Vehicle control method and device, vehicle and readable storage medium

Abstract

The invention provides a vehicle control method and device, a vehicle and a readable storage medium, and the method is applied to the technical field of vehicles, and comprises the steps: obtaining map environment data around the vehicle from map data in a process of controlling the vehicle to automatically drive according to a pre-planned first driving path; determining whether the current actual driving path of the vehicle is consistent with the first driving path or not according to the difference between the actual environment data around the vehicle and the map environment data; and if the actual driving path is not consistent with the first driving path, planning a second driving path for the vehicle, and controlling the vehicle to automatically drive according to the second driving path. According to the method, whether the actual driving path of the vehicle is consistent with the pre-planned driving path or not can be determined, if not, it is indicated that the vehicle deviates from the pre-planned driving path, the second driving path can be planned for the vehicle, the driving plan can be adjusted in time according to the current environment change, and the safety of automatic driving is improved.

Description

Technical Field

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

[0002] With the development of vehicle technology, automatic driving has been widely used. However, when a vehicle is driving automatically in a complex road environment, the driving path pre-planned for the vehicle may deviate from the actual driving path of the vehicle, which may threaten the safety of the vehicle. Therefore, a vehicle control method that can improve vehicle safety during automatic driving is urgently needed. Summary of the invention

[0003] The present application provides a vehicle control method, device, vehicle and readable storage medium, which can improve the safety of the vehicle during automatic driving.

[0004] In a first aspect, a vehicle control method is provided, the method comprising:

[0005] In the process of controlling the vehicle to automatically drive along the pre-planned first driving path, obtaining map environment data around the vehicle from the map data;

[0006] Determining whether the current actual driving path of the vehicle is consistent with the first driving path according to the difference between the actual environment data around the vehicle and the map environment data;

[0007] If the actual driving path is inconsistent with the first driving path, a second driving path is planned for the vehicle, and the vehicle is controlled to drive automatically according to the second driving path.

[0008] In the embodiment of the present application, the domain controller can promptly determine whether the actual driving path of the vehicle is consistent with the pre-planned driving path by comparing the difference between the actual environmental data around the vehicle and the map environmental data of the vehicle in the vehicle navigation. If they are inconsistent, it indicates that the vehicle has deviated from the pre-planned driving path. When it is found that the vehicle has deviated from the first driving path, the domain controller can plan a second driving path for the vehicle and can adjust the driving plan in time according to the current environmental changes to ensure that the vehicle can continue to drive safely and efficiently, thereby improving the reliability and safety of automatic driving.

[0009] In conjunction with the first aspect, in some possible implementations, determining whether the current actual driving path of the vehicle is consistent with the first driving path according to the difference between the actual environment data around the vehicle and the map environment data includes:

[0010] Determine whether the vehicle is in a complex road condition based on map environment data or actual environment data;

[0011] If the vehicle is in a complex road condition, whether the actual driving path is consistent with the first driving path is determined based on the difference between the actual environment data and the map environment data.

[0012] In an embodiment of the present application, the domain controller first determines whether the vehicle is in a complex road condition based on the map environment data or actual environment data around the vehicle. If the vehicle is not in a complex road condition, it means that the vehicle is currently in a relatively simple and stable driving environment. The domain controller does not need to frequently compare the actual environment data with the map environment data, thereby reducing the consumption of computing resources. When it is determined that the vehicle is in a complex road condition, the domain controller can promptly discover and respond to the difference between the actual driving path and the preset first driving path by accurately comparing the actual environment data with the map environment data, which is conducive to the vehicle quickly adapting to changes in actual road conditions, thereby enhancing driving safety and flexibility.

[0013] In conjunction with the first aspect, in some possible implementations, the actual environment data includes a plurality of first road data of the first driving path; the map environment data includes a second road data corresponding to each first road data; and determining whether the actual driving path is consistent with the first driving path according to a difference between the actual environment data and the map environment data includes:

[0014] For each first road data, compare the first road data with a corresponding second road data to obtain a corresponding comparison result; the comparison result indicates whether the first road data is consistent with the corresponding second road data;

[0015] When the comparison results corresponding to each first road data are consistent, it is determined that the first driving path is consistent with the actual driving path.

[0016] In the embodiment of the present application, by comparing multiple first road data and each second road data corresponding to the multiple first road data, the domain controller can promptly discover the deviation between the actual driving path and the planned path, thereby promptly correcting the vehicle's driving direction, preventing the vehicle from deviating from the planned route, and ensuring driving safety.

[0017] In combination with the first aspect, in some possible implementations, controlling the vehicle to automatically drive according to the second driving path includes:

[0018] Acquire auxiliary data of the second driving path from the server;

[0019] Based on the auxiliary data, the vehicle is controlled to automatically travel according to the second driving path.

[0020] In the embodiment of the present application, the domain controller can obtain auxiliary data of the second driving path from the server; and based on the auxiliary data, control the vehicle to automatically drive according to the second driving path. The domain controller obtains auxiliary data corresponding to the first driving path from the high-precision map data. Based on the high-precision map and real-time traffic information in the auxiliary data, the vehicle can dynamically adjust the driving path, avoid congested sections, select the optimal path, and shorten the driving time. The auxiliary data provides the vehicle with rich environmental information, enabling the vehicle to make more intelligent decisions, such as smoothly accelerating, decelerating, or changing lanes at the right time, thereby improving driving efficiency.

[0021] In combination with the first aspect, in some possible implementations, based on the auxiliary data, controlling the vehicle to automatically drive according to the second driving path includes:

[0022] Determining first data from the map environment data; wherein the first data is data not included in the actual environment data and the auxiliary data;

[0023] Determining second data from the auxiliary data; wherein the second data is data not included in the actual environment data and the map environment data;

[0024] Based on actual environment data, the first data and the second data, the vehicle is controlled to automatically drive according to the second driving path.

[0025] In the embodiment of the present application, the domain controller can obtain more comprehensive and richer driving environment information by integrating three different types of data sources (actual environment data, map environment data, and auxiliary data), thereby more accurately understanding the current road conditions. By comprehensively analyzing the map environment data, actual environment data, and auxiliary data, the domain controller can select the optimal driving route, avoid congested sections, and improve driving efficiency.

