Vehicle driving control method, electronic device, vehicle, medium and computer program product

Abstract

The embodiment of the invention provides a vehicle driving control method, electronic equipment, a vehicle, a medium and a computer program product. The method comprises the following steps: acquiring a first vehicle state parameter at the tail end of a track output by a high-precision map module; acquiring a second vehicle state parameter of a trajectory starting point output by the sensing module; on the basis of the first vehicle state parameter and the second vehicle state parameter, a transition track function of the vehicle in transition time is obtained, and the transition time refers to a preset time period from the starting moment when a high-precision map module is switched to a sensing module; and acquiring driving parameters of the vehicle in the transition time period based on the transition trajectory function. Namely, the running parameters of the transition track are generated based on the state parameters of the vehicle at the tail end of the track output by the high-precision map module and the state parameters of the vehicle at the starting point of the track output by the sensing module, so that the smoothness of switching to the track output by the sensing module after the failure of the high-precision map module is improved, and meanwhile, the running safety of the vehicle is improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and specifically relates to a vehicle driving control method, electronic equipment, vehicle, medium and computer program product. Background Art

[0002] With the continuous development of intelligent technology, intelligent driving technology is becoming more and more mature, and the importance of high-precision map modules for intelligent driving is becoming more and more prominent. The intelligent driving module relies on the planning path output by the high-precision map to control the vehicle's driving speed and steering wheel angle, etc., thereby realizing intelligent driving.

[0003] In the related art, after the high-precision map module fails, the planned path will switch from the trajectory output by the high-precision map module to the trajectory output by the perception module.

[0004] However, when using the related technology, during the track switching process, since there may be a certain deviation between the two tracks, the steering wheel may swing greatly, thereby reducing the safety of vehicle driving. Summary of the invention

[0005] The embodiments of the present application provide a vehicle driving control method, an electronic device, a vehicle, a medium and a computer program product to solve the problem of low vehicle driving safety in related technologies.

[0006] A first aspect of an embodiment of the present application provides a vehicle driving control method, comprising:

[0007] Obtain the first vehicle state parameter at the end of the trajectory output by the high-precision map module;

[0008] Obtaining a second vehicle state parameter of the trajectory starting point output by the perception module;

[0009] Based on the first vehicle state parameter and the second vehicle state parameter, a transition trajectory function of the vehicle within a transition time is obtained, where the transition time refers to a preset time period from the start time of switching from the high-precision map module to the perception module;

[0010] The driving parameters of the vehicle in a transition period are obtained based on the transition trajectory function.

[0011] Optionally, acquiring a transition trajectory function of the vehicle within a transition time based on the first vehicle state parameter and the second vehicle state parameter includes:

[0012] Based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm, a transition trajectory function of the vehicle within a transition time period is obtained, wherein N is an integer greater than or equal to 2, and wherein the first vehicle state parameter and the second vehicle state parameter are boundary conditions of the Nth-order polynomial interpolation.

[0013] Optionally, the transition trajectory function includes at least one of the following:

[0014] Position function of transition trajectory;

[0015] Direction angle function of transition trajectory;

[0016] Curvature function of the transition trajectory.

[0017] Optionally, the acquiring a transition trajectory function of the vehicle within a transition time period based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm includes:

[0018] Based on the first position parameter and the first speed parameter in the first vehicle state parameter, the second position parameter and the second speed parameter in the second vehicle state parameter, and the Nth order polynomial interpolation algorithm, a position function of the transition trajectory of the vehicle in a transition time period is obtained.

[0019] Optionally, the acquiring a transition trajectory function of the vehicle within a transition time period based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm includes:

[0020] Based on the first direction angle in the first vehicle state parameter, the second direction angle in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm, a direction angle function of the transition trajectory of the vehicle in a transition time period is obtained.

[0021] Optionally, the acquiring a transition trajectory function of the vehicle within a transition time period based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm includes:

[0022] Based on the first curvature in the first vehicle state parameter, the second curvature in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm, a curvature function of the transition trajectory of the vehicle in a transition time period is obtained.

[0023] Optionally, the acquiring the driving parameters of the vehicle in the transition time period based on the transition trajectory function includes at least one of the following:

[0024] Acquiring a target position and a target speed of the vehicle within a transition period based on a position function of the transition trajectory;

[0025] Acquiring a target direction angle of the vehicle within a transition period based on a direction angle function of the transition trajectory;

[0026] A target curvature of the vehicle in a transition period is obtained based on the curvature function of the transition trajectory.

[0027] Optionally, also include:

[0028] Based on the driving parameters during the transition period, the steering wheel angle and speed of the vehicle are controlled.

[0029] Optionally, controlling the steering wheel angle and speed of the vehicle based on the driving parameters in the transition period includes:

[0030] Based on the actual driving parameters of the vehicle and the driving parameters during the transition period, the steering wheel angle and speed of the vehicle are controlled.

[0031] A second aspect of an embodiment of the present application provides a vehicle driving control device, the device comprising:

[0032] An acquisition module is used to acquire a first vehicle state parameter at the end of the track output by the high-precision map module; and to acquire a second vehicle state parameter at the starting point of the track output by the perception module;

[0033] A processing module, configured to obtain a transition trajectory function of the vehicle within a transition time based on the first vehicle state parameter and the second vehicle state parameter, wherein the transition time refers to a preset time period from a start time of switching from a high-precision map module to a perception module;

[0034] A calculation module is used to obtain the driving parameters of the vehicle in a transition time period based on the transition trajectory function.

[0035] Optionally, the processing module is specifically used to obtain a transition trajectory function of the vehicle within a transition time period based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm, wherein N is an integer greater than or equal to 2, and wherein the first vehicle state parameter and the second vehicle state parameter are boundary conditions of the Nth-order polynomial interpolation.

