A vehicle control method, device, vehicle and readable storage medium

Abstract

The application provides a vehicle control method and device, a vehicle and a readable storage medium, and belongs to the technical field of vehicle. The method comprises the following steps: obtaining map environment data around the vehicle from map data in the process of controlling the vehicle to automatically travel along a first planned travel path; determining whether the actual travel path of the vehicle is consistent with the first travel path according to the difference between the actual environment data around the vehicle and the map environment data; if the actual travel path is not consistent with the first travel path, a second travel path is planned for the vehicle, and the vehicle is controlled to automatically travel according to the second travel path. In the application, whether the actual travel path of the vehicle is consistent with the first planned travel path is determined, if not, it indicates that the vehicle deviates from the first planned travel path, a second travel path is planned for the vehicle, the travel plan can be adjusted in time according to the current environment change, and the safety of automatic travel is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and more particularly, to a vehicle control method, device, vehicle and readable storage medium in the technical field of vehicles. BACKGROUND

[0002] With the development of vehicle technology, automatic driving has been widely applied. However, when the vehicle automatically drives in a complex road environment, the deviation between the driving path planned in advance for the vehicle and the actual driving path of the vehicle may occur, which may threaten the safety of the vehicle. Therefore, there is an urgent need for a vehicle control method that can improve the safety of the vehicle during automatic driving. SUMMARY

[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, which comprises:

[0005] In the process of controlling the vehicle to automatically drive according to a first driving path planned in advance, map environment data around the vehicle is obtained from map data;

[0006] According to the difference between the actual environment data around the vehicle and the map environment data, it is determined whether the actual driving path of the vehicle at present is consistent with the first driving path;

[0007] If the actual driving path is not consistent 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.

[0008] In the present application, the domain controller can determine whether the actual driving path of the vehicle is consistent with the first driving path planned in advance by comparing the difference between the actual environment data around the vehicle and the map environment data in the navigation of the vehicle machine. If they are not consistent, it indicates that the vehicle deviates from the first driving path planned in advance. When it is found that the vehicle deviates from the first driving path, the domain controller can plan a second driving path for the vehicle, which can adjust the driving plan in time according to the current environmental change, ensure that the vehicle can continue to drive safely and efficiently, and improve the reliability and safety of automatic driving.

[0009] In combination with the first aspect, in some possible implementation manners, according to the difference between the actual environment data around the vehicle and the map environment data, it is determined whether the actual driving path of the vehicle at present is consistent with the first driving path, which comprises:

[0010] According to the map environment data or the actual environment data, it is determined whether the vehicle is in a complex road condition;

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

[0012] In the embodiments of the present application, the domain controller first determines whether the vehicle is in a complex road condition according to the map environment data or the actual environment data around the vehicle. If the vehicle is not in a complex road condition, it indicates 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 and 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 timely discover and respond to the difference between the actual driving path and the preset first driving path by accurately comparing the actual environment data and the map environment data, which is conducive to the vehicle quickly adapting to the change of the actual road condition, thereby enhancing the safety and flexibility of driving.

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

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

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

[0016] In the embodiments of the present application, by comparing the plurality of first road data and each second road data corresponding to the plurality of first road data, the domain controller can timely discover the deviation between the actual driving path and the planned path, thereby timely correcting the driving direction of the vehicle, avoiding the vehicle deviating from the predetermined route, and ensuring the driving safety.

[0017] In combination with the first aspect, in some possible implementation manners, the vehicle is controlled to automatically drive according to the second driving path, including:

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

[0019] Controlling the vehicle to automatically drive according to the second driving path based on the auxiliary data.

[0020] In the embodiments of the present application, the domain controller can obtain the auxiliary data of the second driving path from the server, and control the vehicle to automatically drive according to the second driving path based on the auxiliary data. The domain controller obtains the auxiliary data corresponding to the first driving path from the map data with high precision, and 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 road sections, select the optimal path, and shorten the driving time. The auxiliary data provides rich environmental information for the vehicle, so that the vehicle can make more intelligent decisions, such as smooth acceleration, deceleration or lane changing at the right time, and improve driving efficiency.

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

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

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

[0025] In the embodiments of the present application, the domain controller can obtain more comprehensive and rich 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 road sections, and improve driving efficiency.

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

[0027] sending the second driving path to the server;

[0028] if the third driving path sent by the server is received, controlling the vehicle to automatically drive according to the third driving path; wherein the third driving path is a driving path obtained by correcting the second driving path by the server when the second driving path deviates.

[0029] In the embodiments of the present application, considering that the server generally has more comprehensive traffic information and road data, the advantages and disadvantages of different paths can be more accurately evaluated, so as to generate more reasonable driving paths. Through real-time correction of the second driving path by the server, it can be ensured that the vehicle can quickly adjust the driving strategy when encountering an emergency, select a more optimal path to continue driving, and avoid the vehicle from entering a dangerous area such as a construction section, an accident-prone area, and the like, thereby reducing the risk of traffic accidents.

