Method and device for judging arrival of autonomous vehicle, electronic equipment and computer program product

Abstract

The invention discloses an arrival judgment method and device of an automatic driving vehicle, electronic equipment and a computer program product, and the method comprises the steps: obtaining the current driving information of the automatic driving vehicle and the position of a target station, and the current driving information comprises the current position, the current course angle and the current speed; according to the current position of the autonomous vehicle and the position of the target station, determining whether the autonomous vehicle triggers an arrival judgment condition; and under the condition that the autonomous vehicle triggers the arrival judgment condition, determining the arrival state of the autonomous vehicle according to the current position, the current course angle and the current speed of the autonomous vehicle and the position of the target station. According to the method, whether the automatic driving vehicle triggers the arrival logic or not is comprehensively judged according to multiple dimensions of the position, the course angle and the speed of the automatic driving vehicle acquired in real time, and compared with a mode of judging purely depending on distance in the prior art, the accuracy and the reliability of arrival judgment are improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, device, electronic equipment, and computer program product for determining the arrival of an autonomous driving vehicle. Background Art

[0002] The arrival judgment of an autonomous driving vehicle is an important part of the autonomous driving system, which is crucial to ensure that the vehicle can reach the destination accurately and safely. It is specifically reflected in the following aspects:

[0003] 1) Ensure driving safety: Arrival judgment can help autonomous vehicles predict and prepare for operations such as parking or deceleration in advance, thereby avoiding safety accidents caused by failure to identify the station in time.

[0004] 2) Improve passenger experience: For autonomous vehicles in the public transportation field, such as autonomous buses or taxis, arrival judgment can ensure that the vehicle stops at the correct station, making it convenient for passengers to get on and off the vehicle, thereby improving the passengers' travel experience.

[0005] 3) Optimize traffic efficiency: During traffic congestion or peak hours, arrival judgment can help autonomous vehicles control driving speed and route more accurately, reduce unnecessary parking and waiting time, and thus improve overall traffic efficiency.

[0006] The existing arrival judgment method mainly uses the location of the station to be reached as the terminal location to form a certain station area. When the autonomous driving vehicle enters the range of the station area, the arrival logic is triggered.

[0007] The accuracy of this method of judging whether the vehicle has arrived at the station simply by distance depends on the vehicle's positioning system and map data. However, since the positioning system is not always accurate and the update of map data is delayed, this recognition method may have certain errors. Especially in complex traffic environments, such as urban streets and highway exits, the errors may be more obvious. Summary of the invention

[0008] The embodiments of the present application provide a method, device, electronic device, and computer program product for determining the arrival of an autonomous driving vehicle to improve the accuracy of the arrival determination of an autonomous driving vehicle.

[0009] The present application embodiment adopts the following technical solutions:

[0010] In a first aspect, an embodiment of the present application provides a method for determining the arrival of an autonomous driving vehicle, wherein the method for determining the arrival of an autonomous driving vehicle includes:

[0011] Acquire current driving information of the autonomous driving vehicle and the location of the target site, wherein the current driving information includes the current location, the current heading angle, and the current speed;

[0012] Determining whether the autonomous driving vehicle triggers a station arrival judgment condition according to the current position of the autonomous driving vehicle and the position of the target station;

[0013] When the autonomous driving vehicle triggers the arrival judgment condition, the arrival status of the autonomous driving vehicle is determined based on the current position, current heading angle, current speed of the autonomous driving vehicle and the position of the target station.

[0014] Optionally, the obtaining of the current driving information of the autonomous driving vehicle and the location of the target site includes:

[0015] Obtain information about the stations that the autonomous driving vehicle passes through on its current route;

[0016] According to the current position and current heading angle of the autonomous driving vehicle, the position of the target site is determined in the site information passed by the current driving route. The target site is the next site that the autonomous driving vehicle is about to arrive at.