[0036] Optionally, the transition trajectory function includes at least one of the following:

[0037] Position function of transition trajectory;

[0038] Direction angle function of transition trajectory;

[0039] Curvature function of the transition trajectory.

[0040] Optionally, the processing module is specifically used to obtain a position function of the transition trajectory of the vehicle within a transition time period based on a first position parameter and a first speed parameter in the first vehicle state parameter, a second position parameter and a second speed parameter in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm.

[0041] Optionally, the processing module is specifically used to obtain a direction angle function of the transition trajectory of the vehicle within a transition time period based on a first direction angle in the first vehicle state parameter, a second direction angle in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm.

[0042] Optionally, the processing module is specifically used to obtain a curvature function of the transition trajectory of the vehicle within a transition time period based on a first curvature in the first vehicle state parameter, a second curvature in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm.

[0043] Optionally, the calculation module is specifically used to obtain the target position and target speed of the vehicle in the transition time period based on the position function of the transition trajectory;

[0044] Acquiring a target direction angle of the vehicle within a transition period based on a direction angle function of the transition trajectory;

[0045] A target curvature of the vehicle in a transition period is obtained based on the curvature function of the transition trajectory.

[0046] Optionally, a control module is also included for controlling the steering wheel angle and speed of the vehicle based on driving parameters during a transition period.

[0047] Optionally, the control module is specifically used to control the steering wheel angle and speed of the vehicle based on actual driving parameters of the vehicle and driving parameters during the transition period.

[0048] A third aspect of an embodiment of the present application provides an electronic device, comprising: a processor, the processor is used to connect to a memory, the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the vehicle driving control method described in the first aspect above are implemented.

[0049] A fourth aspect of an embodiment of the present application provides a vehicle, comprising the electronic device as described in the third aspect above.

[0050] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the vehicle driving control method described in the first aspect are implemented.

[0051] A sixth aspect of an embodiment of the present application provides a computer program product, which, when executed by a processor of a cloud server, implements the steps of the vehicle driving control method described in the first aspect above.

[0052] The vehicle driving control method, electronic device, vehicle, medium and computer program product provided in the embodiments of the present application obtain the first vehicle state parameter at the end of the trajectory output by the high-precision map module; obtain the second vehicle state parameter at the starting point of the trajectory output by the perception module; based on the first vehicle state parameter and the second vehicle state parameter, obtain the transition trajectory function of the vehicle within the transition time, the transition time refers to the preset time period from the start time of switching from the high-precision map module to the perception module; obtain the driving parameters of the vehicle within the transition time period based on the transition trajectory function. That is, the driving parameters of the transition trajectory are generated based on the state parameters of the vehicle at the end of the trajectory output by the high-precision map module and the state parameters at the starting point of the trajectory output by the perception module, which improves the smoothness of switching from the high-precision map module failure to the trajectory output by the perception module, thereby improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of a flow chart of a vehicle driving control method provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of a flow chart of another vehicle driving control method provided in an embodiment of the present application;

[0055] Figure 3 A flow chart of another vehicle driving control method provided in an embodiment of the present application;

[0056] Figure 4 A flowchart of another vehicle driving control method provided in an embodiment of the present application;

[0057] Figure 5 A schematic diagram of the structure of a vehicle driving control device provided in an embodiment of the present application;

[0058] Figure 6 A schematic diagram of the structure of another vehicle driving control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

[0060] The terms "first", "second", etc. of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of one type, and the number of objects is not limited, for example, the first object can be one or more. In addition, "or" in the present application represents at least one of the connected objects. For example, "A or B" covers three schemes, namely, Scheme 1: including A but not including B; Scheme 2: including B but not including A; Scheme 3: including both A and B. The character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0061] The term "indication" in this application can be a direct indication (or explicit indication) or an indirect indication (or implicit indication). A direct indication can be understood as the sender explicitly informing the receiver of specific information, operations to be performed, or request results in the sent indication; an indirect indication can be understood as the receiver determining the corresponding information according to the indication sent by the sender, or making a judgment and determining the operation to be performed or the request result according to the judgment result.

[0062] In the related art, when the high-precision map module fails, the planned path will switch from the trajectory output by the high-precision map module to the trajectory output by the perception module. In the process of trajectory switching, the starting point of the trajectory output by the perception module is usually used as the next trajectory point at the end of the trajectory output by the high-precision map module. Since these two trajectory points are output by different modules, they lack continuity and consistency. This may cause the steering wheel to swing significantly, thereby reducing the safety of vehicle driving. In order to solve the above problems, the embodiment of the present application generates driving parameters of the transition trajectory based on the state parameters of the vehicle at the end of the trajectory output by the high-precision map module and the state parameters at the starting point of the trajectory output by the perception module, thereby improving the smoothness of switching from the trajectory output by the perception module after the failure of the high-precision map module, thereby improving the safety of vehicle driving.

[0063] For ease of description, in the following embodiments of the present application, the vehicle state parameters at the end of the planned trajectory before the high-precision map module fails are described as the first vehicle state parameters; and the vehicle state parameters at the starting point of the planned trajectory output by the perception module after the high-precision map module fails are described as the second vehicle state parameters.

[0064] Among them, the High Definition Map (HD Map) module is a high-precision, high-richness, and high-freshness navigation electronic map that not only contains basic geographic information, but also provides rich road geometry features, lane lines, traffic signs, obstacles and other detailed information, which can provide accurate positioning and path planning for intelligent driving systems.

[0065] The perception module is the core part of the intelligent driving system for acquiring and processing information about the vehicle's surrounding environment. It collects data through a variety of sensors to perceive the vehicle's current position and surrounding environment, and generates and outputs the vehicle's real-time planning trajectory. The perception module includes but is not limited to cameras, radars, ultrasonic sensors, and inertial measurement units (IMUs), etc.