[0026] In combination with the first aspect, in some possible implementations, controlling the vehicle to automatically drive according to the second driving path includes:

[0027] Sending a second driving route to the server;

[0028] If the third driving path sent by the server is received, the vehicle is controlled to drive automatically according to the third driving path; wherein the third driving path is a driving path obtained by the server by correcting the second driving path when a deviation occurs in the second driving path.

[0029] In the embodiment of the present application, considering that the server generally has more comprehensive traffic information and road data, it can more accurately evaluate the advantages and disadvantages of different paths, thereby generating a more reasonable driving path. The server can make real-time corrections to the second driving path to ensure that the vehicle can quickly adjust its driving strategy when encountering an emergency, and choose a better path to continue moving forward, which can prevent the vehicle from mistakenly entering dangerous areas, such as construction sections, accident-prone areas, etc., thereby reducing the risk of traffic accidents.

[0030] In combination with the first aspect, in some possible implementations, for each first road data, comparing the first road data with a corresponding second road data to obtain a corresponding comparison result includes:

[0031] determining at least one first target data from a plurality of first road data, and determining second target data corresponding to the first target data from the second road data;

[0032] For one of the first target data, if the first target data and the corresponding second target data are inconsistent, determining that the comparison result is inconsistent;

[0033] or,

[0034] determining at least one third target data other than the plurality of first target data from the plurality of first road data, and determining fourth target data corresponding to the third target data from the second road data;

[0035] For one of the third target data, if the similarity between the third target data and the corresponding fourth target data is less than a preset similarity, the comparison result is determined to be inconsistent.

[0036] In an embodiment of the present application, the domain controller can ensure the consistency of road information, especially the key data that directly affects navigation and driving decisions, by comparing the first target data with the corresponding second target data. When the key data is inconsistent, the comparison result can be determined to be inconsistent, thereby avoiding incorrect route planning and potential safety risks, ensuring that the autonomous driving vehicle responds correctly in a complex road environment, and improving driving safety. For non-critical data, the domain controller can flexibly respond to real-time changes by calculating the similarity between the actual environment data and the map data. When the similarity is lower than the preset threshold, the comparison result is determined to be inconsistent. It is conducive to maintaining efficient adaptation in a dynamically changing environment, improving the fault tolerance of the system, and ensuring that a stable driving experience can still be provided under various conditions.

[0037] In a second aspect, a vehicle control device is provided, the device comprising:

[0038] An acquisition module, used to acquire map environment data around the vehicle from map data during the process of controlling the vehicle to automatically drive along a pre-planned first driving path;

[0039] A determination module, used to determine whether the current actual driving path of the vehicle is consistent with the first driving path according to the difference between the actual environment data around the vehicle and the map environment data;

[0040] The control module is used to plan a second driving path for the vehicle if the actual driving path is inconsistent with the first driving path, and control the vehicle to automatically drive according to the second driving path.

[0041] In a third aspect, a vehicle is provided, comprising a memory for storing executable program code;

[0042] A processor is used to call and run executable program code from a memory so that the vehicle executes the method in any possible implementation of the first aspect above.

[0043] In a fourth aspect, an executable program code product is provided, the executable program code product comprising: an executable program code, when the executable program code is run on a computer, the computer executes the method in any possible implementation of the first aspect above.

[0044] In a fifth aspect, a readable storage medium is provided, which stores an executable program code. When the executable program code runs on a computer, the computer executes the method in any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of the steps of a vehicle control method provided by an embodiment of the present application;

[0046] Figure 2 is a flow chart of the steps of a vehicle control method provided by an embodiment of the present application;

[0047] Figure 3 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0048] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0050] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0051] At present, with the development of vehicle technology, automatic driving has been widely used. During the automatic driving process, the vehicle controller can control the vehicle to drive automatically according to the pre-planned driving path, thereby reducing the driver's operating burden during driving and relieving driving fatigue.

[0052] However, when a vehicle is driving automatically in a complex road environment, due to the low accuracy of the vehicle navigation, the vehicle's positioning information in the vehicle navigation may be inaccurate, resulting in a deviation between the pre-planned driving path for the vehicle and the vehicle's actual driving path, which may threaten the safety of the vehicle during automatic driving.

[0053] For example, when the vehicle is driving automatically, the main road has three lanes and the secondary road has one lane. The pre-planned first driving path is for the vehicle to drive on the main road. However, the vehicle has already driven onto the secondary road. At this time, there is a deviation between the pre-planned driving path for the vehicle and the actual driving path of the vehicle. The domain controller will think that the vehicle is still driving on the main road. If the vehicle is about to turn right, it is necessary to drive into the rightmost lane in advance. There are often non-motorized vehicle lanes such as bicycle lanes on the secondary roads. The domain controller may control the vehicle to change lanes to the right. At this time, there will be a risk of a collision accident, threatening the safety of vehicles and pedestrians.

[0054] In another example, during the automatic driving process, the first driving path pre-planned is that the vehicle is driving on the elevated road. However, the actual driving path of the vehicle is under the elevated road, and the speed limit on the elevated road is often higher than that under the elevated road (for example, the speed limit on the elevated road is 80km / h, and the speed limit under the elevated road is 40km / h). If the vehicle is driving at a speed of 40km / h on a road with a speed limit of 80km / h, there will be a risk of rear-end collision with the vehicle behind. On the contrary, if the vehicle is driving at a speed of 80km / h on a road with a speed limit of 40km / h, it will cause the vehicle to exceed the speed limit, which may violate the rules and threaten the safety of other vehicles and pedestrians.

[0055] In order to solve the above technical problems, an embodiment of the present application provides a vehicle control method, which can be executed by an electronic control unit (ECU) in a vehicle, or by a domain controller related to automatic driving. Taking the domain controller as an example, when the domain controller controls the vehicle to automatically drive according to a pre-planned first driving path, it obtains the map environment data around the vehicle from the map data; according to the difference between the actual environment data around the vehicle and the map environment data, it determines whether the current actual driving path of the vehicle is consistent with the first driving path; if the actual driving path of the vehicle is inconsistent with the first driving path, a second driving path is planned for the vehicle, and the vehicle is controlled to drive automatically according to the second driving path.

[0056] In this way, the domain controller can promptly determine whether the actual driving path of the vehicle is consistent with the pre-planned driving path by comparing the actual environmental data around the vehicle with the map environmental data of the vehicle in the vehicle navigation. If they are inconsistent, it indicates that the vehicle has deviated from the pre-planned driving path. When it is found that the vehicle has deviated from the first driving path, the domain controller can plan a second driving path for the vehicle and adjust the driving plan in time according to the current environmental changes to ensure that the vehicle can continue to drive safely and efficiently, thereby improving the reliability and safety of automatic driving.