[0017] Optionally, determining whether the autonomous driving vehicle triggers a station arrival judgment condition according to the current position of the autonomous driving vehicle and the position of the target station includes:

[0018] Calculating a current distance from the autonomous driving vehicle to the target site based on the current position of the autonomous driving vehicle and the position of the target site;

[0019] If the current distance from the autonomous driving vehicle to the target site is greater than a preset distance threshold, it is determined that the autonomous driving vehicle has not triggered the site arrival judgment condition, and the process returns to the step of obtaining the current driving information of the autonomous driving vehicle and the location of the target site;

[0020] Otherwise, it is determined that the autonomous driving vehicle triggers the arrival judgment condition.

[0021] Optionally, when the autonomous driving vehicle triggers the arrival judgment condition, determining the arrival status of the autonomous driving vehicle according to the current position, current heading angle, current speed of the autonomous driving vehicle and the position of the target station includes:

[0022] Determining whether the autonomous driving vehicle triggers a station arrival condition according to a current speed of the autonomous driving vehicle;

[0023] If the autonomous driving vehicle triggers the arrival condition, determining the arrival status of the autonomous driving vehicle as arrived;

[0024] Otherwise, the arrival status of the autonomous driving vehicle is determined based on the current position of the autonomous driving vehicle, the current heading angle and the position of the target site.

[0025] Optionally, determining whether the autonomous driving vehicle triggers a station arrival condition according to the current speed of the autonomous driving vehicle includes:

[0026] comparing a current speed of the autonomous vehicle with a preset speed threshold;

[0027] If the current speed of the autonomous driving vehicle is less than a preset speed threshold, determining that the autonomous driving vehicle triggers an arrival condition;

[0028] Otherwise, it is determined that the autonomous driving vehicle has not triggered the arrival condition.

[0029] Optionally, determining the arrival status of the autonomous driving vehicle according to the current position, the current heading angle and the position of the target site of the autonomous driving vehicle includes:

[0030] Calculating a heading angle of the autonomous driving vehicle relative to the target site based on the current position of the autonomous driving vehicle and the position of the target site;

[0031] The arrival status of the autonomous driving vehicle is determined based on the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target site.

[0032] Optionally, determining the arrival status of the autonomous driving vehicle according to the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target site includes:

[0033] Calculating a difference between a current heading angle of the autonomous vehicle and a heading angle of the autonomous vehicle relative to the target site;

[0034] If the difference is not less than the preset angle difference threshold, determining that the arrival status of the autonomous driving vehicle is arrived;

[0035] Otherwise, return to the step of obtaining the current driving information of the autonomous driving vehicle and the location of the target site.

[0036] In a second aspect, an embodiment of the present application further provides an arrival judgment device for an autonomous driving vehicle, wherein the arrival judgment device for an autonomous driving vehicle comprises:

[0037] An acquisition unit, used to acquire current driving information of the autonomous driving vehicle and the location of the target site, wherein the current driving information includes a current location, a current heading angle, and a current speed;

[0038] A first determination unit, configured to determine whether the autonomous driving vehicle triggers a station arrival judgment condition according to a current position of the autonomous driving vehicle and a position of the target station;

[0039] The second determination unit is used to determine the arrival status of the autonomous driving vehicle according to the current position, current heading angle, current speed and the position of the target site of the autonomous driving vehicle when the autonomous driving vehicle triggers the arrival judgment condition.

[0040] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0041] Processor; and

[0042] A memory arranged to store computer-executable instructions, which, when executed, cause the processor to execute any of the aforementioned methods for determining the arrival of an autonomous driving vehicle.

[0043] In a fourth aspect, an embodiment of the present application further provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any of the aforementioned methods for determining the arrival of an autonomous driving vehicle.

