Vehicle control method, device, computer equipment and storage medium

Abstract

Embodiments of the present application provide a vehicle control method, apparatus, computer equipment, and storage medium, wherein the vehicle control method includes: upon detecting that a vehicle has arrived at a target site, determining the target site as a first starting position of the vehicle, and determining an end position of the vehicle based on the first starting position; performing route planning based on the first starting position and the end position to generate a first planned route; screening a second starting position of the vehicle in the first planned route, and performing route planning based on the second starting position and the target site to generate a second planned route; controlling the vehicle to travel to the second starting position along the first planned route, and then traveling from the second starting position to the target site along 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, apparatus, computer equipment, and storage medium. Background Art

[0002] With the development of autonomous driving technology, autonomous vehicles have received widespread attention and application. When applied to ride-hailing services, while autonomous vehicles can handle most driving situations, they still have certain limitations. For example, if an autonomous vehicle arrives at a passenger's designated pickup location before the passenger arrives, the vehicle must stop and wait for the passenger. However, if the temporary parking time allowed at the pickup location is short, the vehicle must temporarily leave the pickup location and then detour back to the pickup location to continue waiting for the passenger. The specific route the autonomous vehicle should take from leaving the pickup location to detouring back to the pickup location is a matter of concern. If the detour is too short, the autonomous vehicle may need to make repeated detours. However, if the detour is too long, it may increase the passenger's waiting time, resulting in a poor user experience.

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

[0004] 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:

[0006] When it is detected that the vehicle has arrived at a target site, the target site is determined as a first starting point of the vehicle, and an end point of the vehicle is determined based on the first starting point;

[0007] Performing route planning based on the first starting point and the end point to generate a first planned route;

[0008] Filtering a second starting point of the vehicle in the first planned route, and performing route planning based on the second starting point and the target site to generate a second planned route;

[0009] The vehicle is controlled to travel to the second starting position according to the first planned route, and then travel from the second starting position to the target site according to the second planned route.

[0010] In an optional embodiment of the present application, determining the end position of the vehicle according to the first starting position includes:

[0011] determining the latitude and longitude coordinates of the vehicle;

[0012] 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;

[0013] The vehicle's terminal position is determined based on the angle, the latitude and longitude 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 head direction of the vehicle.

[0014] In an optional embodiment of the present application, screening the second starting position of the vehicle in the first planned route includes:

[0015] Determining intersection information corresponding to at least two intersections included in the first planned route;

[0016] The distance between each intersection and the target site is determined based on the intersection information, and the target intersection whose distance to the target site is greater than a preset distance threshold is determined as the second starting 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.

[0017] In an optional embodiment of the present application, the vehicle control method further includes:

[0018] Obtain the target user's location information;

[0019] The target time required for the target user to reach the target site is determined according to the location information.

[0020] In an optional embodiment of the present application, performing route planning according to the second starting point and the target site to generate a second planned route includes:

[0021] Performing route planning based on the second starting point and the target site to generate at least two planned routes to be selected;

[0022] Determine the driving time corresponding to each planned route to be selected;

[0023] A second planned route is determined from the at least two planned routes to be selected according to the target duration and the driving duration.

[0024] In an optional embodiment of the present application, the vehicle control method further includes:

[0025] Obtaining traffic information of the road section where the target site is located, wherein the traffic information includes the allowed stay time;

[0026] Accordingly, performing route planning according to the second starting point and the target site to generate a second planned route includes:

[0027] Performing route planning based on the second starting point and the target site to generate at least two optional planned routes;

[0028] Determine the driving time corresponding to each optional planned route;

[0029] 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.

[0030] In an optional embodiment of the present application, the vehicle control method further includes:

[0031] Obtaining traffic information of the road section where the target site is located, wherein the traffic information includes intersection information and the length of time allowed for stay;

[0032] 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.

