Vehicle control method

Abstract

The embodiment of the invention discloses a vehicle control method, and the method comprises the steps: receiving first environment information in a first range, which is collected by road end equipment; collecting second environment information; and generating control information for the vehicle based on the first environment information and the second environment information.

Description

Technical Field

[0001] This specification relates to the technical field of mobile control, and particularly to a vehicle control method. Background Art

[0002] In the field of mobile control, for example, in the field of autonomous driving, traditional intelligent connected vehicle autonomous driving solutions rely relatively heavily on information such as high-precision maps provided offline. However, in areas without high-precision maps, or where the environment changes and is inconsistent with the original high-precision map, certain difficulties will be encountered. The most difficult area is the intersection area. Even if the vehicle has an online road structure generation function that can be used immediately after acquisition, it is still inevitable that due to factors such as occlusion, insufficient observation will occur, resulting in the failure of the solution and the inability of autonomous driving to pass in this scenario.

[0003] Therefore, some embodiments of this specification propose a vehicle control method. Summary of the Invention

[0004] One embodiment of this specification provides a vehicle control method, the method comprising: receiving first environmental information within a first range collected by a roadside device; collecting second environmental information; generating control information for the vehicle based on the first environmental information and the second environmental information.

[0005] In some embodiments, the first environmental information includes at least one of road change information, traffic light information, construction road occupation information, traffic flow information, and the traffic flow trajectory within the first range when the traffic lights within the first range are abnormal.

[0006] In some embodiments, generating the control information for the vehicle based on the first environmental information and the second environmental information includes: generating first road information based on the road change information, the construction road occupation information, the high-precision map, and the second environmental information.

[0007] In some embodiments, further generating the control information for the vehicle based on the first environmental information and the second environmental information includes: generating a binding relationship between traffic lights and roads according to the traffic light information and the first road information.

[0008] In some embodiments, further generating the control information for the vehicle based on the first environmental information and the second environmental information includes: generating a movement strategy for the vehicle according to at least one of the first road information, the traffic flow trajectory, the binding relationship, and the traffic flow information.

[0009] In some embodiments, the method further includes: uploading at least one of the first road information, the binding relationship, and the movement strategy to a cloud device.

[0010] In some embodiments, the first environmental information includes: the binding relationship between the traffic lights and the road within the first range.

[0011] In some embodiments, the method further includes: determining whether there is an occlusion area based on the second environmental information; in response to the existence of an occlusion area, sending a request to the roadside device, the request including occlusion area information; receiving the environmental information corresponding to the occlusion area sent by the roadside device as the first environmental information.

[0012] One embodiment of this specification provides a vehicle control system, which includes: a receiving module for receiving first environmental information within a first range collected by a roadside device; a collecting module for collecting second environmental information; and a generating module for generating control information for the vehicle based on the first environmental information and the second environmental information.

[0013] One embodiment of this specification provides a vehicle control device, which includes a processor for executing the above-mentioned vehicle control method.

[0014] One embodiment of this specification provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions, the computer executes the above-mentioned vehicle control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] This specification will be further described by way of exemplary embodiments, which will be described in detail through the drawings. These embodiments are not restrictive. In these embodiments, the same numbers represent the same structures, where:

[0016] Figure 1 is a schematic diagram of an application scenario of an exemplary vehicle control system shown in some embodiments of this specification;

[0017] Figure 2 is an exemplary flowchart of a vehicle control method shown in some embodiments of this specification;

[0018] Figure 3 is a schematic diagram of an exemplary vehicle control method shown in some embodiments of this specification;

[0019] Figure 4 is another schematic diagram of an exemplary vehicle control method shown in some other embodiments of this specification;

[0020] Figure 5 is a module diagram of an exemplary vehicle control system shown in some embodiments of this specification. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] To more clearly illustrate the technical solutions of the embodiments of this specification, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, this specification can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the drawings represent the same structure or operation.

