Vehicle control method and device, computer equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, computer equipment and a storage medium, and the vehicle control method comprises the steps: determining a target station as a first starting point position of a vehicle when it is detected that the vehicle arrives at the target station, and determining a terminal point position of the vehicle according to the first starting point position; route planning is carried out according to the first starting point position and the final point position, and a first planned route is generated; screening a second starting point position of the vehicle in the first planning route, and performing route planning according to the second starting point position and the target station to generate a second planning route; and controlling the vehicle to run to the second starting point position according to the first planned route, and running to the target station from the second starting point position according to the second planned route.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular, to a vehicle control method, device, computer equipment and storage medium. Background Art

[0002] With the development of autonomous driving technology, autonomous vehicles have received widespread attention and application. When autonomous vehicles are applied to online car-hailing scenarios, although autonomous vehicles can handle most driving situations, there are still certain limitations. For example, if the autonomous vehicle arrives at the designated pick-up location of the passenger first but the passenger has not arrived, the autonomous vehicle needs to stop and wait for the passenger. However, if the temporary parking time allowed at the pick-up location is short, the autonomous vehicle needs to temporarily leave the pick-up location and then detour back to the pick-up location to continue waiting for the passenger to get on the bus. How the autonomous vehicle should travel from leaving the pick-up location to detouring back to the pick-up location is a question worthy of attention; if the detour distance is too short, the autonomous vehicle may need to detour repeatedly; but if the detour distance is too long, it may increase the waiting time of the passenger, resulting in a reduced user experience.

[0003] Therefore, an effective method is urgently needed to solve such problems. Summary of the invention

[0004] The embodiments of the present application provide a vehicle control method, apparatus, computer device and storage medium.

[0005] A first aspect of an embodiment of the present application provides a vehicle control method, comprising: When it is detected that the vehicle has arrived at a target site, the target site is determined as a first starting point position of the vehicle, and a terminal position of the vehicle is determined according to the first starting point position; Perform route planning according to the first starting point location and the end point location to generate a first planned route; Selecting a second starting point of the vehicle in the first planned route, and performing route planning according to the second starting point and the target site to generate a second planned route; The vehicle is controlled to travel to the second starting point according to the first planned route, and to travel from the second starting point to the target site according to the second planned route.

[0006] In an optional embodiment of the present application, determining the end position of the vehicle according to the first starting position includes: Determining the latitude and longitude coordinates of the vehicle; Establishing a longitude and latitude coordinate system with the first starting point as the origin, and determining an angle between the current head direction of the vehicle and the coordinate axes of the longitude and latitude coordinate system; The terminal position of the vehicle is determined based on the angle, the longitude and latitude coordinates and a preset distance threshold, wherein the preset distance threshold is the distance between the terminal position and the first starting position, and the direction of the vehicle to the terminal position is opposite to the current front direction of the vehicle.

[0007] In an optional embodiment of the present application, screening the second starting point position of the vehicle in the first planned route includes: Determine intersection information corresponding to at least two intersections included in the first planned route; The distance between each intersection and the target site is determined based on the intersection information, and a target intersection whose distance from the target site is greater than a preset distance threshold is determined as the second starting point position of the vehicle, wherein the direction of the vehicle to the target intersection is the same as the current front direction of the vehicle.

[0008] In an optional embodiment of the present application, the vehicle control method further includes: Get the location information of the target user; The target time required for the target user to reach the target site is determined according to the location information.

[0009] In an optional embodiment of the present application, performing route planning according to the second starting point location and the target site to generate a second planned route includes: Perform route planning according to the second starting point location and the target site to generate at least two planned routes to be selected; Determine the driving time corresponding to each planned route to be selected; According to the target duration and the driving duration, a second planned route is determined from the at least two planned routes to be selected.

[0010] In an optional embodiment of the present application, the vehicle control method further includes: Obtaining the traffic information of the road section where the target site is located, wherein the traffic information includes the allowed stay time; Accordingly, performing route planning according to the second starting point location and the target site to generate a second planned route includes: Perform route planning according to the second starting point location and the target site to generate at least two optional planned routes; Determine the driving time corresponding to each optional planned route; A second planned route is determined from the at least two optional planned routes according to the target duration, the driving duration, and the allowed stay duration.