[0030] In combination with the first aspect, in some possible implementation manners, for each first road data, the first road data is compared with the corresponding second road data to obtain a corresponding comparison result, including:

[0031] determining at least one first target data in the 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 in the plurality of first road data except the plurality of first target 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, determining that the comparison result is inconsistent.

[0036] In the embodiments of the present application, the domain controller can ensure the consistency of road information by comparing the first target data with the corresponding second target data, especially the key data that directly affects the navigation and driving decision. When the key data is inconsistent, it can be determined that the comparison result is inconsistent, thereby avoiding incorrect route planning and potential safety risks, ensuring that the autonomous vehicle can make correct responses in complex road environments, and improving driving safety. For non-key data, the domain controller can flexibly cope with real-time changes by calculating the similarity between the actual environment data and the map data. When the similarity is lower than a preset threshold, it is determined that the comparison result is inconsistent. This is conducive to maintaining high efficiency in a dynamically changing environment, improving the fault tolerance of the system, and ensuring stable driving experience under various conditions.

[0037] In a second aspect, a vehicle control device is provided, which includes:

[0038] acquire, from the map data, map environment data of surroundings of the vehicle;

[0039] determine, according to a difference between the actual environment data of the surroundings of the vehicle and the map environment data, whether the actual travel path of the vehicle currently is consistent with the first travel path;

[0040] control, if the actual travel path is not consistent with the first travel path, the vehicle to plan a second travel path, and control the vehicle to automatically travel according to the second travel path.

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

[0042] a processor for invoking and running the executable program code from the memory, so that the vehicle executes the method in any possible implementation manner of the first aspect.

[0043] In a fourth aspect, an executable program code product is provided, which includes executable program code, when the executable program code is run on a computer, so that the computer executes the method in any possible implementation manner of the first aspect.

[0044] In a fifth aspect, a readable storage medium is provided, which stores executable program code, when the executable program code is run on a computer, so that the computer executes the method in any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

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

[0046] Figure 2 is a step flow chart 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 by an embodiment of the present application;

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

[0049] The technical solutions in the present application will be clearly and completely described below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0050] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features.

[0051] At present, with the development of vehicle technology, automatic driving has been widely applied. In the process of automatic driving, the vehicle controller can control the vehicle to automatically drive according to the pre-planned driving path, so as to reduce the operation burden of the driver in the driving process and relieve the driving fatigue.

[0052] However, when the vehicle automatically drives in a complex road environment, due to the low accuracy of the car navigation, the positioning information of the vehicle in the car navigation may not be accurate, which may cause the deviation between the pre-planned driving path of the vehicle and the actual driving path of the vehicle, and thus the safety of the vehicle in the process of automatic driving may be threatened.

[0053] For example, in the process of automatic driving of the vehicle, the main road has three lanes and the auxiliary road has one lane. The pre-planned first driving path is for the vehicle to drive on the main road, but the vehicle has already driven on the auxiliary road. At this time, the deviation occurs between the pre-planned driving path of the vehicle and the actual driving path of the vehicle, and the domain controller considers that the vehicle is still driving on the main road. If the front is about to turn right and needs to drive into the rightmost lane in advance, there are often bicycle lanes and other non-motor vehicle lanes on the auxiliary road. The domain controller may control the vehicle to change lanes to the right, which may cause a risk of collision accident at this time, threatening the safety of the vehicle and pedestrians.

[0054] For another example, in the process of automatic driving of the vehicle, the pre-planned first driving path is for the vehicle to drive on the viaduct, but the actual driving path of the vehicle is under the viaduct. The speed limit on the viaduct is often higher than that under the viaduct (such as 80 km / h on the viaduct and 40 km / h under the viaduct). If the vehicle drives at a speed of 40 km / h on the road with a speed limit of 80 km / h, there is a risk of rear-end collision of the vehicle. Conversely, if the vehicle drives at a speed of 80 km / h on the road with a speed limit of 40 km / h, the vehicle will drive at a speed exceeding the speed limit, which is a violation and a risk to the safety of other vehicles and pedestrians.

[0055] To solve the above technical problems, the vehicle control method provided by the embodiment of the application can be executed by an electronic control unit (ECU) in the vehicle or a domain controller related to automatic driving. Taking the domain controller as an example, the domain controller obtains map environment data around the vehicle from map data in the process of controlling the vehicle to automatically drive according to a first driving path planned in advance; determines whether the 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; if the actual driving path of the vehicle is not consistent 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.

[0056] In this way, the domain controller can determine whether the actual driving path of the vehicle is consistent with the first driving path planned in advance by comparing the difference between the actual environment data around the vehicle and the map environment data in the navigation of the vehicle. If the actual driving path of the vehicle is not consistent with the first driving path, it indicates that the vehicle deviates from the first driving path planned in advance. When it is found that the vehicle deviates from the first driving path, the domain controller can plan a second driving path for the vehicle, can adjust the driving plan in a timely manner according to the current environmental change, and ensure that the vehicle can continue to drive safely and efficiently, thereby improving the reliability and safety of automatic driving.