[0022] It should be understood that the "system", "device", "unit" and / or "module" used in this article is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the said words can be replaced by other expressions.

[0023] As shown in this specification and the claims, unless the context clearly indicates an exception, words such as "a", "an", "one" and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0024] Flowcharts are used in this specification to illustrate the operations performed by the system according to the embodiments of this specification. It should be understood that the previous or subsequent operations do not necessarily need to be executed precisely in sequence. On the contrary, the steps can be processed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or one or several steps can be removed from these processes.

[0025] Figure 1 is a schematic diagram of an application scenario of an exemplary vehicle control system according to some embodiments of this specification. The systems and methods in this application can be applied to mobile control scenarios, for example, autonomous driving scenarios (such as a pure driverless scenario without a driver, scenarios of an assisted driving module in a vehicle, etc.).

[0026] As Figure 1 shown, the application scenario 100 of the vehicle control system includes a roadside device 110, a cloud device 120, a vehicle 130, a storage device 140, and a network 150.

[0027] The roadside device 110 refers to a device installed around the road. In some embodiments, the roadside device 110 includes a variety of sensors and / or measurement devices, such as cameras, lidars, microwave / infrared sensors, ultrasonic sensors, GPS trackers (Global Positioning System Trackers), electromagnetic sensors, electricity meters, etc. In some embodiments, the roadside device 110 further includes a computing device, such as an embedded computing device, a single-board computer, an edge computing device, etc.

[0028] In some embodiments, the roadside device 110 can be set in a driving environment, such as on a building, on a lamp post, at an intersection, etc. In some embodiments, the roadside device 110 can be set in the activity area of a robot, such as on the ceiling of a robot work area, at the entrance / exit of a factory building, etc.

[0029] In some embodiments, the roadside device 110 can collect various data in the environment, such as images of the environment, radar point clouds of the environment, GPS position data, ultrasonic ranging data, traffic flow data, etc.

[0030] The above description of the roadside device is for illustrative purposes only and is not intended to limit the scope of this specification.

[0031] The cloud device 120 can be used to process data and / or information obtained from the roadside device 110, the vehicle 130, the storage device 140, and / or other components of the application scenario 100 of the vehicle control system, and analyze and / or process the data and / or information. For example, the cloud device 120 obtains various data in the environment from the roadside device 110 and / or the vehicle 130; and processes the various data in the environment.

[0032] In some embodiments, the cloud device 120 is a single server or a server group. The server group can be centralized or distributed. In some embodiments, the cloud device 120 can be local or remote. For example, the cloud device 120 can access information and / or data from the roadside device 110, the vehicle 130, and / or the storage device 140 through the network 150. In some embodiments, the cloud device 120 is implemented on a cloud platform. For example, the cloud platform includes a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, a multi-cloud, etc., or any combination thereof.

[0033] In some embodiments, the cloud device 120 and the roadside device 110 can be directly or indirectly connected and work together to implement the methods and / or functions described in this specification.

[0034] Vehicle 130 is a vehicle capable of autonomous or semi-autonomous movement. Vehicle 130 may include taxis, private cars, carpooling vehicles, shared cars, buses, etc., or any combination thereof. In some embodiments, a variety of sensors and / or measurement devices are installed on vehicle 130, such as, for example, lidar, radar, cameras, ultrasonic sensors, GPS, inertial measurement unit (IMU), etc. In some embodiments, vehicle 130 includes a processing device, such as, for example, an embedded device, a small computer, etc., disposed on vehicle 130.

[0035] Vehicle 130 may communicate with and / or be connected to roadside device 110, cloud device 120, and / or storage device 140.

[0036] Storage device 140 may store data, instructions, and / or any other information. In some embodiments, storage device 140 may store data obtained from roadside device 110, cloud device 120, vehicle 130, etc. (such as various data in the environment, etc.). In some embodiments, storage device 140 may store the data and / or instructions used by cloud device 120 to execute or use to complete the exemplary methods described in this specification.