[0044] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: the method for determining the arrival of the autonomous driving vehicle in the embodiments of the present application first obtains the current driving information of the autonomous driving vehicle and the location of the target site, the current driving information includes the current location, the current heading angle and the current speed; then determines whether the autonomous driving vehicle triggers the arrival judgment condition according to the current location of the autonomous driving vehicle and the location of the target site; finally, when the autonomous driving vehicle triggers the arrival judgment condition, determines the arrival status of the autonomous driving vehicle according to the current location, the current heading angle, the current speed and the location of the target site of the autonomous driving vehicle. The method for determining the arrival of the autonomous driving vehicle in the embodiments of the present application comprehensively determines whether the autonomous driving vehicle triggers the arrival logic by using the real-time location, heading angle and speed of the autonomous driving vehicle, which improves the accuracy and reliability of the arrival judgment compared to the existing method of simply relying on distance for judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 A schematic diagram of a flow chart of a method for determining the arrival of an autonomous driving vehicle in an embodiment of the present application;

[0047] Figure 2A schematic diagram of the arrival status of an autonomous driving vehicle in an embodiment of the present application;

[0048] Figure 3 This is a schematic diagram of the arrival determination process of an autonomous driving vehicle in an embodiment of the present application;

[0049] Figure 4 This is a schematic diagram of the structure of a station arrival judgment device for an autonomous driving vehicle in an embodiment of the present application;

[0050] Figure 5 This is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0052] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0053] The present application embodiment provides a method for determining the arrival of an autonomous driving vehicle. Figure 1 As shown, a flow chart of a method for determining the arrival of an autonomous driving vehicle in an embodiment of the present application is provided. The method for determining the arrival of an autonomous driving vehicle includes at least the following steps S110 to S130:

[0054] Step S110, obtaining the current driving information of the autonomous driving vehicle and the location of the target site, wherein the current driving information includes the current location, the current heading angle, and the current speed.

[0055] When determining whether the autonomous vehicle has arrived at a station, the embodiment of the present application needs to first obtain the real-time driving information of the autonomous vehicle and the location information of the current corresponding target station. The current driving information mainly includes the current position, current heading angle, and current speed, etc., which can be obtained based on the positioning system of the autonomous vehicle and the on-board sensors. The target station refers to the next station that the autonomous vehicle is about to arrive at. The absolute position of each station is known information and can be directly obtained.

[0056] Step S120, determining whether the autonomous driving vehicle triggers the arrival judgment condition based on the current position of the autonomous driving vehicle and the position of the target site.

[0057] Based on the acquired current position of the autonomous driving vehicle and the position of the target site, the relative distance between the autonomous driving vehicle and the target site can be compared, and the arrival judgment condition of the autonomous driving vehicle can be determined based on the relative distance. The arrival judgment condition here can be regarded as a basic and prerequisite judgment condition for executing subsequent judgment logic, which is used to determine whether it is necessary to further combine the speed and heading angle information to comprehensively judge whether the autonomous driving vehicle has arrived at the station.

[0058] Step S130, when the autonomous driving vehicle triggers the arrival judgment condition, the arrival status of the autonomous driving vehicle is determined according to the current position, current heading angle, current speed of the autonomous driving vehicle and the position of the target station.

[0059] If the autonomous driving vehicle currently triggers the arrival judgment condition, it is necessary to make a comprehensive judgment based on the current position of the autonomous driving vehicle and the position of the target station, and further combine the current heading angle and current speed. The judgment of the heading angle is mainly based on the fact that the change of the heading angle of the autonomous driving vehicle during the entire process of arriving at the station and after arriving at the station will show certain characteristics, and the speed change will also show certain characteristics. Therefore, the comprehensive current position, current heading angle, current speed and the position of the target station of the autonomous driving vehicle can more accurately determine the arrival status of the autonomous driving vehicle. The arrival status here is mainly divided into two situations: arrived and not arrived.

[0060] The method for determining the arrival of an autonomous driving vehicle in an embodiment of the present application comprehensively determines whether the autonomous driving vehicle has triggered the arrival logic by obtaining the position, heading angle, and speed of the autonomous driving vehicle in real time. Compared with the prior art method of simply relying on distance for judgment, the accuracy and reliability of the arrival judgment are improved.

