Method and apparatus for controlling autonomous vehicle

Abstract

According to the embodiment of the invention, a method and device for controlling an autonomous vehicle are provided. The method comprises the following steps: in response to a received parking request for an autonomous vehicle, determining whether an entrance / exit is included in an area associated with the parking request; in response to the area including the entrance, determining type information of the entrance, the type information at least indicating the size of the entrance; determining a parking mode associated with the entrance and exit based on the type information; and controlling the autonomous vehicle to park based on the parking mode. Based on the mode, the embodiment of the invention can improve the parking efficiency of the autonomous vehicle.

Description

TECHNICAL FIELD

[0001] Example embodiments of the present disclosure generally relate to the field of computers, and in particular, to a method, apparatus, device, computer-readable storage medium, and computer program product for controlling an autonomous vehicle. BACKGROUND

[0002] In recent years, vehicles based on automatic driving technology (also known as autonomous vehicles) can be used to provide travel services, in such travel service scenarios, autonomous parking of autonomous vehicles is an important task. Autonomous parking refers to the function that autonomous vehicles can automatically complete the planning and tracking of a parking path through their own sensors and control systems, and finally safely and accurately park the vehicle into a parking space, without or with only a small amount of intervention by the driver.

[0003] However, in practical applications, due to the diversity of road scenes and the dynamic changes of traffic conditions, the existing autonomous parking technology is difficult to effectively handle various different parking situations, so it is necessary to improve the autonomous parking capability of autonomous vehicles. SUMMARY

[0004] In a first aspect of the present disclosure, a method for controlling an autonomous vehicle is provided. The method comprises: in response to receiving a parking request for the autonomous vehicle, determining whether an entrance and exit is included in a region associated with the parking request; in response to the region including the entrance and exit, determining type information of the entrance and exit, the type information at least indicating a size of the entrance and exit; based on the type information, determining a parking mode associated with the entrance and exit; and based on the parking mode, controlling the autonomous vehicle to park.

[0005] In a second aspect of the present disclosure, an apparatus for controlling an autonomous vehicle is provided. The apparatus comprises: a first determining module configured to, in response to receiving a parking request for the autonomous vehicle, determine whether an entrance and exit is included in a region associated with the parking request; a second determining module configured to, in response to the region including the entrance and exit, determine type information of the entrance and exit, the type information at least indicating a size of the entrance and exit; a third determining module configured to, based on the type information, determine a parking mode associated with the entrance and exit; and a control module configured to, based on the parking mode, control the autonomous vehicle to park.

[0006] In a third aspect of the present disclosure, an electronic device is provided. The device comprises 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. The instructions, when executed by the at least one processing unit, cause the device to perform the method of the first aspect.

[0007] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided. The computer-readable storage medium has stored thereon a computer program, the computer program being executable by a processor to implement the method of the first aspect.

[0008] In a fifth aspect of the present disclosure, a computer program product is provided. The computer program product includes computer executable instructions that, when executed by a processor, implement the method of the first aspect.

[0009] It should be understood that all statements herein made regarding the exemplary aspects of the disclosure are intended to encompass both structural and functional equivalents thereof. Additionally, although the exemplary aspects of the disclosure have been described herein with the aid of figures that illustrate certain embodiments of the disclosure, the exemplary aspects of the disclosure are not limited to these embodiments. On the contrary, the intention is to cover all modifications, enhancements, alternatives, equivalents, and the like, falling within the scope of the disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0010] The above-described and other features, advantages, and aspects of the present disclosure will become more apparent as various embodiments of the present disclosure are described in greater detail below. It should be understood that the detailed description and specific examples, while indicating certain embodiments of the disclosure, are intended for purposes of illustration only and are not intended to limit the scope of the disclosure. FIG. 1 A schematic diagram illustrating an example environment in which embodiments of the present disclosure can be implemented is shown; FIG. 2 A first flow diagram illustrating an example process in accordance with some embodiments of the present disclosure is shown; FIG. 3A and FIG. 3B A road schematic illustrating an example process in accordance with some embodiments of the present disclosure is shown; FIG. 4A to FIG. 4C A second flow diagram illustrating an example process in accordance with some embodiments of the present disclosure is shown; FIG. 5 A schematic block diagram of an example apparatus for controlling an autonomous vehicle in accordance with certain embodiments of the present disclosure is shown; and FIG. 6 A block diagram of an apparatus that can implement various embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0011] Embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be embodied in various forms and should not be construed as being limited to the embodiments set forth herein, but rather, the embodiments are provided so as to more completely and thoroughly understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only and are not intended to limit the scope of the present disclosure.