[0066] The following describes the technical solution of the vehicle driving control method of the present application by taking several specific embodiments as examples:

[0067] Figure 1 A flow chart of a vehicle driving control method provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the method of the embodiment of the present application is as follows:

[0068] S11: Obtain the first vehicle state parameter at the end of the trajectory output by the high-precision map module.

[0069] In the process of intelligent driving, the high-precision map module can provide detailed lane information and traffic rules to help plan a path that complies with traffic rules. It can also generate a specific driving trajectory based on the global path and in combination with the vehicle's real-time position and surrounding environment. The driving trajectory generated by the high-precision map module consists of a series of closely arranged spatial points, each of which includes the vehicle's state parameters, that is, a series of position points in time and space when the vehicle moves from one position to another, as well as information such as the speed and acceleration at these points; specifically, the vehicle state parameters include but are not limited to: information such as the vehicle's position, speed, direction angle, and curvature on the road.

[0070] Furthermore, when an abnormality occurs in the high-precision map module, the intelligent driving system needs to switch to a driving mode based on the perception module, that is, to obtain environmental information around the vehicle in real time based on the on-board sensors to generate a new planned trajectory. Among them, the interruption point of the driving trajectory generated when the high-precision map module occurs abnormally is the end of the trajectory, and the position, speed, direction angle, curvature and other information of the vehicle at this point are the first vehicle state parameters. Among them, the scenarios where the high-precision map module may be abnormal include but are not limited to the following:

[0071] Delayed map updates: Changes such as road construction, temporary traffic control, or new facilities are not reflected in the high-precision map in a timely manner.

[0072] Data loss or damage: Data loss or damage due to storage media failure or network problems in the vehicle system or cloud server.

[0073] Hardware or software failure: Due to a software crash or hardware failure in the vehicle system, the map data cannot be read and used normally.

[0074] It is understandable that the first vehicle state parameter refers to the vehicle state parameter at the end of the planned trajectory before the failure of the high-precision map module, and is also the vehicle state parameter at the starting point of the transition process of switching to the perception module to output the planned trajectory. It is provided by the high-precision map module based on detailed map data, such as historical traffic data of the road and common road conditions, etc., based on pre-mapped data. For example, when an intelligent driving vehicle approaches an intersection, it can make decisions in advance based on information such as the duration of traffic lights and lane turning restrictions stored in the high-precision map module, and choose a suitable driving speed and route. If it is known that the green light ahead is 5 seconds away and the vehicle is slow, it can accelerate slightly to try to pass within the remaining time of the green light; if the vehicle wants to turn left, and the high-precision map clearly indicates that the current lane only allows straight driving, then the vehicle can merge into the left-turn lane in advance to prepare for the left turn operation.

[0075] Optionally, the first vehicle state parameter includes at least one of the following: position, speed, direction angle and curvature.

[0076] Among them, for obtaining the first vehicle status parameters based on the high-precision map module, in some embodiments, satellite positioning can be used to match the high-precision map module to determine the absolute position of the vehicle on the map, and the geodetic coordinate system is converted into a plane coordinate system, wherein the geodetic coordinate system approximately represents the ellipsoid shape of the earth, including three position parameters of longitude, latitude and altitude; the plane coordinate system maps the earth's surface to a plane, that is, converts longitude and latitude into projection coordinates, including position parameters in the two directions of the x-axis and the y-axis.

[0077] In some embodiments, vehicle speed information can be obtained through sensors such as vehicle speed sensors and wheel speed sensors, and combined with road conditions or road speed limit regulations provided by the high-precision map module to help adjust the vehicle speed to adapt to changes in road conditions.

[0078] In some embodiments, the vehicle's driving direction can be obtained through the IMU, and compared and calibrated with the vehicle's current position and the lane center line provided by the high-precision map module to further optimize the vehicle's driving direction angle.

[0079] In some embodiments, the high-precision map module provides road curvature information, and the vehicle can adjust its driving posture and speed in advance based on this information to ensure safe driving on curves.

[0080] For example, suppose an intelligent driving vehicle is on a highway. When entering an interchange, the HD map module interrupts service and provides the vehicle's current parameter information. At this time, the vehicle position provided by the HD map module is (X1, Y1); according to the ramp speed limit prompted by the HD map module, the vehicle speed is reduced to 40 kilometers per hour, and according to the ramp road conditions displayed by the HD map module, the vehicle's direction angle is adjusted to 30 degrees relative to geographic north. The lane line curvature of the ramp on which the vehicle is traveling is 0.02, indicating that the vehicle's turning radius is 50 meters.

[0081] S12: Obtain the second vehicle state parameter of the trajectory starting point output by the perception module.

[0082] Among them, during the intelligent driving process, the vehicle's perception module can obtain real-time information about the vehicle's surrounding environment through on-board sensors such as cameras, lidars and millimeter-wave radars. These sensors can detect roads, lane lines, traffic signs, other vehicles, pedestrians, and obstacles, and output detection results containing rich information such as obstacle type, position, and motion vector to generate the vehicle's planned trajectory.

[0083] Specifically, the driving trajectory generated by the perception module is also composed of a series of closely arranged spatial points, and the information such as the position, speed, direction angle and curvature of the vehicle at the starting point of the driving trajectory generated by the perception module is the second vehicle state parameter.

[0084] It is understandable that the second vehicle state parameter refers to the vehicle state parameter of the starting point of the planned trajectory output by the perception module after the failure of the high-precision map module, and is also the vehicle state parameter at the end of the transition trajectory that switches to the planned trajectory output by the perception module. It is provided by the vehicle data and surrounding environment information acquired in real time by sensors such as cameras and radars on the vehicle. For example, when a vehicle approaches an intersection, it can identify and analyze traffic signs, traffic lights, lane lines, and other vehicles and pedestrians through perception devices such as cameras, and make decisions. If the traffic light ahead is detected to be red, the vehicle will stop and wait. If it sees traffic signs such as "stop" or "no passage", it will also make decisions such as stopping or detouring accordingly; it can also measure the distance and relative speed between the vehicle and the vehicle in front through radar or laser radar. When the vehicle senses that the vehicle in front is slowing down, it can slow down to avoid collision.