[0011] In an optional embodiment of the present application, the vehicle control method further includes: Obtaining the traffic information of the road section where the target site is located, wherein the traffic information includes intersection information and the length of time that a stop can be made; When the allowed stay time is less than a preset time threshold, the target site is determined as the target starting position and target end position of the vehicle, and route planning is performed in combination with the target starting position, the target end position and the intersection information to generate a target planned route.

[0012] A second aspect of an embodiment of the present application provides a vehicle control device, including: a determination module configured to, when detecting that the vehicle has arrived at a target site, determine the target site as a first starting point position of the vehicle, and determine a terminal position of the vehicle according to the first starting point position; A generating module, configured to perform route planning according to the first starting point position and the end point position to generate a first planned route; a route planning module, configured to select a second starting point of the vehicle in the first planned route, and perform route planning according to the second starting point and the target site to generate a second planned route; The control module is configured to control the vehicle to travel to the second starting point according to the first planned route, and to travel from the second starting point to the target site according to the second planned route.

[0013] According to a third aspect of an embodiment of the present application, a computer device is provided, comprising: a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of any of the above vehicle control methods are implemented.

[0014] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0015] The vehicle control method provided by the embodiment of the present application, when detecting that the vehicle has arrived at the target site, determines the target site as the first starting point of the vehicle, and determines the terminal position of the vehicle according to the first starting point; performs route planning according to the first starting point and the terminal position to generate a first planned route; selects the second starting point of the vehicle in the first planned route, and performs route planning according to the second starting point and the target site to generate a second planned route; controls the vehicle to travel to the second starting point according to the first planned route, and travels from the second starting point to the target site according to the second planned route. By selecting waypoints based on the first planned route and then performing secondary route planning based on the waypoints, it is helpful to ensure the rationality of the second planned route generated by the plan, that is, it is helpful to ensure the rationality of the route traveled by the vehicle when detouring. The vehicle detours according to part of the first planned route and the second planned route. On the one hand, it is helpful to avoid the vehicle from repeatedly detouring at the target site, thereby improving the convenience of the vehicle control process; on the other hand, it is helpful to avoid increasing the waiting time of the user, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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: Figure 1 A flow chart of a vehicle control method provided by one embodiment of the present application; Figure 2 A schematic diagram of a coordinate system establishment result provided in one embodiment of the present application; Figure 3 A process flow chart of a vehicle control method provided by one embodiment of the present application; Figure 4 A schematic diagram of the structure of a vehicle control device provided in one embodiment of the present application; Figure 5 A schematic diagram of the computer device structure provided for one embodiment of the present application. DETAILED DESCRIPTION

[0017] In the process of implementing the present application, the inventors discovered that the current solution for autonomous driving vehicles to detour on the spot in autonomous driving scenarios is poor.

[0018] In response to the above problems, a vehicle control method is provided in an embodiment of the present application. When it is detected that the vehicle has arrived at a target site, the target site is determined as the first starting point of the vehicle, and the end point of the vehicle is determined based on the first starting point; route planning is performed based on the first starting point and the end point to generate a first planned route; the second starting point of the vehicle is selected in the first planned route, and route planning is performed based on the second starting point and the target site to generate a second planned route; the vehicle is controlled to travel to the second starting point along the first planned route, and the vehicle is driven from the second starting point to the target site along the second planned route.

[0019] The solutions in the embodiments of the present application can be implemented using various computer languages, for example, the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0020] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0021] Figure 1 A flow chart of a vehicle control method provided according to an embodiment of the present application is shown, which specifically includes the following steps.

[0022] Step 102: When it is detected that the vehicle has arrived at a target site, the target site is determined as a first starting point position of the vehicle, and an end point position of the vehicle is determined according to the first starting point position.

[0023] Specifically, the target site can be a location that the user specifies the vehicle to arrive at; the vehicle can be an ordinary vehicle or an autonomous vehicle. The user can specify the vehicle to arrive at the target site, and then the user takes the vehicle at the target site, that is, travels by the vehicle.

[0024] In actual applications, different places may have different parking time requirements. For example, some places allow long-term parking, some places allow temporary parking, and some places do not allow temporary parking. The temporary parking time will be set for places that allow temporary parking. When the vehicle arrives at the target site but the user has not arrived, if the target site allows temporary parking, the vehicle can park at the target site and wait for the user; however, when the vehicle's parking time at the target site is approaching or reaches the temporary parking time allowed by the target site and the user has not arrived, the vehicle needs to leave the target site, make a circle around the target site, and then return to the target site to continue waiting for the user.