[0012] It should be noted that the headings provided in any section / subsection herein are not limitations. Various embodiments are described throughout this document and any type of embodiment can be included under any section / subsection. Moreover, embodiments described in any section / subsection can be combined with any other embodiment described in the same section / subsection and / or a different section / subsection in any manner.

[0013] In the description of embodiments of the disclosure, the term "includes" and its derivatives, such as "including," should be understood in an open-ended way, that is, "including but not limited to." The term "based on" should be understood as "based at least in part 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 can also be included below. The terms "first," "second," and the like can refer to different or the same objects. Other explicit and implicit definitions can also be included below.

[0014] Data of users, acquisition and / or use of data, etc. can be involved in embodiments of the disclosure. These aspects all comply with corresponding laws and regulations and relevant provisions. In embodiments of the disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are carried out on the premise that the user is aware of and confirms. Accordingly, when implementing embodiments of the disclosure, the type of data or information that can be involved, the use range, the use scenario, etc. should be notified to the user and the authorization of the user should be obtained through appropriate means according to relevant laws and regulations. The specific notification and / or authorization mode can vary according to the actual situation and application scenario, and the scope of the disclosure is not limited in this aspect.

[0015] In the specification and embodiments, if personal information processing is involved, it will be processed on the premise of legality (for example, obtaining the consent of the subject of personal information, or being necessary for the performance of a contract, etc.), and only within the prescribed or agreed range. Users refuse to process personal information other than the necessary information required for basic functions, which does not affect the user's use of basic functions.

[0016] With the development of autonomous driving technology, autonomous driving is also applied to more extensive fields. In recent years, vehicles based on autonomous driving technology (also known as autonomous vehicles) can be used to provide travel services, for example, robotaxis. In such a travel service scenario, autonomous parking of autonomous vehicles is an important task. For example, autonomous vehicles need to accurately park at a pickup point for pick-up. The autonomous parking capability of autonomous vehicles is challenged by the diversity of road scenes and the dynamic changes of traffic conditions.

[0017] Embodiments of this disclosure propose a scheme for controlling an autonomous vehicle. According to various embodiments of this disclosure, in response to receiving a parking request for an autonomous vehicle, it can be determined whether an entrance / exit is included in the area associated with the parking request; in response to the area including an entrance / exit, type information of the entrance / exit is determined, the type information indicating at least the size of the entrance / exit; based on the type information, a parking mode associated with the entrance / exit is determined; and based on the parking mode, the autonomous vehicle is controlled to park.

[0018] In this way, embodiments of this disclosure can determine the type of entrance / exit based on its size, and further determine which parking mode is more appropriate for the autonomous vehicle based on the type of entrance / exit, and control the autonomous vehicle to use that parking mode for parking. Thus, the autonomous vehicle will switch between different parking modes when dealing with entrances / exits of different sizes, rather than following a single parking mode, allowing it to adopt the appropriate autonomous parking mode according to the different entrances / exits.

[0019] Example Environment FIG. 1 A schematic diagram of an example environment 100 in which embodiments of the present disclosure can be implemented is shown. As shown, environment 100 may include vehicle 120. Environment 100 can be applied to autonomous driving scenarios, assisted driving scenarios, intelligent transportation scenarios, etc. Vehicle 120 may be an autonomous vehicle, etc. An autonomous vehicle is a means of transportation with autonomous driving capability (or driverless driving capability), also known as a driverless car, autonomous driving vehicle, etc. For ease of understanding, this disclosure uses vehicle 120 as an example for explanation and illustration, but is not limited thereto.

[0020] In some scenarios, users can access transportation services provided by vehicle 120 through ride-hailing apps. In other scenarios, vehicle 120 may also be referred to as a driverless taxi or robotaxi. During the process of providing transportation services to users, vehicle 120 may be equipped with a safety operator. The safety operator can, for example, take over vehicle 120 in an emergency. Alternatively, vehicle 120 may also be in an unmanned state. Vehicle 120 may also be equipped with one or more display devices inside the vehicle to provide human-machine interaction functions.

[0021] In some scenarios, during the autonomous driving process of vehicle 120, electronic device 110, upon receiving a parking request, can sense some environmental data of vehicle 120 to detect whether the area associated with the parking request includes entrances or exits. Such electronic device 110 may include a terminal and / or a server.

[0022] Such a terminal 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, 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, electronic device 110 may also support any type of user-facing interface (such as "wearable" circuitry).

[0023] Such servers can be standalone physical servers, server clusters or distributed systems composed of multiple physical servers, or cloud servers providing 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 networks, and big data and artificial intelligence platforms. Servers can include, for example, computing systems / servers such as mainframes, edge computing nodes, and computing devices in cloud environments, etc.