[0057] Referring to Figure 1 , Figure 1 is a step flowchart of a vehicle control method provided by the embodiment of the application. The execution subject of the method can be a domain controller related to automatic driving. As shown in Figure 1 , the method can include the following steps.

[0058] Step 101, in the process of controlling the vehicle to automatically drive according to a first driving path planned in advance, map environment data around the vehicle is obtained from map data.

[0059] The first driving path refers to a driving route planned in advance by the vehicle. The map data refers to geographic information stored in the navigation of the vehicle. The map environment data refers to specific environment information closely related to the current position of the vehicle and can be extracted from the map data. The map environment data can include but is not limited to road type, road sign, number of lanes, traffic signal data, speed limit information, intersection and building position, etc.

[0060] For example, the first driving path can be a driving path generated by the car navigation according to the start address and the destination address after the user inputs the start address and the destination address in the car navigation. The first driving path can also be an initial driving path generated by the car navigation according to the start 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, so as to obtain the first driving path, which is not limited.

[0061] In this embodiment, the car navigation generates the first driving path according to the start address and the destination address input by the user, and the domain controller can obtain the position information of the vehicle from the car navigation during the process of controlling the vehicle to automatically drive according to the first driving path, and determine the map environment data around the vehicle from the offline map data according to the position information of the vehicle.

[0062] For example, during the operation of the vehicle, the user inputs the start address A and the destination address B on the car navigation, and the car navigation generates the first driving path AB according to the start address A and the destination address B, and then the domain controller controls the vehicle to automatically drive according to the first driving path AB, and during the automatic driving process, the domain controller obtains the position information C of the vehicle from the car navigation in real time, and determines the map environment data around the vehicle from the map data according to the position information C of the vehicle, which is that the vehicle drives on the middle lane of a three-lane road, there is an intersection 200 meters ahead, there is a signal light at the intersection, and there is a gas station 100 meters to the right of the vehicle.

[0063] In step 102, whether the actual driving path of the vehicle is consistent with the first driving path is determined according to 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 in the current environment of the vehicle, which can include but is not limited to road type, road sign, number of lanes, traffic signal data, speed limit information, intersection and building position, etc. The actual environment data can be obtained by the camera, laser radar or millimeter wave radar installed on the vehicle, which is not limited.

[0065] In this embodiment, after the domain controller obtains the map environment data around the vehicle from the map data, the actual environment data around the vehicle can be collected in real time by the camera, and the map environment data and the actual environment data are compared to determine the difference between the actual environment data around the vehicle and the map environment data. If the 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 not consistent with the first driving path. On the contrary, if the 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 running of the vehicle, the domain controller obtains the map environment data of the surroundings of the vehicle from the map data, which is that the vehicle runs on the middle lane of a three-lane road, there is an intersection 200 meters ahead, the intersection has a traffic light, and there is a gas station 100 meters to the right of the vehicle. Then, the domain controller can collect the actual environment data of the surroundings of the vehicle in real time through the camera, which is that the vehicle runs on the middle lane of a three-lane road, there is an intersection 200 meters ahead, the intersection has a traffic light, 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, and it is determined that there is no difference between the actual environment data and the map environment data, and thus it is determined that the actual running path of the vehicle is consistent with the first running path.

[0067] For another example, during the running of the vehicle, the domain controller obtains the map environment data of the surroundings of the vehicle from the map data, which is that the vehicle runs on the middle lane of a three-lane road, there is an intersection 100 meters ahead, and the intersection has no traffic light. Then, the domain controller can collect the actual environment data of the surroundings of the vehicle in real time through the camera, which is that the vehicle runs on the middle lane of a three-lane road, there is an intersection 200 meters ahead, and the intersection has a traffic light. 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 thus it is determined that the actual running path of the vehicle is inconsistent with the first running path.

[0068] In step 103, if the actual running path of the vehicle is inconsistent with the first running path, a second running path is planned for the vehicle, and the vehicle is controlled to automatically run according to the second running path.

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

[0070] In an embodiment, during the automatic running of the vehicle, after determining that the actual running path of the vehicle is inconsistent with the first running path, the domain controller collects the actual environment data in real time through the camera, and determines the current position of the vehicle according to the actual environment data and a global positioning system (GPS). Then, the domain controller can plan a second running path for the vehicle according to the current position of the vehicle, the actual environment data, the destination address, the traffic flow of the current time period, and the like, and control the vehicle to automatically run according to the second running path.

[0071] Exemplarily, during the running of the vehicle, the domain controller can collect actual environment data in real time through the camera after determining that the actual driving path of the vehicle is inconsistent with the first driving path, further determine the current position of the vehicle according to the actual environment data and the GPS, and determine a plurality of driving paths from the map data according to the current position of the vehicle, the destination address, the traffic flow, the road condition information and the like. Then, the car navigation can configure attribute information for each driving path according to the actual environment data and the traffic flow of the current time period, and different driving paths have different attribute information. Further, the domain controller can obtain the attribute information corresponding to each driving path from the car navigation, match a second driving path corresponding to the target demand of the user from the plurality of driving paths according to the target demand input by the user in the car navigation, and display the second driving path on the car navigation to control the vehicle to automatically drive according to the second driving path.

