Method and device for determining stop point of autonomous vehicle and storage medium

Abstract

The invention discloses a stop point determination method and device of an automatic driving vehicle and a storage medium. The method for determining the stop point of the autonomous vehicle comprises the following steps: determining an initial positioning point according to starting point address information input by a user, and controlling the autonomous vehicle to move towards the initial positioning point; within a target range determined based on the initial positioning point, identifying a target interaction signal by using a plurality of sensors configured on the autonomous vehicle; the target interaction signal is an interaction signal from an actual position where the user is located; and if the target interaction signal is identified, determining a corrected positioning point based on the target interaction signal, and determining a parking point of the autonomous vehicle based on the corrected positioning point, so that the user experience can be improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving, and in particular to a method, apparatus and storage medium for determining the stopping point of an autonomous vehicle. Background Technology

[0002] The development of autonomous driving technology has greatly enriched the operational models in the passenger transport sector. Taking robotaxi as an example, it is becoming a viable operational model. In this model, passengers can place an order through a mobile application (APP), which will then call an autonomous vehicle to pick them up at their designated location. However, in related technologies, the actual stopping location of the autonomous vehicle often deviates from the user's actual location. Since autonomous vehicles are often driverless, there may be no driver on board, making it difficult for a driver to manually correct this discrepancy. This results in inefficient passenger experiences and a poor user experience. Summary of the Invention

[0003] To address the aforementioned technical problems, this application provides a method for determining the stopping point of an autonomous vehicle, a device for determining the stopping point of an autonomous vehicle, an electronic device, and a computer-readable storage medium. The technical solution is as follows: According to a first aspect of this application, a method for determining the stopping point of an autonomous vehicle is provided, the method comprising: The system determines the initial location point based on the starting address information input by the user, and controls the autonomous vehicle to move towards the initial location point. Within the target area determined based on the initial positioning point, several sensors configured on the autonomous vehicle are used to identify target interaction signals; the target interaction signals are interaction signals from the actual location of the user. If the target interaction signal is detected, a corrected positioning point is determined based on the target interaction signal, and a stopping point for the autonomous vehicle is determined based on the corrected positioning point.

[0004] According to a second aspect of this application, a stopping point determination device for an autonomous vehicle is provided, the device comprising: The control unit is used to determine the initial positioning point based on the starting address information input by the user, and to control the autonomous vehicle to move toward the initial positioning point; The identification unit is used to identify target interaction signals within a target area determined based on the initial positioning point using a plurality of sensors configured on the autonomous vehicle; the target interaction signals are interaction signals from the actual location of the user. The determining unit is configured to, if the target interaction signal is detected, determine a corrected positioning point based on the target interaction signal, and determine the stopping point of the autonomous vehicle based on the corrected positioning point.

[0005] According to a third aspect of this application, an electronic device is provided, the electronic device comprising: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method as described in the first aspect.

[0006] According to a fourth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method as described in the first aspect.

[0007] The technical solution provided in this application involves the following steps: When an autonomous vehicle moves towards a location point (initial location point) determined by the user's input starting address information, within the target area determined based on the initial location point, several sensors configured on the autonomous vehicle identify the interaction signal, i.e., the target interaction signal, from the user's actual location. If the target interaction signal is identified, the location point is corrected, i.e., a corrected location point is determined based on the target interaction signal, and the stopping point of the autonomous vehicle is determined based on the corrected location point. This allows for automatic correction of the location point to reduce the deviation between the actual stopping point of the autonomous vehicle and the actual location of the passenger when there is a deviation between the initial location point and the user's actual location, enabling passengers to ride the autonomous vehicle more efficiently and improving the user experience.

[0008] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0010] Figure 1 This is a schematic diagram of an autonomous vehicle parking scenario in related technologies; Figure 2 This is a flowchart illustrating a method for determining the stopping point of an autonomous vehicle according to an embodiment of this application; Figure 3 This is a schematic diagram of an autonomous vehicle parking scenario according to an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a stopping point determination device for an autonomous vehicle according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0011] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art should fall within the scope of protection of this application.

[0012] The development of autonomous driving technology has greatly enriched the operational models in the passenger transport sector. Taking robotaxis as an example, they are becoming an achievable operational model. Figure 1 As shown, in this operating model, passengers can place an order through an application (APP) on their mobile phone. Based on the order, the mobile phone can call an autonomous vehicle to pick up the passenger at the location specified by the passenger.

