Travel control method, electronic device, vehicle, storage medium, and program product

Abstract

The invention discloses a driving control method, an electronic device, a vehicle, a storage medium and a program product, which are applied to the technical field of automatic driving, and the method comprises the following steps: determining that a planned road section comprises a target area, adjusting a first driving path to a second driving path, the first driving path is different from the second driving path, and the pavement height of at least partial area of the target area is located outside a preset pavement height range. The driving path of the current vehicle is adjusted by determining that the planned road section contains the target area, so that the riding discomfort can be reduced on the premise of ensuring the passing efficiency.

Description

Technical Field

[0001] The present application belongs to the field of autonomous driving technology, and in particular relates to a driving control method, an electronic device, a vehicle, a computer-readable storage medium, and a computer program product. Background Art

[0002] With the rapid development of technology, autonomous driving has gradually become part of our lives. Assistive features (such as adaptive cruise control, automatic parking, and lane keeping assist) have become commonplace in most mid- to high-end models. The application of autonomous driving in commercial vehicles, such as taxis and logistics transportation, is also gradually expanding.

[0003] Autonomous driving vehicles can maintain a high level of ride comfort when driving on normal roads, but when passing through uneven areas, the vehicle body will experience large ups and downs, reducing ride comfort. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a driving control method, electronic device, vehicle, computer-readable storage medium, and computer program product, which enable a vehicle to avoid or reduce the number of times it passes through a target area, thereby ensuring traffic efficiency while reducing riding discomfort.

[0005] In a first aspect, the present application provides a driving control method, comprising determining that a planned road section includes a target area, and adjusting a first driving path to a second driving path; wherein, the planned road section corresponds to the first driving path, the first driving path and the second driving path are different, and the road surface height of at least part of the target area is outside a preset road surface height range.

[0006] In a second aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned driving control method when executing the program.

[0007] In a third aspect, the present application provides a vehicle comprising the above-mentioned electronic device.

[0008] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned driving control method when executed by a processor.

[0009] In a fifth aspect, the present application provides a computer program product, comprising a computer program, which implements the above-mentioned driving control method when executed by a processor.

[0010] The driving control method, electronic device, vehicle, computer-readable storage medium, and computer program product provided by the embodiments of the present application determine that the planned road section includes a target area, and adjust the driving path of the current vehicle from a first driving path including the target area to a second driving path, so that each wheel of the current vehicle does not pass through or passes through the target area less, avoiding or reducing the degree of body undulation, and thus reducing the discomfort of vehicle riding while ensuring the traffic efficiency.

[0011] Additional aspects and advantages of the embodiments of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where:

[0013] Figure 1 is an application scenario diagram of the driving control method provided by the embodiments of the present application;

[0014] Figure 2 is a first flowchart of the driving control method provided by the embodiments of the present application;

[0015] Figure 3 is a second flowchart of the driving control method provided by the embodiments of the present application;

[0016] Figure 4 is a third flowchart of the driving control method provided by the embodiments of the present application;

[0017] Figure 5 is a fourth flowchart of the driving control method provided by the embodiments of the present application;

[0018] Figure 6 is a fifth flowchart of the driving control method provided by the embodiments of the present application;

[0019] Figure 7 is a sixth flowchart of the driving control method provided by the embodiments of the present application;

[0020] Figure 8 is a seventh flowchart of the driving control method provided by the embodiments of the present application;

[0021] Figure 9 is an eighth flowchart of the driving control method provided by the embodiments of the present application;

[0022] Figure 10 is a ninth flowchart of the driving control method provided by the embodiments of the present application;

[0023] Figure 11 It is a schematic diagram of the modules of the driving control device provided by an embodiment of the present application;

[0024] Figure 12 It is a schematic structural diagram of the electronic device provided by an embodiment of the present application;

[0025] Figure 13 It is a schematic structural diagram of the vehicle provided by an embodiment of the present application. Detailed implementation manners

[0026] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for explaining the present application and should not be construed as a limitation to the present application.