[0024] Electronic device 110 can be installed in vehicle 120, or deployed in any electronic unit of vehicle 120 (such as sensors, control units, etc.), or it can exist independently of vehicle 120.

[0025] When the electronic device 110 and the vehicle 120 exist independently, a communication connection can be established between the vehicle 120 and the electronic device 110. This communication connection can be established via wired or wireless means. The communication connection may include, but is not limited to, Bluetooth connections, mobile network connections, Universal Serial Bus connections, Wi-Fi connections, etc., and the embodiments of this disclosure are not limited in this respect. Based on this, the vehicle 120 and the electronic device 110 can achieve signaling interaction through the communication connection between them.

[0026] It should be understood that the structure and function of environment 100 are described for illustrative purposes only and do not imply any limitation on the scope of this disclosure.

[0027] Example Process The following will be referenced FIG. 2 To describe an example architecture for controlling an autonomous vehicle 120 according to some embodiments of the present disclosure. FIG. 2 A schematic architecture block diagram of a control autonomous vehicle 120 according to some embodiments of the present disclosure is shown. Architecture 200 may, for example, be composed of... FIG. 1 The electronic device 110 shown is provided. See below for reference. FIG. 1 To describe architecture 200.

[0028] like FIG. 2 As shown, in block 210, electronic device 110 can, in response to receiving a parking request for an autonomous vehicle, determine whether the area associated with the parking request includes an entrance or exit.

[0029] In some embodiments, an entrance / exit is a physical space and its corresponding logical interface that an autonomous vehicle must pass through when entering or exiting a parking area from a public road or main access road, used for path switching and state switching. For example, to ensure parking safety, when the electronic device 110 receives a parking request for an autonomous vehicle, it checks whether there is an entrance / exit in the area associated with the parking request.

[0030] In box 220, electronic device 110 can determine the type information of the entrance / exit in response to the area including the entrance / exit.

[0031] In some embodiments, the type information at least indicates the size of the entrance / exit. Since entrances / exits in real-world applications have different sizes, some are very large with wide passageways, allowing sufficient space for other vehicles to pass safely even after an autonomous vehicle parks there; however, some entrances / exits are very small with narrow passageways, which could cause congestion or collisions if an autonomous vehicle parks there. Therefore, embodiments of this disclosure can determine the parking method based on the size of the entrance / exit.

[0032] For example, refer to FIG. 4A Based on the size of the entrance / exit, the types of entrances / exits can be divided into small-sized entrances / exits 403, medium-sized entrances / exits 402, and large-sized entrances / exits 401. Specifically, small-sized entrances / exits can be defined as entrances / exits with an entrance / exit size smaller than a second threshold; medium-sized entrances / exits can be defined as entrances / exits with an entrance / exit size not smaller than the second threshold and smaller than the first threshold; and large-sized entrances / exits can be defined as entrances / exits with an entrance / exit size not smaller than the first threshold. The embodiments of this disclosure do not limit the specific method of classifying entrance / exit types, and can be adjusted accordingly according to actual needs.

[0033] In box 230, electronic device 110 can determine the parking mode associated with the entrance / exit based on type information.

[0034] In some embodiments, the electronic device 110 may, in response to a size smaller than a first threshold, determine the isolation type of an entrance / exit based on type information, whereby the isolation type indicates whether the isolation object associated with the entrance / exit is physically isolated. A parking mode is then determined based on the isolation type.

[0035] In some embodiments, the isolation types for entrances and exits include at least physical isolation and non-physical isolation. Physical isolation refers to objects that clearly separate different areas, passageways, or functional flows in space through fixed, tangible physical facilities to forcibly guide, restrict, or prohibit the activity and passage of people and vehicles. For example, physical isolation can include flower beds, railings, concrete blocks, etc. Non-physical isolation refers to defining the isolation boundaries of entrances and exits through means such as marking lines. Since autonomous vehicles cannot directly pass through physical isolation, the specific parking mode needs to be determined according to the isolation type of the entrance and exit.

[0036] In some embodiments, the electronic device 110 may determine a first parking mode in response to the size reaching a second threshold and the isolation type corresponding to physical isolation. For example, refer to FIG. 4C If the size of the entrance / exit is between the first threshold and the second threshold 402, and the isolation object associated with the entrance / exit is a physical isolation 418, then the first parking mode 421 can be determined.

[0037] The first parking mode indicates the location of a parking space within a first area, which includes the access area for entrances and exits, the lane area associated with the entrances and exits, and the opening area associated with physical barriers. The opening associated with physical barriers refers to a break in the physical barrier designed to allow vehicles to turn, make a U-turn, or enter or exit.

