Control method, device and equipment of autonomous vehicle and storage medium

Abstract

The embodiment of the invention provides an autonomous vehicle control method and device, equipment and a storage medium. The method comprises the steps of obtaining scene information associated with a first parking point in response to the fact that the autonomous vehicle arrives at the first parking point of a journey; detecting a second parking point in a preset range of the first parking point in response to the situation that the scene information meets the triggering condition; in response to detecting the second parking point, controlling the autonomous vehicle to park at the second parking point; and triggering to present first reminding information to a user associated with the journey, wherein the first reminding information indicates the change of the parking point. Therefore, according to the embodiment of the invention, the parking efficiency of the autonomous vehicle can be improved, and the influence of parking of the autonomous vehicle on traffic can be effectively avoided.

Description

Technical Field

[0001] The exemplary embodiments disclosed herein generally relate to the field of computers, and particularly to a method, apparatus, device, and computer-readable storage medium for controlling an autonomous vehicle. Background Technology

[0002] With the rapid development of autonomous driving technology, various autonomous vehicles have been put into operation. Autonomous vehicles can plan routes based on information associated with the trip (such as origin and destination) and provide travel services to users. However, due to the complexity of road conditions in real-world scenarios, it is common for vehicles to be unable to park at the designated pick-up point during pick-up. Summary of the Invention

[0003] In a first aspect of this disclosure, a control method for an autonomous vehicle is provided, the method comprising: in response to the autonomous vehicle arriving at a first parking point of a trip, acquiring scene information associated with the first parking point; in response to the scene information satisfying a triggering condition, detecting a second parking point within a preset range of the first parking point; in response to detecting the second parking point, controlling the autonomous vehicle to park at the second parking point; and triggering the presentation of a first reminder message to a user associated with the trip, the first reminder message indicating a change in parking point.

[0004] In a second aspect of this disclosure, a control device for an autonomous vehicle is provided. The device includes: an acquisition module configured to acquire scene information associated with the first parking point in response to the autonomous vehicle arriving at a first parking point of a trip; a detection module configured to detect a second parking point within a preset range of the first parking point in response to the scene information satisfying a trigger condition; a control module configured to control the autonomous vehicle to park at the second parking point in response to the detection of the second parking point; and an alert module configured to trigger the presentation of a first alert message to a user associated with the trip, the first alert message indicating a change in parking point.

[0005] In a third aspect of this disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. When executed by the at least one processing unit, the instructions cause the device to perform the method of the first aspect.

[0006] In a fourth aspect of this disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program that can be executed by a processor to implement the method of the first aspect.

[0007] In a fifth aspect of this disclosure, a computer program product is provided. The computer program product includes computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the method of the first aspect.

[0008] It should be understood that the content described in this content section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0009] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. In the drawings, the same or similar reference numerals denote the same or similar elements, wherein:

[0010] Figure 1 A schematic diagram of an example environment in which embodiments of the present disclosure can be implemented is shown;

[0011] Figure 2 A flowchart illustrating the control of an autonomous vehicle according to some embodiments of the present disclosure is shown;

[0012] Figure 3A and Figure 3B Interface diagrams of some embodiments of this disclosure are shown;

[0013] Figure 4A and Figure 4B A flowchart of secondary parking according to some embodiments of the present disclosure is shown;

[0014] Figure 5 A block diagram of an apparatus for controlling an autonomous vehicle according to some embodiments of the present disclosure is shown;

[0015] Figure 6 A block diagram of an electronic device capable of implementing several embodiments of the present disclosure is shown. Detailed Implementation

[0016] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0017] It should be noted that the headings of any section / subsection provided herein are not limiting. Various embodiments are described throughout this document, and embodiments of any type may be included under any section / subsection. Furthermore, embodiments described in any section / subsection may be combined in any way with any other embodiments described in the same section / subsection and / or different sections / subsections.

[0018] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". Other explicit and implicit definitions may also be included below. The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0019] The embodiments of this disclosure may involve user data, data acquisition, and / or use. All of these aspects comply with applicable laws, regulations, and relevant provisions. In the embodiments of this disclosure, all data collection, acquisition, processing, manipulation, forwarding, and use are conducted with the user's knowledge and confirmation. Accordingly, in implementing the embodiments of this disclosure, the type, scope of use, and usage scenarios of any data or information that may be involved should be communicated to the user and their authorization obtained in accordance with relevant laws and regulations through appropriate means. The specific methods of notification and / or authorization may vary depending on the actual situation and application scenario, and the scope of this disclosure is not limited in this respect.

[0020] In this specification and the embodiments, any processing of personal information will be carried out only under the premise of legality (such as obtaining the consent of the personal information subject, or being necessary for the performance of a contract), and will only be carried out within the scope stipulated or agreed upon. A user's refusal to process personal information other than that necessary for basic functions will not affect the user's use of basic functions.

[0021] With the rapid development of autonomous driving technology, various autonomous vehicles have been put into operation. Autonomous vehicles can plan routes based on information associated with the trip (such as origin and destination) and provide travel services to users. However, due to the complexity of road conditions in real-world scenarios, it is common for vehicles to be unable to park at the designated pick-up point during pick-up.

