Vehicle control method and device, vehicle, server and system

Abstract

The invention discloses a vehicle control method and device, a vehicle, a server and a system, and belongs to the field of vehicle control. The control method comprises the steps that when a preset condition is triggered, a terminal vehicle obtains key information and uploads the key information to a server, the server obtains a fitting driving route according to the key information and sends the fitting driving route to the terminal vehicle, and when the current position of the terminal vehicle is a target driving area, the terminal vehicle drives according to the fitting driving route corresponding to the target driving area. According to the invention, optimization of the driving auxiliary route in a complex urban environment is realized, and the safety and comfort of intelligent driving are improved.

Description

Technical Field

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

[0002] With the development of intelligent connected vehicles, city navigation functions are becoming more and more popular. There are two main technical routes to realize this function. One is based on high-precision maps and positioning provided by map vendors (strong maps and weak perception), and the other is based on multi-sensor fusion real-time perception (strong perception and weak maps).

[0003] Both technical routes have been put into practical application, but both have certain defects. The high-precision map and positioning solution is highly dependent on the map vendor's update frequency and maintenance of the map, and cannot deal well with some road conditions with large changes, such as construction sections, when the perception ability is weak; and the real-time perception solution is limited by the sensor capabilities and environmental influences, and there are false detections, missed detections, and wrong detections during driving, and due to the limited detection range, it cannot deal with some working conditions (such as short ramps) in advance. The above two solutions have their own defects in actual application scenarios. Summary of the invention

[0004] To this end, the present invention provides a vehicle speed control method, device and electronic equipment for assisting automatic driving, so as to solve the problem that existing solutions for realizing the city navigation function of vehicles all have their own defects in application in actual scenarios.

[0005] In a first aspect, a vehicle control method is provided, which is applied to a terminal vehicle, and the method comprises:

[0006] Receiving a fitted driving route generated by a server, and associating the fitted driving route with a corresponding driving area;

[0007] Acquire the current position, and determine whether the current position is a target driving area, wherein the target driving area is a driving area associated with the fitted driving route;

[0008] When the current position is the target driving area, driving is performed according to the fitted driving route corresponding to the target driving area.

[0009] Furthermore, it also includes:

[0010] When the preset conditions are triggered, key information is obtained and uploaded to the server. The key information includes road condition information collected by the vehicle sensors and current vehicle information recorded by the vehicle controller.

[0011] Furthermore, it also includes:

[0012] When any of the following situations occurs, the preset condition is determined to be triggered:

[0013] The driver takes over;

[0014] The road environment is a preset road condition, and the preset road condition is used to characterize a situation where the road environment quality is poor;

[0015] The current road scene does not match the navigation information.

[0016] In a second aspect, a vehicle control method is provided, which is applied to a server, and the method includes:

[0017] Receive multiple key information uploaded by the terminal vehicle, the key information including road condition information collected by the vehicle sensor and current vehicle information recorded by the vehicle controller;

[0018] generating a fitted driving route for a target driving area based on the key information;

[0019] The fitted driving route is sent to the terminal vehicle.

[0020] Further, generating a fitting driving route for a target driving area based on the key information includes:

[0021] Determine a key area according to the key information, where the center of the key area is the longitude and latitude position point corresponding to the key information, and the radius is a preset distance;

[0022] Obtain a set of key information with overlapping key areas;

[0023] The key areas in the key information set are spliced ​​and then the non-road areas are removed to obtain the target driving area;

[0024] A fitted driving route is obtained based on the target driving area.

[0025] In a third aspect, a vehicle control device is provided, which is applied to a terminal vehicle, and the device includes:

[0026] A fitting route receiving module, used for receiving a fitting driving route generated by a server, and associating the fitting driving route with a corresponding driving area;

[0027] A driving area determination module, used to obtain a current position and determine whether the current position is a target driving area, wherein the target driving area is a driving area associated with a fitted driving route;

[0028] The fitting route driving module is used to drive according to the fitting driving route corresponding to the target driving area when the current position is the target driving area.

[0029] In a fourth aspect, a vehicle control device is provided, which is applied to a server, and the device includes:

[0030] A key information receiving module is used to receive multiple key information uploaded by the terminal vehicle, wherein the key information includes road condition information collected by the vehicle sensor and current vehicle information recorded by the vehicle controller;

[0031] A fitting route generation module, used for generating a fitting driving route for a target driving area based on the key information;

[0032] The fitting route sending module is used to send the fitting driving route to the terminal vehicle.