[0027] For ease of understanding, the technical background and its application scenarios of the present application will be introduced first:

[0028] With the continuous development of artificial intelligence, 5G communication, Internet of Things, chip technology, etc., autonomous driving technology is also constantly improving and breaking through.

[0029] The continuous progress of sensing technology has improved the performance and accuracy of sensors such as cameras and lidar, enabling more accurate perception of the environmental information around the vehicle. With the help of artificial intelligence technologies such as deep learning and reinforcement learning, the decision-making ability of the autonomous driving system and its ability to handle complex road conditions have been enhanced. The reliability of the execution system has also been improved. The development of key technologies such as the drive-by-wire chassis enables the vehicle to accelerate, brake, and steer more precisely according to the instructions of the autonomous driving system.

[0030] Autonomous vehicles can precisely control the vehicle distance and speed, automatically adjust the driving speed according to the real-time traffic flow, avoid unnecessary acceleration and deceleration and frequent lane changes, making the vehicle driving smoother and more efficient, thereby improving the overall traffic efficiency of the road. Autonomous vehicles are equipped with a variety of advanced sensors, such as cameras, lidar, millimeter-wave radars, etc., which can real-time sense the environmental information around the vehicle, detect potential dangers in advance, and make responses within a very short time to ensure the safety of autonomous driving.

[0031] Under normal circumstances, autonomous vehicles drive according to the preset path obtained by the internal algorithm. When encountering some target areas, when the vehicle still drives through the target area according to the preset path, there will be a large body undulation, reducing the riding comfort, and at the same time, it will also have a certain negative impact on the vehicle and its components.

[0032] Please refer to Figure 1 , Figure 1It is an application scenario diagram of a driving control method provided by an embodiment of the present application. The application scenario provided by the present application includes a vehicle 100 and a cloud 200. The vehicle 100 includes an electronic device 110 and a detection device 120.

[0033] Among them, the electronic device 110 is a device with data processing capabilities, which can be used to process the acquired information to obtain a suitable driving path.

[0034] The electronic device 110 may include, but is not limited to: smartphones (such as Android phones, IOS phones, etc.), tablets, laptops, portable personal computers, mobile Internet devices (Mobile Internet Devices, abbreviated as MID), intelligent voice interaction devices, vehicle terminals, etc. The embodiments of the present application do not make limitations in this regard.

[0035] The detection device 120 is a device for collecting the road surface conditions of the current section. The detection device can detect the road surface conditions of the current section by means of scene scanning, collecting scene images, etc.

[0036] Optionally, the detection device 120 may be a camera and / or a lidar. The camera can obtain image information of the road surface conditions in real time, can cover a relatively large road surface area, has high resolution, can clearly capture the details of the road surface, and can identify whether there are potholes in the current section. The lidar can accurately calculate the distance between the lidar and the road surface by measuring the round-trip time of the transmitted signal and the echo signal, and then can accurately measure indexes such as the flatness and rut depth of the road surface, and the measurement accuracy can reach centimeter level or even higher, which helps to detect subtle changes in the road surface in time.

[0037] The cloud 200 may be a server. The server may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery network (Content Delivery Network, abbreviated as CDN), and big data and artificial intelligence platforms. The embodiments of the present application do not make limitations in this regard.

[0038] For example, the cloud can be a blockchain system, which can be a distributed system formed by connecting a client and multiple nodes (any form of computing device accessing the network, such as a server or a user terminal) through network communication. The blockchain system includes one or more blockchain nodes. A peer-to-peer (P2P) network is formed among the nodes. The P2P protocol is an application layer protocol running on top of the Transmission Control Protocol (TCP). In a distributed system, any machine such as a server or a terminal can join and become a node. A node includes a hardware layer, a middle layer, an operating system layer, and an application layer.

[0039] The driving control method involved in this application can be implemented relying on cloud technology.

[0040] Among them, cloud technology is a hosting technology that unifies a series of resources such as hardware, software, and networks within a wide area network or a local area network to achieve data computing, storage, processing, and sharing.