[0037] In some embodiments, storage device 140 may include one or more storage components, and each storage component may be an independent device or a part of other devices. In some embodiments, storage device 140 may include random access memory (RAM), read only memory (ROM), mass storage, removable storage, volatile read-write memory, etc., or any combination thereof. In some embodiments, storage device 140 may be implemented on a cloud platform. In some embodiments, storage device 140 may be a part of roadside device 110, cloud device 120, and / or vehicle 130.

[0038] Network 150 may include any suitable network capable of facilitating information and / or data exchange. In some embodiments, at least one component of application scenario 100 of the vehicle control system (such as roadside device 110, cloud device 120, vehicle 130, and storage device 140) may exchange information and / or data with at least one other component in application scenario 100 of the vehicle control system through network 150. For example, cloud device 120 may obtain various data in the environment from roadside device 110 through network 150.

[0039] It should be noted that the above description of the application scenario 100 of the vehicle control system is provided for illustrative purposes only and is not intended to limit the scope of this specification. For those of ordinary skill in the art, various modifications or changes can be made according to the description of this specification. For example, the application scenario 100 of the vehicle control system can implement similar or different functions on other devices. However, these changes and modifications will not depart from the scope of this specification.

[0040] Figure 2 It is an exemplary flowchart of a vehicle control system according to some embodiments of this specification. In some embodiments, the process 200 can be executed by a vehicle. For example, the process 200 can be stored in a storage device (such as the vehicle's built-in storage unit or an external storage device) in the form of a program or instructions, and when the program or instructions are executed, the process 200 can be implemented. In some embodiments, the process 200 can include the following operations.

[0041] Step 210, receive first environmental information within a first range collected by a roadside device.

[0042] The first range refers to the area where the roadside device collects the first environmental information. In some embodiments, the first range includes areas with complex traffic conditions, such as intersections and crossroads, viaducts and overpasses, interchange highways, public transportation hubs, etc. In some embodiments, the first range includes areas that the vehicle 130 cannot directly observe, such as roads and / or intersection areas blocked by large vehicles, areas blocked by tall buildings in an urban canyon, areas blocked by the architectural structure of viaducts and / or overpasses on the road, areas blocked by mountains on mountain roads, etc.

[0043] The first environmental information refers to various data and / or information about the environment obtained by the roadside device.

[0044] In some embodiments, the first environmental information includes at least one of road change information, traffic light information, construction occupancy information, traffic flow information, and the traffic flow trajectory within the first range when the traffic lights in the first range are abnormal. In some embodiments, the first environmental information further includes weather conditions, vegetation coverage, temperature and humidity, etc.

[0045] In some embodiments, various data and / or information in the first environmental information are represented in the same coordinate system. In some embodiments, the roadside device unifies the first environmental information with the high-precision map generated offline or the map required for vehicle driving positioning and navigation in one coordinate system. The coordinate system can be one of the Universal Transverse Mercator Coordinate System, Local Map Coordinate System, Geographic Coordinate System, Vehicle Coordinate System, Vehicle Frame, etc. The coordinate system can be two-dimensional or three-dimensional, which is not limited herein.

[0046] In some embodiments, the original data of the environment can be obtained through sensors and / or measurement devices in the roadside device. The original data includes road element information, for example, the position information, shape, boundary, connection structure, category, etc. of the road elements. The road elements can include road structures, road surface elements (lane lines, stop lines, turning signs, road boundaries, etc.), roadside elements (street lights, signs, isolation belts, traffic lights, flower bed lights), vehicles and pedestrians on the road surface, as well as the position information, category, moving direction, moving speed, etc. of the vehicles and pedestrians. In some embodiments, the first environmental information can be obtained by analyzing and processing the original data of the environment through the computing device in the roadside device.