[0033] A second aspect of the embodiments of the present application provides a vehicle control device, including:

[0034] a determination module configured to, when detecting that the vehicle has arrived at a target site, determine the target site as a first starting position of the vehicle, and determine an end position of the vehicle based on the first starting position;

[0035] a generating module, configured to perform route planning based on the first starting position and the end position to generate a first planned route;

[0036] a route planning module configured to select a second starting position of the vehicle in the first planned route, and perform route planning based on the second starting position and the target site to generate a second planned route;

[0037] The control module is configured to control the vehicle to travel to the second starting position according to the first planned route, and to travel from the second starting position to the target site according to the second planned route.

[0038] 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 the processor implements the steps of any of the above vehicle control methods when executing the computer program.

[0039] 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.

[0040] 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 end point of the vehicle based on the first starting point; performs route planning based on the first starting point and the end point to generate a first planned route; selects the second starting point of the vehicle in the first planned route, and performs route planning based on 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

[0041] 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:

[0042] Figure 1 A flow chart of a vehicle control method provided in one embodiment of the present application;

[0043] Figure 2 A schematic diagram of the coordinate system establishment result provided in one embodiment of the present application;

[0044] Figure 3 A flowchart of a vehicle control method according to an embodiment of the present invention;

[0045] Figure 4 A schematic structural diagram of a vehicle control device provided in one embodiment of the present application;

[0046] Figure 5 A schematic diagram of the computer device structure provided for one embodiment of the present application. DETAILED DESCRIPTION

[0047] In the process of implementing this application, the inventors found that the current solution for autonomous driving vehicles to detour on the spot in autonomous driving scenarios is poor.

[0048] 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 position of the vehicle, and the end position of the vehicle is determined based on the first starting position; route planning is performed based on the first starting position and the end position to generate a first planned route; the second starting position of the vehicle is screened in the first planned route, and route planning is performed based on the second starting position and the target site to generate a second planned route; the vehicle is controlled to travel to the second starting position along the first planned route, and then travel from the second starting position to the target site along the second planned route.

[0049] 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.

[0050] In order to make the technical solutions and advantages of the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, and are not an exhaustive list of all the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0051] 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.

[0052] 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 of the vehicle, and an end point of the vehicle is determined based on the first starting point.

[0053] Specifically, the target site can be a location that the user specifies the vehicle to arrive at; the vehicle can be a regular vehicle or an autonomous vehicle. The user can specify that the vehicle arrive at the target site, and then the user will board the vehicle at the target site, i.e., travel by the vehicle.

[0054] In practice, different locations may have different parking time limits. For example, some locations allow long-term parking, some allow temporary parking, and some do not. Locations that allow temporary parking will set a temporary parking time limit. If the vehicle arrives at the target station but the user has not arrived, if the target station allows temporary parking, the vehicle can park at the target station and wait for the user. However, if the vehicle's parking time at the target station approaches or reaches the temporary parking time limit allowed at the target station and the user has not arrived, the vehicle must leave the target station, circle around the target station, and then return to the target station to continue waiting for the user.

[0055] Based on this, embodiments of the present application are used to plan a detour route for a vehicle. In embodiments of the present application, when a vehicle is detected to have arrived at a target station, since the vehicle needs to depart from the target station for detour, the target station can be determined as the first starting point of the vehicle, and then the vehicle's end point can be determined based on the first starting point.

[0056] In an optional embodiment of the present application, the above step 102 may include: steps 1021 to 1023.

[0057] Step 1021: Determine the latitude and longitude coordinates of the vehicle;

[0058] Step 1022: Establish a latitude and longitude 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 latitude and longitude coordinate system;

[0059] Step 1023: Determine the terminal position of the vehicle based on the angle, the latitude and longitude 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 head direction of the vehicle.

[0060] Specifically, since the embodiment of the present application can plan the route for the vehicle to detour, and route planning is performed, 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.

[0061] Based on this, after the target station is determined as the first starting point, when determining the end point of the vehicle's detour based on the first starting point, the end point can be set m meters behind the vehicle. In other words, the distance between the vehicle's end point and the vehicle's current position (the target station, also the first starting point) is set to m meters. In the current state, the end point is behind the vehicle, meaning the direction from the vehicle to the end point is opposite to the vehicle's current heading. m is the preset distance threshold.