[0085] Optionally, the second vehicle state parameter includes at least one of the following: position, speed, direction angle and curvature.

[0086] Among them, for obtaining the second vehicle state parameter based on the perception module, in some embodiments, the data output by the satellite positioning system can be combined with the environmental features obtained by sensors such as IMU and visual odometer, and then combined with the vehicle's motion model to obtain the plane coordinates of the vehicle's position in real time.

[0087] In some embodiments, the real-time speed of the vehicle can be directly measured by a vehicle speed sensor, and then the changes in the surrounding environment can be sensed by a camera and a radar to assist in correcting the vehicle speed information.

[0088] In some embodiments, the real-time direction angle of the vehicle can be provided based on the IMU, or the direction angle of the vehicle can be calculated by detecting lane lines through a camera and combining the current position of the vehicle.

[0089] In some embodiments, the lane line can be detected by a camera or a lidar, and the geometric shape of the lane line can be fitted to calculate the curvature of the current lane line.

[0090] For example, based on the above example, after the high-precision map module interrupts service, the vehicle's perception module takes over to plan the driving trajectory for the intelligent driving vehicle, that is, it re-outputs the vehicle's parameter information after a period of time. At this time, the vehicle position output by the perception module is (X2, Y2). According to the camera, the vehicle is currently traveling on the ramp, so the speed is maintained at 40 kilometers per hour. According to the IMU measurement, the vehicle's driving direction is offset, with a direction angle of 31 degrees. The lane line curvature of the ramp on which the vehicle is traveling becomes 0.022, indicating that the state parameters of the vehicle and the end of the trajectory before the failure of the high-precision map module have a certain deviation.

[0091] S13: Based on the first vehicle state parameter and the second vehicle state parameter, a transition trajectory function of the vehicle within a transition time is obtained, where the transition time refers to a preset time period from the start moment of switching from the high-precision map module to the perception module.

[0092] Among them, in the intelligent driving system, when the high-precision map module fails and causes service interruption, the vehicle needs to smoothly transition from the trajectory provided by the high-precision map module to the planned trajectory output by the perception module to ensure driving safety and comfort. A transition time period can be preset, and the vehicle state parameters at the initial moment of the time period are the first vehicle state parameters, and the vehicle state parameters at the end moment of the time period are the second vehicle state parameters. At the initial moment and the end moment, the vehicle's acceleration, angular velocity, angular acceleration, curvature change rate and curvature change acceleration are all 0. Based on this, the transition trajectory function within the transition time period is further designed.

[0093] S14: Acquire driving parameters of the vehicle in a transition period based on the transition trajectory function.

[0094] Optionally, the obtaining of the driving parameters of the vehicle in the transition time period based on the transition trajectory function includes at least one of the following: obtaining the target position and target speed of the vehicle in the transition time period based on the position function of the transition trajectory; obtaining the target direction angle of the vehicle in the transition time period based on the direction angle function of the transition trajectory; obtaining the target curvature of the vehicle in the transition time period based on the curvature function of the transition trajectory.

[0095] Among them, the driving parameters include at least the vehicle's position, speed, direction angle and curvature. Specifically, based on the position function of the transition trajectory, the vehicle's continuous position information and speed information during the transition time can be obtained. Based on the direction angle function of the transition trajectory, the vehicle's continuous direction angle information during the transition time can be obtained. Based on the curvature function of the transition trajectory, the curvature information of the vehicle's continuous driving lane during the transition time can be obtained.

[0096] In this embodiment, the first vehicle state parameter at the end of the trajectory output by the high-precision map module is obtained; the second vehicle state parameter at the starting point of the trajectory output by the perception module is obtained; based on the first vehicle state parameter and the second vehicle state parameter, a transition trajectory function of the vehicle within the transition time is obtained, and the transition time refers to a preset time period from the start time of switching from the high-precision map module to the perception module; based on the transition trajectory function, the driving parameters of the vehicle within the transition time period are obtained. That is, the driving parameters of the transition trajectory are generated based on the state parameters of the vehicle at the end of the trajectory output by the high-precision map module and the state parameters at the starting point of the trajectory output by the perception module, thereby improving the smoothness of switching from the trajectory output by the perception module after the failure of the high-precision map module, and at the same time improving the safety of vehicle driving.

[0097] In the above embodiment, before the intelligent driving vehicle transitions from the trajectory provided by the high-precision map module to the planned trajectory output by the perception module, it is necessary to determine that the service of the high-precision map module has been interrupted. This can be done by defining a built-in flag to indicate the service status of the high-precision map module, which is set to S, where S=1 indicates that the high-precision map module service is in normal use, and S=0 indicates that the high-precision map module service is interrupted. When S=0 is detected, the trajectory switching program is triggered to switch the vehicle's intelligent driving trajectory to the planned trajectory output by the perception module.

[0098] In the above embodiment, a possible implementation method of the transition trajectory function of the vehicle in the transition time period is an N-order polynomial interpolation algorithm. The following describes a method for obtaining the transition trajectory function based on the N-order polynomial interpolation algorithm with a specific embodiment.

[0099] Figure 2A flow chart of another vehicle driving control method provided in an embodiment of the present application, Figure 2 is Figure 1 Based on this, further, a possible implementation method of obtaining the transition trajectory function based on an N-order polynomial interpolation algorithm is described, such as Figure 2 As shown, the method of this embodiment is as follows:

[0100] S13': Based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm, a transition trajectory function of the vehicle in a transition time period is obtained.