[0025] Based on this, the embodiment of the present application is used to plan the route for the vehicle to detour. In the embodiment of the present application, when it is detected that the vehicle has arrived at the target site, since the vehicle needs to detour from the target site, the target site can be determined as the first starting point position of the vehicle, and then the end point position of the vehicle is determined based on the first starting point position.

[0026] In an optional embodiment of the present application, the above step 102 may include: step 1021 to step 1023.

[0027] Step 1021, determining the latitude and longitude coordinates of the vehicle; Step 1022: Establish a longitude and latitude coordinate system with the first starting point as the origin, and determine the angle between the current head direction of the vehicle and the coordinate axes of the longitude and latitude coordinate system; Step 1023, determine the end position of the vehicle based on the angle, the longitude and latitude coordinates and a preset distance threshold, wherein the preset distance threshold is the distance between the end position and the first starting position, and the direction of the vehicle to the end position is opposite to the current front direction of the vehicle.

[0028] Specifically, since the embodiments of the present application can plan the route for the vehicle to detour, and for route planning, it is necessary to first determine the starting point and end point of the route, specifically, first determine the longitude and latitude coordinates of the starting point and end point of the route, so as to implement subsequent route planning based on the longitude and latitude coordinates.

[0029] Based on this, after the target site is determined as the first starting point, when the end point of the vehicle's detour is determined according to the first starting point, the end point can be set m meters behind the vehicle, that is, the distance between the end point of the vehicle and the current position of the vehicle, that is, the target site, that is, the first starting point, is set to m meters, and in the current state, the end point is behind the vehicle, that is, the direction from the vehicle to the end point is opposite to the current head direction of the vehicle. Among them, m is the preset distance threshold.

[0030] After determining the relative position relationship between the end position and the first starting position, the longitude and latitude coordinates of the vehicle, which is the first starting position, can be determined, and then a longitude and latitude coordinate system is established with the first starting position as the origin, and the angle between the current front direction of the vehicle and the coordinate axes of the longitude and latitude coordinate system is determined.

[0031] A schematic diagram of a coordinate system establishment result provided in an embodiment of the present application is as follows Figure 2 shown.

[0032] Figure 2In the figure, point A is the end point of the vehicle, the length of line segment OA is m, the angle between the current head direction of the vehicle and the y-axis of the latitude and longitude coordinate system is α, that is, the angle between line segment OA and the y-axis is α. After determining the length of line segment OA and the angle between line segment OA and the y-axis, the coordinates of the end point in the latitude and longitude coordinate system can be calculated based on trigonometric functions, and then the actual latitude and longitude coordinates of the end point can be determined based on the latitude and longitude coordinates of the first starting point and this coordinate.

[0033] In practical applications, the preset distance threshold can be set to 10 meters, but the specific distance can be determined according to actual needs and is not limited here.

[0034] In the embodiment of the present application, since the vehicle cannot reverse on the road, the end point is set behind the vehicle so that the end point is not at the same position as the first starting point, so that the route planning can be performed directly based on the end point and the first starting point, thereby improving the convenience of route planning. In addition, by establishing a longitude and latitude coordinate system and determining the longitude and latitude coordinates of the end point through the longitude and latitude coordinates of the vehicle and the angle between the vehicle head direction and the coordinate axis, it is helpful to ensure the accuracy of the determination result.

[0035] Step 104: perform route planning according to the first starting point location and the end point location to generate a first planned route.

[0036] Specifically, since the vehicle cannot reverse on the road, the embodiment of the present application sets the end point at the rear of the vehicle. After determining the longitude and latitude coordinates of the first starting point and the end point, the route can be planned according to the longitude and latitude coordinates of the first starting point and the end point to generate a first planned route, which can guide the vehicle to travel from the first starting point to the end point along the route, thereby achieving a detour.

[0037] Step 106: Filter the second starting point of the vehicle in the first planned route, and perform route planning according to the second starting point and the target site to generate a second planned route.

[0038] In an embodiment of the present application, after the first planned route is generated, the vehicle can travel along the first planned route to achieve a detour, but because the vehicle still needs to travel from the terminal position to the target site after the detour, and the embodiment of the present application sets the terminal position behind the vehicle, when there is a first intersection between the terminal position and the target site, since the vehicle needs to detour to the terminal position first, the vehicle needs to detour to a farther second intersection and then turn around to drive to the terminal position, and then drive from the terminal position to the target site, instead of directly turning around at the first intersection to drive to the target site, which may cause the first planned route to be too far.