[0061] In some embodiments of the present application, obtaining the current driving information of the autonomous driving vehicle and the location of the target site includes: obtaining the site information passed by the current driving route of the autonomous driving vehicle; determining the location of the target site in the site information passed by the current driving route based on the current position and current heading angle of the autonomous driving vehicle, the target site being the next site that the autonomous driving vehicle is about to arrive at.

[0062] When acquiring the location information of the target site, the embodiment of the present application may first acquire the information of all sites that the current autonomous driving vehicle passes through on the entire driving route, and then determine the location information of the next site closest to the autonomous driving vehicle in the current driving direction from all the site information based on the current location and current driving direction of the autonomous driving vehicle, as the location information of the target site. All sites on the driving route use the same judgment logic to determine whether they have arrived at the station, until the autonomous driving vehicle reaches the final destination, and the judgment ends.

[0063] In some embodiments of the present application, determining whether the autonomous driving vehicle has triggered the arrival judgment condition based on the current position of the autonomous driving vehicle and the position of the target site includes: calculating the current distance from the autonomous driving vehicle to the target site based on the current position of the autonomous driving vehicle and the position of the target site; if the current distance from the autonomous driving vehicle to the target site is greater than a preset distance threshold, determining that the autonomous driving vehicle has not triggered the arrival judgment condition, and returning to execute the step of obtaining the current driving information of the autonomous driving vehicle and the position of the target site; otherwise, determining that the autonomous driving vehicle has triggered the arrival judgment condition.

[0064] When determining whether the autonomous driving vehicle has triggered the arrival judgment condition, the current distance from the autonomous driving vehicle to the target site can be calculated based on the current latitude and longitude coordinates of the autonomous driving vehicle and the latitude and longitude coordinates of the target site, and then the current distance from the autonomous driving vehicle to the target site is compared with a preset distance threshold. If the current distance from the autonomous driving vehicle to the target site is greater than the preset distance threshold, it means that the autonomous driving vehicle is still far away from the target site. It can be directly considered that the autonomous driving vehicle must not have arrived at the site, and the step of obtaining the current position of the autonomous driving vehicle is returned to calculate and update the distance from the autonomous driving vehicle to the target site in real time.

[0065] If the current distance between the autonomous driving vehicle and the target site is less than or equal to the preset distance threshold, it means that the autonomous driving vehicle is currently close to the target site and has entered a reasonable range near the site area. At this time, it is considered that the autonomous driving vehicle has triggered the arrival judgment condition and needs to be further combined with the speed and heading angle information for comprehensive judgment.

[0066] The size of the above-mentioned preset distance threshold can be flexibly set by those skilled in the art according to actual needs and is not specifically limited here.

[0067] The embodiment of the present application uses the above-mentioned arrival judgment condition based on the relative distance between the autonomous driving vehicle and the target site as a pre-judgment condition. On the one hand, the judgment of distance, speed and heading angle alone may make the judgment results of speed and heading angle meaningless due to the loss of distance constraints. On the other hand, distance judgment is a relatively basic and broad judgment condition. If the distance does not meet the requirements, there is no need to make subsequent judgments. Therefore, from this perspective, prioritizing distance judgment can avoid unnecessary judgments in other dimensions to a certain extent and save computing resources. The embodiment of the present application takes these two aspects into consideration and sets the logical judgment order between distance, speed and heading angle to ensure the efficiency and accuracy of arrival judgment.

[0068] In some embodiments of the present application, when the autonomous driving vehicle triggers the arrival judgment condition, determining the arrival status of the autonomous driving vehicle according to the current position, current heading angle, current speed of the autonomous driving vehicle and the position of the target station includes: determining whether the autonomous driving vehicle triggers the arrival condition according to the current speed of the autonomous driving vehicle; if the autonomous driving vehicle triggers the arrival condition, determining the arrival status of the autonomous driving vehicle as arrived; otherwise, determining the arrival status of the autonomous driving vehicle according to the current position, current heading angle and the position of the target station.