[0101] Wherein, N is an integer greater than or equal to 2, wherein the first vehicle state parameter and the second vehicle state parameter are boundary conditions of the Nth-order polynomial interpolation.

[0102] Specifically, the N-order polynomial interpolation algorithm is a polynomial-based interpolation method that can describe the vehicle's driving parameters that change over time during the transition time, so that the vehicle can smoothly transition during the transition time. The first vehicle state parameter is the boundary condition of the N-order polynomial interpolation at the initial moment of the transition time, and the second vehicle state parameter is the boundary condition of the N-order polynomial interpolation at the end moment of the transition time.

[0103] Furthermore, the N can be 2, 3, 5 or 7, for example. Taking the fifth-order polynomial as an example, the continuous vehicle driving parameters output by the transition trajectory function can make the vehicle's driving parameters, the speed of vehicle driving parameter changes, the acceleration of vehicle driving parameter changes, the jerk of vehicle driving parameter changes, the jerk of vehicle driving parameter changes and the jerk of vehicle driving parameter changes all transition smoothly within the transition time.

[0104] The quintic polynomial can be expressed as:

[0105] S(t)=ω0+ω1t+ω2t 2 +ω3t 3 +ω4t 4 +ω5t 5

[0106] Wherein, S(t) is the transition trajectory function of the vehicle in the transition time period, which is used to describe the relationship between the vehicle's driving parameters and time, t is the time variable, ω0, ω1, ω2, ω3, ω4 and ω5 are the coefficients of the quintic polynomial, and based on the first vehicle state parameter and the second vehicle state parameter, the transition trajectory function can meet specific boundary conditions, thereby solving these coefficients.

[0107] By analogy, optionally, continuous vehicle driving parameters output by a transition trajectory function based on an N-order polynomial of an integer greater than or equal to 2 can also enable the vehicle to smoothly transition its trajectory, which will not be elaborated here.

[0108] Optionally, the transition trajectory function of the vehicle within the transition time includes at least one of the following: a position function of the transition trajectory; a direction angle function of the transition trajectory; and a curvature function of the transition trajectory.

[0109] It can be understood that the position function of the transition trajectory, the azimuth function of the transition trajectory and the curvature function of the transition trajectory are all obtained based on N-order polynomial interpolation, and the position, azimuth and curvature parameters of the vehicle during the transition time can be obtained; wherein, the derivative of the position function of the transition trajectory is the speed function of the transition trajectory, and the speed parameter of the vehicle during the transition time can be obtained.

[0110] In this embodiment, a transition trajectory function of the vehicle in a transition time period is obtained based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm, thereby facilitating the acquisition of driving parameters of the vehicle in the transition time period.

[0111] In the above embodiment, optionally, based on the first position parameter and the first speed parameter in the first vehicle state parameter, the second position parameter and the second speed parameter in the second vehicle state parameter, and the Nth order polynomial interpolation algorithm, the position function of the transition trajectory of the vehicle within the transition time period is obtained.

[0112] Among them, based on the first vehicle state parameter and the second vehicle state parameter, the initial position and final position as well as the initial speed and final speed of the vehicle during the transition time, that is, the first position parameter and the second position parameter and the first speed parameter and the second speed parameter, can be known.

[0113] Taking the fifth-order polynomial as an example, the position function for constructing the transition trajectory is:

[0114] P(t)=a0+a1t+a2t 2 +a3t 3 +a4t 4 +a5t 5

[0115] Wherein, P(t) is the position function of the transition trajectory, t is the time variable, a0, a1, a2, a3, a4 and a5 are the coefficients of the quintic polynomial, and based on the first position parameter and the first speed parameter in the first vehicle state parameter and the second position parameter and the second speed parameter in the second vehicle state parameter, the position function of the transition trajectory can be made to meet specific boundary conditions, thereby solving these coefficients.

[0116] Furthermore, by taking a derivative of the position function of the transition trajectory, the velocity function of the transition trajectory can be obtained:

[0117] P(t)′=a1+2a2t+3a3t 2 +4a4t 3 +5a5t 4

[0118] Furthermore, the velocity function of the transition trajectory is further differentiated to obtain the acceleration function of the transition trajectory:

[0119] P(t)″=2a2+6a3t+12a4t 2 +20a5t 3

[0120] Specifically, assuming that the transition time is T, at the initial moment of the transition time, i.e., t=0, the first position parameter of the vehicle is (x1, y1), and the first speed parameter is The acceleration is 0; at the end of the transition time, that is, t = T, the second position parameter of the vehicle is (x2, y2), and the second speed parameter is The acceleration is 0.

[0121] Among them, through the parameters in the x-axis direction or the parameters in the y-axis direction in these boundary conditions, a set of equations containing 6 unknowns can be established to solve the coefficients of the position function of the transition trajectory. Taking the boundary conditions in the x-axis direction as an example, the boundary conditions in the x-axis direction at t=0 and t=T are substituted into the above functions to establish the coefficient equation group:

[0122] a0=x1

[0123] a1=v x1

[0124] 2a2=0

[0125] a0+a1T+a2T 2 +a3T 3 +a4T 4 +a5T 5 =x2

[0126] a1+2a2T+3a3T 2 +4a4T 3 +5a5T 4 =v x2

[0127] 2a2+6a3T+12a4T 2 +20a5T 3 =0

[0128] Based on this set of equations, the values ​​of coefficients a0, a1, a2, a3, a4 and a5 can be solved to obtain the position function of the transition trajectory, and then the position parameters and speed parameters of the vehicle during the transition time can be obtained.

[0129] Optionally, based on the first direction angle in the first vehicle state parameter, the second direction angle in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm, a direction angle function of the transition trajectory of the vehicle in a transition time period is obtained.