[0041] Cloud technology is the general term for network technology, information technology, integration technology, management platform technology, application technology, etc. based on the cloud computing business model. It can form a resource pool, be used on demand, and is flexible and convenient. Cloud computing technology will become an important support. The background services of the technical network system require a large amount of computing and storage resources, such as video websites, picture websites, and more portal websites. With the highly developed application of the Internet industry, in the future, each item may have its own identification mark and needs to be transmitted to the background system for logical processing. Data at different levels will be processed separately, and various industry data requires a powerful system back-end support, which can only be achieved through cloud computing.

[0042] The driving control method of this application can be implemented based on cloud computing. Cloud computing is a computing model that distributes computing tasks on a resource pool composed of a large number of computing machines, enabling various application systems to obtain computing power, storage space, and information services according to needs. The network that provides resources is called the "cloud". The resources in the "cloud" seem to be infinitely expandable to users, and can be obtained at any time, used on demand, expanded at any time, and paid according to usage.

[0043] As a basic cloud computing service provider, a cloud computing resource pool (referred to as a cloud platform, generally known as an IaaS (Infrastructure as a Service) platform) will be established. Multiple types of virtual resources are deployed in the resource pool for external customers to select and use. The cloud computing resource pool mainly includes: computing devices (virtual machines including operating systems), storage devices, and network devices.

[0044] The driving control method in the embodiments of this application can be executed by at least one of the electronic device 110 and the cloud 200. That is, this method can be executed by the electronic device or the cloud alone, or jointly executed by the electronic device and the cloud. Therefore, the execution entity of each step will not be repeated hereinafter.

[0045] It should be noted that in the examples of the driving control method hereinafter, the driving control method is described by taking the electronic device 110 as an example of executing the driving control method. Those skilled in the art can apply the driving control method provided in the embodiments of this application to other types of scenarios (such as the cloud executing the driving control method, or the cloud cooperating with the electronic device to jointly execute the driving control method) according to the understanding of the following text.

[0046] Based on the above introduction of related scenarios, the embodiments of this application provide a driving control method, which will be introduced in detail below:

[0047] Please refer to Figure 2 , a driving control method provided by the embodiments of this application is implemented by step 011, which will be specifically described below.

[0048] Step 011: Determine that the planned section includes a target area, and adjust the first driving path to the second driving path.

[0049] Among them, the driving path refers to the passing path of the target vehicle in the lane. The driving path is different due to the different relationships between the center of the target vehicle and the center line of the lane. For example, driving with the center of the target vehicle 30 cm to the left of the lane center is different from driving with the center of the target vehicle 40 cm to the right of the lane center. The first driving path and the second driving path are different.

[0050] Among them, the planned section corresponds to the first driving path, that is, if the target vehicle drives along the first driving path, it will pass through the planned section.

[0051] Among them, the target area refers to the road surface area in the road surface that does not conform to the normal flat road surface condition. At least part of the height of the target area is outside the preset road surface height range. For example, the target area can be a road surface area composed of large areas where the height of a region is outside the preset road surface height range (the target area protrudes too much from the ground and / or sinks too much below the ground), or it can be a road surface area composed of small areas where the height of multiple regions is outside the preset road surface height range.

[0052] Among them, the preset road surface height is a preset height for measuring the flatness of the road surface. The preset road surface height can be preset based on the movable distance of the suspension of different target vehicles, or can be preset based on the international roughness index and the common driving speed of the target vehicle.

[0053] Specifically, when the target vehicle is traveling along the first driving path, if the planned section corresponding to the first driving path includes a target area, the target vehicle adjusts to the second driving path based on the current first driving path of the target vehicle, so as to avoid as much as possible each wheel of the target vehicle passing through the target area or reducing the number of wheels passing through the target area, or reducing the area of the wheels passing through the target area, thereby reducing the discomfort of riding in the target vehicle. For example, when the target area is small and the target vehicle is traveling along the first driving path and the right wheel will pass through the target area, the driving path of the target vehicle is re-planned and adjusted to the left so that each wheel of the target vehicle does not pass through the target area.

[0054] The driving control method of the present application determines that the planned section corresponding to the first driving path includes a target area, and then re-plans the driving path of the target vehicle, so that each wheel of the target vehicle does not pass through or passes through less of the target area, and can reduce the discomfort of riding in the target vehicle on the premise of ensuring the traffic efficiency.