[0038] For example, a first area can be created by integrating the entrance / exit passage area, the non-motorized vehicle lane directly opposite the entrance / exit, the opening in the median strip, and the width of part of the motorized vehicle lane. This first area is a temporary parking area designated for autonomous vehicles. In this way, when road resources are scarce and it is not possible to build a traditional recessed bay, existing road facilities can be combined to create a functional bay.

[0039] These temporary parking areas separate temporarily parked vehicles from the main traffic flow, allowing vehicles to clear the main road while parking, enabling following vehicles to pass smoothly, thus reducing the impact on main road traffic and greatly improving road safety.

[0040] In some embodiments, the electronic device 110 may determine that the size reaches a second threshold and the isolation type corresponds to non-physical isolation. The parking mode is then determined based on at least one of the following: parking constraints of a reference road segment associated with the entrance / exit, and lane types of adjacent lanes of the entrance / exit lane.

[0041] Parking constraints on reference road segments associated with entrances and exits are used to indicate whether parking is prohibited on the reference road segments. Lane types adjacent to entrance and exit lanes include non-motorized vehicle lanes and motorized vehicle lanes. Motorized vehicle lanes can be further classified as single lanes, non-single lanes, non-expressways, rural roads, roads with speed limits higher than 60 km / h, etc.

[0042] Since the isolation objects associated with entrances and exits are not physically isolated, there are no clear physical boundaries. This allows autonomous vehicles to be controlled to move further inwards before stopping, rather than stopping at the outermost edge of the entrance or exit. In this way, the impact on normally traveling vehicles is reduced, and the distance from traffic flow is increased, making the autonomous vehicles' operation safer.

[0043] In addition, since sidewalks are areas for pedestrians to walk on, if the barriers associated with entrances and exits are not physical barriers when there are sidewalks, the probability of traffic safety problems will increase. Therefore, autonomous vehicles need to avoid areas with sidewalks before parking.

[0044] In some embodiments, the electronic device 110 may determine a second parking mode in response to a lane type indication indicating that the passage conditions of adjacent lanes meet preset constraints. For example, refer to FIG. 4C If the size of the entrance / exit is between the first and second thresholds 402, the isolation object associated with the entrance / exit is a non-physical isolation 417, and the lane type adjacent to the entrance / exit includes single lanes in motor vehicle lanes, roads in motor vehicle lanes with speed limits higher than 60, etc., it indicates that the lane type indicates that the traffic conditions of adjacent lanes meet the preset constraints, that is... FIG. 4C Steps 423 and 425 determine the second parking modes 427 and 429.

[0045] The second parking mode refers to the creation of bay areas associated with entrances and exits for parking. For example, in the second parking mode, autonomous vehicles can enter entrances and exits to park in a bay-like manner. This solves the problem of autonomous vehicles needing to park temporarily when there are no designated parking spaces available. Parking directly in the driveway would affect traffic safety, so using lower-risk entrances and exits allows for safe parking without obstructing traffic.

[0046] In some embodiments, the electronic device 110 may determine a third parking mode in response to a traffic condition not meeting a preset constraint and a parking constraint indicating that parking is prohibited on a reference road segment. For example, a reference road segment... FIG. 4CIf the size of the entrance / exit is between the first threshold and the second threshold 402, the isolation object associated with the entrance / exit is a non-physical isolation 417, parking is prohibited on the reference road section 419, and the lane type adjacent to the entrance / exit includes non-motorized vehicle lanes, non-single lanes in motorized vehicle lanes, non-expressways in motorized vehicle lanes, rural roads in motorized vehicle lanes, etc., it means that the passage conditions of the adjacent lanes indicated by the lane type do not meet the preset constraints 422, and the third parking mode 426 can be determined.

[0047] The third parking mode indicates that parking should be done using the lane area corresponding to the entrance / exit. For example, refer to... FIG. 3A In the third parking mode, autonomous vehicles can park in the non-motorized vehicle lane or motorized vehicle lane directly opposite the entrance / exit opening, i.e., area 302. The reference road sections are located in front of and behind the entrance / exit. Since parking is prohibited in these reference road sections, short stops are only allowed in the lane directly opposite the entrance / exit opening. This method makes passenger pick-up and drop-off more convenient because the parking area is directly opposite the entrance / exit, while also minimizing the impact on vehicles behind.