[0039] Based on this, after generating the first planned route, the embodiment of the present application can select the second starting point position of the vehicle in the first planned route, and then use the target site as the end point to re-plan the route based on the second starting point position and the target site to generate a second planned route.

[0040] In addition, based on the rule that vehicles cannot go in reverse on the road, the embodiment of the present application can determine that the first planned route is to guide the vehicle to travel forward first, that is, to guide the vehicle to travel in the same direction as the front direction of the vehicle when it is parked. Therefore, the embodiment of the present application can select the second starting point position in the section of the first planned route where the vehicle travels in the same direction as the front direction of the vehicle when it is parked.

[0041] In an optional embodiment of the present application, the above step 106 may include: step 1061 to step 1062.

[0042] Step 1061: Determine the intersection information corresponding to at least two intersections included in the first planned route; Step 1062: determine the distance between each intersection and the target site based on the intersection information, and determine the target intersection whose distance to the target site is greater than a preset distance threshold as the second starting point position of the vehicle, wherein the direction of the vehicle to the target intersection is the same as the current head direction of the vehicle.

[0043] Specifically, the intersection information may include information such as the intersection name and the intersection location.

[0044] Since the initial driving direction of the vehicle when starting from the target site is the same as the vehicle's head direction when parking, the vehicle needs to pass through an intersection to make a turn or U-turn when traveling according to the first planned route, that is, the vehicle starts from the target site and then detours to the terminal position. In this case, the embodiment of the present application can select a target intersection from the intersections that meet the conditions to use it as the second starting point. The intersection that meets the conditions can be the target site or the intersection where the direction of the vehicle to the intersection is consistent with the head direction of the vehicle when parking at the target site, and can make a turn or U-turn.

[0045] Specifically, the intersection information corresponding to at least two intersections included in the first planned route can be determined first, and then the intersection that meets the conditions among the at least two intersections can be determined. Then, based on the intersection information (intersection position) corresponding to the intersection that meets the conditions, the distance between each intersection that meets the conditions and the target site can be determined, and the target intersection whose distance to the target site is greater than a preset distance threshold can be determined as the second starting point position of the vehicle.

[0046] After determining the second starting point, the target site can be determined as the end point, so that the route can be planned according to the second starting point and the target site, and a second planned route can be generated, so that after the vehicle drives to the second starting point according to the first planned route, it can directly turn around at the second starting point and continue to return to the target site from the second starting point, that is, the second planned route can guide the vehicle to turn around at the second starting point and continue to drive to the target site. However, whether the vehicle needs to turn around at the second starting point can also be determined according to actual needs. For example, the vehicle can also drive to the second starting point, continue to drive forward, and then turn around at other intersections to return. The specific situation can be determined according to actual needs. Therefore, the second planned route can be planned and generated according to needs, that is, there is no restriction here.

[0047] In addition, when there is only one intersection that meets the conditions, the intersection can be directly determined as the second starting point position.

[0048] In addition, the embodiment of the present application can also directly select the second starting point position according to a preset distance threshold without obtaining road condition information, that is, any station in the first planned route where the vehicle is traveling in the same direction as the front direction of the vehicle when parking, and the distance between the station and the target station is greater than the preset distance threshold can be determined as the second starting point position.

[0049] In actual applications, the preset distance threshold may be the same as the aforementioned preset distance threshold or may be different, that is, the preset distance threshold may also be set to 10 meters, but the specific value may be determined according to actual needs and is not limited here.

[0050] The embodiment of the present application determines waypoints to perform multiple route planning, which is beneficial to ensuring the rationality of the route taken by the vehicle when it detours, thereby helping to improve the user experience.

[0051] In an optional embodiment of the present application, the vehicle control method may further include: steps 110 to 112 .

[0052] Step 110: Obtain location information of the target user; Step 112: Determine the target time required for the target user to reach the target site according to the location information.

[0053] Further, in an optional embodiment of the present application, the above step 106 may include: step 1063 to step 1065.

[0054] Step 1063: performing route planning according to the second starting point location and the target site, generating at least two planned routes to be selected; Step 1064, determining the driving time corresponding to each planned route to be selected; Step 1065: Determine a second planned route from the at least two planned routes to be selected according to the target duration and the driving duration.