[0022] Therefore, embodiments of this disclosure propose a control method for an autonomous vehicle. According to various embodiments of this disclosure, in response to the autonomous vehicle arriving at a first parking point of a trip, scene information associated with the first parking point is acquired; in response to the scene information satisfying a triggering condition, a second parking point is detected within a preset range of the first parking point; in response to detecting the second parking point, the autonomous vehicle is controlled to park at the second parking point; and a first reminder message is triggered to be presented to a user associated with the trip, the first reminder message indicating a change in parking point.

[0023] In embodiments of this disclosure, after determining that the scene information of the first parking spot meets the triggering conditions, a second parking spot within a preset range can be detected, and the autonomous vehicle can be controlled to park at the second parking spot. In this way, embodiments of this disclosure, after the scene information of the first parking spot meets the triggering conditions, control the autonomous vehicle to move to another parking spot, thereby improving the parking efficiency of the autonomous vehicle and effectively avoiding the impact of the autonomous vehicle's parking on traffic.

[0024] Example embodiments of this disclosure are described below with reference to the accompanying drawings.

[0025] Example Environment

[0026] Figure 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. For example... Figure 1 As shown, example environment 100 may include vehicle 101, electronic device 110, remote device 120 and terminal device 130.

[0027] refer to Figure 1 As shown, in this example environment 100, vehicle 101 can be any type of vehicle capable of carrying people and / or goods and moving via a power system such as an engine, including but not limited to cars, trucks, buses, electric vehicles, RVs, etc. Vehicle 101 can be an autonomous vehicle (also known as autonomous vehicle 101) that integrates functions such as environmental perception, planning and decision-making, and multi-level assisted driving.

[0028] Continue to refer to Figure 1 Vehicle 101 may be equipped with electronic devices 110. Electronic devices 110 may, for example, be communicatively connected to remote devices 120 and terminal devices 130. For example, electronic devices 110 may communicate with remote devices 120 and terminal devices 130 via appropriate wireless communication methods.

[0029] After vehicle 101 arrives at the first parking spot, electronic device 110 can acquire scene information associated with the first parking spot. Further, after the scene information meets the triggering conditions, electronic device 110 can detect a second parking spot within a preset range. After detecting the second parking spot, electronic device 110 can control the autonomous vehicle to park at the second parking spot. In some scenarios, electronic device 110 can also send a first reminder message to terminal device 130, so that terminal device 130 can remind user 140 that the parking spot has changed through the first reminder message.

[0030] Continue to refer to Figure 1 The remote device 120 may include, for example, a cloud device or an edge computing device. In some embodiments, such a remote device 120 may provide instructions to the vehicle 101 regarding remote assistance, thereby triggering the electronic devices 110 in the vehicle 101 to control the vehicle 101 based on the instructions.

[0031] Continue to refer to Figure 1 Terminal device 130 can be any type of mobile terminal, fixed terminal, or portable terminal, including mobile phones, desktop computers, laptop computers, notebook computers, netbook computers, tablet computers, media computers, multimedia tablets, handheld computers, portable gaming terminals, VR / AR devices, personal communication system (PCS) devices, personal navigation devices, personal digital assistants (PDAs), audio / video players, digital cameras / camcorders, positioning devices, television receivers, radio receivers, e-book devices, gaming devices, or any combination thereof, including accessories and peripherals of these devices or any combination thereof. In some embodiments, terminal device 110 can also support any type of user-facing interface (such as "wearable" circuitry).

[0032] It should be understood that the structure and function of the various elements in environment 100 are described for illustrative purposes only and do not imply any limitation on the scope of this disclosure.

[0033] The various example implementations of this disclosure will be described in detail below.

[0034] Example process

[0035] The following will be referenced Figure 2 This describes a control process 200 for an autonomous vehicle according to embodiments of the present disclosure. The control process 200 for the autonomous vehicle may, for example, be derived from... Figure 1 The electronic device 110 shown performs the following actions.

[0036] like Figure 2As shown in box 210, electronic device 110, in response to the autonomous vehicle reaching the first parking point of the trip, acquires scene information associated with the first parking point. Scene information includes at least one of the following: road topology information associated with the first parking point, and traffic conditions associated with the first parking point. The first parking point is the pick-up point of the trip.

[0037] As an example, an autonomous vehicle (e.g., vehicle 101) can provide a travel service to user 140. After the travel service is initiated, electronic devices 110 deployed in the autonomous vehicle (e.g., vehicle 101) can plan the route of the trip based on information associated with the travel service. For example, electronic devices 110 can plan the route based on the start and end points of the trip provided by terminal device 130. After the route planning is completed, electronic devices 110 can provide a first parking spot to terminal device 130 to trigger the presentation of the first parking spot in terminal device 130. This first parking spot could be, for example, the pick-up point for the trip. That is, electronic devices 110 can provide the pick-up point for the trip to terminal device 130.