[0057] See also Figure 1 , Figure 1 is a flowchart of the steps of a vehicle control method provided by an embodiment of the present application. The execution subject of the method may be a domain controller related to automatic driving, such as Figure 1 As shown, the method may include the following steps.

[0058] Step 101 , in the process of controlling a vehicle to automatically travel along a pre-planned first driving path, obtaining map environment data around the vehicle from map data.

[0059] The first driving path refers to the driving route pre-planned by the vehicle. Map data refers to the geographic information stored in the vehicle navigation. Map environment data refers to specific environmental information that is closely related to the current location of the vehicle and can be extracted from the map data. Map environment data may include but is not limited to road type, road signs, number of lanes, traffic light data, speed limit information, intersection and building locations, etc.

[0060] Exemplarily, the first driving path may be a driving path generated by the vehicle navigation system according to the starting address and the destination address after the user inputs the starting address and the destination address in the vehicle navigation system. The first driving path may also be an initial driving path generated by the vehicle navigation system according to the starting address and the destination address, and the initial driving path is sent to the domain controller, and then the domain controller sends the initial driving path to the cloud map for path matching, thereby obtaining the first driving path, which is not limited to this.

[0061] In this implementation, the vehicle navigation generates a first driving path based on the starting address and destination address input by the user. When controlling the vehicle to automatically drive along the first driving path, the domain controller can obtain the vehicle's location information from the vehicle navigation, and determine the map environment data around the vehicle from the offline map data based on the vehicle's location information.

[0062] Exemplarily, during vehicle operation, the user inputs a starting address A and a destination address B on the vehicle navigation, and the vehicle navigation generates a first driving path AB based on the starting address A and the destination address B. Afterwards, the domain controller controls the vehicle to automatically drive along the first driving path AB. During automatic driving, the domain controller obtains the vehicle's position information C from the vehicle navigation in real time, and determines from the map data based on the vehicle's position information C that the map environment data around the vehicle is that the vehicle is driving in the middle lane of a three-lane road, there is an intersection 200 meters ahead, there is a traffic light at the intersection, and there is a gas station 100 meters to the right of the vehicle.

[0063] Step 102: Determine whether the actual driving path of the vehicle is consistent with the first driving path based on the difference between the actual environment data around the vehicle and the map environment data.

[0064] The actual environment data around the vehicle refers to various information directly perceived by the vehicle in the current environment, which may include but is not limited to road type, road signs, number of lanes, traffic light data, speed limit information, intersection and building locations, etc. The actual environment data can be obtained through cameras, laser radars or millimeter wave radars installed on the vehicle, without limitation.

[0065] In this implementation, after the domain controller obtains the map environment data around the vehicle from the map data, it can collect the actual environment data around the vehicle in real time through the camera, and compare the map environment data with the actual environment data to determine the degree of difference between the actual environment data around the vehicle and the map environment data. If the degree of difference between the actual environment data and the map environment data is large, it is determined that the actual driving path of the vehicle is inconsistent with the first driving path. On the contrary, if the degree of difference between the actual environment data and the map environment data is small or there is no difference, it is determined that the actual driving path of the vehicle is consistent with the first driving path.

[0066] For example, during the operation of the vehicle, the domain controller obtains the map environment data around the vehicle from the map data, which is that the vehicle is traveling in the middle lane of a three-lane road, there is an intersection 200 meters ahead, there is a traffic light at the intersection, and there is a gas station 100 meters to the right of the vehicle. Afterwards, the domain controller can collect the actual environment data around the vehicle in real time through the camera, and the real-time environment is that the vehicle is traveling in the middle lane of a three-lane road, there is an intersection 200 meters ahead, there is a traffic light at the intersection, and there is a gas station 100 meters to the right of the vehicle. The map environment data and the actual environment data are compared to determine that there is no difference between the actual environment data and the map environment data, and then determine that the actual driving path of the vehicle is consistent with the first driving path.

[0067] In another exemplary embodiment, during the operation of the vehicle, the domain controller obtains the map environment data around the vehicle from the map data, which is that the vehicle is traveling in the middle lane of the three-lane road, there is an intersection 100 meters ahead, and there is no traffic light at the intersection. Afterwards, the domain controller can collect the actual environment data around the vehicle in real time through the camera, and the real-time environment is that the vehicle is traveling in the middle lane of the three-lane road, there is an intersection 200 meters ahead, and there is a traffic light at the intersection. The map environment data and the actual environment data are compared, and it is determined that the difference between the actual environment data and the map environment data is large, and then it is determined that the actual driving path of the vehicle is inconsistent with the first driving path.

[0068] Step 103: If the actual driving path of the vehicle is inconsistent with the first driving path, a second driving path is planned for the vehicle, and the vehicle is controlled to automatically drive according to the second driving path.

[0069] The second driving path refers to a new driving path recalculated and planned by the domain controller for the vehicle when the actual driving path of the vehicle is inconsistent with the pre-planned first driving path.

[0070] In one embodiment, during the automatic driving of the vehicle, after determining that the actual driving path of the vehicle is inconsistent with the first driving path, the domain controller collects the actual environment data in real time through the camera, and determines the current position of the vehicle based on the actual environment data and the Global Positioning System (GPS). Afterwards, the domain controller can re-plan a second driving path for the vehicle based on the current position of the vehicle, the actual environment data, the destination address, the traffic flow in the current time period, etc., and control the vehicle to automatically drive according to the second driving path.

[0071] Exemplarily, during the operation of the vehicle, after determining that the actual driving path of the vehicle is inconsistent with the first driving path, the domain controller can collect the actual environment data in real time through the camera, further determine the current position of the vehicle based on the actual environment data and GPS, and determine multiple driving paths from the map data based on the current position of the vehicle, destination address, traffic flow, road condition information and other data. Afterwards, the vehicle navigation can configure attribute information for each driving path based on the actual environment data and the traffic flow in the current time period, and different driving paths have different attribute information. Furthermore, the domain controller can obtain the attribute information corresponding to each driving path from the vehicle navigation, and match a second driving path corresponding to the user's needs from multiple driving paths according to the target needs entered by the user in the vehicle navigation, and display the second driving path on the vehicle navigation, and control the vehicle to automatically drive along the second driving path.