[0130] Among them, based on the first vehicle state parameter and the second vehicle state parameter, the initial direction angle and the final direction angle of the vehicle during the transition time can be known, that is, the first direction angle in the first vehicle state parameter and the second direction angle in the second vehicle state parameter.

[0131] Taking the fifth-order polynomial as an example, the direction angle function of the transition trajectory is constructed as follows:

[0132] θ(t)=b0+b1t+b2t 2 +b3t 3 +b4t 4 +b5t 5

[0133] Among them, θ(t) is the directional angle function of the transition trajectory, t is the time variable, b0, b1, b2, b3, b4 and b5 are the coefficients of the quintic polynomial, and based on the first directional angle in the first vehicle state parameter and the second directional angle in the second vehicle state parameter, the directional angle function of the transition trajectory can be made to meet specific boundary conditions, thereby solving these coefficients.

[0134] Furthermore, by taking a derivative of the direction angle function of the transition trajectory, the direction angular velocity function of the transition trajectory can be obtained:

[0135] θ(t)′=b1+2b2t+3b3t 2 +4b4t 3 +5b5t 4

[0136] Furthermore, the directional angular velocity function of the transition trajectory is further differentiated to obtain the directional angular acceleration function of the transition trajectory:

[0137] θ(t)″=2b2+6b3t+12b4t 2 +20b5t 3

[0138] Specifically, based on the above example, the transition time is T. At the initial moment of the transition time, that is, t=0, the first direction angle of the vehicle is θ1, and its speed and acceleration are both 0; at the end moment of the transition time, that is, t=T, the second direction angle parameter of the vehicle is θ2, and its speed and acceleration are both 0.

[0139] Among them, through these boundary conditions, a set of equations containing 6 unknowns can be established to solve the coefficients of the direction angle function of the transition trajectory. Substitute the boundary conditions at t=0 and t=T into the above functions to establish the coefficient equations:

[0140] b0=θ1

[0141] b1=0

[0142] 2b2=0

[0143] b0+b1T+b2T 2 +b3T 3 +b4T 4 +b5T 5 =θ2

[0144] b1+2b2T+3b3T 2 +4b4T 3 +5b5T 4 =0

[0145] 2b2+6b3T+12b4T 2 +20b5T 3 =0

[0146] Based on this set of equations, the values ​​of coefficients b0, b1, b2, b3, b4 and b5 can be solved to obtain the direction angle function of the transition trajectory, and then the direction angle parameters of the vehicle traveling during the transition time can be obtained.

[0147] Optionally, based on a first curvature in the first vehicle state parameter, a second curvature in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm, a curvature function of a transition trajectory of the vehicle within a transition time period is obtained.

[0148] Among them, based on the first vehicle state parameter and the second vehicle state parameter, the initial lane line curvature and the target lane line curvature within the transition time can be known, that is, the first curvature in the first vehicle state parameter and the second curvature in the second vehicle state parameter.

[0149] Taking a fifth-order polynomial as an example, the curvature function of the transition trajectory is constructed as follows:

[0150] k(t)=c0+c1t+c2t 2+c3t 3 +c4t 4 +c5t 5

[0151] Wherein, k(t) is the curvature function of the transition trajectory, t is the time variable, c0, c1, c2, c3, c4 and c5 are the coefficients of the quintic polynomial, and based on the first curvature in the first vehicle state parameter and the second curvature in the second vehicle state parameter, the curvature function of the transition trajectory can be made to meet specific boundary conditions, thereby solving these coefficients.

[0152] Furthermore, by taking a derivative of the curvature function of the transition trajectory, a curvature change rate function of the transition trajectory can be obtained:

[0153] k(t)′=c1+2c2t+3c3t 2 +4c4t 3 +5c5t 4

[0154] Furthermore, the curvature change rate function of the transition trajectory is further differentiated to obtain the curvature change acceleration function of the transition trajectory:

[0155] k(t)″=2c2+6c3t+12c4t 2 +20c5t 3

[0156] Specifically, based on the above example, the transition time is T. At the initial moment of the transition time, that is, t=0, the first curvature of the vehicle is k1, and its rate of change and acceleration are both 0; at the end moment of the transition time, that is, t=T, the second curvature of the vehicle is θ2, and its rate of change and acceleration are both 0.

[0157] Among them, through these boundary conditions, a set of equations containing 6 unknowns can be established to solve the coefficients of the curvature function of the transition trajectory. Substitute the boundary conditions at t=0 and t=T into the above functions to establish the coefficient equations:

[0158] c0=k1

[0159] c1=0

[0160] 2c2=0

[0161] c0+c1T+c2T 2 +c3T 3 +c4T 4 +c5T 5 =k2

[0162] c1+2c2T+3c3T2 +4c4T 3 +5c5T 4 =0

[0163] 2c2+6c3T+12c4T 2 +20c5T 3 =0

[0164] Based on this set of equations, the values ​​of coefficients c0, c1, c2, c3, c4 and c5 can be solved to obtain the curvature function of the transition trajectory, and then the curvature parameters of the vehicle traveling during the transition time can be obtained.

[0165] Figure 3 A flow chart of another vehicle driving control method provided in an embodiment of the present application is shown below. Figure 3 is Figure 1 Based on the embodiment shown, further, a possible implementation method of controlling vehicle travel during a transition period is described, such as Figure 3 As shown, the method of the embodiment of the present application is as follows:

[0166] S15: Controlling the steering wheel angle and speed of the vehicle based on the driving parameters in the transition period.

[0167] Among them, the vehicle's control system obtains control parameters for the steering wheel and accelerator brake based on the position parameters, speed parameters, direction angle parameters and curvature parameters in the transition time period to control the vehicle, mainly performing steering control and speed control of the vehicle.