[0055] Please refer to Figure 3 , in some embodiments, step 011 further includes:

[0056] Step 0111: Determine that the planned section includes a target area according to the planned section information and the target area set.

[0057] The target area information set includes target area information and section information, and the target area information corresponds to the section information.

[0058] Among them, the section information refers to the information of the section where the target vehicle is traveling.

[0059] Among them, the target area information set is various information of the target area. The target area information set can be obtained through the cloud and / or through the local database of the target vehicle. The target area information in the target area information set corresponds to the section information of the target vehicle's travel.

[0060] Specifically, obtain the target area information within a certain range of the current road section stored in the cloud and / or local database. The target area information is the information uploaded to the cloud by each vehicle (including other vehicles and the target vehicle) that has passed through the current road section. For example, when the target vehicle is to continue driving 2 kilometers on the current road section, obtain the target area information within a range of one kilometer in front of the current road section. After the target vehicle has continued to drive 800 meters, obtain the target area information within a range of one kilometer in front of the current road section again.

[0061] The target vehicle stores the previously obtained target area information in the target area information set in the local database, and uploads the target area information and road section information to the cloud.

[0062] Among them, the target area information refers to the information about the target area obtained by the target vehicle passing through the target area. If the target vehicle does not pass through the target area, the target area information will not be obtained.

[0063] Among them, the road surface information is the road surface condition within a certain length that the detection device of the target vehicle will pass through during driving on the current road section, which is collected by the detection device of the target vehicle.

[0064] Specifically, through the obtained target area information, the position information of the target area on the first driving path can be determined. When the target vehicle passes through or bypasses the target area, the information of the target area collected by the detection device of the target vehicle can obtain the road section information of this road section, and the information of the target area and road section information of the current road section can be stored in the local database and uploaded to the cloud. For example, through lidar and / or camera, it is possible to accurately obtain information such as whether there are potholes on the current road section and the flatness of the road surface.

[0065] The target area is determined based on the vertical acceleration of each wheel of the vehicles (including other vehicles and the target vehicle) passing through the target area.

[0066] Among them, the vertical acceleration refers to the acceleration of each wheel of the vehicle in the vertical direction (usually the direction perpendicular to the earth's surface) when the vehicle is driving on the current road section.

[0067] Specifically, through the four-wheel sensors of the vehicle, the vertical acceleration of each wheel can be obtained when the vehicle is driving on the current road section. When driving in a flat road surface area, the vertical acceleration of each wheel is very small. When the wheel passes through the target area, the vertical acceleration of the wheel will change greatly. For example, when the wheel passes through a relatively deep pothole or a relatively high protrusion on the road surface, the vertical acceleration of the wheel will be relatively large.

[0068] Specifically, when there are significant changes in the vertical acceleration of the wheel, it is determined that the wheel passes through the edge of a large target area or completely through a small target area, and then the target area information is uploaded to the cloud for sharing. For example, when the wheel passes over a small but high bump on the road surface, the vertical acceleration of the wheel will exhibit two large peaks within a short period of time, and this area is determined as the target area; when the wheel passes through a large and deep pothole on the road surface, the vertical acceleration of the wheel will exhibit two large peaks over a period of time, and this area is determined as a large target area.

[0069] In this way, the target area information about the current road section in the cloud can be continuously updated, facilitating vehicles passing through this road section to obtain the target area information of the current road section.

[0070] In the case where the vertical acceleration of any target wheel of the vehicle is greater than a preset threshold, the target area is determined based on the position of the target wheel and the fluctuation duration of the vertical acceleration.

[0071] Among them, the preset threshold is a vertical acceleration value set based on the suspension and experience of the target vehicle.

[0072] Among them, the target wheels include one or more wheels. When the vehicle is traveling in the target area, one or more wheels may pass through this target area.

[0073] Among them, the fluctuation duration is a time scale determined based on the time difference between the starting change time and the ending change time of the vertical acceleration.