[0038] After the ride service begins, electronic device 110 can control an autonomous vehicle (e.g., vehicle 101) to move to the first parking spot (e.g., the pick-up point for the trip) for pick-up. Once the autonomous vehicle arrives at the first parking spot, electronic device 110 can acquire scene information associated with the first parking spot. This scene information may include, for example, road topology information and / or traffic conditions associated with the first parking spot. The road topology information may indicate map elements corresponding to the first parking spot. These map elements may be acquired by electronic device 110 through a high-precision map, and include: road entrances / exits, zebra crossings, or bus stops, etc. These map elements are used to determine whether the first parking spot is located at a road entrance / exit, zebra crossing, or bus stop, etc.

[0039] Electronic device 110 can acquire environmental information about the first parking point through sensing devices deployed in the autonomous vehicle. This environmental information may include, for example, road conditions at the first parking point, or a collection of images or videos of at least one vehicle behind the first parking point within a preset time period. Sensing devices deployed in the autonomous vehicle may include, for example, cameras and lidar. After acquiring the environmental information, electronic device 110 can determine the traffic state associated with the first parking point using appropriate algorithms (e.g., models).

[0040] Continue to refer to Figure 2In box 220, in response to the scene information meeting the triggering condition, electronic device 110 detects a second parking point within a preset range of the first parking point. As an example, after the scene information is acquired, electronic device 110 can determine whether the scene information meets the triggering condition. The triggering condition could be, for example, that electronic device 110 determines based on the scene information whether the first parking point is an unsuitable parking location. Examples include zebra crossings and road entrances / exits. In some scenarios, the triggering condition could also be that electronic device 110 determines based on the scene information that the autonomous vehicle's parking at the first parking point has caused some traffic disruption. For example, the traffic status associated with the first parking point in the scene information indicates that the time for vehicles waiting for the autonomous vehicle to exit the first parking point exceeds a threshold. In this case, electronic device 110 can determine that the scene information meets the triggering condition. That is, the autonomous vehicle's parking at the first parking point has caused traffic disruption.

[0041] Once the scene information is determined to meet the triggering conditions, the electronic device 110 can detect the second parking point within a preset range of the first parking point. For example, the electronic device 110 can detect the second parking point within the preset range using map elements obtained from a high-precision map and environmental information obtained from the autonomous vehicle 101. This preset range can be set by those skilled in the art according to their needs, and this disclosure does not impose any limitations on it.

[0042] In some embodiments, the electronic device 110 can determine the degree of impact of the autonomous vehicle's parking on traffic at the first parking point based on scene information. Further, the electronic device 110 can determine that the scene information meets triggering conditions in response to the impact level reaching a preset level.

[0043] As an example, after acquiring scene information, electronic device 110 can determine the degree of impact on traffic caused by the autonomous vehicle parking at the first parking spot based on the scene information. For instance, electronic device 110 can determine the degree of impact on traffic caused by the autonomous vehicle parking at the first parking spot based on the scene information using an appropriate algorithm (e.g., a model). The model here can be any suitable model, such as a multimodal model.

[0044] In some scenarios, electronic device 110 can provide scenario information to a preset model. After acquiring the scenario information, the model can determine the degree of impact based on the traffic state associated with the first parking point in the scenario information. The traffic state here can, for example, indicate whether at least one vehicle is driving behind the first parking point. The driving state here can, for example, be slow driving, lateral movement, etc. After determining the driving state of at least one vehicle, the model can determine the degree of impact of the autonomous vehicle parking at the first parking point on traffic. The degree of impact here can, for example, be a corresponding numerical value. When the determined degree of impact reaches a preset level (for example, the numerical value associated with the degree of impact reaches a preset value), electronic device 110 can determine that the scenario information meets the triggering conditions.

[0045] Alternatively or concurrently, the electronic device 110 may also acquire the type of at least one vehicle behind the first parking spot. This type may include, for example, special vehicles, buses, private cars, etc. Furthermore, the electronic device 110 may determine the degree of traffic impact of the autonomous vehicle's parking at the first parking spot based on traffic conditions and the type of at least one vehicle.

[0046] In this way, embodiments of the present disclosure can determine the impact of an autonomous vehicle parking at a first parking spot on traffic based on scene information, thereby more accurately determining whether the scene information meets the triggering conditions.

[0047] In some embodiments, the electronic device 110 may determine the type of the first parking point based on scene information; further, the electronic device 110 may determine that the scene information meets the triggering conditions in response to the type matching a preset type.

[0048] As an example, after obtaining scene information, electronic device 110 can determine the type of the first parking spot. This type can, for example, indicate different map elements corresponding to the first parking spot. These map elements can be obtained by electronic device 110 through a high-precision map, including road entrances / exits, zebra crossings, bus stops, etc. When the type of the first parking spot matches a preset type, electronic device 110 can determine that the scene information meets the triggering conditions. For example, when the first parking spot is a zebra crossing, electronic device 110 can determine that the scene information meets the triggering conditions.

[0049] In this way, embodiments of this disclosure can determine whether scene information meets preset conditions based on the type of the first parking point, thereby enabling more accurate judgment.

[0050] In some embodiments, the electronic device 110 can determine a preset time elapsed since the user arrived at the first parking spot. Further, the electronic device 110 can detect a second parking spot within a preset range of the first parking spot in response to the time elapsed exceeding a threshold.