[0013] However, in related technologies, autonomous vehicles strictly follow GPS-based navigation routes to fixed points to wait for passengers. The actual stopping point (the fixed point) often deviates from the user's actual location. Firstly, when a user places an order through a mobile app, they input the starting point's address (either via map selection or manual typing). This input address may not be accurate and may not perfectly match the user's actual location. Secondly, GPS positioning often has errors of several meters to tens of meters, so the indicated location may also deviate from the passenger's actual location. Both of these factors can lead to discrepancies between the autonomous vehicle's actual stopping point (e.g., ...). Figure 1 The "boarding point" shown often deviates significantly from the user's actual location. Since there is no driver on the autonomous vehicle, this deviation is difficult to correct manually, making it inefficient for passengers to board autonomous vehicles. Users often need to travel to the actual stop themselves, resulting in low operational efficiency and a poor user experience.

[0014] It is worth noting that the above description of autonomous vehicle parking scenarios in related technologies is only an illustrative example. In actual applications, other parking scenarios may exist, and no specific limitations are made for them.

[0015] To address the aforementioned issues, this application provides a method for determining the stopping point of an autonomous vehicle, enabling passengers to board autonomous vehicles more efficiently and improving the user experience. For example... Figure 2 As shown, the method includes the following steps: S201. Determine the initial positioning point based on the starting address information input by the user, and control the autonomous vehicle to move towards the initial positioning point.

[0016] S202. Within the target range determined based on the initial positioning point, the target interaction signals are identified using several sensors configured on the autonomous vehicle.

[0017] The target interaction signal is an interaction signal originating from the actual location of the user.

[0018] S203. If the target interaction signal is detected, a corrected positioning point is determined based on the target interaction signal, and a stopping point for the autonomous vehicle is determined based on the corrected positioning point.

[0019] The technical solution provided in this application involves the following steps: When an autonomous vehicle moves toward a location point (initial location point) determined by the user's input starting address information, within the target range determined based on the initial location point, several sensors configured on the autonomous vehicle identify the interaction signal, i.e., the target interaction signal, from the user's actual location. If the target interaction signal is identified, the location point is corrected, i.e., a corrected location point is determined based on the target interaction signal, and the stopping point of the autonomous vehicle is determined based on the corrected location point. This allows for automatic correction of the location point to reduce the deviation between the actual stopping point of the autonomous vehicle and the actual location of the passenger when there is a deviation between the initial location point and the user's actual location, enabling passengers to ride the autonomous vehicle more efficiently and improving the user experience.

[0020] The aforementioned autonomous vehicle can have various specific implementations. As an example, the autonomous vehicle can be a driverless vehicle. As another example, the driverless vehicle may be completely unmanned except for passengers, or it may have a safety driver on board.

[0021] The aforementioned starting address information can be entered in various ways. For example, when a user places an order through an app on their device, they need to provide the starting and ending points of the order route, i.e., the starting and ending address information. Another example is that the starting address information can be provided by the user manually typing it in. Yet another example is that the starting address information can also be entered based on the user's current location determined by GPS after triggering the app's automatic location control. As yet another example, the aforementioned apps often provide navigation maps where users can select points; the starting address information can be entered by the user after selecting the target location on the map.

[0022] It is worth noting that the above description of the input method for starting address information is only an example. In actual applications, other input methods may exist, and no specific limitations are made for them.

[0023] As an example, a user places an order through an app on a terminal device. The autonomous vehicle can receive the order through the terminal device, obtain the starting address information based on the order information, determine the initial positioning point based on the starting address information, and then use the initial positioning point as the initial navigation target to make an initial movement towards the initial positioning point according to the navigation route.

[0024] Based on the target range determined by the initial positioning point, there can be various specific implementations. Correspondingly, the timing for triggering the sensors configured on the autonomous vehicle to identify the target interaction signal can also be varied. As an example, the target range can be determined centered on the initial positioning point, and the area of ​​the target range can be less than or equal to a preset area threshold. When the autonomous vehicle is detected entering the target range, the aforementioned sensors can be used to identify the target interaction signal. In this embodiment, the sensors configured on the autonomous vehicle are only triggered to actively identify the target interaction signal when the autonomous vehicle reaches a small area near the initial positioning point, thus minimizing computational resource consumption.