[0047] The change information of the road refers to the change information of the road-related elements. The road-related elements include road structures, signs, lane lines, etc. The change information of the road includes the location where the road changes, the road structure, signs, lane lines, etc. before and after the change.

[0048] In some embodiments, the real-time state of the road-related elements is obtained by fusing the detection results of the roadside device. For example, the real-time state of the road-related elements is obtained by fusing the detection results of the camera and the lidar. In some embodiments, the roadside device can compare the real-time state of the road-related elements with the corresponding road elements in the offline map. If the road-related elements (for example, the coordinates of the lane lines) change, the change information of the road is generated based on the offline map and the real-time state of the road-related elements. For example, the roadside device can input the real-time state of the road-related elements and the corresponding road elements in the offline map into a machine learning model to output the change information of the road.

[0049] The traffic light information includes signal status (which color light is on currently), countdown information, direction indication, whether it is damaged, etc.

[0050] In some embodiments, by connecting roadside devices (e.g., electricity meters) to traffic lights, information such as the current and voltage of the traffic lights will output signals to the roadside devices, thereby obtaining traffic light information. For example, if the voltage is high, it is determined that the corresponding light is on; if the voltage is low, it is determined that the corresponding light is off; if there is no current for a long time, it is determined that the traffic light is damaged. Another example is to judge the countdown numbers based on the current voltage information generated by the traffic light countdown timer, and combine the historical countdown information to generate a prediction of the current countdown information. The historical countdown information refers to the countdown situation of the traffic lights in the past cycles, which can be expressed in seconds, minutes or other time units. The historical countdown information of different traffic lights may be different. For example, for the straight-ahead traffic lights in the east-west direction at a certain intersection, the countdown period for the red light is 60 seconds, and the countdown period for the green light is 45 seconds.

[0051] In some embodiments, traffic light information can be obtained by analyzing raw data. For example, by analyzing image data and / or point clouds collected by cameras, radars, etc. at the roadside to obtain traffic light information.

[0052] The construction road occupation information refers to the relevant information provided to traffic participants during road construction. The construction road occupation information includes the location of the construction area, the size of the construction area, the occupied lanes, the boundaries of the construction area, etc.

[0053] In some embodiments, the roadside device obtains the construction road occupation information by analyzing and processing the raw data. For example, the roadside device performs object recognition based on data such as images and laser point clouds to identify construction signs, construction workers, engineering vehicles, etc. Another example is that the roadside device inputs data such as images and laser point clouds into a machine learning model to identify the construction road occupation area.

[0054] Traffic flow information includes traffic volume, vehicle speed, vehicle density, road occupancy rate, information about events and accidents occurring on the road, etc.

[0055] In some embodiments, the roadside device obtains traffic flow information through one or more of the following methods. By using image analysis technology to identify and track vehicles on the road, detecting information such as the contours and movement trajectories of vehicles, thereby obtaining traffic flow information. By using lidar for high-precision measurement to obtain information such as traffic volume, speed, and vehicle density. By using magnetic sensors buried on the ground to sense the magnetic field changes when vehicles pass through, so as to monitor the passing time and frequency of vehicles. Under bad weather or lighting conditions, by using microwave / infrared sensors to detect the microwave or infrared radiation of vehicles to achieve traffic volume monitoring.

[0056] A traffic flow trajectory refers to the trajectory or path left by a vehicle when moving on a road. In some embodiments, the traffic flow trajectory can be represented by position data when the vehicle is moving.

[0057] In some embodiments, the roadside device determines whether the traffic lights in the first range are abnormal according to the first environmental information. For example, if the electricity meter shows that a certain traffic light has no current for a long time, it is determined that the traffic light is abnormal.