[0051] As an example, when the scenario information meets the triggering conditions (e.g., the waiting time for the autonomous vehicle to exit from the first parking spot exceeds a preset value), the electronic device 110 can determine the expected time for the user (e.g., user 140) to arrive at the first parking spot. This expected time could, for example, indicate the time required to travel from the user's location to the first parking spot. If the time exceeds a threshold (e.g., 1 minute), the electronic device 110 can begin detecting a second parking spot within a preset range of the first parking spot. If the time does not exceed the threshold, the electronic device 110 can control the autonomous vehicle to continue parking at the first parking spot to wait for the user to board.

[0052] In this way, embodiments of the present disclosure only begin detecting a second parking spot within a preset range after the time required for the user to reach the first parking spot exceeds a threshold, which can effectively save the computing resources of electronic devices.

[0053] In some embodiments, the electronic device 110 may send an assistance request to a remote device in response to scene information meeting a triggering condition. Further, the electronic device 110 may detect a second parking point within a preset range of the first parking point in response to receiving a target instruction from the remote device. The assistance request indicates environmental information associated with the first parking point.

[0054] As an example, when the scene information meets the triggering conditions, electronic device 110 can send an assistance request to remote device 120. Upon receiving the assistance request, remote device 120 can, for example, acquire the environmental information acquired by electronic device 110. When remote device 120 further determines, based on the environmental information, that the traffic impact of the autonomous vehicle parking at the first parking point reaches a preset level, it can send a target instruction to electronic device 110. This target instruction is used to instruct electronic device 110 to detect a second parking point within a preset range of the first parking point.

[0055] In this way, embodiments of this disclosure can make a secondary judgment based on environmental information through a remote device, thereby more accurately determining whether the scene information meets the triggering conditions.

[0056] In some embodiments, the electronic device 110 may acquire first perception information associated with a first range of the first parking spot in response to scene information satisfying a trigger condition. Further, the electronic device 110 may determine, based on the first perception information, whether the first range includes a second parking spot suitable for parking an autonomous vehicle.

[0057] As an example, electronic device 110 can acquire first perception information within a first range (e.g., 30 meters) through sensing devices deployed on the autonomous vehicle. This first range can be set by those skilled in the art, and this disclosure does not impose any limitations on it. After acquiring the first perception information, electronic device 110 can, for example, determine whether a second parking spot suitable for the autonomous vehicle exists within the first range using an appropriate algorithm (e.g., a model). For example, electronic device 110 can provide the first perception information to an appropriate model (e.g., a visual language model). Further, electronic device 110 can determine whether a second parking spot suitable for the autonomous vehicle exists within the first range based on the model's recognition results.

[0058] Continue to refer to Figure 2 In box 230, electronic device 110, in response to detecting a second parking spot, controls the autonomous vehicle to park at the second parking spot. As an example, when the second parking spot is detected, electronic device 110 can construct a movement command to control the autonomous vehicle to park at the second parking spot.

[0059] In some embodiments, the electronic device 110 may trigger an update of the trip waiting timer in response to the autonomous vehicle parking at a second parking spot within the first range, thereby adding a preset duration to the user's remaining waiting time. As an example, such as... Figure 3A As shown, after the autonomous vehicle arrives at the first parking spot, electronic device 110 can trigger terminal device 130 to display a waiting timer to user 140. This waiting timer can, for example, indicate the duration the autonomous vehicle waits for user 140 to arrive at the pick-up point. Terminal device 130 can display the waiting timer to user 140, for example, through element 310 in a travel interface (e.g., interface 300A). When the autonomous vehicle stops at the second parking spot within the first range, electronic device 110 can send a request to terminal device 130 to update the waiting timer. Upon receiving this request, terminal device 130 can update the waiting timer. For example, terminal device 130 can add a preset duration (e.g., one minute) to the waiting timer.

[0060] In this way, embodiments of the present disclosure can update the waiting time of the trip in a timely manner and present the updated waiting time to the user, thereby improving the efficiency of the user in obtaining information.

[0061] In some embodiments, to improve the operational efficiency of the autonomous vehicle, the electronic device 110 can trigger trip termination in response to the trip not starting when the waiting timer expires. For example, when the waiting timer expires, the electronic device 110 can determine whether the user 140 is near the autonomous vehicle. For instance, the electronic device 110 can determine whether the user 140 is within 10 meters of the autonomous vehicle. When the waiting timer expires and the user 140 is not near the autonomous vehicle or has not boarded, the electronic device 110 can determine that the trip has not started and thus trigger trip termination.

[0062] In some embodiments, the electronic device 110 may plan a driving route with the first parking point as the destination in response to the first range not including a second parking point. Further, the electronic device 110 may control the autonomous vehicle to drive along the driving route to determine whether a second suitable parking point is included within a second range of the first parking point. The distance from the second range to the first parking point is greater than the distance from the first range to the first parking point.