[0072] For example, during the running of the vehicle, the domain controller collects actual environment data in real time through the camera, determines the current position of the vehicle according to the actual environment data and the GPS, and plans driving path A, driving path B and driving path C for the vehicle from the map data according to the current position of the vehicle, the destination address, the traffic flow, the road condition information and the like, and obtains the attribute information of each driving path. For example, the attribute information of driving path A is that the total time length is the shortest and the cost is relatively high; the attribute information of driving path B is that the total time length is the longest and the traffic lights are relatively few; and the attribute information of driving path C is that the total time length is medium and the traffic lights are relatively many. If the target demand of the user is the shortest time, the domain controller can display driving path A on the car navigation and control the vehicle to automatically drive according to driving path A. If the target demand of the user is relatively few traffic lights, the domain controller can display driving path B on the car navigation and control the vehicle to automatically drive according to driving path B.

[0073] In another embodiment, during the automatic driving of the vehicle, the domain controller can collect actual environment data in real time through the camera after determining that the actual driving path of the vehicle is inconsistent with the first driving path, and determine the current position information of the vehicle according to the actual environment data and the GPS. Then, the domain controller can plan at least one driving path for the vehicle according to the current position information of the vehicle, the actual environment data, the map data, the destination address and the traffic flow of the current time period, display each driving path on the center screen where the car navigation is located, and the user can select a target driving path from the plurality of driving paths according to the demand of the user. Then, the domain controller controls the vehicle to automatically drive according to the target driving path.

[0074] In the embodiments of the present application, the domain controller obtains map environment data around the vehicle from the map data in the process of controlling the vehicle to automatically travel along the first travel path planned in advance; determines whether the actual travel path of the vehicle is consistent with the first travel path according to the difference between the actual environment data around the vehicle and the map environment data; if the actual travel path of the vehicle is not consistent with the first travel path, a second travel path is planned for the vehicle, and the vehicle is controlled to automatically travel according to the second travel path. In this way, the domain controller can determine whether the actual travel path of the vehicle is consistent with the travel path planned in advance in a timely manner by comparing the difference between the actual environment data around the vehicle and the map environment data in the navigation of the vehicle. If they are not consistent, it indicates that the vehicle deviates from the travel path planned in advance. When it is found that the vehicle deviates from the first travel path, the domain controller can plan a second travel path for the vehicle, which can adjust the travel plan in a timely manner according to the current environmental changes, ensure that the vehicle can continue to travel safely and efficiently, and improve the reliability and safety of automatic travel.

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

[0076] determining whether the vehicle is in a complex road condition according to the map environment data or the actual environment data.

[0077] If the vehicle is in a complex road condition, determining whether the actual travel path is consistent with the first travel path according to the difference between the actual environment data and the map environment data.

[0078] The complex road condition refers to the environment and road around the vehicle being relatively complex, for example, the complex road condition can include but is not limited to viaducts, tunnels, construction road sections, traffic congestion road sections, etc.

[0079] In an embodiment, the domain controller can 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 travel path is consistent with the first travel path according to 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 a preset field has_parallel_road from the map environment data in the car navigation, which represents the road condition where the vehicle is currently located. For example, if has_parallel_road = 0, it means that the preset field is an invalid field value, indicating that the road condition where the vehicle is currently located 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 where the vehicle is currently located is an elevated road condition; if has_parallel_road = 2, it means that the road condition where the vehicle is currently located is a construction road section. After determining that the vehicle is in a complex road condition, the domain controller determines whether the actual driving path and the first driving path are consistent according to the difference between the actual environment data and the map environment data.

[0081] It should be noted that the preset field and the field value corresponding to the preset field can be set by the developer in the development stage of the vehicle, and no limitation is made thereto.

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

[0083] Exemplarily, during the automatic driving of the vehicle, the domain controller can obtain the actual environment data around the vehicle in real time from the camera, including the road type, the number of lanes, the intersection, etc. Then, according to the real-time environment data, it is determined whether the current vehicle is driving on an elevated bridge road section, a traffic congestion road section, or a construction road section, etc. If it is determined that the vehicle is currently driving on a complex road condition, the domain controller determines whether the actual driving path and the first driving path are consistent according to the difference between the actual environment data and the map environment data.

[0084] In the embodiments of the present application, the domain controller can determine 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 a complex road condition, the domain controller determines 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. In this way, the domain controller first determines whether the vehicle is in a complex road condition according to the map environment data or the actual environment data around the vehicle, and if the vehicle is not in a complex road condition, it indicates 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 and 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 timely discover and respond to the difference between the actual driving path and the preset first driving path by accurately comparing the actual environment data and the map environment data, which is conducive to the vehicle quickly adapting to the changes in the actual road condition, thereby enhancing the safety and flexibility of driving.