[0062] 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. Then, with the first starting position as the origin, a longitude and latitude coordinate system is established, and the angle between the current head direction of the vehicle and the coordinate axes of the longitude and latitude coordinate system is determined.

[0063] A schematic diagram of a coordinate system establishment result provided in an embodiment of the present application is as follows Figure 2 shown.

[0064] Figure 2 In 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.

[0065] In actual 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.

[0066] In the embodiment of the present application, since the vehicle cannot reverse on the road, the destination position is set behind the vehicle, so that the destination position and the first starting position are not in the same position. Therefore, route planning can be performed directly based on the destination position and the first starting position, which improves the convenience of route planning. In addition, by establishing a longitude and latitude coordinate system and determining the longitude and latitude coordinates of the destination position based on the longitude and latitude coordinates of the vehicle and the angle between the vehicle's head direction and the coordinate axes, it is helpful to ensure the accuracy of the determination result.

[0067] Step 104: perform route planning based on the first starting point location and the end point location to generate a first planned route.

[0068] Specifically, since a vehicle cannot reverse on a road, the embodiment of the present application sets the end point at the rear of the vehicle. After determining the latitude and longitude coordinates of the first starting point and the end point, a route can be planned based on the latitude and longitude coordinates of the first starting point and the end point to generate a first planned route. The first planned route can then guide the vehicle along the route from the first starting point to the end point, thereby achieving a detour.

[0069] Step 106: Filter the second starting point of the vehicle in the first planned route, and perform route planning based on the second starting point and the target site to generate a second planned route.

[0070] In an embodiment of the present application, after generating the first planned route, the vehicle can travel along the first planned route to achieve a detour, but since the vehicle still needs to travel from the end position to the target site after the detour, and the embodiment of the present application sets the end position behind the vehicle, when there is a first intersection between the end position and the target site, since the vehicle needs to detour to the end position first, the vehicle needs to detour to a farther second intersection and then turn around and drive to the end position, and then drive from the end position to the target site, instead of directly turning around at the first intersection and driving to the target site, which may cause the first planned route to be too far.

[0071] Based on this, after generating the first planned route, the embodiment of the present application can filter the second starting 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 position and the target site to generate a second planned route.

[0072] Furthermore, based on the rule that vehicles cannot reverse on roads, the present embodiment of the application can determine that the first planned route first directs the vehicle forward, that is, first directs the vehicle in the same direction as the vehicle's frontal direction when it is parked. Therefore, the present embodiment of the application can select the second starting point location within a section of the first planned route where the vehicle is traveling in the same direction as the vehicle's frontal direction when it is parked.

[0073] In an optional embodiment of the present application, the above step 106 may include: step 1061 to step 1062.

[0074] Step 1061: Determine intersection information corresponding to at least two intersections included in the first planned route;

[0075] 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 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.

[0076] Specifically, the intersection information may include information such as the intersection name and intersection location.

[0077] Since the initial driving direction of the vehicle when starting from the target station 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 while traveling along the first planned route, that is, the vehicle starts from the target station and then detours to the destination. In this case, the embodiment of the present application can select a target intersection from intersections that meet the conditions and use it as the second starting point. The intersection that meets the conditions can be the target station or an intersection where the direction of the vehicle to the intersection is consistent with the vehicle's head direction when parking at the target station, and where a turn or U-turn is possible.

[0078] 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.

[0079] After determining the second starting point, the target site can be determined as the end point, so that the route can be planned based on the second starting point and the target site to generate a second planned route. This allows the vehicle to directly turn around at the second starting point and continue to return to the target site from the second starting point after traveling along the first planned route. In other words, the second planned route can guide the vehicle to turn around at the second starting point and continue to travel to the target site. However, whether the vehicle needs to turn around at the second starting point can also be determined based on actual needs. For example, the vehicle can also continue to travel forward after traveling to the second starting point, and then turn around and return at another intersection. This can be determined based on actual needs. Therefore, the second planned route can be planned and generated based on demand, which is not limited here.