[0048] In some embodiments, the electronic device 110 may determine a fourth parking mode in response to a traffic condition not meeting a preset constraint and a parking constraint indicating that a reference road segment allows parking. For example, a reference road segment... FIG. 4C If the size of the entrance / exit is between the first threshold and the second threshold 402, the isolation object associated with the entrance / exit is a non-physical isolation 417, the reference road segment allows parking 420, and the lane type adjacent to the entrance / exit includes non-motorized vehicle lanes, non-single lanes in motorized vehicle lanes, non-expressways in motorized vehicle lanes, rural roads in motorized vehicle lanes, etc., it means that the lane type indicates that the passage conditions of the adjacent lanes do not meet the preset constraints 424, and the fourth parking mode 428 can be determined.

[0049] The fourth parking mode indicates parking using reference road sections. For example, referencing... FIG. 3B In the fourth parking mode, since parking is permitted on the reference road sections, autonomous vehicles can park in reference road section area 306 before or after the entrance / exit. Furthermore, because parking on the reference road section before the entrance / exit has less impact on traffic, autonomous vehicles will be given priority to park on this section. If parking on the reference road section before the entrance / exit is not possible, then parking on the reference road section after the entrance / exit will be considered.

[0050] In some embodiments, the electronic device 110 may determine a fifth parking mode in response to a size smaller than a second threshold and an isolation type corresponding to physical isolation. If the size of the entrance / exit is smaller than the second threshold, it indicates that the entrance / exit is very narrow, and parking there might cause risks such as obstruction or scratches. Therefore, the autonomous vehicle can choose not to enter the entrance / exit and instead park in other areas that do not affect passage. For example, refer to... FIG. 4B If the size of the entrance / exit is less than the second threshold 403, and the isolation object associated with the entrance / exit is a physical isolation 405, then the fifth parking mode 408 can be determined.

[0051] The fifth parking mode indicates that a parking location is to be determined within a fifth zone, which includes an opening area associated with a physical barrier. For example, the fifth zone can be determined by an opening in the median strip, where the first zone is a temporary parking area designated for autonomous vehicles. This method allows for the creation of a functional parking bay by utilizing existing road infrastructure when road resources are limited and traditional recessed bays cannot be constructed.

[0052] In some embodiments, the electronic device 110 may determine that the size is less than a second threshold and the isolation type corresponds to non-physical isolation. The parking mode is then determined based on at least one of the following: parking constraints of a reference road segment associated with the entrance / exit, and lane type of adjacent lanes of the entrance / exit lane.

[0053] In some embodiments, the electronic device 110 may determine a sixth parking mode in response to a lane type indicator indicating that the passage conditions of adjacent lanes meet preset constraints. The sixth parking mode instructs the autonomous vehicle to continue driving in order to find a parking area.

[0054] For example, refer to FIG. 4B If the size of the entrance / exit is smaller than the second threshold 403, the isolation object associated with the entrance / exit is a non-physical isolation 404, and the lane type adjacent to the entrance / exit includes single lanes in motor vehicle lanes, roads in motor vehicle lanes with speed limits higher than 60, etc., corresponding to... FIG. 4B Steps 414 and 416 indicate that the risk of parking the autonomous vehicle at this location is too high. In order to ensure traffic safety, the autonomous vehicle needs to continue driving to find other suitable parking areas.

[0055] In some embodiments, the electronic device 110 may determine a third parking mode in response to a traffic condition not meeting a preset constraint and a parking constraint indicating that parking is prohibited on a reference road segment. For example, a reference road segment... FIG. 4BIf the size of the entrance / exit is smaller than the second threshold 403, the isolation object associated with the entrance / exit is a non-physical isolation 404, parking is prohibited on the reference road segment 406, and the lane type adjacent to the entrance / exit includes non-motorized vehicle lanes, non-single lanes in motorized vehicle lanes, non-expressways in motorized vehicle lanes, rural roads in motorized vehicle lanes, etc., it means that the passage conditions of the adjacent lanes indicated by the lane type do not meet the preset constraints 409, and the third parking mode 413 can be determined.

[0056] The third parking mode indicates that parking should be done using the lane area corresponding to the entrance / exit. For example, refer to... FIG. 3A In the third parking mode, autonomous vehicles can park in the non-motorized vehicle lane or motorized vehicle lane directly opposite the entrance / exit opening, i.e., area 302. The reference road sections are located in front of and behind the entrance / exit. Since parking is prohibited in these reference road sections, short stops are only allowed in the lane directly opposite the entrance / exit opening. This method makes passenger pick-up and drop-off more convenient because the parking area is directly opposite the entrance / exit, while also minimizing the impact on vehicles behind.