[0033] In a fifth aspect, a terminal vehicle is provided, comprising:

[0034] at least one processor and at least one memory;

[0035] The memory stores executable instructions of the processor;

[0036] The processor is configured to execute any one of the vehicle control methods provided by the technical solution of the first aspect.

[0037] In a sixth aspect, a server is provided, including:

[0038] at least one processor and at least one memory;

[0039] The memory stores executable instructions of the processor;

[0040] The processor is configured to execute any one of the vehicle control methods provided by the technical solution of the second aspect.

[0041] In a seventh aspect, a vehicle control system is provided, comprising:

[0042] At least one terminal vehicle as described in the technical solution of the fifth aspect;

[0043] And the server as described in the technical solution of the sixth aspect.

[0044] The present invention adopts the above technical solution and has at least the following beneficial effects:

[0045] The technical solution of the present application provides a vehicle control method, device, vehicle, server and system. When the preset conditions are triggered, the terminal vehicle obtains key information and uploads it to the server. The server obtains a fitting driving route based on the key information and sends it to the terminal vehicle. When the current position of the terminal vehicle is the target driving area, the vehicle drives according to the fitting driving route corresponding to the target driving area. The optimization of driving assistance routes in complex urban environments is achieved, which improves the safety and comfort of intelligent driving.

[0046] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 is a flow chart of a vehicle control method applied to a terminal vehicle provided in an embodiment of the present application;

[0049] Figure 2 is a flow chart of a vehicle control method applied to a server provided in an embodiment of the present application;

[0050] Figure 3 is a schematic diagram of the structure of a vehicle control device applied to a terminal vehicle provided in an embodiment of the present application;

[0051] Figure 4 is a schematic diagram of the structure of a vehicle control device applied to a server provided in an embodiment of the present application;

[0052] Figure 5 It is a schematic diagram of the structure of a vehicle control system provided by an embodiment of the present application;

[0053] Figure 6 is a control flow chart of a vehicle control system provided by an embodiment of the present application;

[0054] Figure 7 It is a schematic diagram of a KI_Region_Unit provided in an embodiment of the present application;

[0055] Figure 8 It is a schematic diagram of lane change before and after optimization provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] Reference Figure 1 , an embodiment of the present application provides a vehicle control method, applied to a terminal vehicle, the method comprising:

[0058] See also Figure 1 , Figure 1 This is a flow chart of a vehicle control method applied to a terminal vehicle provided in an embodiment of the present application, see Figure 1 , the method comprising:

[0059] Step S11, receiving the fitted driving route generated by the server, and associating the fitted driving route with the corresponding driving area; wherein the fitted driving route is generated by the server, which will be described in detail in the following embodiments.

[0060] In addition, in some embodiments, when the server generates a fitted driving route and sends it to the terminal vehicle, direct update is performed by default.

[0061] In other embodiments, when the server generates a fitted driving route and sends it to the terminal vehicle, a prompt will pop up at the terminal vehicle, and the update will be performed only after the user confirms the update.

[0062] Step S12, obtaining the current position, and determining whether the current position is a target driving area, wherein the target driving area is a driving area associated with the fitted driving route;

[0063] In order to reduce the amount of data processing, the fitting driving route generated by the server only generates a partial area, namely the target driving area. Therefore, the fitting driving route only corresponds to the target driving area. Therefore, it is necessary to make a real-time judgment based on the current position of the terminal vehicle whether to enter the target driving area.

[0064] Step S13: When the current position is the target driving area, the vehicle drives according to the fitted driving route corresponding to the target driving area. That is, in the embodiment of the present application, the vehicle drives according to the fitted driving route after entering the target driving area, and resumes the normal driving mode after leaving the target driving area.

[0065] As a preferred implementation method of the embodiment of the present application, when the preset conditions are triggered, key information is obtained and uploaded to the server, and the key information includes road condition information collected by the vehicle sensors and current vehicle information recorded by the vehicle controller. Normal sensors include but are not limited to lidar, millimeter wave radar, and camera. Road condition information includes but is not limited to the number of lanes, lane width, lane type, lane curvature, lane markings, traffic signs, and traffic density. Current vehicle information includes but is not limited to vehicle speed, acceleration, steering angle, steering rate, braking force, and turn signal status.