[0074] Specifically, in the case where the vertical acceleration of the target wheel is greater than the preset threshold, within a period of time, the vertical acceleration of the target wheel being greater than the preset threshold will occur at least twice or 2n times. When the vertical acceleration of the target wheel being greater than the preset threshold occurs twice, it indicates that there is a large target area in the current road section. Based on the position and / or speed information of the target wheel at this time, and the time difference between the two times when the vertical acceleration of the target wheel is greater than the preset threshold, the information of the target area passed by the target wheel can be determined, and then the information of this target area is uploaded to the cloud so that other vehicles or the target vehicle passing through this road section can obtain the information of this target area from the cloud.

[0075] When the vertical acceleration of the target wheel being greater than the preset threshold occurs 2n times, it indicates that there are multiple small target areas in the current road section. In this case, the multiple small target areas are unified as a large target area for processing, and the time difference between the starting and final times when the vertical acceleration of the target wheel is greater than the preset threshold is used as the fluctuation duration, thereby obtaining the information of the target area of the current road section, and then uploading it to the cloud so that other vehicles or the target vehicle passing through this road section can obtain the information of this target area from the cloud.

[0076] The target area includes a length range and a width range. The length range of the target area is determined based on the distance between the positions of the target wheels during the abnormal fluctuation duration.

[0077] Wherein, the length range refers to the length of the target area within the error range.

[0078] Wherein, the abnormal fluctuation duration refers to the time period when the vertical acceleration is greater than the preset threshold.

[0079] Specifically, the length range of the target area is determined based on the distance between the positions of the target wheels at the start time and the end time of the abnormal fluctuation duration. For example, during the driving of the target vehicle, when the target vehicle passes over a large road protrusion, the target area is the large road protrusion. When the target vehicle enters and exits the target area, the vertical acceleration of the target vehicle is greater than the preset threshold, and the time between them is the fluctuation duration. When the target vehicle is at the start time and the end time of the fluctuation duration, the target wheels are at the front and rear ends of the target area. Thus, the distance between the positions of the target wheels at the start time and the end time is the length range of the target area.

[0080] The target area includes a width range, and the width range of the target area is determined based on the road width range.

[0081] Wherein, the road width range is obtained by collecting through a sensing device and / or based on the pre-stored information in the local database or the cloud, which is a width range value. For example, if the pre-stored information in the local database is 3 meters, then the road width range is 3 meters. When the target vehicle drives on a wider road, the pre-stored information in the local database also changes accordingly.

[0082] Specifically, through the position and speed information of the target wheels passing through the target area, combined with the fluctuation duration of the vertical acceleration, the length range of the target area can be calculated. Combining with the preset width range, the range information of the target area can be roughly determined, and then the range information of the target area is uploaded to the cloud so that other vehicles passing through this section or the target vehicle can obtain the range information of the target area from the cloud.

[0083] Please refer to Figure 4 , in some embodiments, step 0111 includes step 01111 and step 01112, which are specifically described below.

[0084] Step 01111: Obtain the planned road section information;

[0085] Step 01112: Match the planned road section information with the road section information in the target area set to determine the target area in the target area set.

[0086] Among them, the planned road section information corresponds to the information of the first driving path of the target vehicle.

[0087] Specifically, during the driving process of the target vehicle, based on its own positioning system, it can determine the current road section it is on, and thus can determine the planned road section information. For example, when the target vehicle is 100 meters north of the intersection of the first street and the second street, the positioning system can determine the planned road section information as the specific first street, second street, and the information of the first driving path to be traveled. By comparing the planned road section information with the road section information in the target area, the target area in the target area corresponding to the first driving path can be determined.

[0088] Please refer to Figure 5 , in some embodiments, step 011 includes step 0112, which is specifically described below.

[0089] Step 0112: When the second driving path does not include the target area, drive based on the second driving path.

[0090] Specifically, after replacing the first driving path with the second driving path according to the obtained first target area information, if the second driving path can enable all wheels of the target vehicle to completely avoid the target area, then drive according to the second driving path, so that there will be no body jolting and the driving experience of the user can be avoided from being reduced. In some embodiments, when the second driving path is in the same lane as the first driving path, control the target vehicle to drive based on the driving path.