[0025] Understandably, if the target area is defined centered on the initial positioning point and its area is less than or equal to a preset area threshold, then the target area can be a connecting area defined by the initial positioning point, where, based on experience, vehicles typically pick up passengers. As an example, the preset area threshold can be determined based on experience; that is, it can be the size of a connecting area determined according to general experience. For instance, if the target area is a circular region, it can be a circular region with a radius of 50-200 meters, or a radius of 200-300 meters, centered on the initial positioning point. The target area is not limited to a circular region; it can also be a rectangular region or other shapes, without specific limitations.

[0026] As another example, a specific implementation of the target range determined based on the aforementioned initial positioning point may include: the target range may include the position point before the autonomous vehicle begins to move. Correspondingly, another specific implementation of the timing for triggering the identification of target interaction signals by several sensors configured on the autonomous vehicle may include: when it is detected that the autonomous vehicle begins to move from the aforementioned position point before starting to move towards the aforementioned initial positioning point, the aforementioned several sensors are used to identify the target interaction signals.

[0027] In this embodiment, when the autonomous vehicle receives an order and begins to move toward the initial positioning point, it triggers several sensors to identify the target interaction signal. The target interaction signal is continuously identified throughout the entire process of reaching the initial positioning point, which can maximize the accuracy, improve the identification coverage, and avoid missed identification.

[0028] As another example, another specific implementation of the target range determined based on the aforementioned initial positioning point may include: the target range may be determined based on the initial positioning point and any location point in the navigation route of the autonomous vehicle to the initial positioning point. Correspondingly, another specific implementation of triggering the timing of several sensors configured on the autonomous vehicle to identify the target interaction signal may include: when the autonomous vehicle is detected to have arrived at any location point, the aforementioned several sensors are used to identify the target interaction signal.

[0029] It is worth noting that the above description of the specific implementation of the target range and the specific implementation of the timing of the corresponding sensors to identify the target interaction signals is only an exemplary demonstration. In practical applications, other specific implementations may exist, and no specific limitations are imposed on them.

[0030] As an example, after triggering several sensors configured on an autonomous vehicle to identify target interaction signals, these sensors can continue to identify, or stop identifying when the identification time is greater than or equal to a preset time threshold.

[0031] The aforementioned sensors can be implemented in various ways, and correspondingly, there are also various ways to identify the target interaction signal. As an example, the sensors configured on an autonomous vehicle may include vision sensors; the target interaction signal may include a target visual signal; the vision sensor can be used to identify the target visual signal; the target visual signal includes a preset posture signal, which is a preset body posture made by the user; if the target visual signal is identified, the user's own position can be determined based on the target visual signal, and the above-mentioned corrected positioning point can be determined based on the user's own position.

[0032] In this embodiment, a visual sensor is used to identify whether a user is making a preset gesture, and the visual sensor is used to determine the position of the user making the preset gesture (such as waving). The positioning point is then corrected based on the user's position.

[0033] The aforementioned preset body posture can have various specific implementations. As an example, a preset body posture can refer to a preset gesture made by the user, such as waving or raising an arm. Preset body postures can also be other types of body postures that can emit a summoning signal, and there are no specific limitations on this.

[0034] There are several ways to determine a user's position based on target visual signals. As an example, the position of a user who has adopted a preset posture can be determined by visual positioning based on the preset posture signals contained in the target visual signals.

[0035] The aforementioned visual sensor can be implemented in various ways. As an example, the visual sensor can be a camera or other types of visual sensors, without any specific limitation. As another example, the number of the aforementioned visual sensors can be one or more. When there are multiple visual sensors, the aforementioned target visual signal can be a visual signal obtained by fusing visual data collected separately by multiple visual sensors.

[0036] As another example, another specific implementation of the aforementioned sensors may include: the sensors include a lidar, which can identify a preset posture signal, which is a preset body posture made by the user; if the preset posture signal is identified, the user's own position can be determined based on the preset posture signal, and the above-mentioned corrected positioning point can be determined based on the user's own position.

[0037] As another example, another specific implementation of the aforementioned sensors may include: the sensors include wireless sensors, the target interaction signal may include a target wireless positioning signal, and correspondingly, another specific implementation of the method for identifying the target interaction signal may include: using wireless sensors to identify the target wireless positioning signal; the target wireless positioning signal is a signal emitted by a target terminal device, which is a terminal device that receives the aforementioned starting address information input; if the target wireless positioning signal is identified, the location of the target terminal device can be determined based on the target wireless positioning signal, and the aforementioned corrected positioning point can be determined based on the location of the target terminal device.