[0069] When judging the arrival status of the autonomous driving vehicle based on the current position, current heading angle, current speed and the location of the target station, since there is already a distance constraint in the aforementioned embodiment, the embodiment of the present application can first use the speed change characteristics of the autonomous driving vehicle when it arrives at the station to judge whether the autonomous driving vehicle has triggered the arrival condition. If the autonomous driving vehicle is judged to have triggered the arrival condition based on the current speed of the autonomous driving vehicle, the current arrival status is determined to have arrived, and the arrival logic is executed. If the arrival condition is not triggered, the current position, current heading angle and location of the autonomous driving vehicle can be combined with the relative change characteristics of the heading angle when the autonomous driving vehicle arrives to finally judge the arrival status of the autonomous driving vehicle.

[0070] The sequential judgment logic among distance, speed and heading angle set by the above embodiment greatly improves the efficiency and accuracy of the arrival judgment of the autonomous driving vehicle.

[0071] In some embodiments of the present application, determining whether the autonomous driving vehicle has triggered the arrival condition based on the current speed of the autonomous driving vehicle includes: comparing the current speed of the autonomous driving vehicle with a preset speed threshold; if the current speed of the autonomous driving vehicle is less than the preset speed threshold, determining that the autonomous driving vehicle has triggered the arrival condition; otherwise, determining that the autonomous driving vehicle has not triggered the arrival condition.

[0072] When using the speed change characteristics of the autonomous driving vehicle when arriving at the station to determine whether the autonomous driving vehicle has triggered the arrival condition, the current speed of the autonomous driving vehicle can be compared with the preset speed threshold. If the current speed of the autonomous driving vehicle is less than the preset speed threshold, then based on the previous distance constraint, it can be considered that the autonomous driving vehicle has currently triggered the arrival condition, that is, the arrival status is arrived; if the current speed of the autonomous driving vehicle is not less than the preset speed threshold, then it is considered that the autonomous driving vehicle has not triggered the arrival condition, and the subsequent judgment logic continues.

[0073] In some embodiments of the present application, determining the arrival status of the autonomous driving vehicle based on the current position, current heading angle and position of the target site of the autonomous driving vehicle includes: calculating the heading angle of the autonomous driving vehicle relative to the target site based on the current position of the autonomous driving vehicle and the position of the target site; determining the arrival status of the autonomous driving vehicle based on the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target site.

[0074] When using the relative change characteristics of the heading angle when the autonomous driving vehicle arrives at the station to determine the arrival status of the autonomous driving vehicle, the heading angle B from the autonomous driving vehicle to the target station can be calculated based on the current latitude and longitude coordinates of the autonomous driving vehicle and the latitude and longitude coordinates of the target station, and then the current heading angle A of the autonomous driving vehicle is compared with the heading angle B of the autonomous driving vehicle pointing to the target station to determine whether the autonomous driving vehicle has arrived at the station.

[0075] In some embodiments of the present application, determining the arrival status of the autonomous driving vehicle based on the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target site includes: calculating the difference between the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target site; if the difference is not less than a preset angle difference threshold, determining that the arrival status of the autonomous driving vehicle is arrived; otherwise, returning to execute the step of obtaining the current driving information of the autonomous driving vehicle and the position of the target site.

[0076] To facilitate understanding of the above embodiments, Figure 2As shown, a schematic diagram of the arrival status of an autonomous driving vehicle in an embodiment of the present application is provided. Figure 2 The three arrival states of the autonomous driving vehicle are given in the table, namely, having passed the station, not having arrived at the station, and being at the station, where having passed the station and being at the station can both be regarded as the arrival state. It can be seen that in different arrival states, the edge formed by the line between the autonomous driving vehicle and the station and the angle α formed by the driving direction (arrow direction) of the autonomous driving vehicle have different angle ranges, so the embodiment of the present application can judge the arrival state based on the size of the angle α.