[0058] In response to determining that the traffic lights in the first range are abnormal, the roadside device obtains the traffic flow trajectory (hereinafter referred to as the traffic flow trajectory) in the first range when the traffic lights in the first range are abnormal according to the first environmental information. For example, the roadside device identifies and locates the vehicles in the first range according to the first environmental information; models the movement of each vehicle through methods such as kinematic models and trajectory tracking algorithms, and predicts its future trajectory; comprehensively considers factors such as the mutual relationship between vehicles, intersections, and road curvature to predict the traffic flow trajectory.

[0059] The roadside device has a higher, larger, and more omni-directional field of view compared to vehicles. By providing the vehicle with real-time road change information, traffic light information, construction occupation information, traffic flow information, and the traffic flow trajectory in the first range when the traffic lights in the first range are abnormal based on the first environmental information, etc., it can make up for the visual defects of the vehicle due to being blocked and / or having a low field of view, provide more accurate and comprehensive environmental information for the vehicle, facilitate making more accurate predictions about the journey, and planning better moving routes.

[0060] In some embodiments, the roadside device sends the first environmental information to the vehicles entering the second range.

[0061] In some embodiments, the second range is the same as the first range. In some embodiments, the second range is a larger range than the first range. For example, the first range is an area within a radius of 10 meters around an intersection, and the second range is an area within a radius of 100 meters around the intersection. Another example is that for narrow and curved lanes, urban canyons, mountain roads, etc., the first range is a certain turning point, and the first range is the turning point and the section approaching the turning point.

[0062] The vehicles entering the second range refer to the vehicles whose positions are within the second range. For example, vehicles entering or about to enter a certain intersection range, vehicles entering or about to enter a certain viaduct range.

[0063] In some embodiments, the roadside device can send the first environmental information to the vehicles entering the second range by means of broadcasting. In some embodiments, the roadside device can also send the first environmental information to the vehicles entering the second range through technologies suitable for short-distance communication such as Bluetooth and near-field communication.

[0064] Sending the first environmental information to a larger range of vehicles can give more vehicles sufficient time for pre-judgment.

[0065] Step 220, collect the second environmental information.

[0066] The second environmental information refers to various data and / or information about the environment obtained by the vehicle. In some embodiments, the various data and / or information in the second environmental information are represented in the same coordinate system. In some embodiments, the vehicle unifies the second environmental information with a high-precision map generated offline or a map required for vehicle driving positioning and navigation in one coordinate system.

[0067] In some embodiments, the location corresponding to the second environmental information is the same as that corresponding to the first environmental information. For example, they are both data and / or information of a certain intersection. In some embodiments, the field of view ranges corresponding to the second environmental information and the first environmental information are different. For example, the field of view range of the second environmental information is the front view field of view and / or the side view field of view of a certain vehicle at a certain intersection, and the field of view range of the first environmental information is the bird's-eye view of the intersection, etc.

[0068] In some embodiments, the original data of the environment can be obtained through sensors and / or measuring devices in the vehicle. In some embodiments, the second environmental information can be obtained by analyzing and processing the original data of the environment through a computing device in the vehicle.

[0069] Step 230, generate control information for the vehicle based on the first environmental information and the second environmental information.

[0070] The control information for the vehicle refers to information used to manipulate, guide, or affect the behavior of the vehicle. The control information for the vehicle can include navigation instructions, speed control, steering angle, planned route, etc.

[0071] The vehicle fuses the first environmental information and the second environmental information in the same coordinate system to generate control information for the vehicle.

[0072] In some embodiments, the vehicle generates the first road information based on road change information, construction occupation information, high-precision map, and the second environmental information.

[0073] For example, as Figure 3 shown, the vehicle inputs information such as road change information, construction occupation information, high-precision map, and the second environmental information into an online map generation model, and the online map generation model processes these information to obtain the first road information.

[0074] The second environmental information collected online by the vehicle through its own sensors may be incomplete due to being blocked, or the high-precision map may not include road change information due to untimely update. Therefore, the road information obtained online based on the second environmental information and the high-precision map will be inaccurate, which will affect the generation of the movement strategy and further affect the normal driving of the vehicle.