[0080] In addition, when there is only one intersection that meets the conditions, the intersection can be directly determined as the second starting point position.

[0081] In addition, the embodiment of the present application can also directly filter 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 vehicle's front direction 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.

[0082] 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.

[0083] 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 detoured, thereby improving the user experience.

[0084] In an optional embodiment of the present application, the vehicle control method may further include: steps 110 to 112 .

[0085] Step 110: Obtain the location information of the target user;

[0086] Step 112: Determine the target time required for the target user to reach the target site based on the location information.

[0087] Furthermore, in an optional embodiment of the present application, the above step 106 may include: steps 1063 to 1065.

[0088] Step 1063: performing route planning based on the second starting point and the target site to generate at least two planned routes to be selected;

[0089] Step 1064: Determine the driving time corresponding to each planned route to be selected;

[0090] Step 1065: Determine a second planned route from the at least two planned routes to be selected based on the target duration and the driving duration.

[0091] 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 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 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.

[0092] Based on this, when planning a route, the embodiment of the present application can combine the target time required for the user to reach the target site and plan to 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.

[0093] Specifically, in the embodiment of the present application, the location information of the target user may be obtained first, and then the target time required for the target user to reach the target site may be determined based on the location information of the target user.

[0094] In practical applications, the target user's location information can be proactively sent by the user. Once this location information is obtained, route planning can be performed based on this location information and the target station. The target travel time required for the user to reach the target station can be estimated based on the planned route. Furthermore, to ensure the accuracy of the estimation results, the user's travel mode (e.g., walking, cycling, or taking a car) can be obtained. This travel mode and the planned route can then be combined to estimate the target travel time required for the user to reach the target station.

[0095] Among them, the target users are users who need to take the vehicle.

[0096] 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.

[0097] 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.

[0098] 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, avoiding increasing the user's waiting time, and thus improving the user experience.

[0099] In an optional embodiment of the present application, the vehicle control method may further include step 114 .

[0100] Step 114: Obtain traffic information of the road section where the target site is located, wherein the traffic information includes the allowed stay time;

[0101] Accordingly, the above step 106 may include: steps 1066 to 1068.

[0102] Step 1066: perform route planning based on the second starting point and the target site to generate at least two optional planned routes;

[0103] Step 1067: Determine the driving time corresponding to each optional planned route;

[0104] 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.

[0105] Specifically, the allowed stay time is the temporary parking time allowed at the target station.

[0106] 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 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 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.

[0107] Based on this, when planning a route, 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.

[0108] Specifically, in the embodiment of the present application, the location information of the target user may be obtained first, and then the target time required for the target user to reach the target site may be determined based on the location information of the target user.

[0109] After determining the target time required for the user to reach the target site, the traffic condition information of the road section where the target site is located can be obtained to obtain the possible 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; and then, based on the target time, the driving time, and the possible stay time, the second planned route can be determined from the at least two optional planned routes.

[0110] 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 the 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 detoured according to the second planned route and returned 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 the user gets on the vehicle.

[0111] 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 conducive to avoiding repeated detours of the vehicle, thereby improving the convenience of the vehicle control process; on the other hand, it is conducive to avoiding increasing the user's waiting time, thereby improving the user experience.

[0112] Step 108: Control the vehicle to travel to the second starting position along the first planned route, and then travel from the second starting position to the target site along the second planned route.

[0113] Specifically, after performing route planning to generate the first planned route and the second planned route, the vehicle can be controlled to travel from the target site to the second starting position according to the first planned route, and then the vehicle can be controlled to travel from the second starting position to the target site according to the second planned route.

[0114] In an optional embodiment of the present application, the vehicle control method may further include: steps 116 to 118 .

[0115] Step 116: Obtain traffic information of the road section where the target site is located, wherein the traffic information includes intersection information and allowed stay time;

[0116] 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.

[0117] In an embodiment of the present application, in addition to generating a first planned route and a second planned route through route planning in the aforementioned manner, a designated route can also be recorded in advance for the target site, so that when the parking time of the vehicle at the target site approaches or reaches the temporary parking time allowed by 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.