[0085] Optionally, the 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 comprises:

[0086] For each first road data, the first road data and a corresponding second road data are compared 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 result corresponding to each first road data is consistent, it is determined that the first driving path and the actual driving path are consistent.

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

[0089] For example, when determining whether the first road data is consistent with the corresponding second road data, the domain controller can 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 the similarity 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 key data and non-key data in the road data. For the key data, the domain controller can compare whether the first road data and the corresponding second road data are completely consistent. For the non-key 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, the type of road, and the road sign as the key data, and the signal data and the speed limit data as the non-key data.

[0090] In this embodiment, after obtaining 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. Then, the domain controller can compare the first road data and the corresponding second road data for each first road data, so as to obtain the 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 of the vehicle, after obtaining the map environment data and the actual environment data, the domain controller can determine a plurality of first road data including the first number of lanes, the first type of road, and the first signal data from the map environment data, and determine a plurality of second road data including the second number of lanes, the second type of road, and the second signal data from the actual environment data. Then, the domain controller can compare the first number of lanes and the second number of lanes, compare the first type of road and the second type of road, and compare the first signal data and the second signal data.

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

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

[0094] 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, 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, it is determined that the first driving path and the actual driving path are consistent.

[0095] In the embodiment, the domain controller compares each first road data with a corresponding second road data to obtain a corresponding comparison result. When the comparison results of each first road data indicate that the first road data is consistent with the corresponding second road data, it is determined that the first driving path and the actual driving path are consistent. By comparing the plurality of first road data with each second road data corresponding to the plurality of first road data, the domain controller can timely find the deviation between the actual driving path and the planned path, so as to timely correct the driving direction of the vehicle, avoid the vehicle deviating from the predetermined route, and ensure the driving safety.

[0096] Optionally, comparing each first road data with a corresponding second road data to obtain a corresponding comparison result comprises: sequentially comparing each first road data with a corresponding second road data according to the priority of the plurality of first road data to obtain a corresponding comparison result; and when the comparison results of each first road data are consistent, it is determined that the first driving path and the actual driving path are consistent, which comprises: if it is detected that the comparison result of one of the first road data is inconsistent during the comparison, it is determined that the first driving path and the actual driving path are inconsistent.

[0097] Optionally, the vehicle is controlled to automatically drive according to the second driving path, which comprises:

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

[0099] controlling the vehicle to automatically drive according to the second driving path based on the auxiliary data.

[0100] In which, the map data with higher accuracy can be pre-stored on the server by the R&D personnel. The auxiliary data refers to more detailed road information, latitude and longitude information, road slope information, curvature information, traffic flow, road construction situation, etc.

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

[0102] Exemplarily, the vehicle is in the process of automatic driving, and the destination is a shopping center in the city center. The car navigation has planned a second driving path from the current location to the shopping center, and the second driving path contains a route with multiple intersections, traffic lights, and possibly pedestrian crossings. The domain controller sends the second driving path (such as the starting point, the ending point, the key points on the way, etc.) to the cloud server. After the cloud server receives the second driving path, it generates auxiliary data corresponding to the second driving path according to the high-precision map data, real-time traffic information, weather and road slope information and other data stored by the server. For example, the server can provide real-time traffic flow on the current second driving path, the state of the upcoming traffic light, road construction information, and obstacles or special events that may affect the driving of the vehicle. After the domain controller receives the auxiliary data sent by the cloud server, it starts to control the automatic driving of the vehicle in combination with the second driving path and the auxiliary data.

[0103] For example, if the auxiliary data indicates that there is traffic congestion ahead, the domain controller may slow down in advance or choose a detour route. For another example, if the weather data shows rain, the domain controller may adjust the driving speed of the vehicle to increase the braking distance and 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 pass through a pedestrian crossing.

[0104] In the embodiments of the present application, the domain controller can obtain auxiliary data of the second driving path from the server, and control the automatic driving of the vehicle according to the second driving path based on the auxiliary data. The domain controller obtains the auxiliary data corresponding to the first driving path from the high-precision map data, and 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 smooth acceleration, deceleration or lane changing at the right time, and improving driving efficiency.

[0105] Optionally, controlling the automatic driving of the vehicle according to the second driving path based on the auxiliary data comprises:

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

[0107] determining second data from the auxiliary data;

[0108] controlling the automatic driving of the vehicle according to the second driving path based on the actual environment data, the first data and the second data.

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

[0110] In this embodiment, the domain controller determines first data not included in the actual environment data and the auxiliary data from the map environment data, and determines second data not included in the actual environment data and the map environment data from the auxiliary data, and then controls the vehicle to automatically travel according to the second travel path based on the actual environment data, the first data and the second data.

[0111] For example, if the actual environment data includes road type, vehicle position in the current lane, position of pedestrians in front, turning signal of nearby vehicles, etc., the map environment data includes road type, number of lanes, speed limit sign, intersection, etc., and the auxiliary data includes real-time traffic flow, accident report, weather warning (such as rain, snow, fog), road construction notice. During the automatic travel of the vehicle, the domain controller determines the first data as the number of lanes, speed limit sign and intersection from the map environment data, and further determines the second data as real-time traffic flow, accident report, weather warning (such as rain, snow, fog), road construction notice from the auxiliary data, and then controls the vehicle to automatically travel according to the second travel path based on the road type, vehicle position in the current lane, position of pedestrians in front, turning signal of nearby vehicles in the actual environment data, the number of lanes, speed limit sign, intersection in the map environment data, and the real-time traffic flow, accident report, weather warning, road construction notice in the second data.