[0063] As an example, when it is determined that no second parking spot is detected within the first range, the electronic device 110 can plan a driving route with the first parking spot as the destination using an appropriate algorithm (e.g., a path planning algorithm). Furthermore, the electronic device 110 can control the autonomous vehicle to travel along the driving route. During the autonomous vehicle's travel along the driving route, the electronic device 110 can acquire second perception information within a second range to determine whether the second range includes a second parking spot suitable for the autonomous vehicle to park. Here, the distance from the second range to the first parking spot is greater than the distance from the first range to the first parking spot. For example, the distance from the second range to the first parking spot could be 100 meters, and the distance from the first range to the first parking spot could be 30 meters.

[0064] In this way, the embodiments of this disclosure can detect the second parking point more flexibly.

[0065] In some embodiments, electronic device 110 may trigger a reset of the trip waiting timer in response to the autonomous vehicle parking at a second parking spot within the second range. For example, upon detecting a second parking spot within the second range, electronic device 110 may send a request to terminal device 130 to reset the waiting timer. Upon receiving this request, terminal device 130 may reset the waiting timer and present the reset waiting timer to user 140.

[0066] Continue to refer to Figure 2 In box 240, electronic device 110 can trigger the presentation of a first reminder message to the user associated with the trip. The first reminder message indicates a change of parking location. As an example, when the autonomous vehicle stops at a second parking location, electronic device 110 can send the first reminder message to terminal device 130. After the first reminder message is received, as... Figure 3A As shown, the terminal device 130 can display a first reminder message 320 on the interface 300A to remind the user of the change of the parking point of the autonomous vehicle.

[0067] In some embodiments, in order to enable users to know the location of the autonomous vehicle in real time and improve the user's travel experience, the electronic device 110 may trigger the display of the dynamic location of the autonomous vehicle in the travel interface associated with the user as a first reminder information during the process of the autonomous vehicle driving to stop at the second parking point.

[0068] As an example, such as Figure 3A As shown, during the process of the autonomous vehicle parking at the second parking point, the electronic device 110 can transmit the current location of the autonomous vehicle to the terminal device 130 in real time. After receiving the current location of the autonomous vehicle, the terminal device 130 can display interface elements 330 for indicating the autonomous vehicle in the map component 325 of the travel interface (e.g., interface 300A). After the autonomous vehicle moves, the terminal device 130 can move the interface 330 accordingly to display the dynamic location of the autonomous vehicle.

[0069] In some embodiments, the electronic device 110 may control the autonomous vehicle to travel along a planned route in response to the absence of a second parking spot suitable for the autonomous vehicle within a preset range. The planned route terminates at a first parking spot. Further, the electronic device 110 may trigger the presentation of a second reminder message to the user. The second reminder message indicates the planned route.

[0070] As an example, such as Figure 3B As shown, when no suitable second parking spot is detected within the second range, the electronic device 110 can control the autonomous vehicle to travel along a planned route with the first parking spot as the endpoint to return to the first parking spot. Furthermore, the electronic device 110 can also send a second reminder message to the terminal device 130. The second reminder message indicates the planned route. After receiving the second reminder message, the terminal device 130 can display the interface element 340 corresponding to the planned route on the travel interface (e.g., interface 300B).

[0071] In some embodiments, electronic device 110 may terminate the parking process of the autonomous vehicle in response to detecting a door opening signal before the autonomous vehicle stops at the second parking point. For example, electronic device 110 may acquire a door opening command before the autonomous vehicle stops at the second parking point. This door opening command may be generated by electronic device 110 in response to the distance between terminal device 130 and the autonomous vehicle being less than a preset distance, or it may be issued by terminal device 130. Upon receiving the door opening command, electronic device 110 may control the autonomous vehicle to terminate the parking process. In this way, embodiments of the present disclosure can promptly terminate the parking process of the autonomous vehicle upon receiving a door opening signal, thereby enabling more timely pickup of the user.

[0072] In embodiments of this disclosure, after determining that the scene information of the first parking spot meets the triggering conditions, a second parking spot within a preset range can be detected, and the autonomous vehicle can be controlled to park at the second parking spot. In this way, embodiments of this disclosure, after the scene information of the first parking spot meets the triggering conditions, control the autonomous vehicle to move to another parking spot, thereby improving the parking efficiency of the autonomous vehicle and effectively avoiding the impact of the autonomous vehicle's parking on traffic.

[0073] Example of a second parking process

[0074] Figure 4A and 4B A flowchart of secondary parking according to some embodiments of the present disclosure is shown. The secondary parking process can be implemented at electronic device 110. Reference is made below. Figure 1 To describe the process of parking twice.

[0075] like Figure 4A As shown in box 401, electronic device 110 can determine whether the autonomous vehicle has arrived at the pick-up point based on the current location of the autonomous vehicle and the pick-up point of the journey. That is, electronic device 110 can determine whether the autonomous vehicle has arrived at the first parking point.

[0076] In box 402, once the autonomous vehicle arrives at the first parking spot, electronic device 110 can trigger an arrival notification to the user.

[0077] In box 403, after the autonomous vehicle arrives at the first parking spot, electronic device 110 can obtain scene information associated with the first parking spot to determine whether the autonomous vehicle's parking at the first parking spot has caused traffic congestion. Once traffic congestion is determined, in box 404, electronic device 110 can send a request to the cloud order service to obtain relevant information. This information may include, for example, the time it took for user 140 to arrive at the first parking spot.