[0057] In some embodiments, the electronic device 110 may determine a fourth parking mode in response to a traffic condition not meeting a preset constraint and a parking constraint indicating that a reference road segment allows parking. For example, a reference road segment... FIG. 4B If the size of the entrance / exit is smaller than the second threshold 403, the isolation object associated with the entrance / exit is a non-physical isolation 404, the reference road segment allows parking 407, and the lane type adjacent to the entrance / exit includes non-motorized vehicle lanes, non-single lanes in motorized vehicle lanes, non-expressways in motorized vehicle lanes, rural roads in motorized vehicle lanes, etc., it means that the lane type indicates that the passage conditions of the adjacent lanes do not meet the preset constraints 411, and the fourth parking mode 415 can be determined.

[0058] The fourth parking mode indicates parking using reference road sections. For example, referencing... FIG. 3B In the fourth parking mode, since parking is permitted on the reference road sections, autonomous vehicles can park in reference road section area 306 before or after the entrance / exit. Furthermore, because parking on the reference road section before the entrance / exit has less impact on traffic, autonomous vehicles will be given priority to park on this section. If parking on the reference road section before the entrance / exit is not possible, then parking on the reference road section after the entrance / exit will be considered.

[0059] In some embodiments, the electronic device 110 determines a seventh parking mode in response to a size reaching a first threshold. The seventh parking mode indicates the determination of a parking location within a sixth area, which includes a passageway area for entrances and exits.

[0060] For example, if the size of the entrance / exit reaches the first threshold, indicating that the entrance / exit is very spacious, the seventh parking mode can be determined. In the seventh parking mode, the autonomous vehicle can control its body to fully enter the entrance / exit and park on the side of the road. After parking, it can exit the entrance / exit by making a U-turn. A U-turn refers to the autonomous vehicle making a 180-degree turn within the entrance / exit to leave. This method fully utilizes the functionality of large-sized entrances / exits and makes parking within the entrance / exit safer and more reliable.

[0061] In box 240, electronic device 110 can control the autonomous vehicle to park based on the parking mode.

[0062] In some embodiments, electronic device 110 can control an autonomous vehicle to park using at least a portion of the passageway area corresponding to an entrance or exit. For example, refer to FIG. 3A If the station corresponding to the autonomous vehicle is located at the entrance / exit, then the autonomous vehicle can be controlled to... FIG. 3A Stop at Zone 303. Zone 303 overlaps with the non-motorized vehicle lane, which minimizes disruption to normal traffic flow. If there are no parking facilities in Zone 303, then stop at Zone 301 or Zone 304. If there are no parking facilities in Zones 301, 303, and 304, then stop at Zone 302.

[0063] In some embodiments, reference FIG. 3B If there are no parking conditions in areas 301, 303, and 304, you can stop in areas 306 or 305. Additionally, to leave space for vehicles behind you when parking, you can prioritize parking in area 306, which is located in front of the entrance / exit. If area 306 does not meet the parking requirements, then consider parking in area 305.

[0064] In some embodiments, due to the complexity and variability of actual situations, there may be situations where the autonomous vehicle poses a significant safety risk when parking in the area defined by the parking mode. For example, the parking mode may instruct the autonomous vehicle to make a lateral stop, or the parking area indicated by the parking mode may be congested, both of which pose significant safety risks. Therefore, if the safety risk is high, it is necessary to limit the parking time of the autonomous vehicle. For instance, because parking in a certain location is dangerous, the autonomous vehicle may only be allowed to stay in that location for a preset time, and may not be allowed to stay for an extended period.

[0065] This method allows for the matching of appropriate parking patterns based on the size of the entrances and exits. It caters to both situations where entrances and exits are narrow, making it difficult for vehicles to enter or turn around, and situations where entrances and exits are wide, allowing vehicles to park within the designated areas. Furthermore, the parking area is determined based on the facilities near the entrances and exits, thereby minimizing traffic disruption and improving traffic safety.

[0066] Example Apparatus and Device FIG. 5 A schematic structural block diagram of a device 500 for controlling an autonomous vehicle according to certain embodiments of the present disclosure is shown. The device 500 may be implemented as or included in an autonomous vehicle 120. Various modules / components in the device 500 may be implemented by hardware, software, firmware, or any combination thereof.

[0067] As shown in the figure, the device 500 includes a first determining module 510 configured to determine whether an entrance or exit is included in the area associated with the parking request in response to receiving a parking request for an autonomous vehicle; a second determining module 520 configured to determine type information of the entrance or exit in response to the area including the entrance or exit, the type information indicating at least the size of the entrance or exit; a third determining module 530 configured to determine a parking mode associated with the entrance or exit based on the type information; and a control module 540 configured to control the autonomous vehicle to park based on the parking mode.