[0112] In the embodiment of the present application, the domain controller determines first data from the map environment data, and determines second data from the auxiliary data, and then controls the vehicle to automatically travel according to the second travel path based on the actual environment data, the first data and the second data. The first data is not included in the actual environment data and the auxiliary data, and the second data is not included in the actual environment data and the map environment data. In this way, the domain controller can obtain more comprehensive and rich travel 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 travel path to avoid congested road sections and improve travel efficiency.

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

[0114] sending the second travel path to the server;

[0115] if the third travel path sent by the server is received, controlling the vehicle to automatically travel according to the third travel path; wherein the third travel path is a travel path obtained by correcting the second travel path by the server when the second travel path deviates.

[0116] In this embodiment, the domain controller sends the second driving path to the server after determining the second driving path. During the driving 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. Then, 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] For example, after the vehicle starts the automatic driving mode, the domain controller controls the vehicle to automatically drive according to the second driving path and sends the second driving path to the server. After receiving the second driving path, the server immediately compares it with the pre-stored and optimized target driving path. The server finds that the second driving path cannot pass through the road construction at a distance of 500 meters in front. The server corrects the second driving path according to the latest traffic information and road conditions to generate a new and more reasonable third driving path. Once the correction is completed, the server immediately sends the information of the third driving path back to the domain controller. After receiving the third driving path, the domain controller immediately adjusts the current driving strategy to ensure that the vehicle can drive according to 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 the embodiment of the application, the domain controller sends the second driving path to the server. If the domain controller receives the third driving path sent by the server, it controls the vehicle to automatically drive according to the third driving path. The third driving path is a driving path obtained by correcting the second driving path when the second driving path deviates. Considering that the server has more comprehensive traffic information and road data, it can more accurately evaluate the advantages and disadvantages of different paths to generate a more reasonable driving path. By correcting the second driving path in real time, the server can ensure that the vehicle can quickly adjust the driving strategy when encountering unexpected situations and choose a better path to continue driving, which can avoid the vehicle from entering dangerous areas such as construction sections and accident-prone areas, thereby reducing the risk of traffic accidents.

[0120] Optionally, for each first road data, the first road data and a corresponding second road data are compared to obtain a corresponding comparison result, which includes:

[0121] At least one first target data in the plurality of first road data is determined, and a second target data corresponding to the first target data is determined from the second road data;

[0122] For one of the first target data, if the first target data and the corresponding second target data are inconsistent, it is determined that the comparison result is inconsistent.

[0123] Or,

[0124] At least one third target data is determined from the plurality of first road data except the plurality of first target data, and fourth target data corresponding to the third target data is determined 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, it is determined that the comparison result is inconsistent.

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

[0127] Exemplarily, the key data can include but is not limited to the number of lanes, road types, road signs; the non-key data can include but is not limited to signal lamp data and speed limit data. The similarity between the third target data and the corresponding fourth target data can be calculated by cosine similarity, Manhattan distance or Euclidean distance, and other ways can also be used for calculation, which is not limited.

[0128] In an embodiment, the domain controller can determine at least one first target data from the plurality of 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 and the second target data corresponding to the first target data, for one of the first target data, if the first target data and the corresponding second target data are inconsistent, it is determined that the comparison result corresponding to the first target data is inconsistent.

[0129] Exemplarily, during the automatic driving process of the vehicle, the domain controller can determine the first target data as the first lane number and the first road type after obtaining the map environment data and the actual environment data; meanwhile, determine the second target data as the second lane number and the second road type. Then, the domain controller detects that the current lane number of the vehicle is 4, i.e., the first lane number is 4, through the sensor; and the first road type is expressway. Meanwhile, the domain controller determines that the lane number is 3, i.e., the second lane number is 3, through the navigation of the vehicle machine; and the second road type is expressway. Further, the domain controller can determine that the first lane number is inconsistent with the corresponding second lane number, and then determine that the comparison result corresponding to the first target data is inconsistent, i.e., the first driving path is inconsistent with the actual driving path.

[0130] In another implementation, the domain controller can determine at least one third target data in the plurality of first road data other than the plurality of first target 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 the preset similarity, it is determined that the comparison result corresponding to the third target data is inconsistent.

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

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

[0133] In the embodiments of the present application, the domain controller can ensure the consistency of road information by comparing the first target data with the corresponding second target data, especially the key data that directly affects the navigation and driving decision. When the key data is inconsistent, the comparison result is determined to be inconsistent, thereby avoiding incorrect route planning and potential safety risks, ensuring that the autonomous vehicle makes correct responses in complex road environments, and improving driving safety. For non-key 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. This is conducive to maintaining high adaptability in a dynamically changing environment, improving the fault tolerance of the system, and ensuring stable driving experience under various conditions.