[0118] Specifically, since the vehicle 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.

[0119] Based on this, the embodiment of the present application can first obtain the road condition information of the road section where the target site is located, and obtain the intersection information of the intersections contained in the road section and the possible stay time of the target site from the road condition 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 contained in the road section according to the intersection information, and the target intersection is used as a waypoint, and then the route planning is performed in combination with the target starting position, the target end position and the waypoint to generate a target planned route.

[0120] The target intersection may be a target site or an intersection where the direction of the vehicle to the intersection is consistent with the direction of the vehicle's front when it stops at the target site, and where a turn or U-turn can be made.

[0121] In practical applications, the preset time threshold can be set to 5 minutes, but the specific time threshold can be determined according to actual needs and is not limited here.

[0122] 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.

[0123] 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 end point of the vehicle based on the first starting point; performs route planning based on the first starting point and the end point to generate a first planned route; selects the second starting point of the vehicle in the first planned route, and performs route planning based on 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.

[0124] The following combined 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 explained. 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.

[0125] Step 302: When the autonomous driving vehicle is detected to have arrived at the target site, the latitude and longitude coordinates of the autonomous driving vehicle are determined.

[0126] The target station is the boarding location designated by the passenger.

[0127] Step 304: Establish a latitude and longitude 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 latitude and longitude coordinate system.

[0128] Step 306: Determine the final location of the autonomous vehicle based on the angle, longitude and latitude coordinates, and a preset distance threshold, where the preset distance threshold is the distance between the final location and the target site, and the direction of the autonomous vehicle to the final location is opposite to the current head direction of the autonomous vehicle.

[0129] 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.

[0130] Step 310: Determine a target road section in the first planned route, wherein the target road section is a road section along which the autonomous driving vehicle travels in the same direction as the front direction of the autonomous driving vehicle when parking.

[0131] Step 312: Determine any site in the target road segment whose distance from the target site is greater than a preset distance threshold as the second starting point.

[0132] Step 314: perform route planning based on the second starting point location and the target site to generate a second planned route.

[0133] Step 316: Control the autonomous driving vehicle to travel to the second starting position along the first planned route, and then travel from the second starting position to the target site along the second planned route.

[0134] The embodiment of the present application screens 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 circling 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.

[0135] It should be understood that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed 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 performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0136] See Figure 4 One embodiment of the present application provides a vehicle control device, including:

[0137] 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 position of the vehicle, and determine an end position of the vehicle based on the first starting position;

[0138] A generating module 404 is configured to perform route planning based on the first starting position and the end position to generate a first planned route;

[0139] a route planning module 406 configured to select a second starting position of the vehicle in the first planned route, and perform route planning based on the second starting position and the target station to generate a second planned route;

[0140] The control module 408 is configured to control the vehicle to travel to the second starting position according to the first planned route, and to travel from the second starting position to the target site according to the second planned route.

[0141] In an optional embodiment of the present application, the determining module 402 is further configured to:

[0142] determining the latitude and longitude coordinates of the vehicle;

[0143] 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;

[0144] The vehicle's terminal position is determined based on the angle, the latitude and longitude 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 head direction of the vehicle.

[0145] In an optional embodiment of the present application, the route planning module 406 is further configured to:

[0146] Determining intersection information corresponding to at least two intersections included in the first planned route;

[0147] The distance between each intersection and the target site is determined based on the intersection information, and the target intersection whose distance to the target site is greater than a preset distance threshold is determined as the second starting 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.

[0148] In an optional embodiment of the present application, the vehicle control device further includes: a processing module configured to:

[0149] Obtain the target user's location information;

[0150] The target time required for the target user to reach the target site is determined according to the location information.

[0151] In an optional embodiment of the present application, the route planning module 406 is further configured to:

[0152] Performing route planning based on the second starting point and the target site to generate at least two planned routes to be selected;

[0153] Determine the driving time corresponding to each planned route to be selected;

[0154] A second planned route is determined from the at least two planned routes to be selected according to the target duration and the driving duration.