[0038] In this embodiment, the location of the target terminal device is determined by the wireless communication signal between the wireless sensors of the autonomous vehicle and the target terminal device ordered by the user, and the positioning point is corrected based on the location.

[0039] It is understood that the target terminal device is the terminal device that receives the aforementioned starting address information, i.e., the terminal device used by the user when placing the order, through which the user inputs the starting address information. Simultaneously, the target wireless positioning signal is a signal emitted by the target terminal device, which carries a unique identifier for identity verification. This unique identifier is used to verify whether the holder of the terminal device sending the signal is the user who placed the order, i.e., the user who input the aforementioned starting address information.

[0040] The aforementioned wireless sensors can be implemented in various ways, and correspondingly, there are also various methods for identifying wireless positioning signals using these sensors. As an example, the wireless sensor may include an Ultra-Wideband (UWB) wireless communication module and a Bluetooth Low Energy (BLE) module. The UWB module can be used preferentially to identify UWB signals; if no UWB signal is identified, the BLE module can be used to identify BLE signals.

[0041] In this embodiment, when an autonomous vehicle possesses both UWB and BLE communication capabilities, it can prioritize using UWB communication for wireless positioning, resulting in more accurate positioning. This is applicable to high-end terminal devices with UWB communication capabilities, such as high-end mobile phones. When a UWB connection cannot be established (i.e., when the terminal device lacks UWB communication capabilities, such as mid-to-low-end mobile phones without UWB capabilities), wireless positioning can be achieved using BLE communication capabilities. BLE technology has wider compatibility, ensuring compatibility, availability, and universality of wireless positioning for terminal devices.

[0042] As another example, the aforementioned wireless sensor may include a UWB module and / or a BLE module; the UWB module can be used to identify UWB signals, or the BLE module can be used to identify BLE signals. In this embodiment, the priority of the UWB module and the BLE module is not distinguished, and either one can be used for wireless positioning.

[0043] It is worth noting that the above description of the specific implementation of the wireless sensor and the corresponding method of identifying the wireless positioning signal is only an illustrative example. In practical applications, other specific implementations may exist. For example, the wireless sensor may also include a Wi-Fi module or a Radio Frequency Identification (RFID) module. Accordingly, the terminal device can be located by identifying the Wi-Fi signal or by identifying the RFID signal. Therefore, no specific limitation is made.

[0044] Considering that visual sensors may identify multiple users and obtain the locations of multiple users when performing user location recognition (e.g., through gesture recognition), it is impossible to determine which user is the one that the autonomous vehicle needs to pick up.

[0045] Based on this, as an example, the aforementioned sensors may include visual sensors capable of recognizing visual signals and wireless sensors capable of recognizing wireless positioning signals. As another example, visual sensors can be prioritized for recognizing target visual signals; these target visual signals include preset posture signals, where the preset posture is a preset body posture made by the user. If the aforementioned target visual signal is recognized, the wireless sensors are triggered to recognize target wireless positioning signals; these target wireless positioning signals are signals emitted by a target terminal device, which is a terminal device that receives the starting address information input. When the sensors configured in an autonomous vehicle simultaneously include both visual and wireless sensors, the visual sensors can first be used to visually identify whether a user has made a preset posture (such as a preset gesture, waving, etc.). Only when a user has made a preset posture is the wireless sensor triggered to use the wireless positioning signal for wireless positioning of the terminal device, thereby reducing the computational load.

[0046] As another example, the aforementioned wireless sensors can be used first to identify the target's wireless positioning signal. If the target's wireless positioning signal is identified, then the visual sensor is triggered to identify the target's visual signal. First, the wireless sensors are used to identify the wireless positioning signal to determine if a target terminal device exists. Only when the target's wireless positioning signal can be identified is the visual sensor triggered for visual recognition, which also reduces the computational load.

[0047] As another example, visual sensors can be used to identify target visual signals, while wireless sensors can be used simultaneously to identify target wireless positioning signals. That is, when both visual and wireless sensors are included, their priorities do not need to be distinguished, and both can trigger detection simultaneously.

[0048] Considering that several sensors configured in autonomous vehicles include both visual and wireless sensors, there may be some discrepancy between the user's own position identified by the visual sensor and the position of the target terminal device identified by the wireless sensor.