[0077] The angle α can be calculated based on the angle difference between the current heading angle A of the autonomous driving vehicle and the heading angle B of the autonomous driving vehicle pointing to the target site. Figure 2 If the angle difference is greater than or equal to a preset angle difference threshold, such as 90 degrees, it means that the vehicle has arrived at the station. If it is less than the preset angle threshold, it means that the vehicle has not arrived at the station, then return to continue executing the above judgment logic.

[0078] In order to facilitate the understanding of the above embodiments, Figure 3 As shown, a schematic diagram of the arrival judgment process of an autonomous driving vehicle in an embodiment of the present application is provided. First, the longitude and latitude information of the target site and the current longitude and latitude, current speed and heading angle information of the autonomous driving vehicle are obtained. Then, the relative distance between the two is calculated based on the current longitude and latitude of the autonomous driving vehicle and the longitude and latitude of the target site, and the relative distance between the two is compared with the preset distance threshold. If the relative distance is greater than the preset distance threshold, return to the above step of obtaining the current longitude and latitude of the autonomous driving vehicle in real time. If the relative distance is not greater than the preset distance threshold, further judge the speed.

[0079] The current speed of the autonomous vehicle is compared with the preset speed threshold. If the current speed of the autonomous vehicle is less than the preset speed threshold, the arrival logic is triggered and the autonomous vehicle is considered to have arrived at the station. If the current speed of the autonomous vehicle is not less than the preset speed threshold, the longitude and latitude information of the target station, the current longitude and latitude of the autonomous vehicle, and the heading angle information are further used for judgment.

[0080] The heading angle from the autonomous vehicle to the target site is calculated based on the longitude and latitude of the target site and the current longitude and latitude of the autonomous vehicle. Then, the difference between the heading angle from the autonomous vehicle to the target site and the current heading angle of the autonomous vehicle is calculated. If the angle difference is greater than or equal to the preset angle difference threshold, it means that the vehicle has arrived at the site. If it is less than the preset angle threshold, it means that the vehicle has not arrived at the site, then return to continue executing the above judgment logic.

[0081] The present application also provides a station arrival judgment device 400 for an autonomous driving vehicle, such as Figure 4 As shown, a schematic diagram of the structure of an arrival judgment device of an autonomous driving vehicle in an embodiment of the present application is provided, wherein the arrival judgment device 400 of the autonomous driving vehicle includes: an acquisition unit 410, a first determination unit 420, and a second determination unit 430, wherein:

[0082] An acquisition unit 410 is used to acquire current driving information of the autonomous driving vehicle and the location of the target site, wherein the current driving information includes a current location, a current heading angle, and a current speed;

[0083] A first determination unit 420, configured to determine whether the autonomous driving vehicle triggers a station arrival judgment condition according to the current position of the autonomous driving vehicle and the position of the target station;

[0084] The second determination unit 430 is used to determine the arrival status of the autonomous driving vehicle according to the current position, current heading angle, current speed and the position of the target station of the autonomous driving vehicle when the autonomous driving vehicle triggers the arrival judgment condition.

[0085] In some embodiments of the present application, the acquisition unit 410 is specifically used to: obtain the site information passed by the current driving route of the autonomous driving vehicle; determine the position of the target site in the site information passed by the current driving route according to the current position and current heading angle of the autonomous driving vehicle, and the target site is the next site that the autonomous driving vehicle is about to arrive at.

[0086] In some embodiments of the present application, the first determination unit 420 is specifically used to: calculate the current distance from the autonomous driving vehicle to the target site based on the current position of the autonomous driving vehicle and the position of the target site; if the current distance from the autonomous driving vehicle to the target site is greater than a preset distance threshold, determine that the autonomous driving vehicle has not triggered the arrival judgment condition, and return to execute the step of obtaining the current driving information of the autonomous driving vehicle and the position of the target site; otherwise, determine that the autonomous driving vehicle has triggered the arrival judgment condition.

[0087] In some embodiments of the present application, the second determination unit 430 is specifically used to: determine whether the autonomous driving vehicle triggers the arrival condition based on the current speed of the autonomous driving vehicle; if the autonomous driving vehicle triggers the arrival condition, determine the arrival status of the autonomous driving vehicle as arrived; otherwise, determine the arrival status of the autonomous driving vehicle based on the current position of the autonomous driving vehicle, the current heading angle and the position of the target station.