[0072] For example, during the operation of the vehicle, the domain controller collects the actual environment data in real time through the camera, determines the current location of the vehicle based on the actual environment data and GPS, and plans driving routes A, B and C for the vehicle from the map data based on the current location, destination address, traffic flow, road condition information and other data of the vehicle, and obtains the attribute information of each driving route. For example, the attribute information of driving route A is the shortest total time and high cost; the attribute information of driving route B is the longest total time and fewer traffic lights; the attribute information of driving route C is the medium total time and more traffic lights. If the user's target demand is the shortest time, the domain controller can display driving route A on the car navigation and control the vehicle to automatically drive along driving route A. If the user's target demand is fewer traffic lights, the domain controller can display driving route B on the car navigation and control the vehicle to automatically drive along driving route B.

[0073] In another embodiment, during the automatic driving of the vehicle, after determining that the actual driving path of the vehicle is inconsistent with the first driving path, the domain controller collects the actual environment data in real time through the camera, and determines the current location information of the vehicle based on the actual environment data and GPS. Afterwards, the domain controller can plan at least one driving path for the vehicle based on the current location information of the vehicle, the actual environment data, the map data, the destination address, and the traffic flow in the current time period, and display each driving path on the central control screen where the vehicle navigation is located. The user can select a target driving path from multiple driving paths according to his or her needs. Afterwards, the domain controller controls the vehicle to automatically drive according to the target driving path.

[0074] In the embodiment of the present application, the domain controller obtains the map environment data around the vehicle from the map data while controlling the vehicle to automatically drive according to the pre-planned first driving path; determines whether the actual driving path of the vehicle is consistent with the first driving path based on the difference between the actual environment data around the vehicle and the map environment data; if the actual driving path of the vehicle is inconsistent with the first driving path, plans a second driving path for the vehicle, and controls the vehicle to automatically drive according to the second driving path. In this way, the domain controller can timely determine whether the actual driving path of the vehicle is consistent with the pre-planned driving path by comparing the difference between the actual environment data around the vehicle and the map environment data of the vehicle in the vehicle navigation. If they are inconsistent, it indicates that the vehicle has deviated from the pre-planned driving path. When it is found that the vehicle has deviated from the first driving path, the domain controller can plan a second driving path for the vehicle, and can adjust the driving plan in time according to the current environmental changes to ensure that the vehicle can continue to drive safely and efficiently, thereby improving the reliability and safety of automatic driving.

[0075] Optionally, determining whether the current actual driving path of the vehicle is consistent with the first driving path according to the difference between the actual environment data around the vehicle and the map environment data includes:

[0076] Determine whether the vehicle is in a complex road condition based on map environment data or actual environment data;

[0077] If the vehicle is in a complex road condition, whether the actual driving path is consistent with the first driving path is determined based on the difference between the actual environment data and the map environment data.

[0078] Among them, complex road conditions refer to that the environment and roads around the vehicle are relatively complex. For example, complex road conditions may include but are not limited to viaducts, tunnels, construction sections, traffic congestion sections, etc.

[0079] In one implementation, the domain controller may obtain a preset field from the map environment data and determine whether the preset field is a valid field value. If the preset field is a valid field value, it is determined that the vehicle is in a complex road condition. After determining that the vehicle is in a complex road condition, the domain controller determines whether the actual driving path is consistent with the first driving path based on the difference between the actual environment data and the map environment data.

[0080] Exemplarily, during the automatic driving of the vehicle, the domain controller can obtain the preset field has_parallel_road from the map environment data in the vehicle navigation, which represents the road condition of the vehicle at this time. For example, if has_parallel_road = 0, it means that the preset field is an invalid field value, indicating that the road condition of the vehicle at this time is relatively simple; if has_parallel_road is not equal to 0, it means that the preset field is a valid field value. For example, if has_parallel_road = 1, it means that the road condition of the vehicle at this time is an elevated road condition; if has_parallel_road = 2, it means that the road condition of the vehicle at this time is a construction section. After determining that the vehicle is in a complex road condition, the domain controller determines whether the actual driving path is consistent with the first driving path based on the difference between the actual environment data and the map environment data.

[0081] It should be noted that the preset fields and the field values ​​corresponding to the preset fields may be pre-set by R&D personnel during the vehicle R&D stage, and there is no limitation on this.

[0082] In another embodiment, the domain controller may obtain the actual environment data around the vehicle in real time based on the sensors arranged on the vehicle, and determine whether the vehicle is in a complex road condition based on the actual environment data. After determining that the vehicle is in a complex road condition, the domain controller determines whether the actual driving path is consistent with the first driving path based on the difference between the actual environment data and the map environment data.

[0083] For example, during the automatic driving of the vehicle, the domain controller can obtain the actual environmental data around the vehicle from the camera in real time, including road type, number of lanes, intersections, etc. Afterwards, it is determined whether the current vehicle is traveling on a complex road condition such as an elevated bridge section, a traffic congestion section, or a construction section based on the real-time environmental data. If it is determined that the vehicle is currently traveling on a complex road condition, it is determined whether the actual driving path is consistent with the first driving path based on the difference between the actual environmental data and the map environmental data.

[0084] In an embodiment of the present application, the domain controller can determine whether the vehicle is in a complex road condition based on the map environment data or the actual environment data; if the vehicle is in a complex road condition, it determines whether the actual driving path is consistent with the first driving path based on the difference between the actual environment data and the map environment data. In this way, the domain controller first determines whether the vehicle is in a complex road condition based on the map environment data or the actual environment data around the vehicle. If the vehicle is not in a complex road condition, it means that the vehicle is currently in a relatively simple and stable driving environment. The domain controller does not need to frequently compare the actual environment data with the map environment data, thereby reducing the consumption of computing resources. When it is determined that the vehicle is in a complex road condition, the domain controller can promptly discover and respond to the difference between the actual driving path and the preset first driving path by accurately comparing the actual environment data with the map environment data, which is conducive to the vehicle to quickly adapt to changes in actual road conditions, thereby enhancing driving safety and flexibility.

[0085] Optionally, determining whether the actual driving path is consistent with the first driving path according to the difference between the actual environment data and the map environment data includes:

[0086] For each first road data, compare the first road data with a corresponding second road data to obtain a corresponding comparison result; the comparison result indicates whether the first road data is consistent with the corresponding second road data;

[0087] When the comparison results corresponding to each first road data are consistent, it is determined that the first driving path is consistent with the actual driving path.