[0134] Referring to Figure 2 , Figure 2 is a step flowchart of a vehicle control method provided by the embodiments of the present application. As shown in Figure 2 , the method can include the following steps.

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

[0136] Step 202, obtaining map environment data around the vehicle from map data.

[0137] Step 203, determining whether the vehicle is in a complex road condition according to the map environment data or the actual environment data; if yes, performing step 204; otherwise, performing step 201.

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

[0139] Illustratively, 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 and the corresponding second road data are consistent.

[0140] Step 205, determining whether the comparison result corresponding to each first road data is consistent, if yes, performing step 206, otherwise, performing step 207.

[0141] Step 206, determining that the first driving path and the actual driving path are consistent.

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

[0143] Step 208, obtaining auxiliary data of the second driving path from a server.

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

[0145] In step 209, first data is determined from the map environment data.

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

[0147] In step 210, second data is determined from the auxiliary data.

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

[0149] In step 211, based on the actual environment data, the first data and the second data, the vehicle is controlled to automatically travel according to a second travel path.

[0150] It should be noted that the implementation manner and technical effects of each step in the embodiments of the present application can refer to the related content in the above embodiments, which will not be repeated here.

[0151] Referring to Figure 3 , Figure 3 is a structural schematic diagram of a vehicle control device provided by the embodiments of the present application. The vehicle control device can be arranged 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 configured to acquire map environment data around the vehicle from map data in a process of controlling the vehicle to automatically travel according to a first travel path planned in advance.

[0153] The determination module 302 is configured to determine whether an actual travel path of the vehicle is consistent with the first travel path according to a difference between actual environment data around the vehicle and the map environment data.

[0154] The control module 303 is configured to plan a second travel path for the vehicle and control the vehicle to automatically travel according to the second travel path if the actual travel path is not consistent with the first travel path.

[0155] Optionally, the determination module 302 is specifically configured to determine whether the vehicle is in a complex road condition according to the map environment data or the actual environment data, and determine whether the actual travel path is consistent with the first travel path according to the difference between the actual environment data and the map environment data if the vehicle is in the complex road condition.

[0156] Optionally, the actual environment data comprises a plurality of first road data of the first driving path; the map environment data comprises one second road data corresponding to each first road data; the determining module 302 is specifically configured to, for each first road data, compare the first road data with the corresponding one second road data to obtain a corresponding comparison result; the comparison result indicates whether the first road data is consistent with the corresponding one second road data; when the comparison result corresponding to each first road data is 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 the auxiliary data of the second driving path from the server; and control the vehicle to automatically drive according to the second driving path based on the auxiliary data.

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

[0159] Optionally, the control module 303 is specifically configured to send the second driving path to the server; if a third driving path sent by the server is received, control the vehicle to automatically drive according to the third driving path; wherein the third driving path is a driving path obtained by correcting the second driving path when the server finds that the second driving path deviates.

[0160] Optionally, the determining module 302 is specifically configured to determine at least one first target data in the plurality of first road data, and determine 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, it is determined that the comparison result is inconsistent; or, determine at least one third target data in the plurality of first road data except the plurality of first target data, and determine 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.

[0161] The vehicle control device provided in the embodiment can execute the method embodiments, and has similar implementation principles and technical effects, which will not be described here.

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

[0163] For example, the "module" can be a software program, a hardware circuit, or a combination of both, which implements the above functions. The hardware circuit can include an application specific integrated circuit (ASIC), an electronic circuit, a processor (for example, a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, and a combination 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 in an electronic hardware or a combination of computer software and electronic hardware. Whether the functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0165] Referring to Figure 4 , Figure 4 is a structural schematic diagram of a vehicle provided by an embodiment of the present application.

[0166] Exemplarily, as Figure 4 shown, the vehicle 400 includes a memory 401 and a processor 402, wherein the memory 401 stores executable program code 4011, and the processor 402 is configured to invoke 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 can include a memory and a processor, wherein the memory stores executable program code, and the processor is configured to invoke and execute the executable program code to perform a vehicle control method provided by an embodiment of the present application.

[0168] The embodiment can divide the device into functional modules according to the above method examples, for example, corresponding to each functional module, or two or more functions can be integrated into one processing module, and the integrated module can be realized in the form of hardware. It should be noted that the division of the modules in the embodiment is illustrative, and is only a logical function division. When actually implemented, another division mode can be used.

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

[0170] It should be understood that the apparatus provided by the embodiment is used to execute the vehicle control method described above, and thus the same effects as the implementation method described above can be achieved.

[0171] In the case of using the integrated unit, the apparatus can include a processing module and a storage module. When the apparatus is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes and the like.

[0172] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, combinations of digital signal processing (DSP) and microprocessors, and the like. The storage module can be a memory.

[0173] In addition, the apparatus provided by the embodiment of the present application can be a chip, a component or a module, which can include a connected processor and a memory. The memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute the vehicle control method provided by the above-mentioned embodiment.