[0055] Specifically, as mentioned above, when the vehicle arrives at the target site but the user has not arrived, if the target site allows temporary parking, the vehicle can park at the target site and wait for the user; but when the parking time of the vehicle at the target site is approaching or reaches the temporary parking time allowed by the target site and the user has not yet arrived, the vehicle needs to leave the target site, circle around the target site, and then return to the target site to continue waiting for the user.

[0056] Based on this, when performing route planning, the embodiment of the present application can combine the target time required for the user to reach the target site, and plan and generate a second planned route with a driving time that is closer to the target time, so that after the vehicle detoured according to the second planned route and returned to the target site, it can pick up the user and set off without having to wait for a long time.

[0057] Specifically, the embodiment of the present application can first obtain the location information of the target user, and then determine the target time required for the target user to reach the target site according to the location information of the target user.

[0058] In actual applications, the location information of the target user can be actively sent by the user. After obtaining the location information, route planning can be performed based on the location information and the target site, so as to estimate the target time required for the user to reach the target site based on the planned route. In addition, to ensure the accuracy of the estimation result, the user's travel mode, such as walking, cycling or taking a car, can also be obtained, and then the travel mode and the planned route are combined to estimate the target time required for the user to reach the target site.

[0059] Among them, the target users are the users who need to take the vehicle.

[0060] After determining the target time required for the user to reach the target site, route planning can be performed based on the second starting point location and the target site to generate at least two planned routes to be selected, and then the driving time corresponding to each planned route to be selected is determined. Then, based on the target time and the driving time, the second planned route is determined from the at least two planned routes to be selected.

[0061] When selecting the second planned route from at least two planned routes to be selected, the planned route to be selected whose driving time is closer to the target time can be selected as the second planned route, so that after the vehicle detoured along the second planned route and returned to the target site, it can pick up the user and set off without waiting for a long time.

[0062] The embodiment of the present application comprehensively selects the second planned route based on the target time required for the user to reach the target site and the driving time of each planned route to be selected, thereby ensuring the rationality of the second planned route, helping to avoid increasing the user's waiting time, and thus helping to improve the user's experience.

[0063] In an optional embodiment of the present application, the vehicle control method may further include step 114 .

[0064] Step 114: Obtaining the traffic information of the road section where the target site is located, wherein the traffic information includes the allowed stay time; Accordingly, the above step 106 may include: step 1066 to step 1068.

[0065] Step 1066: perform route planning according to the second starting point location and the target site to generate at least two optional planned routes; Step 1067, determining the driving time corresponding to each optional planned route; Step 1068: Determine a second planned route from the at least two optional planned routes based on the target duration, the driving duration, and the allowed stay duration.

[0066] Specifically, the allowed staying time is the temporary parking time allowed at the target station.

[0067] As mentioned above, when the vehicle arrives at the target site but the user has not arrived, if the target site allows temporary parking, the vehicle can park at the target site and wait for the user; but when the parking time of the vehicle at the target site is approaching or reaches the temporary parking time allowed by the target site and the user has not yet arrived, the vehicle needs to leave the target site, circle around the target site, and then return to the target site to continue waiting for the user.

[0068] Based on this, when performing route planning, the embodiment of the present application can combine the target time required for the user to reach the target site and the available stay time at the target site to plan and generate a second planned route with a driving time that is closer to the target time. After the vehicle detours according to the second planned route and returns to the target site, the vehicle does not need to detour again during the time period from returning to the target site to the time the user gets on the vehicle.

[0069] Specifically, the embodiment of the present application can first obtain the location information of the target user, and then determine the target time required for the target user to reach the target site according to the location information of the target user.

[0070] After determining the target time required for the user to reach the target site, the traffic condition information of the section where the target site is located can be obtained to obtain the available stay time at the target site from the traffic condition information; then, route planning can be performed based on the second starting point location and the target site to generate at least two optional planned routes, and the driving time corresponding to each optional planned route can be determined; then, based on the target time, driving time and available stay time, the second planned route can be determined from the at least two optional planned routes.

[0071] When selecting the second planned route from at least two optional planned routes, the optional planned route whose driving time is closer to the target time and whose difference between the target time and the driving time is less than the allowed stay time can be selected as the second planned route, so that after the vehicle detours according to the second planned route and returns to the target site, the vehicle can pick up the user and depart without detouring again during the time period from returning to the target site to the time when the user gets on the vehicle.