[0078] In box 405, the cloud-based order service can provide the acquired information to electronic device 110. This information may include, for example, the time it took for the user to arrive at the first parking spot.

[0079] In box 406, the order service module in electronic device 110 can transmit duration information to the planner module in electronic device 110.

[0080] In box 407, the planning module in electronic device 110 can detect the duration of traffic congestion caused by the autonomous vehicle stopping at the first parking point. When the duration reaches a threshold, in box 408, the planning module can determine whether the duration exceeds a preset duration. If the preset duration is not reached, in box 409, the order service module in electronic device 110 can construct a waiting instruction to control the autonomous vehicle to wait at the first parking point.

[0081] In frame 410, while the autonomous vehicle is waiting at the first parking spot, electronic device 110 can trigger the cloud order service to send a reminder message to remind the user that the vehicle is waiting at the pick-up point.

[0082] In box 411, when the time duration information exceeds a preset time duration, electronic device 110 can send traffic congestion information to cloud device 120. For example, electronic device 110 can send environmental information acquired by autonomous vehicles to cloud device 120.

[0083] In box 412, cloud device 120 can determine, based on environmental information, that the autonomous vehicle has caused traffic congestion. Further, in box 413, cloud device 120 can send a secondary parking instruction to electronic device 110.

[0084] refer to Figure 4B In box 414, the planning module in electronic device 110 can determine whether there is a suitable second parking spot for the autonomous vehicle within a first range based on the first perception information acquired by the autonomous vehicle. When a second parking spot is detected within the first range, in box 415, the planning module can control the autonomous vehicle to park at the second parking spot within the first range. During the process of the autonomous vehicle parking at the second parking spot within the first range, in box 416, the terminal device 130 can display the dynamic position of the vehicle. In box 417, after the autonomous vehicle successfully parks at the second parking spot, the terminal device 130 can increase the waiting timer.

[0085] In box 418, when no second parking point is detected within the first range, the order service module in electronic device 110 can initiate a request to plan a driving route with the first parking point as the destination.

[0086] In box 419, after initiating a route planning request, terminal device 130 can display the dynamic location of the autonomous vehicle.

[0087] In box 420, after the order service module in electronic device 110 initiates a route planning request, the route planning module can plan a driving route with the first parking point as the destination.

[0088] In box 421, the planning module in electronic device 110 can acquire second perception information of the second range as the autonomous vehicle travels along the driving route. Furthermore, the planning module can determine whether a second parking spot exists within the second range based on the second perception information.

[0089] In box 422, when a second parking spot exists within the second range and the autonomous vehicle parks at the second parking spot, the terminal device 130 can reset the waiting timer and provide a reminder that the vehicle has been unlocked.

[0090] In box 423, when no second parking point is detected within the second range, electronic device 110 can control the autonomous vehicle to continue driving along the planned route to return to the first parking point (i.e., the boarding point).

[0091] In box 424, as the autonomous vehicle travels along the planned route, the terminal device 130 can display the travel route.

[0092] In frame 425, electronic device 110 can control the autonomous vehicle to re-park at the first parking point.

[0093] In box 426, the order service module can update the status of the autonomous vehicle to set it to "Arrived at the pick-up point". Further, in box 427, the terminal device 130 can issue a notification that the autonomous vehicle has arrived and display a waiting timer. In some scenarios, the terminal device 130 can also display a notification that the autonomous vehicle's door has been unlocked.

[0094] Example devices and equipment

[0095] Embodiments of this disclosure also provide corresponding apparatus for implementing the above methods or processes. Figure 5 A schematic structural block diagram of a charging reminder device 500 according to certain embodiments of the present disclosure is shown. The device 500 may be implemented as or included in an electronic device 110. The various modules / components in the device 100 may be implemented by hardware, software, firmware, or any combination thereof.

[0096] like Figure 5As shown, the device 500 includes an acquisition module 510 configured to acquire scene information associated with the first parking point in response to the autonomous vehicle arriving at the first parking point of the trip; a detection module 520 configured to detect a second parking point within a preset range of the first parking point in response to the scene information meeting a trigger condition; a control module 530 configured to control the autonomous vehicle to park at the second parking point in response to the detection of the second parking point; and an alert module 540 configured to trigger the presentation of a first alert message to the user associated with the trip, the first alert message indicating a change in parking point.

[0097] In some embodiments, the device 500 further includes a first determining module configured to determine the degree of impact of the autonomous vehicle parking at the first parking point on traffic based on scene information; and to determine that the scene information meets the triggering conditions in response to the degree of impact reaching a preset level.

[0098] In some embodiments, the device 500 further includes a second determining module configured to determine the type of the first parking spot based on scene information; and to determine that the scene information meets the triggering condition in response to the type matching a preset type.

[0099] In some embodiments, the detection module 520 is further configured to: determine the expected duration of the user's arrival at the first parking spot; and, in response to the duration exceeding a threshold, detect a second parking spot within a preset range of the first parking spot.

