging method according to claim 4, characterized in that: The specific operation of determining the merging direction in step S5 is as follows: If the lane number of the vehicle is smaller than the lane number of the merging point, the merging direction is right, and the vehicle should merge to the right in step S6; if the lane number of the vehicle is larger than the lane number of the merging point, the merging direction is left, and the vehicle should merge to the left in step S6.

6. The vehicle merging method according to claim 1, characterized in that: In step S6, it is first determined whether the lane in the merging direction meets the safe merging conditions. If so, a merging command is issued to guide the vehicle to complete the merging action smoothly. If the lane in the merging direction does not meet the safe merging conditions, a deceleration command is issued until the merging direction meets the safe merging conditions, and then a merging command is issued.

7. The vehicle merging method according to claim 6, characterized in that: The on-board sensors are used to conduct comprehensive and real-time monitoring and analysis of the driving status, speed, safe distance from the vehicle, and whether there are obstacles in the lane that needs to merge. If all the lane change requirements are met, it is considered that the conditions for safe merging are met; if any one of them is not met, it is considered that the conditions for safe merging are not met.

8. A vehicle merging system, characterized in that: Applied to the vehicle merging method according to any one of claims 1 to 7, the merging system comprises: The acquisition unit obtains the lane centerline position and collects longitudinal and transverse point information and vehicle information; A receiving unit, used for receiving information from a collecting unit; A transmission unit, used for transmitting the information of the collection unit to the receiving unit; A control unit, used to control the acquisition unit and control the operation of the vehicle according to the information of the receiving unit; The acquisition unit is communicatively connected to the receiving unit via the transmission unit, and both the acquisition unit and the receiving unit are communicatively connected to the control unit.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 1 to 7 are executed.

10. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are executed.

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