[0072] The embodiment of the present application comprehensively selects the second planned route based on the target time required for the user to reach the target site, the driving time of each optional planned route, and the possible stay time at the target site, thereby ensuring the rationality of the second planned route. On the one hand, it is helpful to avoid repeated detours of the vehicle, thereby improving the convenience of the vehicle control process; on the other hand, it is helpful to avoid increasing the user's waiting time, thereby helping to improve the user experience.

[0073] Step 108: Control the vehicle to travel to the second starting point along the first planned route, and then travel from the second starting point to the target site along the second planned route.

[0074] Specifically, after performing route planning to generate a first planned route and a second planned route, the vehicle can be controlled to travel from the target site to the second starting position along the first planned route, and then the vehicle can be controlled to travel from the second starting position to the target site along the second planned route.

[0075] In an optional embodiment of the present application, the vehicle control method may further include: steps 116 to 118.

[0076] Step 116: Obtaining the traffic information of the road section where the target site is located, wherein the traffic information includes intersection information and the length of time that the target site can stay; Step 118: When the allowed stay time is less than a preset time threshold, the target site is determined as the target starting position and target end position of the vehicle, and route planning is performed in combination with the target starting position, the target end position and the intersection information to generate a target planned route.

[0077] In the embodiment of the present application, in addition to performing route planning in the aforementioned manner to generate a first planned route and a second planned route, a designated route may be recorded in advance for a target site, so that when the parking time of the vehicle at the target site approaches or reaches the temporary parking time allowed at the target site and the user has not yet arrived, the vehicle can be controlled to travel along the designated route to achieve a detour.

[0078] Specifically, since the vehicle still needs to return to the target site to wait for the user to get on the vehicle after making a detour from the target site, the target site can be determined as the target starting position and the target end position. However, in actual applications, if there are only the target starting position and the target end position, and the target starting position and the target end position are the same position, route planning cannot be performed.

[0079] Based on this, the embodiment of the present application can first obtain the traffic information of the section where the target site is located, and obtain the intersection information of the intersections included in the section and the possible stay time of the target site from the traffic information; when it is determined that the possible stay time is less than the preset time threshold, the target site is determined as the target starting position and target end position of the vehicle, and the target intersection is screened from the intersections included in the section according to the intersection information, and the target intersection is used as a waypoint, and then the route is planned in combination with the target starting position, the target end position and the waypoint to generate a target planned route.

[0080] The target intersection may be a target station or an intersection where the direction of the vehicle to the intersection is consistent with the direction of the vehicle's front when the vehicle stops at the target station, and where a turn or U-turn can be made.

[0081] In practical applications, the preset time threshold can be set to 5 minutes, but the specific time can be determined according to actual needs and is not limited here.

[0082] The embodiment of the present application helps to reduce the time required for real-time route planning by recording the designated route in advance, thereby helping to improve vehicle control efficiency.

[0083] The vehicle control method provided by the embodiment of the present application, when detecting that the vehicle has arrived at the target site, determines the target site as the first starting point of the vehicle, and determines the terminal position of the vehicle according to the first starting point; performs route planning according to the first starting point and the terminal position to generate a first planned route; selects the second starting point of the vehicle in the first planned route, and performs route planning according to the second starting point and the target site to generate a second planned route; controls the vehicle to travel to the second starting point according to the first planned route, and travels from the second starting point to the target site according to the second planned route. By selecting waypoints based on the first planned route and then performing secondary route planning based on the waypoints, it is helpful to ensure the rationality of the second planned route generated by the plan, that is, it is helpful to ensure the rationality of the route traveled by the vehicle when detouring. The vehicle detours according to part of the first planned route and the second planned route. On the one hand, it is helpful to avoid the vehicle from repeatedly detouring at the target site, thereby improving the convenience of the vehicle control process; on the other hand, it is helpful to avoid increasing the waiting time of the user, thereby improving the user experience.

[0084] The following combination Figure 3 , taking the application of the vehicle control method provided by this application in autonomous driving as an example, the vehicle control method is further described. Among them, Figure 3 A process flow chart of a vehicle control method provided by an embodiment of the present application is shown, which specifically includes the following steps.

[0085] Step 302: When it is detected that the autonomous driving vehicle has arrived at the target site, the longitude and latitude coordinates of the autonomous driving vehicle are determined.

[0086] Among them, the target station is the boarding location designated by the passenger.

[0087] Step 304: Establish a longitude and latitude coordinate system with the target site as the origin, and determine the angle between the current head direction of the autonomous driving vehicle and the coordinate axes of the longitude and latitude coordinate system.