[0100] In some embodiments, the detection module 520 is further configured to: send an assistance request to a remote device in response to scene information meeting a triggering condition; and detect a second parking point within a preset range of the first parking point in response to receiving a target instruction from the remote device.

[0101] In some embodiments, the assistance request indicates environmental information associated with the first parking point.

[0102] In some embodiments, the scene information includes at least one of the following: road topology information associated with the first parking spot; and traffic conditions associated with the first parking spot.

[0103] In some embodiments, the detection module 520 is further configured to: in response to scene information satisfying a triggering condition, acquire first perception information associated with a first range of the first parking point; and based on the first perception information, determine whether the first range includes a second parking point suitable for parking autonomous vehicles.

[0104] In some embodiments, the device 500 further includes a first update module configured to trigger an update of the trip's waiting time in response to the vehicle parking at a second parking spot within a first range, thereby adding a preset duration to the user's current remaining time.

[0105] In some embodiments, the device 500 further includes a first trigger module configured to trigger the termination of the process in response to the process not starting when the waiting timer ends.

[0106] In some embodiments, the detection module 520 is further configured to: plan a driving route with the first parking point as the endpoint in response to the first range not including the second parking point; and control the autonomous vehicle to drive along the driving route to determine whether the second range of the first parking point includes a second parking point suitable for parking, wherein the distance from the second range to the first parking point is greater than the distance from the first range to the first parking point.

[0107] In some embodiments, the device 500 further includes a second trigger module configured to trigger a trip waiting timer in response to the autonomous vehicle parking at a second parking spot within the second range.

[0108] In some embodiments, the reminder module 540 is further configured to: trigger the display of the dynamic location of the autonomous vehicle in the user-associated travel interface as a first reminder message during the process of the autonomous vehicle driving to stop at the second parking point.

[0109] In some embodiments, the device 500 further includes a third triggering module configured to, in response to the absence of a second parking spot suitable for the autonomous vehicle within a preset range, control the autonomous vehicle to travel along a planned route, the planned route ending at a first parking spot; and trigger the presentation of a second reminder message to the user, the second reminder message indicating the planned route.

[0110] In some embodiments, the first parking point is the pick-up point for the trip.

[0111] In some embodiments, the device 500 further includes a termination module configured to terminate the parking process of the autonomous vehicle in response to detecting a door opening signal before the autonomous vehicle stops at a second parking point.

[0112] The units included in device 500 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units may be implemented using software and / or firmware, such as machine-executable instructions stored on a storage medium. In addition to or as an alternative to machine-executable instructions, some or all of the units in device 500 may be implemented at least partially by one or more hardware logic components. By way of example and not limitation, exemplary types of hardware logic components that may be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-chips (SoCs), complex programmable logic devices (CPLDs), and so on.

[0113] Figure 6A block diagram of an electronic device 600 in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that... Figure 6 The electronic device 600 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. Figure 6 The electronic device 600 shown can be used to achieve Figure 1 Electronic devices 110.

[0114] like Figure 6 As shown, electronic device 600 is in the form of a general-purpose electronic device. Components of electronic device 600 may include, but are not limited to, one or more processors or processing units 610, memory 620, storage device 630, one or more communication units 640, one or more input devices 650, and one or more output devices 660. Processing unit 610 may be a physical or virtual processor and is capable of performing various processes according to programs stored in memory 620. In a multiprocessor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing capability of electronic device 600.

[0115] Electronic device 600 typically includes multiple computer storage media. Such media can be any accessible media that is accessible to electronic device 600, including but not limited to volatile and non-volatile media, removable and non-removable media. Memory 620 can be volatile memory (e.g., registers, cache, random access memory (RAM)), non-volatile memory (e.g., read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. Storage device 630 can be removable or non-removable media and can include machine-readable media, such as flash drives, disks, or any other media that can be used to store information and / or data and can be accessed within electronic device 600.

[0116] Electronic device 600 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not explicitly stated... Figure 6 As shown, disk drives for reading from or writing to removable, non-volatile disks (e.g., "floppy disks") and optical disk drives for reading from or writing to removable, non-volatile optical disks can be provided. In these cases, each drive can be connected to a bus (not shown) via one or more data media interfaces. Memory 620 may include computer program product 625 having one or more program modules configured to perform various methods or actions of various embodiments of this disclosure.

[0117] The communication unit 640 enables communication with other terminal devices via a communication medium. Additionally, the functionality of the components of the electronic device 600 can be implemented using a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the electronic device 600 can operate in a networked environment using logical connections to one or more other servers, network personal computers (PCs), or another network node.

[0118] Input device 650 can be one or more input devices, such as a mouse, keyboard, trackball, etc. Output device 660 can be one or more output devices, such as a monitor, speaker, printer, etc. Electronic device 600 can also communicate with one or more external devices (not shown) via communication unit 640 as needed. These external devices include storage devices, display devices, etc., and can communicate with one or more devices that enable user interaction with electronic device 600, or with any device (e.g., network card, modem, etc.) that enables electronic device 600 to communicate with one or more other terminal devices. Such communication can be performed via input / output (I / O) interface (not shown).