[0088] The actual environment data includes a plurality of first road data of the first driving path; the first road data may include but is not limited to the number of lanes, road type, road signs, signal light data, speed limit information, etc. The map environment data includes a second road data corresponding to each first road data; the second road data may include but is not limited to the number of lanes, road type, road signs, signal light data, speed limit information, etc. The first road data and the second road data correspond one to one.

[0089] Exemplarily, when determining whether the first road data is consistent with the corresponding second road data, the domain controller may compare whether the first road data and the corresponding second road data are completely consistent, or compare whether the similarity between the first road data and the corresponding second road data is greater than a preset similarity. If it is greater than the preset similarity, it indicates that the first road data is consistent with the corresponding second road data. Of course, the domain controller can also determine the critical data and non-critical data in the road data. For critical data, the domain controller can compare whether the first road data and the corresponding second road data are completely consistent; for non-critical data, the domain controller can compare whether the similarity between the first road data and the corresponding second road data is greater than a preset similarity. For example, the domain controller can determine the number of lanes, road type, and road signs as critical data, and traffic light data and speed limit data as non-critical data.

[0090] In this embodiment, after acquiring the map environment data and the actual environment data, the domain controller can determine a plurality of first road data from the map environment data, and determine a plurality of second road data from the actual environment data. Afterwards, the domain controller can compare the first road data with the corresponding second road data for each first road data, thereby obtaining a corresponding comparison result. When the comparison result corresponding to each first road data indicates that the first road data is consistent with the corresponding second road data, it is determined that the first driving path is consistent with the actual driving path.

[0091] For example, during the automatic driving process of the vehicle, after obtaining the map environment data and the actual environment data, the domain controller can determine multiple first road data from the map environment data, including the number of first lanes, the first road type, and the first signal light data, and determine multiple second road data from the actual environment data, including the number of second lanes, the second road type, and the second signal light data. Afterwards, the domain controller can compare the number of first lanes with the number of second lanes, and compare the first road type with the second road type, and compare the first signal light data with the second signal light data.

[0092] For example, if the domain controller determines that the first lane number and the second lane number are consistent, the first road type and the second road type are consistent, and the first signal light data and the second signal light data are consistent, then it is determined that the first driving path and the actual driving path are consistent.

[0093] For another example, if the domain controller determines that the first lane number and the second lane number are consistent, the first signal light data and the second signal light data are consistent, but the first road type and the second road type are inconsistent, then it is determined that the first driving path and the actual driving path are inconsistent.

[0094] For another example, if the domain controller determines that the number of first lanes and the second lane number are consistent, the first road type and the second road type are consistent, the first signal light data and the second signal light data are inconsistent, but the difference between the countdown of the first signal light data and the countdown of the second signal light data is 3 seconds, which is less than the preset difference of 5 seconds, then it is determined that the first driving path and the actual driving path are consistent.

[0095] In the embodiment of the present application, the domain controller compares the first road data with a corresponding second road data for each first road data to obtain a corresponding comparison result; when the comparison result corresponding to each first road data indicates that the first road data is consistent with a corresponding second road data, it is determined that the first driving path is consistent with the actual driving path. By comparing multiple first road data with each second road data corresponding to the multiple first road data, the domain controller can promptly discover the deviation between the actual driving path and the planned path, thereby promptly correcting the driving direction of the vehicle, preventing the vehicle from deviating from the planned route, and ensuring driving safety.

[0096] Optionally, for each first road data, the first road data is compared with a corresponding second road data to obtain a corresponding comparison result, including: according to the priority of multiple first road data, for each first road data in turn, the first road data is compared with a corresponding second road data to obtain a corresponding comparison result; when the comparison results corresponding to each first road data are consistent, it is determined that the first driving path and the actual driving path are consistent, including: during the comparison process, if it is detected that the comparison result corresponding to one of the first road data is inconsistent, then it is determined that the first driving path and the actual driving path are inconsistent.

[0097] Optionally, controlling the vehicle to automatically travel according to the second driving path includes:

[0098] Acquire auxiliary data of the second driving path from the server;

[0099] Based on the auxiliary data, the vehicle is controlled to automatically travel according to the second driving path.

[0100] Among them, R&D personnel can pre-store map data with high accuracy on the server. Auxiliary data refers to more detailed road information, latitude and longitude information, road slope information, curvature information, traffic flow, road construction conditions, etc.

[0101] In this embodiment, after acquiring the second driving path of the vehicle, the domain controller sends the second driving path to the cloud server, and acquires auxiliary data corresponding to the second driving path from the cloud server according to the second driving path. Afterwards, the domain controller controls the vehicle to drive automatically based on the auxiliary data and the second driving path.

[0102] Exemplarily, during the process of automatic driving, the destination of the vehicle is a shopping mall in the city center. The vehicle navigation has planned a second driving path from the current location to the shopping mall, and the second driving path includes multiple intersections, traffic lights, and possible crosswalks. The domain controller sends the second driving path (such as the starting point, the end point, key points of the path, etc.) to the cloud server. After receiving the second driving path, the cloud server generates auxiliary data corresponding to the second driving path based on the high-precision map data, real-time traffic information, weather and road slope information stored therein. For example, the server may provide real-time traffic flow on the current second driving path, the status of the upcoming traffic lights, road construction information, and obstacles or special events that may affect the vehicle's driving. After receiving the auxiliary data sent by the cloud server, the domain controller combines the second driving path and the auxiliary data to start controlling the automatic driving of the vehicle.

[0103] For example, if the auxiliary data indicates that there is a traffic jam ahead, the domain controller may slow down in advance or choose a detour route. For another example, if the weather data shows that it will rain, the domain controller may adjust the vehicle's speed to increase the braking distance to ensure driving safety. For another example, when approaching an intersection, the domain controller will use high-precision map data and real-time traffic information to accurately determine when to turn or go straight, and how to safely cross the crosswalk.