[0155] In an optional embodiment of the present application, the processing module is further configured to:

[0156] Obtaining traffic information of the road section where the target site is located, wherein the traffic information includes the allowed stay time;

[0157] Accordingly, the route planning module 406 is further configured to:

[0158] Performing route planning based on the second starting point and the target site to generate at least two optional planned routes;

[0159] Determine the driving time corresponding to each optional planned route;

[0160] 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.

[0161] In an optional embodiment of the present application, the processing module is further configured to:

[0162] Obtaining traffic information of the road section where the target site is located, wherein the traffic information includes intersection information and the length of time allowed for stay;

[0163] 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.

[0164] The specific definitions of the vehicle control device described above can be found in the definitions of the vehicle control method described above and will not be repeated here. Each module in the vehicle control device described above may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a memory in a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0165] In one embodiment, a computer device is provided. The internal structure diagram of the computer device can be as follows: Figure 5As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. 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.

[0166] 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.

[0167] 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 take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0168] 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 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.

[0169] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 1The function specified in one or more boxes.

[0170] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0171] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional 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 that fall within the scope of the present application.

[0172] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is 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 the end point position of the vehicle is determined based on the first starting point position; wherein, determining the end point position of the vehicle based on the first starting point position includes: determining the latitude and longitude coordinates of the vehicle; establishing a latitude and longitude coordinate system with the first starting point as the origin, and determining the angle between the current head direction of the vehicle and the coordinate axes of the latitude and longitude coordinate system; determining the end point position of the vehicle based on the angle, the latitude and longitude coordinates, and a first preset distance threshold, wherein the first preset distance threshold is the distance between the end point position and the first starting point position, and the direction of the vehicle to the end point is opposite to the current head direction of the vehicle; Performing route planning based on the first starting point and the end point to generate a first planned route; The method further comprises: selecting a second starting point of the vehicle in the first planned route, performing route planning based on the second starting point and the target site, and generating a second planned route; and Determining intersection information corresponding to at least two intersections included in the first planned route; determining a distance between each intersection and the target site based on the intersection information, and determining a target intersection whose distance from the target site is greater than a second preset distance threshold as a second starting 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; The vehicle is controlled to travel to the second starting position according to the first planned route, and then travel from the second starting position to the target site according to the second planned route.

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

3. The vehicle control method according to claim 2, characterized in that: The performing route planning according to the second starting point and the target site to generate a second planned route includes: Performing route planning based on the second starting point 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; A second planned route is determined from the at least two planned routes to be selected according to the target duration and the driving duration.

4. The vehicle control method according to claim 2, wherein: Also includes: Obtaining 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 and the target site to generate a second planned route includes: Performing route planning based on the second starting point 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.

5. The vehicle control method according to claim 1, characterized in that: Also includes: Obtaining traffic information of the road section where the target site is located, wherein the traffic information includes intersection information and the length of time allowed for stay; 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.

6. A vehicle control device, characterized in that: include: A determination module is configured to, upon detecting that a 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 based on the first starting point position; wherein, determining the terminal position of the vehicle based on the first starting point position comprises: determining the latitude and longitude coordinates of the vehicle; establishing a latitude and longitude coordinate system with the first starting point as an origin, and determining an angle between a current head direction of the vehicle and a coordinate axis of the latitude and longitude coordinate system; determining the terminal position of the vehicle based on the angle, the latitude and longitude coordinates, and a first preset distance threshold, wherein the first 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 head direction of the vehicle; a generating module, configured to perform route planning based on the first starting position and the end 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 based on the second starting point and the target site to generate a second planned route; and further configured to: Determining intersection information corresponding to at least two intersections included in the first planned route; determining a distance between each intersection and the target site based on the intersection information, and determining a target intersection whose distance from the target site is greater than a second preset distance threshold as a second starting 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; The control module is configured to control the vehicle to travel to the second starting position according to the first planned route, and to travel from the second starting position to the target site according to the second planned route.

7. A computer device comprising: The vehicle control method comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the steps of the vehicle control method according to any one of claims 1 to 5 are implemented.

8. 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 5 are implemented.

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