[0066] It should be noted that the server generates the fitted driving route based on the information collected by the terminal vehicle. In most cases or in most areas, it is not actually necessary to turn on the assisted driving function, so the terminal vehicle does not need to collect information in real time. This effectively reduces the amount of data collected by the vehicle and reduces costs.

[0067] Furthermore, when any of the following situations occurs, the preset condition is determined to be triggered:

[0068] The driver takes over; that is, 1. the driver takes over the current driving assistance function.

[0069] The road environment is a preset road condition, which is used to characterize the poor quality of the road environment; that is, the road environment quality currently recognized by the system is poor, such as a road with severely worn lane lines, and the judgment standard is that the lane keeping function of the current vehicle cannot take effect. Other situations, i.e., judgment standards, can be set according to actual needs.

[0070] The current road scene does not match the navigation information. For example, the road is actually under construction but the navigation does not mark it or the marking is incorrect.

[0071] In addition, it is divided into three levels. For example, the upload priority decreases from A to C. The key information of each level is defined as follows:

[0072] Level A: Key information 5 seconds before and after the driver takes over the current driving assistance function.

[0073] Class B: Key information on poor road environment quality as determined by the current system.

[0074] Level C: Critical information that the current road scene does not match the navigation information.

[0075] Based on the same inventive concept, please refer to Figure 2 , Figure 2 This is a flow chart of a vehicle control method applied to a server provided in an embodiment of the present application, see Figure 2 , the method comprising:

[0076] Step S21, receiving a plurality of key information uploaded by the terminal vehicle, wherein the key information includes road condition information collected by the vehicle sensor and current vehicle information recorded by the vehicle controller;

[0077] Among them, the multiple key information can be the key information collected and uploaded by the same terminal vehicle at different times, or can be the key information collected and uploaded by multiple terminal vehicles.

[0078] Step S22: generating a fitted driving route for the target driving area based on the key information;

[0079] The generating a fitting driving route for the target driving area based on the key information includes:

[0080] Determine a key area based on the key information, where the center of the key area is the latitude and longitude position point corresponding to the key information, and the radius is a preset distance; obtain a key information set with overlapping key areas; splice the key areas in the key information set and remove non-road areas to obtain a target driving area; and obtain a fitted driving route based on the target driving area.

[0081] Step S23: sending the fitted driving route to the terminal vehicle.

[0082] Based on the same inventive concept, Figure 2 As shown, the present application provides a vehicle control method, which is applied to a server, and the method includes:

[0083] Step S21, receiving a plurality of key information uploaded by the terminal vehicle, wherein the key information includes road condition information collected by the vehicle sensor and current vehicle information recorded by the vehicle controller;

[0084] Among them, the multiple key information can be the key information collected and uploaded by the same terminal vehicle at different times, or can be the key information collected and uploaded by multiple terminal vehicles.

[0085] Step S22: generating a fitted driving route for the target driving area based on the key information;

[0086] The generating a fitting driving route for the target driving area based on the key information includes:

[0087] Determine a key area based on the key information, where the center of the key area is the latitude and longitude position point corresponding to the key information, and the radius is a preset distance; obtain a key information set with overlapping key areas; splice the key areas in the key information set and remove non-road areas to obtain a target driving area; and obtain a fitted driving route based on the target driving area.

[0088] Step S23: sending the fitted driving route to the terminal vehicle.

[0089] Based on the same inventive concept, please refer to Figure 3 , Figure 3 is a schematic diagram of the structure of a vehicle control device applied to a terminal vehicle provided in an embodiment of the present application, see Figure 3 , the vehicle control device 30 comprises:

[0090] A fitting route receiving module 31 is used to receive a fitting driving route generated by a server and associate the fitting driving route with a corresponding driving area;

[0091] A driving area determination module 32 is used to obtain a current position and determine whether the current position is a target driving area, wherein the target driving area is a driving area associated with a fitted driving route;

[0092] The fitting route driving module 33 is used to drive according to the fitting driving route corresponding to the target driving area when the current position is the target driving area.

[0093] Additionally, it includes:

[0094] When the preset conditions are triggered, key information is obtained and uploaded to the server. The key information includes road condition information collected by the vehicle sensors and current vehicle information recorded by the vehicle controller.

[0095] Among them, when any of the following situations occurs, the preset condition is determined to be triggered:

[0096] The driver takes over;

[0097] The road environment is a preset road condition, and the preset road condition is used to characterize a situation where the road environment quality is poor;

[0098] The current road scene does not match the navigation information.