[0088] Step 306: Determine the final position of the autonomous driving vehicle based on the angle, longitude and latitude coordinates, and a preset distance threshold, wherein the preset distance threshold is the distance between the final position and the target site, and the direction of the autonomous driving vehicle to the final position is opposite to the current front direction of the autonomous driving vehicle.

[0089] Step 308: determine the target site as the first starting point of the autonomous driving vehicle, perform route planning based on the first starting point and the end point, and generate a first planned route.

[0090] Step 310: determine a target section in the first planned route, wherein the target section is a section where the autonomous driving vehicle travels in the same direction as the front direction of the autonomous driving vehicle when parking.

[0091] Step 312: Determine any site in the target road section whose distance from the target site is greater than a preset distance threshold as the second starting point position.

[0092] Step 314: perform route planning based on the second starting point location and the target site to generate a second planned route.

[0093] Step 316: Control the autonomous driving vehicle to travel to the second starting point along the first planned route, and then travel from the second starting point to the target site along the second planned route.

[0094] The embodiment of the present application selects waypoints based on the first planned route, and then performs secondary route planning based on the waypoints. This is conducive to ensuring the rationality of the second planned route generated by the plan, that is, it is conducive to ensuring the rationality of the route taken by the autonomous driving vehicle when it detours. The autonomous driving vehicle detours according to part of the first planned route and the second planned route. On the one hand, it is conducive to avoiding the autonomous driving vehicle from repeatedly detouring at the target site, thereby improving the convenience of the autonomous driving vehicle control process; on the other hand, it is conducive to avoiding increasing the waiting time of passengers, thereby improving the passenger experience.

[0095] It should be understood that, although the various steps in the flow chart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0096] See also Figure 4 , an embodiment of the present application provides a vehicle control device, comprising: The determination module 402 is configured to, when detecting that the vehicle has arrived at a target station, determine the target station as a first starting point position of the vehicle, and determine a terminal position of the vehicle according to the first starting point position; A generating module 404 is configured to perform route planning according to the first starting point location and the end point location to generate a first planned route; The route planning module 406 is configured to select a second starting point of the vehicle in the first planned route, and perform route planning according to the second starting point and the target site to generate a second planned route; The control module 408 is configured to control the vehicle to travel to the second starting point according to the first planned route, and to travel from the second starting point to the target site according to the second planned route.

[0097] In an optional embodiment of the present application, the determining module 402 is further configured to: Determining the latitude and longitude coordinates of the vehicle; Establishing a longitude and latitude coordinate system with the first starting point as the origin, and determining an angle between the current head direction of the vehicle and the coordinate axes of the longitude and latitude coordinate system; The terminal position of the vehicle is determined based on the angle, the longitude and latitude coordinates and a preset distance threshold, wherein the preset distance threshold is the distance between the terminal position and the first starting position, and the direction of the vehicle to the terminal position is opposite to the current front direction of the vehicle.

[0098] In an optional embodiment of the present application, the route planning module 406 is further configured to: Determine intersection information corresponding to at least two intersections included in the first planned route; The distance between each intersection and the target site is determined based on the intersection information, and a target intersection whose distance from the target site is greater than a preset distance threshold is determined as the second starting point position of the vehicle, wherein the direction of the vehicle to the target intersection is the same as the current front direction of the vehicle.

[0099] In an optional embodiment of the present application, the vehicle control device further includes: a processing module configured to: Get the location information of the target user; The target time required for the target user to reach the target site is determined according to the location information.

[0100] In an optional embodiment of the present application, the route planning module 406 is further configured to: Perform route planning according to the second starting point location and the target site to generate at least two planned routes to be selected; Determine the driving time corresponding to each planned route to be selected; According to the target duration and the driving duration, a second planned route is determined from the at least two planned routes to be selected.

[0101] In an optional embodiment of the present application, the processing module is further configured to: Obtaining the traffic information of the road section where the target site is located, wherein the traffic information includes the allowed stay time; Accordingly, the route planning module 406 is further configured to: Perform route planning according to the second starting point location and the target site to generate at least two optional planned routes; Determine the driving time corresponding to each optional planned route; A second planned route is determined from the at least two optional planned routes according to the target duration, the driving duration, and the allowed stay duration.

[0102] In an optional embodiment of the present application, the processing module is further configured to: Obtaining the traffic information of the road section where the target site is located, wherein the traffic information includes intersection information and the length of time that a stop can be made; When the allowed stay time is less than a preset time threshold, the target site is determined as the target starting position and target end position of the vehicle, and route planning is performed in combination with the target starting position, the target end position and the intersection information to generate a target planned route.