[0068] In some embodiments, the third determining module 530 is configured to, in response to a size less than a first threshold, determine the isolation type of an entrance / exit based on type information, wherein the isolation type indicates whether the isolation object associated with the entrance / exit is a physical isolation; and determine a parking mode based on the isolation type.

[0069] In some embodiments, the third determining module 530 is configured to determine a first parking mode in response to a size reaching a second threshold and an isolation type corresponding to physical isolation. The first parking mode indicates the determination of a parking location within a first area, the first area including an entrance / exit passage area, a lane area associated with the entrance / exit, and an opening area associated with physical isolation.

[0070] In some embodiments, the third determining module 530 is configured to determine that the size reaches a second threshold and the isolation type corresponds to non-physical isolation; and to determine the parking mode based on at least one of the following: parking constraints of a reference road segment associated with the entrance / exit, and lane type of adjacent lanes of the entrance / exit lane.

[0071] In some embodiments, the third determining module 530 is configured to determine a second parking mode in response to a lane type indicating that the traffic conditions of adjacent lanes meet preset constraints, the second parking mode indicating the construction of a bay area associated with the entrance / exit for parking; or to determine a third parking mode in response to a traffic condition not meeting preset constraints and a parking constraint indicating that parking is prohibited on a reference road segment, the third parking mode indicating the use of a lane area corresponding to the entrance / exit for parking; or to determine a fourth parking mode in response to a traffic condition not meeting preset constraints and a parking constraint indicating that parking is permitted on a reference road segment, the fourth parking mode indicating the use of a reference road segment for parking.

[0072] In some embodiments, the third determining module 530 is configured to determine a fifth parking mode in response to a size less than a second threshold and an isolation type corresponding to physical isolation. The fifth parking mode indicates the determination of a parking location within a fifth region, which includes an opening region associated with physical isolation.

[0073] In some embodiments, the third determining module 530 is configured to determine that the size is less than a second threshold and the isolation type corresponds to non-physical isolation; and to determine the parking mode based on at least one of the following: parking constraints of a reference road segment associated with an entrance / exit, and lane type of adjacent lanes of the entrance / exit lane.

[0074] In some embodiments, the third determining module 530 is configured to determine a sixth parking mode in response to a lane type indicating that the traffic conditions of adjacent lanes meet preset constraints, the sixth parking mode instructing the autonomous vehicle to continue driving to find a parking area; or to determine a third parking mode in response to traffic conditions not meeting preset constraints and a parking constraint indicating that parking is prohibited on a reference road segment, the third parking mode instructing parking to be performed using the lane area corresponding to the entrance / exit; or to determine a fourth parking mode in response to traffic conditions not meeting preset constraints and a parking constraint indicating that parking is permitted on a reference road segment, the fourth parking mode instructing parking to be performed using a reference road segment.

[0075] In some embodiments, the third determining module 530 is configured to determine a seventh parking mode in response to a size reaching a first threshold. The seventh parking mode indicates the determination of a parking location within a sixth area, which includes a passageway area for entrances and exits.

[0076] In some embodiments, the control module 540 is configured to control the autonomous vehicle to park using at least a portion of the passage area corresponding to the entrance / exit.

[0077] FIG. 6 A block diagram is shown illustrating a computing device 600 in which one or more embodiments of the present disclosure may be implemented. It should be understood that... FIG. 6The computing device 600 shown is merely exemplary and should not be construed as limiting the functionality and scope of the embodiments described herein. FIG. 6 The computing device 600 shown can be used to implement FIG. 1 Electronic devices 110.

[0078] like FIG. 6 As shown, computing device 600 is in the form of a general-purpose computing device. Components of computing device 600 may include, but are not limited to, one or more processors or processing units 610, memory 620, storage devices 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 computing device 600.

[0079] Computing device 600 typically includes multiple computer storage media. Such media can be any accessible media that is accessible to computing 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 (e.g., training data for training) and can be accessed within computing device 600.

[0080] The computing device 600 may further include additional removable / non-removable, volatile / non-volatile storage media. Although not explicitly stated... FIG. 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.

[0081] The communication unit 640 enables communication with other computing devices via a communication medium. Additionally, the functionality of the components of the computing device 600 can be implemented as a single computing cluster or multiple computing machines capable of communicating via communication connections. Therefore, the computing device 600 can operate in a networked environment using logical connections to one or more other servers, networked personal computers (PCs), or another network node.

[0082] 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. Computing device 600 can also communicate as needed with one or more external devices (not shown) via communication unit 640. These external devices, such as storage devices, display devices, etc., can communicate with one or more devices that enable user interaction with computing device 600, or with any device that enables computing device 600 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication can be performed via input / output (I / O) interfaces (not shown).