[0091] Specifically, when the re-planned second driving path is in the same lane as the first driving path according to the obtained target area information, then drive according to the second driving path, which can avoid all wheels of the target vehicle passing through the target area and avoid uncomfortable situations.

[0092] Please refer to Figure 6 , in some embodiments, step 011 includes step 0113 and step 0114, which are specifically described below.

[0093] Step 0113: When the second driving path includes part of the target area, obtain the driving information of other vehicles passing through the target area. The driving information includes the driving path and the vertical acceleration when passing through the driving path;

[0094] Step 0114: Re-plan the second driving path based on the vertical acceleration.

[0095] Please refer to Figure 7 , in some embodiments, step 0114 includes:

[0096] Step 01141: Based on the fluctuation values of the respective vertical accelerations, re-plan the driving path as the driving path with the minimum fluctuation value of the vertical acceleration.

[0097] Among them, the driving information refers to various information of other vehicles passing through the target area, including the driving paths of other vehicles passing through the target area and the vertical acceleration information of other vehicles passing through the target area.

[0098] Among them, the fluctuation value refers to the peak information when other vehicles pass through the target area.

[0099] Specifically, when the second driving path and the first driving path corresponding to the target area are in different lanes, if still driving according to the re-planned second driving path, although it can avoid each wheel of the target vehicle passing through the target area, changing lanes will increase the risk of collision of the target vehicle. Therefore, when the re-planned second driving path changes lanes, this second driving path is no longer adopted, and instead, the driving information of each other vehicle passing through the target area stored in the cloud is obtained, and the driving path corresponding to the minimum fluctuation value of the vertical acceleration among them is selected for driving.

[0100] Obtain the driving paths and the corresponding vertical acceleration information of each other vehicle passing through the target area of the current road section, and select the driving path corresponding to the minimum fluctuation value of the vertical acceleration among them as the driving path of the target vehicle. In this way, the fluctuation value of the vertical acceleration when the target vehicle passes through the target area also reaches the minimum, and the discomfort during the period when the target vehicle passes through the target area can be reduced as much as possible.

[0101] Please refer to Figure 8 , in some embodiments, step 011 includes step 0115, which is specifically described below.

[0102] Step 0115: When the second driving path includes part of the target area, reduce the vehicle speed to pass through the target area.

[0103] Specifically, there are multiple driving paths corresponding to the target area, and the sizes of the target areas passed through in each driving path are different. The second driving path can be one of them. Appropriately reducing the vehicle speed of the target vehicle passing through the second driving path corresponding to the target area can reduce the discomfort of riding.

[0104] Please refer to Figure 9 , in some embodiments, the driving control method further includes step 012 and step 013, which are specifically described below.

[0105] Step 012: Based on the road surface information of the target area, determine the repair result of the target area.

[0106] Step 013: Determine the target area set based on the repair result.

[0107] Among them, the repair result refers to the situation of whether the target area is repaired, including repaired and unrepaired.

[0108] Specifically, the road surface information collected by the detection device of the target vehicle includes the road surface characteristics of the target area. Compare the road surface height in the collected road surface characteristics with the preset road surface height range. When the road surface height of the collected target area is within the preset road surface height range, the repair result is unrepaired; when the road surface height of the collected target area is outside the preset road surface height range, the repair result is repaired.

[0109] In this way, choosing whether to update the target area set based on the repair result is beneficial for other vehicles to obtain the latest information of the target area when passing through the target area.

[0110] Please refer to Figure 10 , in some embodiments, step 013 includes step 0131 and step 0132, which are specifically described below.

[0111] Step 0131: When the repair result is repaired, upload the repair result of the target area to update the target area set;

[0112] Step 0132: When the repair result is unrepaired, maintain the target area set.

[0113] Specifically, when the target area of the current road section has been repaired, upload the repair result of the target area to the target area set in the cloud and store it to update the target area set in the local database. At the same time, the target vehicle can pass through the current road section more efficiently according to the first driving path; when the target area of the current road section has not been repaired, do not update the target area set in the cloud and the target area set in the local database, and at the same time change the driving path of the target vehicle to the second driving path.