[0088] In some embodiments of the present application, the second determination unit 430 is specifically used to: compare the current speed of the autonomous driving vehicle with a preset speed threshold; if the current speed of the autonomous driving vehicle is less than the preset speed threshold, determine that the autonomous driving vehicle triggers the arrival condition; otherwise, determine that the autonomous driving vehicle does not trigger the arrival condition.

[0089] In some embodiments of the present application, the second determination unit 430 is specifically used to: calculate the heading angle of the autonomous driving vehicle relative to the target site based on the current position of the autonomous driving vehicle and the position of the target site; determine the arrival status of the autonomous driving vehicle based on the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target site.

[0090] In some embodiments of the present application, the second determination unit 430 is specifically used to: calculate the difference between the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target site; if the difference is not less than a preset angle difference threshold, determine that the arrival status of the autonomous driving vehicle is arrived; otherwise, return to execute the step of obtaining the current driving information of the autonomous driving vehicle and the position of the target site.

[0091] It can be understood that the above-mentioned arrival judgment device for the autonomous driving vehicle can implement the various steps of the arrival judgment method for the autonomous driving vehicle provided in the aforementioned embodiments, and the relevant explanations on the arrival judgment method for the autonomous driving vehicle are applicable to the arrival judgment device for the autonomous driving vehicle, which will not be repeated here.

[0092] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 5 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0093] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0094] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0095] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming an arrival judgment device for the autonomous driving vehicle at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0096] Acquire current driving information of the autonomous driving vehicle and the location of the target site, wherein the current driving information includes the current location, the current heading angle, and the current speed;

[0097] Determining whether the autonomous driving vehicle triggers a station arrival judgment condition according to the current position of the autonomous driving vehicle and the position of the target station;

[0098] When the autonomous driving vehicle triggers the arrival judgment condition, the arrival status of the autonomous driving vehicle is determined based on the current position, current heading angle, current speed of the autonomous driving vehicle and the position of the target station.

[0099] The above application Figure 1The method performed by the arrival judgment device of the autonomous driving vehicle disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in a decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0100] The present application also provides a computer program product, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to execute Figure 1 The method executed by the station arrival judgment device of the autonomous driving vehicle in the illustrated embodiment is specifically used to execute:

[0101] Acquire current driving information of the autonomous driving vehicle and the location of the target site, wherein the current driving information includes the current location, the current heading angle, and the current speed;

[0102] Determining whether the autonomous driving vehicle triggers a station arrival judgment condition according to the current position of the autonomous driving vehicle and the position of the target station;

[0103] When the autonomous driving vehicle triggers the arrival judgment condition, the arrival status of the autonomous driving vehicle is determined based on the current position, current heading angle, current speed of the autonomous driving vehicle and the position of the target station.

[0104] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0106] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0108] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0109] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0110] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0111] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0112] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0113] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for determining the arrival of an autonomous vehicle, wherein: The method for determining the arrival of the autonomous driving vehicle comprises: Acquire current driving information of the autonomous driving vehicle and the location of the target site, wherein the current driving information includes the current location, the current heading angle, and the current speed; Determining whether the autonomous driving vehicle triggers a station arrival judgment condition according to the current position of the autonomous driving vehicle and the position of the target station; When the autonomous driving vehicle triggers the arrival judgment condition, the arrival status of the autonomous driving vehicle is determined based on the current position, current heading angle, current speed of the autonomous driving vehicle and the position of the target station.

2. The method for determining the arrival of an autonomous driving vehicle according to claim 1, wherein: The obtaining of the current driving information of the autonomous driving vehicle and the location of the target site includes: Obtain information about the stations that the autonomous driving vehicle passes through on its current route; According to the current position and current heading angle of the autonomous driving vehicle, the position of the target site is determined in the site information passed by the current driving route. The target site is the next site that the autonomous driving vehicle is about to arrive at.