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

[0175] The computer readable storage medium can include, but is not limited to, any type of disk including floppy disks, optical disks, Digital Video Disc (DVD), Compact Disc Read-Only Memory (CD-ROM), microdrive, and magneto-optical disk, 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 device, a magnetic or optical card, nanosystem (including molecular memory IC), or any type of media or device suitable for storing instructions and / or data.

[0176] The embodiment further provides an executable program code product, which, when running on a computer, causes the computer to execute the above related steps to realize the vehicle control method provided by the above embodiment.

[0177] The device, the readable storage medium, the executable program code product or the chip provided by the embodiment are all used for executing the corresponding method provided above, and thus the beneficial effects that can be achieved are referred to the beneficial effects of the corresponding method provided above, which will not be described herein again.

[0178] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0179] In the embodiments of the present disclosure, it should be understood that the disclosed apparatus and method can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic, and the division of the modules or units is merely a logical function division. In actual implementation, another division manner can be adopted, for example, a plurality of units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or in other forms.

[0180] The above merely describes specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present disclosure, which should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A vehicle control method characterized by, The method comprises: acquiring map environment data of surroundings of the vehicle from map data during automatic driving of the vehicle along a first planned driving path; determining whether an actual driving path of the vehicle is consistent with the first driving path according to a difference between the actual environment data of the surroundings of the vehicle and the map environment data; 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; wherein the actual environment data comprises a plurality of first road data of the first driving path, the map environment data comprises a second road data corresponding to each of the first road data, and the determination of whether the actual driving path is consistent with the first driving path according to the difference between the actual environment data of the surroundings of the vehicle and the map environment data comprises: comparing each of the first road data with the corresponding second road data to obtain a comparison result, the comparison result indicating whether the first road data is consistent with the corresponding second road data, and determining that the first driving path is consistent with the actual driving path when the comparison result corresponding to each of the first road data is consistent. The comparison of each of the first road data with the corresponding second road data to obtain a comparison result comprises: determining at least one first target data from the plurality of first road data and determining a second target data corresponding to the first target data from the second road data, determining that the comparison result is inconsistent if the first target data and the corresponding second target data are inconsistent, or determining at least one third target data from the plurality of first road data except for the first target data and determining a fourth target data corresponding to the third target data from the second road data, and determining that the comparison result is inconsistent if a similarity between the third target data and the corresponding fourth target data is less than a preset similarity.

2. The method of claim 1, wherein, The determination of whether the actual driving path is consistent with the first driving path according to the difference between the actual environment data of the surroundings of the vehicle and the map environment data comprises: 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, 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.

3. The method of claim 1, wherein, The automatic driving of the vehicle according to the second driving path comprises: acquiring auxiliary data of the second driving path from a server; controlling the vehicle to automatically drive according to the second driving path based on the auxiliary data.

4. The method of claim 3, wherein, The automatic driving of the vehicle according to the second driving path based on the auxiliary data comprises: 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; controlling the automatic driving of the vehicle according to the second driving path based on the actual environment data, the first data and the second data.

5. The method of claim 1, wherein, The automatic driving of the vehicle according to the second driving path comprises: sending the second driving path to a server; if a third driving path sent by the server is received, controlling the automatic driving of the vehicle according to the third driving path, wherein the third driving path is a driving path obtained by correcting the second driving path by the server when the second driving path deviates.

6. A vehicle control device characterized by comprising: The device comprises: an acquisition module configured to acquire map environment data around the vehicle from map data during the automatic driving of the vehicle according to a first driving path planned in advance; a determination module configured to determine whether an actual driving path of the vehicle is consistent with the first driving path according to a difference between actual environment data around the vehicle and the map environment data; a control module configured to plan a second driving path for the vehicle and control the automatic driving of the vehicle according to the second driving path if the actual driving path is not consistent with the first driving path; wherein the actual environment data comprises a plurality of first road data of the first driving path, the map environment data comprises one second road data corresponding to each of the first road data, and the determination module is specifically configured to compare each of the first road data with the 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, and the first driving path is determined to be consistent with the actual driving path when the comparison result corresponding to each of the first road data is consistent. The determination module is specifically configured to determine at least one first target data in the plurality of first road data and determine second target data corresponding to the first target data from the second road data, determine that the comparison result is inconsistent if the first target data and the corresponding second target data are inconsistent for one of the first target data, or determine at least one third target data in the plurality of first road data except for the first target data and determine fourth target data corresponding to the third target data from the second road data, and determine that the comparison result is inconsistent if a similarity between the third target data and the corresponding fourth target data is less than a preset similarity for one of the third target data.

7. A vehicle characterized by comprising: The vehicle comprises: a memory for storing executable program code; a processor for calling and running the executable program code from the memory, so that the vehicle performs the method according to any one of claims 1 to 5.

8. A readable storage medium, characterized by, The readable storage medium stores executable program code, and when the executable program code is executed, the method according to any one of claims 1 to 5 is implemented.

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