[0104] In the embodiment of the present application, the domain controller can obtain auxiliary data of the second driving path from the server; and based on the auxiliary data, control the vehicle to automatically drive according to the second driving path. The domain controller obtains auxiliary data corresponding to the first driving path from the high-precision map data. Based on the high-precision map and real-time traffic information in the auxiliary data, the vehicle can dynamically adjust the driving path, avoid congested sections, select the optimal path, and shorten the driving time. The auxiliary data provides the vehicle with rich environmental information, enabling the vehicle to make more intelligent decisions, such as smoothly accelerating, decelerating, or changing lanes at the right time, thereby improving driving efficiency.

[0105] Optionally, based on the auxiliary data, controlling the vehicle to automatically drive according to the second driving path includes:

[0106] determining first data from the map environment data;

[0107] determining second data from the auxiliary data;

[0108] Based on the actual environment data, the first data and the second data, the vehicle is controlled to automatically travel according to the second driving path.

[0109] The first data is data not included in the actual environment data and the auxiliary data; the second data is data not included in the actual environment data and the map environment data.

[0110] In this embodiment, the domain controller determines first data that is not included in either the actual environment data or the auxiliary data from the map environment data; and determines second data that is not included in either the actual environment data or the map environment data from the auxiliary data; thereafter, the domain controller controls the vehicle to automatically drive according to the second driving path based on the actual environment data, the first data, and the second data.

[0111] For example, if the actual environment data includes the road type, the vehicle position in the current lane, the position of the pedestrian in front, the turn signal of the nearby vehicle, etc.; the map environment data includes the road type, the number of lanes, the speed limit sign, the intersection, etc.; the auxiliary data includes real-time traffic flow, accident reports, weather warnings (such as rain, snow, fog), and road construction notices. During the automatic driving of the vehicle, the domain controller determines the first data from the map environment data as the number of lanes, speed limit signs, and intersections; further, the domain controller determines the second data from the auxiliary data as real-time traffic flow, accident reports, weather warnings (such as rain, snow, fog), and road construction notices. After that, the domain controller controls the vehicle to automatically drive according to the second driving path based on the road type, the vehicle position in the current lane, the position of the pedestrian in front, the turn signal of the nearby vehicle in the actual environment data, the number of lanes, speed limit signs, intersections in the map environment data, and the real-time traffic flow, accident reports, weather warnings, road construction notices, etc. in the second data.

[0112] In an embodiment of the present application, the domain controller determines the first data from the map environment data; and at the same time determines the second data from the auxiliary data; then, based on the actual environment data, the first data, and the second data, the vehicle is controlled to automatically travel according to the second driving path. Among them, the first data is data that is not included in the actual environment data and the auxiliary data; the second data is data that is not included in the actual environment data and the map environment data. In this way, the domain controller can obtain more comprehensive and richer driving environment information by integrating three different types of data sources (actual environment data, map environment data, and auxiliary data), so as to more accurately understand the current road conditions. By comprehensively analyzing the map environment data, the actual environment data, and the auxiliary data, the domain controller can select the optimal driving path, avoid congested sections, and improve driving efficiency.

[0113] Optionally, controlling the vehicle to automatically travel according to the second driving path includes:

[0114] Sending a second driving route to the server;

[0115] If the third driving path sent by the server is received, the vehicle is controlled to drive automatically according to the third driving path; wherein the third driving path is a driving path obtained by the server by correcting the second driving path when a deviation occurs in the second driving path.

[0116] In this embodiment, after determining the second driving path, the domain controller sends the second driving path to the server. During the driving process of the vehicle, the cloud server can compare the second driving path with the pre-stored target driving path. If it is determined that the second driving path deviates, that is, it is inconsistent with the target driving path, the second driving path is corrected to obtain a third driving path. Afterwards, the server sends the third driving path to the domain controller. After receiving the third driving path, the domain controller controls the vehicle to automatically drive according to the third driving path.

[0117] Exemplarily, after the vehicle starts the automatic driving mode, the domain controller controls the vehicle to drive automatically according to the second driving path, and sends the second driving path to the server. After receiving the second driving path, the server will immediately compare it with the pre-stored, optimized target driving path. The server finds that the second driving path is impassable 500 meters ahead due to road construction. The server will correct the second driving path based on the latest traffic information and road conditions to generate a new and more reasonable third driving path. Once the correction is completed, the server will immediately send the information of the third driving path back to the domain controller. After receiving the third driving path, the domain controller will immediately adjust the current driving strategy to ensure that the vehicle can travel along the new path.

[0118] Correspondingly, if the domain controller does not receive the third driving path sent by the server, it continues to automatically drive according to the second driving path.

[0119] In an embodiment of the present application, the domain controller sends a second driving path to the server; if the domain controller receives a third driving path sent by the server, the vehicle is controlled to automatically drive according to the third driving path; wherein the third driving path is a driving path obtained by the server by correcting the second driving path when a deviation occurs in the second driving path. Considering that the server has more comprehensive traffic information and road data, it can more accurately evaluate the pros and cons of different paths, thereby generating a more reasonable driving path. By having the server make real-time corrections to the second driving path, it can ensure that the vehicle can quickly adjust its driving strategy when encountering an emergency, and choose a better path to continue moving forward, which can prevent the vehicle from mistakenly entering dangerous areas, such as construction sections, accident-prone areas, etc., thereby reducing the risk of traffic accidents.

[0120] Optionally, for each first road data, comparing the first road data with a corresponding second road data to obtain a corresponding comparison result includes:

[0121] determining at least one first target data from a plurality of first road data, and determining second target data corresponding to the first target data from the second road data;

[0122] For one of the first target data, if the first target data is inconsistent with the corresponding second target data, determine that the comparison result is inconsistent;

[0123] Or,

[0124] Determine at least one third target data among the multiple first road data other than the multiple first target data, and determine the fourth target data corresponding to the third target data from the second road data;

[0125] For one of the third target data, if the similarity between the third target data and the corresponding fourth target data is less than the preset similarity, determine that the comparison result is inconsistent.

[0126] Wherein, the first target data refers to the key data in the actual environment data, the second target data refers to the key data in the map environment data corresponding to the first target data; the third target data refers to the non-key data in the actual environment data; the fourth target data refers to the non-key data in the map environment data corresponding to the third target data.

[0127] Exemplarily, the key data may include but is not limited to the number of lanes, road type, road signs; the non-key data may include but is not limited to signal light data and speed limit data. The similarity between the third target data and the corresponding fourth target data can be calculated by various methods such as cosine similarity, Manhattan distance or Euclidean distance. Of course, it can also be calculated by other methods, and this is not limited.