[0114] In this way, planning the driving path of the target vehicle based on the repair result of the target area can reduce the discomfort of riding while maintaining the traffic efficiency.

[0115] The driving control method of this application determines that the planned road section includes the target area, obtains the target area information within a certain range of the current road section in the cloud, and combines the road surface information collected by the detection device of the target vehicle to judge whether the target area is repaired. When it has been repaired, driving according to the first driving path can avoid reducing the traffic efficiency; when it has not been repaired, adjusting the first driving path to the second driving path can enable the target vehicle not to pass through or pass through less of the target area, minimizing the discomfort of the user's ride.

[0116] According to the method described in the above embodiments, an embodiment of the present application further provides a driving control device 300 for executing the steps in the above driving control method. Please refer to Figure 11 , Figure 11 which is a schematic diagram of modules of the driving control device 300 provided by an embodiment of the present application. The driving control device 300 includes:

[0117] A control module 301, configured to determine that a planned section includes a target area and adjust a first driving path to a second driving path; wherein, the planned section corresponds to the first driving path, the first driving path is different from the second driving path, and the road surface height of at least part of the target area is outside a preset road surface height range.

[0118] It should be noted that the specific details of each module unit in the above driving control device have been described in detail in the embodiments of the above driving control method, and will not be repeated here.

[0119] In an embodiment of the present application, the term "module" or "unit" refers to a computer program with a predetermined function or a part of a computer program, which works together with other related parts to achieve a predetermined goal, and can be fully or partially implemented by using software, hardware (such as a processing circuit or a memory), or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the function of the module or unit.

[0120] In some embodiments, the driving control device in the embodiments of the present application can be implemented in a hardware manner. For example, it can be an electronic device or a component in an electronic device, such as an integrated circuit or a chip; the driving control device can also be implemented in a software manner, such as an application installed in an electronic device.

[0121] In some embodiments, please refer to Figure 12 , Figure 12 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device 400 includes a processor 401 and a memory 402. A computer program 403 that can run on the processor 401 is stored in the memory 402. When the program 403 is executed by the processor 401, it implements each process of the embodiment of the above driving control method and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0122] In some embodiments, please refer to Figure 13 , Figure 13It is a schematic structural diagram of a vehicle provided by an embodiment of the present application. The vehicle 500 includes the above-mentioned electronic device 400. When the electronic device 400 is executed, it can implement each process of the above-mentioned embodiment of the driving control method and achieve the same technical effects. To avoid repetition, it will not be described in detail here.

[0123] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements each process of the above-mentioned embodiment of the driving control method and can achieve the same technical effects. To avoid repetition, it will not be described in detail here.

[0124] Among them, the processor can be the processor in the electronic device in the above-mentioned embodiment. The computer-readable storage medium can be a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disc, etc.

[0125] The computer-readable medium can include a computer storage medium and a communication medium. The computer storage medium includes volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer-readable instructions, data structures, program modules or other data. The computer storage medium includes RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state memory technologies, CD-ROM, digital versatile disc (DVD) or other optical storage, magnetic tape cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art know that the computer storage medium is not limited to the above several types.

[0126] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the above-mentioned driving control method. Among them, the processor can be the processor in the electronic device in the above-mentioned embodiment. When the computer program is executed by the processor, it implements each process of the above-mentioned embodiment of the driving control method and can achieve the same technical effects. To avoid repetition, it will not be described in detail here.

[0127] It can be understood that in the specific implementation manner of the present application, data related to the user identity or characteristics is involved. When the above embodiments of the present application are applied to specific products or technologies, user permission or consent needs to be obtained, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions.

[0128] In the description of this specification, the descriptions referring to terms such as "certain embodiments", "in one example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0129] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment or part of code including one or more executable instructions for implementing a specific logical function or process, and the scope of the preferred embodiments of the present application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0130] Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A driving control method, characterized in that, Including: Determine that the planned road section includes a target area, and adjust the first driving path to a second driving path; Wherein, the planned road section corresponds to the first driving path, the first driving path and the second driving path are different, and the road surface height of at least part of the target area is outside the preset road surface height range.