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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 method for controlling an autonomous vehicle, comprising: In response to receiving a parking request for an autonomous vehicle, determine whether the area associated with the parking request includes an entrance or exit; In response to the area including the entrance / exit, type information of the entrance / exit is determined, the type information indicating at least the size of the entrance / exit; Based on the type information, determine the parking mode associated with the entrance / exit; as well as Based on the parking mode, the autonomous vehicle is controlled to park.

2. The method of claim 1, wherein determining the parking mode associated with the entrance / exit based on the type information comprises: In response to the size being less than a first threshold, the isolation type of the entrance / exit is determined based on the type information, wherein the isolation type indicates whether the isolation object associated with the entrance / exit is a physical isolation; as well as The parking mode is determined based on the isolation type.

3. The method of claim 2, wherein determining the parking mode based on the isolation type comprises: In response to the size reaching a second threshold and the isolation type corresponding to physical isolation, a first parking mode is determined, the first parking mode indicating the determination of a parking location within a first area, the first area including a passage area of ​​the entrance / exit, a lane area associated with the entrance / exit, and an opening area associated with the physical isolation.

4. The method of claim 2, wherein determining the parking mode based on the isolation type comprises: It is determined that the size reaches the second threshold and the isolation type corresponds to non-physical isolation; as well as The parking mode is determined based on at least one of the following: parking constraints of a reference road segment associated with the entrance / exit, and lane type of adjacent lanes of the entrance / exit lane.

5. The method of claim 4, wherein determining the parking mode comprises: In response to the lane type indicating that the traffic conditions of the adjacent lane meet preset constraints, a second parking mode is determined, the second parking mode indicating the construction of a bay area associated with the entrance / exit for parking; or In response to the fact that the passage conditions do not meet the preset constraints and the parking constraints indicate that parking is prohibited on the reference road segment, a third parking mode is determined, wherein the third parking mode indicates that parking is carried out using the lane area corresponding to the entrance / exit. or In response to the traffic conditions not meeting the preset constraints and the parking constraints indicating that the reference road segment allows parking, a fourth parking mode is determined, the fourth parking mode indicating parking using the reference road segment.

6. The method of claim 2, wherein determining the parking mode based on the isolation type comprises: In response to the size being less than a second threshold and the isolation type corresponding to physical isolation, a fifth parking mode is determined, the fifth parking mode indicating the determination of a parking location within a fifth area, the fifth area including an opening area associated with the physical isolation.

7. The method of claim 2, wherein determining the parking mode based on the isolation type comprises: It is determined that the size is less than the second threshold and the isolation type corresponds to non-physical isolation; as well as The parking mode is determined based on at least one of the following: parking constraints of a reference road segment associated with the entrance / exit, and lane type of adjacent lanes of the entrance / exit lane.

8. The method of claim 7, wherein determining the parking mode comprises: In response to the lane type indicating that the passage conditions of the adjacent lane meet preset constraints, a sixth parking mode is determined, and the sixth parking mode instructs the autonomous vehicle to continue driving to find a parking area; or In response to the fact that the passage conditions do not meet the preset constraints and the parking constraints indicate that parking is prohibited on the reference road segment, a third parking mode is determined, wherein the third parking mode indicates that parking is carried out using the lane area corresponding to the entrance / exit. or In response to the traffic conditions not meeting the preset constraints and the parking constraints indicating that the reference road segment allows parking, a fourth parking mode is determined, the fourth parking mode indicating parking using the reference road segment.

9. The method according to claim 1, wherein determining the parking mode associated with the entrance / exit based on the type information comprises: In response to the size reaching a first threshold, a seventh parking mode is determined, the seventh parking mode indicating the determination of a parking location within a sixth area, the sixth area including the passage area of ​​the entrance / exit.

10. The method of claim 1, wherein controlling the autonomous vehicle to park based on the parking mode comprises: The autonomous vehicle is controlled to park using at least a portion of the passage area corresponding to the entrance / exit.

11. A device for controlling an autonomous vehicle, comprising: The first determining module is configured to, in response to receiving a parking request for an autonomous vehicle, determine whether the area associated with the parking request includes an entrance or exit. The second determining module is configured to, in response to the region including the entrance / exit, determine type information of the entrance / exit, the type information indicating at least the size of the entrance / exit; The third determining module is configured to determine the parking mode associated with the entrance / exit based on the type information. as well as The control module is configured to control the autonomous vehicle to park based on the parking mode.

12. 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 10 when executed by the at least one processing unit.

13. 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 10.

14. 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 10.

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