[0168] In some embodiments, the accelerator pedal or brake pedal of the vehicle may be adjusted based on the speed deviation before and after the transition period through proportional-integral-derivative (PID) control, and the speed deviation is defined as:

[0169] Δv(t)=v(t)-v(t-1)

[0170] Among them, Δv(t) is the speed deviation at the current moment, v(t) is the speed value at the current moment, and v(t-1) is the speed value at the previous moment. The control amount of the accelerator pedal is output using the incremental PID control algorithm, which can be expressed as:

[0171] u(t)=K p Δv(t)+K i ∑Δv(t)+K d (Δv(t)-Δv(t-1))

[0172] Among them, u(t) is the control signal, which is used to adjust the throttle opening or braking force, Kp is the proportionality coefficient, K i is the integration coefficient, K d is the differential coefficient. When Δv(t)>0, the control system will increase the throttle opening. When Δv(t)<0, the control system will apply the brake. When Δv(t)≈0, neither acceleration nor braking will be applied.

[0173] Furthermore, the vehicle motion model can be used to calculate and adjust the steering wheel angle. For example, the steering wheel angle of the vehicle can be adjusted based on the difference in the direction angles before and after the transition period. The simplified version of the vehicle motion model is:

[0174] δ1=K h ×Δθ

[0175] Among them, δ1 is the steering wheel angle based on the direction angle adjustment, K h is the proportional gain coefficient of the azimuth angle control, and Δθ is the difference in azimuth angle between the previous and next moments in the transition period.

[0176] In some embodiments, the steering wheel angle may also be adjusted according to the curvature of the vehicle's driving path during the transition period. The simplified vehicle motion model is:

[0177] δ2=arctan(L·k)

[0178] Among them, δ2 is the steering wheel angle based on curvature adjustment, k is the curvature in the transition period, and L is the wheelbase of the vehicle.

[0179] This embodiment controls the steering wheel angle and speed of the vehicle based on the driving parameters in the transition period, thereby achieving a smooth transition of the vehicle in the transition period and avoiding large-scale steering and sudden acceleration or deceleration.

[0180] Figure 4 A flow chart of another vehicle driving control method provided in an embodiment of the present application is shown below. Figure 4 is Figure 1 Based on the embodiment shown, further, another possible implementation method of controlling the vehicle driving during the transition period is described, such as Figure 4 As shown, the method of this embodiment is as follows:

[0181] S16: Controlling the steering wheel angle and speed of the vehicle based on the actual driving parameters of the vehicle and the driving parameters during the transition period.

[0182] Among them, during the transition period, the actual driving state of the vehicle can be monitored in real time by sensors such as the IMU and wheel speed sensors on the vehicle. The actual driving parameters output by the sensors are compared with the driving parameters calculated by the transition trajectory function. If there is a deviation, it is necessary to readjust the control parameters of the steering wheel and the accelerator and brake of the vehicle control system to control the driving of the vehicle. Specifically, it can be divided into the following two possible scenarios:

[0183] One possible scenario is: recalculating the current driving parameters according to the deviation, and obtaining updated control parameters based on the recalculated driving parameters by the vehicle control system to control the driving of the vehicle, so that the vehicle can smoothly complete the switching transition of the trajectory. The implementation method of obtaining updated control parameters based on the recalculated driving parameters is as described in step S15, which will not be repeated here.

[0184] For example, during the transition period, if the tires slip due to slippery road conditions and the actual speed of the vehicle is slower than the speed predicted by the transition trajectory function, the vehicle control system will recalculate the current speed based on the speed deviation, and further reduce the throttle opening or increase the braking force to ensure smooth vehicle driving.

[0185] Another possible scenario is to adjust the control parameters directly through the vehicle control system according to the deviation to control the vehicle's driving so that the vehicle can smoothly complete the trajectory switching transition.

[0186] For example, during the transition period, if the vehicle's steering angle deviates due to wind influence or uneven road surface, the vehicle's control system can directly adjust the steering wheel angle to ensure that the vehicle can travel along the predetermined trajectory.

[0187] This embodiment controls the steering wheel angle and speed of the vehicle based on the actual driving parameters of the vehicle and the driving parameters during the transition time period, thereby improving the accuracy of obtaining the vehicle's driving parameters during the transition time and further improving the vehicle's driving stability during the transition time.

[0188] Figure 5 This is a schematic diagram of the structure of a vehicle driving control device provided in an embodiment of the present application, the device comprises: an acquisition module 501, a processing module 502 and a calculation module 503, wherein:

[0189] The acquisition module 501 is used to acquire the first vehicle state parameter of the end of the track output by the high-precision map module; and acquire the second vehicle state parameter of the starting point of the track output by the perception module.

[0190] The processing module 502 is used to obtain a transition trajectory function of the vehicle within a transition time based on the first vehicle state parameter and the second vehicle state parameter, where the transition time refers to a preset time period from the start time of switching from the high-precision map module to the perception module.

[0191] The calculation module 503 is used to obtain the driving parameters of the vehicle in the transition time period based on the transition trajectory function.

[0192] Optionally, the processing module 502 is specifically used to obtain a transition trajectory function of the vehicle within a transition time period based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm, wherein N is an integer greater than or equal to 2, and wherein the first vehicle state parameter and the second vehicle state parameter are boundary conditions of the Nth-order polynomial interpolation.

[0193] Optionally, the transition trajectory function includes at least one of the following:

[0194] Position function of transition trajectory;

[0195] Direction angle function of transition trajectory;

[0196] Curvature function of the transition trajectory.

[0197] Optionally, the processing module 502 is specifically used to obtain a position function of the transition trajectory of the vehicle within a transition time period based on a first position parameter and a first speed parameter in the first vehicle state parameter, a second position parameter and a second speed parameter in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm.

[0198] Optionally, the processing module 502 is specifically used to obtain the direction angle function of the transition trajectory of the vehicle within the transition time period based on the first direction angle in the first vehicle state parameter, the second direction angle in the second vehicle state parameter, and the Nth order polynomial interpolation algorithm.