[0103] For the specific definition of the above-mentioned vehicle control device, please refer to the definition of the vehicle control method above, which will not be repeated here. Each module in the above-mentioned vehicle control device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0104] In one embodiment, a computer device is provided, the internal structure diagram of which can be as follows: Figure 5 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a vehicle control method as described above is implemented. It includes: a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, any step in the vehicle control method as described above is implemented.

[0105] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, any step in the above vehicle control method can be implemented.

[0106] 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 combining 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.) containing computer-usable program codes.

[0107] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate 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.

[0108] 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.

[0109] 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.

[0110] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0111] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A vehicle control method, characterized in that: include: When it is detected that the vehicle has arrived at a target site, the target site is determined as a first starting point position of the vehicle, and a terminal position of the vehicle is determined according to the first starting point position; Perform route planning according to the first starting point location and the end point location to generate a first planned route; Selecting a second starting point of the vehicle in the first planned route, and performing route planning according to the second starting point and the target site to generate a second planned route; The vehicle is controlled to travel to the second starting point according to the first planned route, and then travel from the second starting point to the target site according to the second planned route.

2. The vehicle control method according to claim 1, characterized in that: Determining the end position of the vehicle according to the first starting position includes: Determining the latitude and longitude coordinates of the vehicle; Establishing a longitude and latitude coordinate system with the first starting point as the origin, and determining an angle between the current head direction of the vehicle and the coordinate axes of the longitude and latitude coordinate system; The terminal position of the vehicle is determined based on the angle, the longitude and latitude coordinates and a preset distance threshold, wherein the preset distance threshold is the distance between the terminal position and the first starting position, and the direction of the vehicle to the terminal position is opposite to the current front direction of the vehicle.

3. The vehicle control method according to claim 1, characterized in that: The step of screening the second starting point position of the vehicle in the first planned route comprises: Determine intersection information corresponding to at least two intersections included in the first planned route; The distance between each intersection and the target site is determined based on the intersection information, and a target intersection whose distance from the target site is greater than a preset distance threshold is determined as the second starting point position of the vehicle, wherein the direction of the vehicle to the target intersection is the same as the current front direction of the vehicle.

4. The vehicle control method according to claim 1, characterized in that: Also includes: Get the location information of the target user; The target time required for the target user to reach the target site is determined according to the location information.

5. The vehicle control method according to claim 4, characterized in that: The performing route planning according to the second starting point location and the target site to generate a second planned route includes: Perform route planning according to the second starting point location and the target site to generate at least two planned routes to be selected; Determine the driving time corresponding to each planned route to be selected; According to the target duration and the driving duration, a second planned route is determined from the at least two planned routes to be selected.

6. The vehicle control method according to claim 4, characterized in that: Also includes: Obtaining the traffic information of the road section where the target site is located, wherein the traffic information includes the allowed stay time; Accordingly, performing route planning according to the second starting point location and the target site to generate a second planned route includes: Perform route planning according to the second starting point location and the target site to generate at least two optional planned routes; Determine the driving time corresponding to each optional planned route; A second planned route is determined from the at least two optional planned routes according to the target duration, the driving duration, and the allowed stay duration.

7. The vehicle control method according to claim 1, characterized in that: Also includes: Obtaining the traffic information of the road section where the target site is located, wherein the traffic information includes intersection information and the length of time that a stop can be made; When the allowed stay time is less than a preset time threshold, the target site is determined as the target starting position and target end position of the vehicle, and route planning is performed in combination with the target starting position, the target end position and the intersection information to generate a target planned route.

8. A vehicle control device, characterized in that: include: a determination module configured to, when detecting that the vehicle has arrived at a target site, determine the target site as a first starting point position of the vehicle, and determine a terminal position of the vehicle according to the first starting point position; A generating module, configured to perform route planning according to the first starting point position and the end point position to generate a first planned route; a route planning module, configured to select a second starting point of the vehicle in the first planned route, and perform route planning according to the second starting point and the target site to generate a second planned route; The control module is configured to control the vehicle to travel to the second starting point according to the first planned route, and to travel from the second starting point to the target site according to the second planned route.

9. A computer device comprising: The method comprises a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of the vehicle control method according to any one of claims 1 to 7 when executing the computer program.

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

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