[0075] By adding the road change information and construction road occupation information of the roadside device, the second environmental information and the high-precision map can be assisted and supplemented to improve the accuracy of online determining the road information.

[0076] In some embodiments, the vehicle generates the binding relationship between the traffic lights and the road based on the traffic light information and the first road information.

[0077] The binding relationship between the traffic lights and the road includes the corresponding relationship between the traffic lights and the lanes; and / or the current traffic state (passable or prohibited) of each lane. For example, at a certain intersection, the binding relationship between the traffic lights and the road includes the corresponding relationship between the left-turn light and 2 left-turn lanes; and / or the current traffic state of the 2 left-turn lanes is passable. In some embodiments, the binding relationship between the traffic lights and the road further includes the currently lit color of the traffic lights, countdown information, etc. For example, the binding relationship between the traffic lights and the road further includes that the currently lit color is red and the countdown information is 38 seconds, etc.

[0078] In some embodiments, as Figure 4 shown, the vehicle combines the traffic light information provided by the roadside device with the first road information as input, inputs the binding relationship generation model, and generates the binding relationship between the traffic lights and the road online. This helps to make up for the missing and unstable problems of vehicle observation.

[0079] In some embodiments, as Figure 4 shown, the vehicle generates a movement strategy based on at least one of the first road information, traffic flow trajectory, binding relationship, and traffic flow information.

[0080] A movement strategy refers to a planned or expected movement mode. Movement strategies include stopping, maintaining a lane, changing lanes, etc. For example, according to the binding relationship, if the traffic state of the lane where the vehicle is currently located is prohibited, the generated movement strategy is to stop. Another example is that according to the binding relationship, the traffic states of the current straight lane and the adjacent straight lane where the vehicle is located are passable. According to the traffic flow information, the flow rate of the current straight lane is slower than that of the adjacent straight lane, then the generated movement strategy includes changing lanes to the adjacent straight lane. Another example is that when the traffic lights are abnormal, the vehicle cannot judge the road traffic state based on the traffic light information, resulting in the inability to generate a movement strategy and the vehicle cannot move normally. When the traffic lights are abnormal, the roadside device can sense and observe a large number of vehicles within the first range, thereby analyzing the traffic flow trajectory, and then distributing the predicted traffic flow trajectory to the vehicle, so that the vehicle can use the traffic flow trajectory as an auxiliary reference to generate a movement strategy and pass through the first range normally without traffic light indication.

[0081] The control information includes at least one of first road information, the binding relationship between traffic lights and roads, and movement strategies.

[0082] In some embodiments, the vehicle further uploads at least one of road information, binding relationship, and movement strategies to the cloud device. In some embodiments, when other vehicles enter or are about to enter the first range, they can obtain the environmental information of the first range from the cloud.

[0083] In some embodiments, determining the binding relationship between traffic lights and roads can be performed by the roadside device. This can reduce the vehicle's data processing volume and relieve the vehicle's data processing pressure. The roadside device determines the binding relationship between traffic lights and roads according to the traffic light information and the second road information within the preset range.

[0084] The second road information is the road information detected by the roadside device.

[0085] In some embodiments, the roadside device determines the binding relationship between traffic lights and roads according to the traffic light information, historical countdown information, and road information. For example, the historical countdown information of the red light is 60 seconds. When it is detected that the red light countdown is 1s, 2s, 3s, the binding relationship between traffic lights and roads for 4s - 60s is generated according to the countdown rule.

[0086] In some embodiments, the roadside device continuously detects whether there is an update in the traffic light and road information; if there is an update, the binding relationship is updated. For example, when the traffic light color changes, the traffic light countdown period changes, or the road structure changes (when the tidal road changes the traffic direction), the binding relationship is updated.

[0087] Without passing through the vehicle, the roadside device directly determines and / or updates the binding relationship between the traffic lights and the road based on the traffic light information and road information detected by itself, which can improve the efficiency of vehicle control.