3. The method for determining the arrival of an autonomous driving vehicle according to claim 1, wherein: The determining, based on the current position of the autonomous driving vehicle and the position of the target station, whether the autonomous driving vehicle triggers the station arrival judgment condition comprises: Calculating a current distance from the autonomous driving vehicle to the target site based on the current position of the autonomous driving vehicle and the position of the target site; If the current distance from the autonomous driving vehicle to the target site is greater than a preset distance threshold, it is determined that the autonomous driving vehicle has not triggered the site arrival judgment condition, and the process returns to the step of obtaining the current driving information of the autonomous driving vehicle and the location of the target site; Otherwise, it is determined that the autonomous driving vehicle triggers the arrival judgment condition.

4. The method for determining the arrival of an autonomous driving vehicle according to claim 1, wherein: When the autonomous driving vehicle triggers the arrival judgment condition, determining the arrival status of the autonomous driving vehicle according to the current position, current heading angle, current speed of the autonomous driving vehicle and the position of the target station includes: Determining whether the autonomous driving vehicle triggers a station arrival condition according to a current speed of the autonomous driving vehicle; If the autonomous driving vehicle triggers the arrival condition, determining the arrival status of the autonomous driving vehicle as arrived; Otherwise, the arrival status of the autonomous driving vehicle is determined based on the current position of the autonomous driving vehicle, the current heading angle and the position of the target site.

5. The method for determining the arrival of an autonomous driving vehicle according to claim 4, wherein: The determining, according to the current speed of the autonomous driving vehicle, whether the autonomous driving vehicle triggers the arrival condition comprises: comparing a current speed of the autonomous vehicle with a preset speed threshold; If the current speed of the autonomous driving vehicle is less than a preset speed threshold, determining that the autonomous driving vehicle triggers an arrival condition; Otherwise, it is determined that the autonomous driving vehicle has not triggered the arrival condition.

6. The method for determining the arrival of an autonomous driving vehicle according to claim 4, wherein: Determining the arrival status of the autonomous driving vehicle according to the current position, the current heading angle and the position of the target station of the autonomous driving vehicle includes: Calculating a heading angle of the autonomous driving vehicle relative to the target site based on the current position of the autonomous driving vehicle and the position of the target site; The arrival status of the autonomous driving vehicle is determined based on the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target site.

7. The method for determining the arrival of an autonomous driving vehicle according to claim 6, wherein: Determining the arrival status of the autonomous driving vehicle according to the current heading angle of the autonomous driving vehicle and the heading angle of the autonomous driving vehicle relative to the target station includes: Calculating a difference between a current heading angle of the autonomous vehicle and a heading angle of the autonomous vehicle relative to the target site; If the difference is not less than the preset angle difference threshold, determining that the arrival status of the autonomous driving vehicle is arrived; Otherwise, return to the step of obtaining the current driving information of the autonomous driving vehicle and the location of the target site.

8. A station arrival judgment device for an autonomous driving vehicle, wherein: The station arrival judgment device of the automatic driving vehicle comprises: An acquisition unit, used to acquire current driving information of the autonomous driving vehicle and the location of the target site, wherein the current driving information includes a current location, a current heading angle, and a current speed; A first determination unit, configured to determine whether the autonomous driving vehicle triggers a station arrival judgment condition according to a current position of the autonomous driving vehicle and a position of the target station; The second determination unit is used to determine the arrival status of the autonomous driving vehicle according to the current position, current heading angle, current speed and the position of the target site of the autonomous driving vehicle when the autonomous driving vehicle triggers the arrival judgment condition.

9. An electronic device, comprising: processor; as well as A memory arranged to store computer executable instructions, which, when executed, cause the processor to execute the station arrival determination method for the automatic driving vehicle of any one of claims 1 to 7.

10. A computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the arrival determination method of the automatic driving vehicle described in any one of claims 1 to 7.

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