[0099] Based on the same inventive concept, please refer to Figure 4 , Figure 4 is a schematic diagram of a vehicle control device applied to a server provided in an embodiment of the present application, see Figure 4 , the vehicle control device 40 comprises:

[0100] The key information receiving module 41 is used to receive multiple key information uploaded by the terminal vehicle, and the key information includes road condition information collected by the vehicle sensor and current vehicle information recorded by the vehicle controller.

[0101] A fitting route generating module 42, configured to generate a fitting driving route for a target driving area based on the key information;

[0102] The generating a fitting driving route for the target driving area based on the key information includes:

[0103] Determine a key area based on the key information, where the center of the key area is the latitude and longitude position point corresponding to the key information, and the radius is a preset distance; obtain a key information set with overlapping key areas; splice the key areas in the key information set and remove non-road areas to obtain a target driving area; and obtain a fitted driving route based on the target driving area.

[0104] The fitted route sending module 43 is used to send the fitted driving route to the terminal vehicle.

[0105] Based on the same inventive concept, the present application also provides a terminal vehicle, comprising:

[0106] at least one processor and at least one memory;

[0107] The memory stores executable instructions of the processor;

[0108] The processor is configured to execute the vehicle control method applied to the terminal vehicle provided in the above embodiment.

[0109] Based on the same inventive concept, the present application also provides a server, including:

[0110] at least one processor and at least one memory;

[0111] The memory stores executable instructions of the processor;

[0112] The processor is configured to execute the vehicle control method applied to the server provided in the above embodiment.

[0113] Based on the same inventive concept, please refer to Figure 5 , Figure 5 This is a schematic diagram of a vehicle control system structure provided by an embodiment of the present application, see Figure 5 , a vehicle control system 50, comprising:

[0114] At least one terminal vehicle 51 provided in the above embodiment;

[0115] And the server 52 provided by the above embodiment.

[0116] The vehicle control system provided by the embodiment of the present application, when the preset conditions are triggered, the terminal vehicle obtains key information and uploads it to the server, the server obtains the fitted driving route based on the key information and sends it to the terminal vehicle, and when the current position of the terminal vehicle is the target driving area, it drives according to the fitted driving route corresponding to the target driving area. The optimization of driving assistance routes in complex urban environments is achieved, and the safety and comfort of intelligent driving are improved.

[0117] See also Figure 6 , Figure 6 This is a vehicle control system control flow chart provided by the embodiment of the present application, see Figure 6 , in specific practice:

[0118] 1) Key information collection

[0119] The key information is collected and packaged in the form of a folder and named KI_Point, which mainly includes two parts. The first part is the road condition information collected by the vehicle sensors (including but not limited to lidar, millimeter wave radar, camera) (including but not limited to the number of lanes, lane width, lane type, lane curvature, lane markings, traffic signs, traffic density), and the second part is the current vehicle information recorded by the vehicle controller (including but not limited to speed, acceleration, steering angle, steering rate, braking force, turn signal status). Each KI_Point is strongly bound to the latitude and longitude position information at the current moment that triggers the collection function.

[0120] The triggering conditions for key information collection should include the following:

[0121] 1. The driver takes over the current driving assistance function

[0122] 2. The road environment quality currently determined by the system is poor (e.g., a road with severely worn lane lines, where the lane keeping function of the current vehicle cannot take effect)

[0123] 3. The current road scene does not match the navigation information (e.g. the road is actually under construction but the navigation does not mark it or the marking is incorrect)

[0124] It is divided into three levels, with the upload priority decreasing from A to C. The key information of each level is defined as follows:

[0125] 1. Class A: KI_Point 5 seconds before and after the driver takes over the current driving assistance function

[0126] 2. Class B: KI_Points with poor road environment quality identified by the current system

[0127] 3. Class C: KI_Point where the current road scene does not match the navigation information.

[0128] 2) Sharing of key information:

[0129] The collected KI_Points are uploaded to a dedicated server according to the priority setting. The server screens and counts the key information. The longitude and latitude position of each KI_Point is set as a key area with a radius of 100m and named KI_Region. The set of KI_Points with overlapping key areas is called KI_Group. All KI_Regions of KI_Group are spliced ​​and cropped (excluding non-road information areas) to form KI_Region_Unit, such as Figure 7As shown, the fitted driving route is called KI_Route. The generated KI_Route will be pushed to the terminal vehicle in the form of a pop-up window when the city navigation function starts, prompting the user that the current route has been optimized and updated. The user can choose whether to update it by himself. After confirming the update, the KI_Route will be downloaded to the intelligent driving controller.