[0088] In some embodiments, the vehicle determines whether there is an occlusion area based on the second environmental information. For example, the vehicle determines whether there is an occlusion area by comparing the second environmental information with the high-precision map.

[0089] In response to the existence of an occlusion area, the vehicle sends a request to the roadside device, and the request includes occlusion area information. The occlusion area information includes the position, size, category, observation angle, etc. of the occlusion area.

[0090] In some embodiments, in response to receiving the request sent by the vehicle, the roadside device sends the environmental information corresponding to the occlusion area to the vehicle.

[0091] Sending the environmental information based on the vehicle's request and only sending the environmental information of the occlusion area can reduce the communication volume and improve the efficiency of vehicle control.

[0092] Figure 5 It is a block diagram of an exemplary vehicle control system shown according to some embodiments of this specification.

[0093] As Figure 5 shown, in some embodiments, the vehicle control system 500 may include a receiving module 510, a collecting module 520, and a generating module 530.

[0094] The receiving module 510 may be used to receive the first environmental information within the first range collected by the roadside device. For more content about the acquisition of the first environmental information, reference can be made to step 210 and its related description.

[0095] The collecting module 520 may be used to collect the second environmental information. For more content about the collection of the second environmental information, reference can be made to step 220 and its related description.

[0096] The generating module 530 may be used to generate control information for the vehicle based on the first environmental information and the second environmental information. For more content about the generation of the control information for the vehicle, reference can be made to step 230 and its related description.

[0097] It should be understood that Figure 5The system and its modules shown can be implemented in various ways. For example, they can be implemented through hardware, software, or a combination of software and hardware. The system and its modules in this specification can be implemented not only by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips and transistors, or programmable hardware devices such as field programmable gate arrays and programmable logic devices, but also by software executed by various types of processors, or by a combination of the above hardware circuits and software (e.g., firmware).

[0098] Some embodiments of this specification: 1) By fusing roadside information and the information observed by the vehicle, real-time and comprehensive environmental information can be obtained. The vehicle generates a movement strategy based on the environmental information, which can ensure the vehicle passes safely and smoothly; 2) Upload the fused environmental information to the cloud, so that other vehicles passing through this area can directly obtain the fused environmental information, which is beneficial to improving efficiency; 3) By determining the binding relationship between traffic lights and roads by roadside devices and sending the binding relationship to the vehicle, the vehicle can directly apply the binding relationship for movement control, which can reduce the vehicle's data processing volume, relieve the vehicle's data processing pressure, and improve the vehicle's efficiency; 4) When the traffic lights are abnormal, the roadside device predicts the traffic flow trajectory and then distributes the predicted traffic flow trajectory to the vehicle. So that the vehicle can use the traffic flow trajectory as an auxiliary reference to generate a movement strategy in the absence of traffic light instructions and pass through the first range normally, improving the vehicle's ability to independently respond to abnormal traffic light scenarios and its ability to independently perform movement control; 5) Based on the vehicle's request, the roadside device only sends the environmental information of the occluded area to the vehicle, which can reduce the communication volume and improve the efficiency of vehicle data processing.

[0099] It should be noted that the above description of the system and its modules is only for convenience of description and is illustrative, and does not limit this specification to the scope of the examples given. It can be understood that for those skilled in the art, after understanding the principle of the system, they may, without departing from this principle, make any combination of the various modules, or form a subsystem and connect it with other modules.

[0100] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are proposed in this specification, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this specification.

[0101] Meanwhile, this specification uses specific terms to describe the embodiments of this specification. For example, "an embodiment", "one embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0102] In addition, unless clearly stated in the claims, the order of the processing elements and sequences, the use of numerical and alphabetical characters, or the use of other names in this specification are not used to limit the order of the processes and methods in this specification. Although some currently considered useful embodiments of the invention are discussed through various examples in the above disclosure, it should be understood that such details only serve the purpose of illustration. The appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that conform to the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only through software solutions, such as installing the described system on existing servers or mobile devices.