[0049] Based on this, the corrected positioning point can be determined in various ways based on the aforementioned target interaction signals. For example, if the aforementioned target visual signal is detected, the user's own position is determined based on the target visual signal; if the aforementioned target wireless positioning signal is detected, the target terminal device's position is determined based on the target wireless positioning signal; if the distance between the user's own position and the target terminal device's position is less than or equal to a preset distance threshold, the corrected positioning point can be determined based on either the user's own position or the target terminal device's position. As another example, if the distance between the user's own position and the target terminal device's position is less than or equal to the preset distance threshold, the corrected positioning point can be determined primarily based on the user's own position, or primarily based on the target terminal device's position.

[0050] In this embodiment, when the sensors configured in the autonomous vehicle include both visual sensors and wireless sensors, the user's own position is identified by the visual sensor, and the position of the target terminal device is identified by the wireless sensor. The consistency of the two positions is compared. If the distance between the user's own position and the position of the target terminal device is less than or equal to a preset distance threshold, it can be determined that a target passenger exists. Through consistency verification, the accuracy of identification can be ensured.

[0051] As another example, if the distance between the user's location and the target terminal device's location is greater than the aforementioned preset distance threshold, then the initial positioning point is used as the stopping point for the autonomous vehicle. In this embodiment, if the distance between the user's location and the terminal device's location is too large, the user is determined to be a non-target user and fails the location consistency check. In this case, the autonomous vehicle stops directly at the original initial positioning point without any stopping point correction.

[0052] The aforementioned preset distance threshold can be implemented in various ways. As an example, the preset distance threshold can be determined based on general experience, which is usually determined by the distance between a person and a mobile phone when the person is carrying the phone. For example, the preset distance threshold can be 0.5 meters.

[0053] As an example, when the target interaction signal is detected, a corrected positioning point is determined based on the target interaction signal. The corrected positioning point can be the user's own location or the target terminal device's location. When determining the stopping point of the autonomous vehicle based on the corrected positioning point, the stopping point can be determined as the user's own location or the target terminal device's location. That is, the autonomous vehicle can be controlled to stop at the user's own location or the target terminal device's location.

[0054] The following is combined Figure 3 The following is an exemplary description of a specific docking scenario in an embodiment of this application: like Figure 1 As shown, passengers (users) can place orders through an application (APP) on their mobile devices. Based on the order, the mobile phone can call an autonomous vehicle to pick up the passenger at the specified location. The autonomous vehicle first moves towards the initial positioning point in the general direction according to the navigation path. This initial positioning point is determined based on the starting address information entered by the passenger when placing the order. When the autonomous vehicle is near the initial positioning point, it can actively trigger several sensors configured on it to identify target interaction signals. If a target interaction signal from the user's actual location is identified, the positioning point is corrected based on the target interaction signal, and a stopping point is determined based on the corrected positioning point. Finally, the autonomous vehicle stops at the stopping point.

[0055] However, in related technologies, autonomous vehicles strictly follow GPS-based navigation routes to fixed points to wait for passengers. The actual stopping point (the fixed point) often deviates from the user's actual location. Firstly, when a user places an order through a mobile app, they input the starting point's address (either via map selection or manual typing). This input address may not be accurate and may not perfectly match the user's actual location. Secondly, GPS positioning often has errors of several meters to tens of meters, so the indicated location may also deviate from the passenger's actual location. Both of these factors can lead to discrepancies between the autonomous vehicle's actual stopping point (e.g., ...). Figure 1The "boarding point" shown often deviates significantly from the user's actual location. Since there is no driver on the autonomous vehicle, this deviation is difficult to correct manually, making it inefficient for passengers to board autonomous vehicles. Users often need to travel to the actual stop themselves, resulting in low operational efficiency and a poor user experience.

[0056] Considering that in some scenarios, the user's current location may be a no-parking zone, or the user's current location may be an area where it is difficult to continue driving after the vehicle is parked, the default "car finds person" may not be reasonable in such cases.

[0057] Therefore, as an example, if the target interaction signal is detected, and the corrected location point determined based on the target interaction signal belongs to a no-stopping zone or an area where the autonomous vehicle would have difficulty continuing to drive after stopping, then when determining the stopping point of the autonomous vehicle based on the corrected location point, the target location point closest to the corrected location point can be used as the stopping point. This target location point does not belong to a no-stopping zone or an area where the autonomous vehicle would have difficulty continuing to drive after stopping. As another example, if the corrected location point belongs to a no-stopping zone or an area where the autonomous vehicle would have difficulty continuing to drive after stopping, the initial location point can also be directly determined as the stopping point of the autonomous vehicle.