[0199] Optionally, the processing module 502 is specifically used to obtain a curvature function of a transition trajectory of the vehicle within a transition time period based on a first curvature in the first vehicle state parameter, a second curvature in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm.

[0200] Optionally, the calculation module 503 is specifically used to obtain the target position and target speed of the vehicle in the transition time period based on the position function of the transition trajectory; to obtain the target direction angle of the vehicle in the transition time period based on the direction angle function of the transition trajectory; and to obtain the target curvature of the vehicle in the transition time period based on the curvature function of the transition trajectory.

[0201] Figure 6 A schematic diagram of the structure of another vehicle driving control device provided in an embodiment of the present application, Figure 6 is Figure 5 On the basis of the device shown, further, a control module 504 is included, which is used to control the steering wheel angle and speed of the vehicle based on the driving parameters in the transition period.

[0202] Optionally, the control module 504 is specifically used to control the steering wheel angle and speed of the vehicle based on actual driving parameters of the vehicle and driving parameters during the transition period.

[0203] The device of this embodiment can be used to execute the technical solutions of the above-mentioned method embodiments accordingly. Its implementation principles and technical effects are similar and will not be repeated here.

[0204] An embodiment of the present application also provides an electronic device, comprising: a processor, the processor is used to connect to a memory, the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of any of the above-mentioned vehicle driving control method embodiments are implemented.

[0205] An embodiment of the present application also provides a vehicle, comprising: a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of any of the above-mentioned vehicle driving control method embodiments are implemented.

[0206] An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of any of the above-mentioned vehicle driving control method embodiments are implemented.

[0207] An embodiment of the present application also provides a computer program product, which, when executed by a processor of a cloud server, implements the steps of any of the above-mentioned vehicle driving control method embodiments.

[0208] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0209] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general hardware platform, and of course, can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, disk, CD, etc.), including several instructions to enable a terminal or a network-side device to execute the methods described in each embodiment of the present application.

[0210] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of the present application and the scope of protection of the claims, and these implementation methods are all within the protection of the present application.

Claims

1. A vehicle driving control method, characterized in that: include: Obtain the first vehicle state parameter at the end of the trajectory output by the high-precision map module; Obtaining a second vehicle state parameter of the trajectory starting point output by the perception module; Based on the first vehicle state parameter and the second vehicle state parameter, a transition trajectory function of the vehicle within a transition time is obtained, where the transition time refers to a preset time period from the start time of switching from the high-precision map module to the perception module; The driving parameters of the vehicle in a transition period are obtained based on the transition trajectory function.

2. The method according to claim 1, characterized in that The step of obtaining a transition trajectory function of the vehicle within a transition time based on the first vehicle state parameter and the second vehicle state parameter includes: Based on the first vehicle state parameter, the second vehicle state parameter and an Nth-order polynomial interpolation algorithm, a transition trajectory function of the vehicle within a transition time period is obtained, wherein N is an integer greater than or equal to 2, and wherein the first vehicle state parameter and the second vehicle state parameter are boundary conditions of the Nth-order polynomial interpolation.

3. The method according to claim 2, characterized in that The transition trajectory function includes at least one of the following: Position function of transition trajectory; Direction angle function of transition trajectory; Curvature function of the transition trajectory.

4. The method according to claim 3, characterized in that: The step of obtaining a transition trajectory function of the vehicle in a transition time period based on the first vehicle state parameter, the second vehicle state parameter and an N-order polynomial interpolation algorithm includes: Based on the first position parameter and the first speed parameter in the first vehicle state parameter, the second position parameter and the second speed parameter in the second vehicle state parameter, and the Nth order polynomial interpolation algorithm, a position function of the transition trajectory of the vehicle in a transition time period is obtained.

5. The method according to claim 3, characterized in that: The step of obtaining a transition trajectory function of the vehicle in a transition time period based on the first vehicle state parameter, the second vehicle state parameter and an N-order polynomial interpolation algorithm includes: Based on the first direction angle in the first vehicle state parameter, the second direction angle in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm, a direction angle function of the transition trajectory of the vehicle in a transition time period is obtained.

6. The method according to claim 3, characterized in that The step of obtaining a transition trajectory function of the vehicle in a transition time period based on the first vehicle state parameter, the second vehicle state parameter and an N-order polynomial interpolation algorithm includes: Based on the first curvature in the first vehicle state parameter, the second curvature in the second vehicle state parameter, and the Nth-order polynomial interpolation algorithm, a curvature function of the transition trajectory of the vehicle in a transition time period is obtained.

7. The method according to claim 3, characterized in that The obtaining of the driving parameters of the vehicle in the transition time period based on the transition trajectory function includes at least one of the following: Acquiring a target position and a target speed of the vehicle within a transition period based on a position function of the transition trajectory; Acquiring a target direction angle of the vehicle within a transition period based on a direction angle function of the transition trajectory; A target curvature of the vehicle in a transition period is obtained based on the curvature function of the transition trajectory.

8. The method according to claim 7, characterized in that Also includes: Based on the driving parameters during the transition period, the steering wheel angle and speed of the vehicle are controlled.

9. The method according to claim 8, characterized in that The controlling of the steering wheel angle and speed of the vehicle based on the driving parameters in the transition period includes: Based on the actual driving parameters of the vehicle and the driving parameters during the transition period, the steering wheel angle and speed of the vehicle are controlled.

10. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle driving control method as described in any one of claims 1 to 9 are implemented.

11. A vehicle, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle driving control method as described in any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the vehicle driving control method as described in any one of claims 1 to 9 are implemented.

13. A computer program product, characterized in that When the program product is executed by a processor of a vehicle or a cloud server, the steps of the vehicle driving control method as described in any one of claims 1 to 9 are implemented.

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