[0128] In one implementation, the domain controller can determine at least one first target data from the multiple first road data, and determine the second target data corresponding to the first target data from the second road data. Then, the domain controller can compare each first target data with the second target data corresponding to the first target data. For one of the first target data, if the first target data is inconsistent with the corresponding second target data, determine that the comparison result corresponding to the first target data is inconsistent.

[0129] Exemplarily, during the automatic driving process of the vehicle, after the domain controller obtains the map environment data and the actual environment data, it can determine that the first target data is the number of first lanes and the first road type; at the same time, it determines that the second target data is the number of second lanes and the second road type. Afterwards, the domain controller detects through the sensor that the vehicle currently has 4 lanes, that is, the number of first lanes is 4; the first road type is a highway. At the same time, the domain controller determines through the vehicle navigation that the number of lanes is 3, that is, the number of second lanes is 3; the second road type is a highway. Further, the domain controller can determine that the number of first lanes is inconsistent with the corresponding number of second lanes, and then determine that the comparison result corresponding to the first target data is inconsistent, that is, the first driving path and the actual driving path are inconsistent.

[0130] In another embodiment, the domain controller can determine at least one third target data other than the multiple first target data from the multiple first road data, and determine the fourth target data corresponding to the third target data from the second road data; for one of the third target data, if the similarity between the third target data and the corresponding fourth target data is less than a preset similarity, the comparison result corresponding to the third target data is determined to be inconsistent.

[0131] For example, during the automatic driving process of the vehicle, it is assumed that the domain controller detects through the sensor that the countdown of the third signal light of the current road section (i.e., the third target data) is 5 seconds, but the domain controller determines through the vehicle navigation that the countdown of the fourth signal light of the road section (i.e., the fourth target data) is 10 seconds. The similarity between the countdown of the third signal light and the countdown of the fourth signal light is calculated. It is assumed that the similarity calculation result is 0.4, which is lower than the preset similarity threshold of 0.7. Therefore, the domain controller determines that there is a significant difference between the two data, and determines that the comparison result corresponding to the third target data is inconsistent, that is, the first driving path and the actual driving path are inconsistent.

[0132] On the contrary, if the domain controller detects through the sensor that the countdown of the third signal light on the current road section is 5 seconds, the domain controller determines through the vehicle navigation that the countdown of the fourth signal light on the road section is 6 seconds. The similarity between the countdown of the third signal light and the countdown of the fourth signal light is calculated. Assuming that the similarity calculation result is 0.8, which is greater than the preset similarity threshold of 0.7, the domain controller determines that the comparison result corresponding to the third target data is consistent, that is, the first driving path is consistent with the actual driving path.

[0133] In an embodiment of the present application, the domain controller can ensure the consistency of road information, especially the key data that directly affects navigation and driving decisions, by comparing the first target data with the corresponding second target data. When the key data is inconsistent, the comparison result can be determined to be inconsistent, thereby avoiding incorrect route planning and potential safety risks, ensuring that the autonomous driving vehicle responds correctly in a complex road environment, and improving driving safety. For non-critical data, the domain controller can flexibly respond to real-time changes by calculating the similarity between the actual environment data and the map data. When the similarity is lower than the preset threshold, the comparison result is determined to be inconsistent. It is conducive to maintaining efficient adaptation in a dynamically changing environment, improving the fault tolerance of the system, and ensuring that a stable driving experience can still be provided under various conditions.

[0134] See also Figure 2 , Figure 2 1 is a flow chart of the steps of a vehicle control method provided by an embodiment of the present application. Figure 2 As shown, the method may include the following steps.

[0135] Step 201, controlling the vehicle to automatically travel along a pre-planned first driving path.

[0136] Step 202: Acquire map environment data around the vehicle from the map data.

[0137] Step 203, determine whether the vehicle is in a complex road condition based on the map environment data or the actual environment data; if so, execute step 204; otherwise, execute step 201.

[0138] Step 204 : for each first road data, compare the first road data with a corresponding second road data to obtain a corresponding comparison result.

[0139] Exemplarily, the actual environment data includes a plurality of first road data of the first driving path; the map environment data includes a second road data corresponding to each first road data; and the comparison result indicates whether the first road data is consistent with a corresponding second road data.

[0140] Step 205 , determining whether the comparison results corresponding to each first road data are consistent, if so, executing step 206 , otherwise, executing step 207 .

[0141] Step 206: Determine whether the first driving path is consistent with the actual driving path.

[0142] Step 207, planning a second driving path for the vehicle.

[0143] Step 208: Acquire auxiliary data of the second driving path from the server.

[0144] Exemplarily, the auxiliary data refers to more detailed road information, latitude and longitude information, road slope information, traffic flow, road construction conditions, etc.

[0145] Step 209, determining first data from the map environment data.

[0146] Exemplarily, the first data is data not included in the actual environment data and the auxiliary data.

[0147] Step 210: Determine second data from the auxiliary data.

[0148] Exemplarily, the second data is data not included in the actual environment data and the map environment data.

[0149] Step 211 , based on the actual environment data, the first data and the second data, the vehicle is controlled to automatically drive according to the second driving path.

[0150] It should be noted that the achievable methods and technical effects of each step in the embodiments of the present application can refer to the relevant contents in the above embodiments and will not be repeated here.

[0151] See also Figure 3 , Figure 3 It is a structural diagram of a vehicle control device provided in an embodiment of the present application. The vehicle control device can be set in a domain controller and can include: an acquisition module 301, a determination module 302 and a control module 303.

[0152] The acquisition module 301 is used to acquire the map environment data around the vehicle from the map data during the process of controlling the vehicle to automatically drive according to the pre-planned first driving path;

[0153] A determination module 302, configured to determine whether the current actual driving path of the vehicle is consistent with the first driving path according to the difference between the actual environment data around the vehicle and the map environment data;

[0154] The control module 303 is used to plan a second driving path for the vehicle if the actual driving path is inconsistent with the first driving path, and control the vehicle to automatically drive according to the second driving path.

[0155] Optionally, the determination module 302 is specifically used to determine whether the vehicle is in a complex road condition based on map environment data or actual environment data; if the vehicle is in a complex road condition, then determine whether the actual driving path is consistent with the first driving path based on the difference between the actual environment data and the map environment data.