[0130] 3) Optimization method:

[0131] In the KI_Region section, the driving trajectory after fitting and taking over is formed into KI_Route and added to the current city navigation route. The auxiliary strategy is activated when the vehicle enters the KI_Region_Unit range, and the auxiliary strategy is closed when it leaves the KI_Region_Unit area. The navigation information is used to initiate a request to combine with the current real-time planned route in a tracking manner to optimize the detour capability and on-ramp and off-ramp capability. At the same time, the construction section, accident section location and road information collected in KI_Route are combined with navigation to initiate a lane change request in advance (see Figure 8 Schematic diagram), which can make up for the takeover or safety defects that may be caused by sensor accuracy, scene limitations, decision-making errors, etc., and improve route quality and traffic efficiency.

[0132] This application has the following advantages:

[0133] 1. The accuracy and robustness of environmental perception are improved through multi-sensor fusion and road scene collection.

[0134] 2. It realizes the optimization of driving assistance routes in complex urban environments, improving the safety and comfort of intelligent driving.

[0135] 3. The system's adaptability has been enhanced to cope with changing urban traffic conditions.

[0136] 4. It provides a human-computer interaction interface, which enhances users’ trust and acceptance.

[0137] 5. Only collect and upload information on key sections of the city navigation route to reduce data processing costs and improve data security.

[0138] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0139] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0140] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0141] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A vehicle control method, characterized in that: Applied to a terminal vehicle, the method comprises: Receiving a fitted driving route generated by a server, and associating the fitted driving route with a corresponding driving area; Acquire the current position, and determine whether the current position is a target driving area, wherein the target driving area is a driving area associated with the fitted driving route; When the current position is the target driving area, driving is performed according to the fitted driving route corresponding to the target driving area.

2. The method according to claim 1, characterized in that Also includes: When the preset conditions are triggered, key information is obtained and uploaded to the server. The key information includes road condition information collected by the vehicle sensors and current vehicle information recorded by the vehicle controller.

3. The method according to claim 2, characterized in that Also includes: When any of the following situations occurs, the preset condition is determined to be triggered: The driver takes over; The road environment is a preset road condition, and the preset road condition is used to characterize a situation where the road environment quality is poor; The current road scene does not match the navigation information.

4. A vehicle control method, characterized in that: Applied to a server, the method comprises: Receive multiple key information uploaded by the terminal vehicle, the key information including road condition information collected by the vehicle sensor and current vehicle information recorded by the vehicle controller; generating a fitted driving route for a target driving area based on the key information; The fitted driving route is sent to the terminal vehicle.

5. The method according to claim 4, characterized in that: The generating a fitting driving route for the target driving area based on the key information includes: Determine a key area according to the key information, where the center of the key area is the longitude and latitude position point corresponding to the key information, and the radius is a preset distance; Obtain a set of key information with overlapping key areas; The key areas in the key information set are spliced ​​and then the non-road areas are removed to obtain the target driving area; A fitted driving route is obtained based on the target driving area.

6. A vehicle control device, characterized in that: Applied to a terminal vehicle, the device comprises: A fitting route receiving module, used for receiving a fitting driving route generated by a server, and associating the fitting driving route with a corresponding driving area; A driving area determination module, used to obtain a current position and determine whether the current position is a target driving area, wherein the target driving area is a driving area associated with a fitted driving route; The fitting route driving module is used to drive according to the fitting driving route corresponding to the target driving area when the current position is the target driving area.

7. A vehicle control device, characterized in that: Applied to a server, the device comprises: A key information receiving module is used to receive multiple key information uploaded by the terminal vehicle, wherein the key information includes road condition information collected by the vehicle sensor and current vehicle information recorded by the vehicle controller; A fitting route generation module, used for generating a fitting driving route for a target driving area based on the key information; The fitting route sending module is used to send the fitting driving route to the terminal vehicle.

8. A terminal vehicle, characterized in that: include: at least one processor and at least one memory; The memory stores executable instructions of the processor; The processor is configured to execute the method according to any one of claims 1 to 3.

9. A server, characterized in that: include: at least one processor and at least one memory; The memory stores executable instructions of the processor; The processor is configured to execute the method according to any one of claims 4 to 5.

10. A vehicle control system, characterized in that: include: At least one terminal vehicle as claimed in claim 8; And the server as claimed in claim 9.

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