[0119] According to an exemplary implementation of this disclosure, a computer-readable storage medium is provided that stores computer-executable instructions thereon, wherein the computer-executable instructions are executed by a processor to implement the methods described above. According to an exemplary implementation of this disclosure, a computer program product is also provided, which is tangibly stored on a non-transitory computer-readable medium and includes computer-executable instructions, which are executed by a processor to implement the methods described above.

[0120] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatuses, devices, and computer program products implemented according to this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0121] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processing unit of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0122] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions that execute on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0124] Various implementations of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed implementations. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described implementations. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to technology in the market, or to enable others skilled in the art to understand the various implementations disclosed herein.

Claims

1. A control method for an autonomous vehicle, comprising: In response to the autonomous vehicle arriving at the first parking point of the trip, obtain scene information associated with the first parking point; In response to the scenario information meeting the triggering condition, a second parking point is detected within a preset range of the first parking point; In response to detecting the second parking spot, the autonomous vehicle is controlled to park at the second parking spot; as well as A first reminder message is triggered and presented to the user associated with the trip, indicating a change in parking location.

2. The method according to claim 1, further comprising: Based on the scenario information, determine the degree of impact of the autonomous vehicle parking at the first parking spot on traffic; as well as In response to the impact level reaching a preset level, it is determined that the scene information meets the triggering condition.

3. The method according to claim 1, further comprising: Based on the scene information, the type of the first parking spot is determined; as well as In response to the type matching a preset type, it is determined that the scene information satisfies the triggering condition.

4. The method according to claim 1, wherein detecting a second parking point within a preset range of the first parking point in response to the scene information satisfying the triggering condition includes: Determine the expected time for the user to arrive at the first parking spot; as well as In response to the duration exceeding the threshold, a second parking point is detected within the preset range of the first parking point.

5. The method according to claim 1, wherein detecting a second parking point within a preset range of the first parking point in response to the scene information satisfying a triggering condition comprises: In response to the scenario information satisfying the triggering condition, an assistance request is sent to the remote device; as well as In response to receiving a target instruction from the remote device, a second parking point is detected within the preset range of the first parking point.

6. The method of claim 5, wherein the assistance request indicates environmental information associated with the first parking spot.

7. The method according to claim 1, wherein the scene information includes at least one of the following: Road topology information associated with the first parking spot; Traffic conditions associated with the first parking spot.

8. The method according to claim 1, wherein detecting a second parking point within a preset range of the first parking point in response to the scene information satisfying a triggering condition comprises: In response to the scene information satisfying the triggering condition, first perception information associated with the first range of the first parking point is acquired; as well as Based on the first sensing information, determine whether the first range includes a second parking spot suitable for parking the autonomous vehicle.

9. The method according to claim 8, further comprising: In response to the vehicle parking at the second parking spot within the first range, the waiting time for the trip is updated to add a preset duration to the user's current remaining time.

10. The method of claim 9, further comprising: If the process has not started when the waiting timer expires, the process is terminated.

11. The method according to claim 8, wherein detecting a second parking point within a preset range of the first parking point in response to the scene information satisfying the triggering condition further comprises: In response to the fact that the second parking spot is not included in the first range, a driving route is planned with the first parking spot as the destination; as well as The autonomous vehicle is controlled to travel along the driving route to determine whether a second parking spot suitable for parking is included within a second range of the first parking spot, wherein the distance from the second range to the first parking spot is greater than the distance from the first range to the first parking spot.

12. The method of claim 11, further comprising: In response to the autonomous vehicle parking at the second parking spot within the second range, the waiting timer for resetting the trip is triggered.

13. The method of claim 1, wherein triggering the presentation of a first reminder message to a user associated with the trip comprises: During the process of the autonomous vehicle driving to park at the second parking spot, the dynamic location of the autonomous vehicle is displayed in the travel interface associated with the user as the first reminder information.

14. The method according to claim 1, further comprising: In response to the fact that the preset range does not include a second parking spot suitable for the autonomous vehicle to park, the autonomous vehicle is controlled to travel along a planned route, the planned route ending at the first parking spot; as well as A second reminder message is triggered and presented to the user, which in turn indicates the planned route.

15. The method according to claim 1, wherein the first parking point is the pick-up point for the trip.

16. The method according to claim 1, further comprising: In response to detecting a door opening signal before the autonomous vehicle stops at the second parking point, the parking process of the autonomous vehicle is terminated.

17. A device for controlling an autonomous vehicle, comprising: The acquisition module is configured to acquire scene information associated with the first parking point in response to the autonomous vehicle arriving at the first parking point of the trip; The detection module is configured to detect a second parking point within a preset range of the first parking point in response to the scene information meeting the triggering condition; The control module is configured to control the autonomous vehicle to park at the second parking point in response to the detection of the second parking point; as well as The reminder module is configured to trigger the presentation of a first reminder message to the user associated with the trip, the first reminder message indicating a change of parking location.

18. An electronic device comprising: At least one processing unit; as well as At least one memory coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 16 when executed by the at least one processing unit.

19. A computer-readable storage medium having a computer program stored thereon, the computer program being executable by a processor to implement the method according to any one of claims 1 to 16.

20. A computer program product comprising computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 16.

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