[0156] Optionally, the actual environment data includes multiple first road data of the first driving path; the map environment data includes a second road data corresponding to each first road data; the determination module 302 is specifically used to compare the first road data with a corresponding second road data for each first road data to obtain a corresponding comparison result; the comparison result indicates whether the first road data is consistent with the corresponding second road data; when the comparison results corresponding to each first road data are consistent, it is determined that the first driving path is consistent with the actual driving path.

[0157] Optionally, the control module 303 is specifically configured to obtain auxiliary data of the second driving path from the server; and based on the auxiliary data, control the vehicle to automatically drive according to the second driving path.

[0158] Optionally, the control module 303 is specifically used to determine first data from map environment data; wherein the first data is data not included in the actual environment data and the auxiliary data; determine second data from the auxiliary data; wherein the second data is data not included in the actual environment data and the map environment data; based on the actual environment data, the first data and the second data, control the vehicle to automatically drive according to the second driving path.

[0159] Optionally, the control module 303 is specifically used to send a second driving path to the server; if a third driving path sent by the server is received, the vehicle is controlled to drive automatically according to the third driving path; wherein the third driving path is a driving path obtained by correcting the second driving path when a deviation occurs in the second driving path.

[0160] Optionally, the determination module 302 is specifically used to determine at least one first target data among multiple first road data, and to determine the second target data corresponding to the first target data from the second road data; for one of the first target data, if the first target data and the corresponding second target data are inconsistent, the comparison result is determined to be inconsistent; or, to determine at least one third target data other than the multiple first target data among the multiple first road data, and to determine the fourth target data corresponding to the third target data from the second road data; for one of the third target data, if the similarity between the third target data and the corresponding fourth target data is less than a preset similarity, the comparison result is determined to be inconsistent.

[0161] The vehicle control device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0162] It should be noted that the above vehicle control device is embodied in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0163] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0164] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0165] See also Figure 4 , Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0166] For example, Figure 4 As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a vehicle control method.

[0167] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle control method provided by an embodiment of the present application.

[0168] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0169] In the case of dividing each functional module according to each function, the device may also include a verification module, a processing module, a sending module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0170] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0171] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0172] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0173] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0174] This embodiment also provides a readable storage medium, in which executable program code is stored. When the executable program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0175] Among them, the computer-readable storage medium may include but is not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (DVD), compact disc read-only memory (CD-ROM), microdrives and magneto-optical disks, read-only memory (ROM), random access memory (RAM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), dynamic random access memory (DRAM), video random access memory (VRAM), flash memory devices, magnetic cards or optical cards, nano systems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0176] This embodiment also provides an executable program code product. When the executable program code product runs on a computer, the computer executes the above-mentioned related steps to implement a vehicle control method provided by the above embodiment.

[0177] Among them, the device, readable storage medium, executable program code product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0178] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0179] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0180] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: In the process of controlling the vehicle to automatically drive along the pre-planned first driving path, acquiring map environment data around the vehicle from the map data; determining whether a current actual driving path of the vehicle is consistent with the first driving path according to a difference between the actual environment data around the vehicle and the map environment data; If the actual driving path is inconsistent with the first driving path, a second driving path is planned for the vehicle, and the vehicle is controlled to drive automatically according to the second driving path.

2. The method according to claim 1, characterized in that The determining, based on the difference between the actual environment data around the vehicle and the map environment data, whether the current actual driving path of the vehicle is consistent with the first driving path includes: Determining whether the vehicle is in a complex road condition according to the map environment data or the actual environment data; If the vehicle is in the complex road condition, it is determined whether the actual driving path is consistent with the first driving path based on the difference between the actual environment data and the map environment data.

3. The method according to claim 2, characterized in that The actual environment data includes a plurality of first road data of the first driving path; the map environment data includes a second road data corresponding to each of the first road data; and determining whether the actual driving path is consistent with the first driving path according to the difference between the actual environment data and the map environment data includes: For each of the first road data, comparing the first road data with a corresponding one of the second road data to obtain a corresponding one of the comparison results; the comparison result indicates whether the first road data is consistent with the corresponding one of the second road data; When the comparison results corresponding to each of the first road data are consistent, it is determined that the first driving path is consistent with the actual driving path.

4. The method according to claim 1, characterized in that: The step of controlling the vehicle to automatically travel according to the second travel path includes: Acquire auxiliary data of the second driving path from a server; Based on the auxiliary data, the vehicle is controlled to automatically travel according to the second driving path.

5. The method according to claim 4, characterized in that The step of controlling the vehicle to automatically drive according to the second driving path based on the auxiliary data includes: Determining first data from the map environment data; wherein the first data is data not included in the actual environment data and the auxiliary data; Determining second data from the auxiliary data; wherein the second data is data not included in the actual environment data and the map environment data; Based on the actual environment data, the first data and the second data, the vehicle is controlled to automatically drive according to the second driving path.

6. The method according to claim 1, characterized in that The step of controlling the vehicle to automatically travel according to the second travel path includes: Sending the second driving path to the server; If the third driving path sent by the server is received, the vehicle is controlled to drive automatically according to the third driving path; wherein the third driving path is a driving path obtained by the server by correcting the second driving path when a deviation occurs in the second driving path.

7. The method according to claim 3, characterized in that The step of comparing, for each of the first road data, the first road data with a corresponding one of the second road data to obtain a corresponding comparison result includes: determining at least one first target data from the plurality of first road data, and determining second target data corresponding to the first target data from the second road data; For one of the first target data, if the first target data and the corresponding second target data are inconsistent, determining that the comparison result is inconsistent; or, determining at least one third target data other than the first target data from the plurality of first road data, and determining fourth target data corresponding to the third target data from the second road data; For one of the third target data, if the similarity between the third target data and the corresponding fourth target data is less than a preset similarity, it is determined that the comparison result is inconsistent.

8. A vehicle control device, characterized in that: The device comprises: An acquisition module, used to acquire map environment data around the vehicle from map data during the process of controlling the vehicle to automatically drive along a pre-planned first driving path; a determination module, configured to determine whether the current actual driving path of the vehicle is consistent with the first driving path according to a difference between the actual environment data around the vehicle and the map environment data; A control module is used to plan a second driving path for the vehicle if the actual driving path is inconsistent with the first driving path, and control the vehicle to automatically drive according to the second driving path.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A readable storage medium, characterized in that: The readable storage medium stores executable program codes, and when the executable program codes are executed, the method according to any one of claims 1 to 7 is implemented.

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