2. The driving control method according to claim 1, characterized in that The determination that the planned road section includes a target area includes: Determine that the planned road section includes the target area according to the planned road section information and the target area set; The target area set includes target area information and road section information, and the target area information corresponds to the road section information.

3. The driving control method according to claim 2, wherein The target area information set is obtained based on the cloud; and / or, the target area information set is obtained based on a local database.

4. The driving control method according to claim 3, wherein The target area information is generated by the target area recognized by the vehicle and the corresponding road section information, and the target area and the corresponding road section information are uploaded to the cloud, and / or stored in the local database.

5. The driving control method according to claim 4, wherein The target area is determined based on the vertical acceleration of each wheel of the vehicle.

6. The driving control method according to claim 5, wherein The determination that the target area is determined based on the vertical acceleration of each wheel of the vehicle includes: In the case where the vertical acceleration of any target wheel of the vehicle is greater than a preset threshold, the target area is determined based on the position of the target wheel and the fluctuation duration of the vertical acceleration; Wherein, the fluctuation duration is determined based on the time difference between the start change time and the end change time of the vertical acceleration, and the target wheel includes one or more of the wheels.

7. The driving control method according to claim 6, wherein The target vehicle includes a sensing device, the target area includes a length range, and the determination that the target area is determined based on the position of the target wheel and the fluctuation duration of the vertical acceleration includes: The length range of the target area is determined based on the distance between the positions of the target wheels within the abnormal fluctuation duration; Wherein, the abnormal fluctuation duration is the time difference between the start change time and the end change time when the vertical acceleration is greater than the preset threshold.

8. The driving control method according to claim 6, characterized in that The target vehicle includes a sensing device, the target area includes a width range, and the determination that the target area is determined based on the position of the target wheel and the fluctuation duration of the vertical acceleration includes: The width range of the target area is determined based on the road surface width range; Wherein, the road surface width range is acquired based on the sensing device, and / or acquired based on the pre-stored information in the local database.

9. The driving control method according to claim 2, characterized in that, The determination that the planned road section includes the target area according to the planned road section information and the target area set includes: Obtain the planned road section information; Match the planned road section information with the road section information in the target area set to determine the target area in the target area set.

10. The driving control method according to claim 1, wherein The adjustment of the first driving path to the second driving path includes: In the case where the second driving path does not include the target area, drive based on the second driving path.

11. The driving control method according to claim 1, characterized in that, The adjustment of the first driving path to the second driving path includes: In the case where the second driving path includes part of the target area, obtain the driving information of other vehicles passing through the target area, and the driving information includes the driving path and the vertical acceleration when passing through the driving path. Re-plan the second driving path based on the vertical acceleration.

12. The driving control method according to claim 11, characterized in that, The re-planning of the second driving path based on the vertical acceleration includes: Based on the fluctuation values of the respective vertical accelerations, re-plan the second driving path as the driving path with the smallest fluctuation value of the vertical acceleration.

13. The driving control method according to claim 1, wherein The adjustment of the first driving path to the second driving path includes: When the second driving path includes a part of the target area, reduce the vehicle speed to pass through the target area.

14. The driving control method according to claim 2, characterized in that, It further includes: Based on the road surface information of the target area, determine the repair result of the target area; Determine the target area set based on the repair result; Wherein, the repair result of the target area includes repaired and unrepaired.

15. The driving control method according to claim 14, characterized in that The determination of the target area set based on the repair result includes: When the repair result is repaired, upload the repair result of the target area to update the target area set.

16. The driving control method according to claim 14, wherein, The determination of the target area set based on the repair result includes: When the repair result is unrepaired, maintain the target area set.

17. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the driving control method according to any one of claims 1-16.

18. A vehicle, characterized in that, It includes the electronic device according to claim 17.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the driving control method according to any one of claims 1-16.

20. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by the processor, it implements the driving control method according to any one of claims 1-16.

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