[0103] Similarly, it should be noted that, in order to simplify the expression of the disclosure in this specification and thus help the understanding of one or more embodiments of the invention, in the previous description of the embodiments of this specification, sometimes multiple features are grouped into one embodiment, drawing, or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than those mentioned in the claims. In fact, the features of the embodiments are fewer than all the features of the individual embodiments disclosed above.

[0104] In some embodiments, numbers are used to describe components and the quantity of attributes. It should be understood that such numbers used to describe the embodiments are modified by the modifiers "about", "approximately", or "substantially" in some examples. Unless otherwise stated, "about", "approximately", or "substantially" indicate that the stated number allows a variation of ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, and these approximate values can change according to the characteristics required by individual embodiments. In some embodiments, the numerical parameters should consider the specified significant digits and adopt the method of retaining the general number of digits. Although the numerical ranges and parameters used to confirm the breadth of the scope in some embodiments of this specification are approximate values, in specific embodiments, such numerical settings are made as precise as possible within the feasible range.

[0105] For each patent, patent application, patent application publication, and other materials cited in this specification, such as articles, books, manuals, publications, documents, etc., the entire content thereof is hereby incorporated by reference into this specification. Except for application history documents that are inconsistent with or conflict with the content of this specification, and except for documents that limit the broadest scope of the claims of this specification (currently or subsequently appended to this specification). It should be noted that if there are inconsistencies or conflicts between the descriptions, definitions, and / or uses of terms in the supplementary materials of this specification and the content described in this specification, the descriptions, definitions, and / or uses of terms in this specification shall prevail.

[0106] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be regarded as consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A vehicle control method, executed by a vehicle, the method comprising: Receiving first environmental information within a first range collected by a roadside device; Collecting second environmental information; Generating control information for the vehicle based on the first environmental information and the second environmental information.

2. The method according to claim 1, wherein the first environmental information includes at least one of road change information, traffic light information, construction lane occupation information, traffic flow information, and the traffic flow trajectory within the first range when the traffic lights within the first range are abnormal.

3. The method according to claim 2, wherein generating the control information for the vehicle based on the first environmental information and the second environmental information includes: Generating first road information based on the road change information, the construction lane occupation information, a high-precision map, and the second environmental information.

4. The method according to claim 3, wherein generating the control information for the vehicle based on the first environmental information and the second environmental information further includes: Generating a binding relationship between traffic lights and roads according to the traffic light information and the first road information.

5. The method according to claim 4, wherein generating the control information for the vehicle based on the first environmental information and the second environmental information further includes: Generating a movement strategy for the vehicle according to at least one of the first road information, the traffic flow trajectory, the binding relationship, and the traffic flow information.

6. The method according to claim 5 further includes: Uploading at least one of the first road information, the binding relationship, and the movement strategy to a cloud device.

7. The method according to claim 1, wherein the first environmental information includes: The binding relationship between traffic lights and roads within the first range.

8. The method according to claim 1 further includes: Judging whether there is an occlusion area based on the second environmental information; In response to the existence of an occlusion area, sending a request to the roadside device, the request including occlusion area information; Receiving the environmental information corresponding to the occlusion area sent by the roadside device as the first environmental information.

9. A vehicle control system, applied to a vehicle, the system comprising: A receiving module, configured to receive first environmental information within a first range collected by a roadside device; A collecting module, configured to collect second environmental information; A generating module, configured to generate control information for the vehicle based on the first environmental information and the second environmental information.

10. A vehicle control device, characterized in that, Including a processor, the processor is configured to execute the vehicle control method according to any one of claims 1 to 8.

11. A computer-readable storage medium, the storage medium stores computer instructions, when a computer reads the computer instructions, the computer executes the method according to any one of claims 1 to 8.

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