[0058] As another example, if the final determined stop is neither the user's own location nor the location of the target terminal device, a prompt message can be sent to the user indicating the location of the stop, instructing the user to move to the final determined stop and board the vehicle. As another example, this prompt message can be sent to the user's terminal device for display, or it can be displayed on a display device configured on the autonomous vehicle. Considering that the aforementioned target interaction signals may not necessarily be recognized, for example, if the user moves a considerable distance while the autonomous vehicle is driving toward the initial positioning point, and the user is still far away from the autonomous vehicle when the autonomous vehicle reaches the vicinity of the initial positioning point, it may be possible that some sensors of the autonomous vehicle will not be able to recognize the target interaction signals.

[0059] Based on this, as an example, if the target interaction signal mentioned above is not identified, the initial positioning point can be used as the docking point, and the autonomous vehicle can be controlled to dock at the initial positioning point.

[0060] Considering that there may be multiple users hailing a ride near the autonomous vehicle's stop, these users may mistakenly identify the autonomous vehicle corresponding to their order, leading to boarding conflicts.

[0061] Based on this, as an example, after detecting that the autonomous vehicle has stopped at the designated stop, the user can be authenticated; if the authentication is successful, the vehicle's doors can be opened. For instance, after the vehicle stops, the identity of the user wanting to board can be verified through methods such as QR code scanning or facial recognition, and the doors will open automatically upon successful authentication.

[0062] As an example, the aforementioned autonomous vehicles could be robotaxi or autonomous ride-hailing vehicles.

[0063] Corresponding to the above method embodiments, this application also provides a device for determining the stopping point of an autonomous vehicle, such as... Figure 4 As shown, the device includes: The control unit 401 is used to determine the initial positioning point based on the starting address information input by the user, and control the autonomous vehicle to move towards the initial positioning point; The identification unit 402 is used to identify target interaction signals within a target range determined based on the initial positioning point using a plurality of sensors configured on the autonomous vehicle; the target interaction signals are interaction signals from the actual location of the user. The determining unit 403 is used to determine a corrected positioning point based on the target interaction signal if the target interaction signal is detected, and to determine the stopping point of the autonomous vehicle based on the corrected positioning point.

[0064] As an example, the target range is determined with the initial positioning point as the center, and the area is less than or equal to a preset area threshold; the identification unit 402 is specifically used to identify the target interaction signal using the plurality of sensors when the autonomous vehicle enters the target range.

[0065] As an example, the target range includes the position point before the autonomous vehicle starts moving; the identification unit 402 is specifically used to identify the target interaction signal using the plurality of sensors when it detects that the autonomous vehicle starts moving from the position point to the initial positioning point.

[0066] As an example, the plurality of sensors include a vision sensor; the target interaction signal includes a target visual signal; the recognition unit 402 is specifically used to recognize the target visual signal using the vision sensor; the target visual signal includes a preset posture signal, the preset posture being a preset body posture made by the user; the determination unit 403 is specifically used to determine the user's own position based on the target visual signal if the target visual signal is recognized, and to determine the corrected positioning point based on the user's own position.

[0067] As an example, the plurality of sensors include wireless sensors; the target interaction signal includes a target wireless positioning signal; the identification unit 402 is specifically used to identify the target wireless positioning signal using the wireless sensors; the target wireless positioning signal is a signal emitted by a target terminal device, and the target terminal device is a terminal device that receives the starting address information input; the determination unit 403 is specifically used to determine the position of the target terminal device based on the target wireless positioning signal if the target wireless positioning signal is identified, and to determine the corrected positioning point based on the position of the target terminal device.

[0068] As an example, the wireless sensor includes an ultra-wideband wireless communication (UWB) module and a low-power Bluetooth (BLE) module; the identification unit 402 is specifically used to preferentially use the UWB module to identify the UWB signal; if the UWB signal is not identified, the BLE module is used to identify the BLE signal.

[0069] As an example, the wireless sensor includes an ultra-wideband wireless communication UWB module and / or a low-power Bluetooth BLE module; the identification unit 402 is specifically used to identify UWB signals using the UWB module, or to identify BLE signals using the BLE module.

[0070] As an example, the plurality of sensors include a visual sensor capable of recognizing visual signals and a wireless sensor capable of recognizing wireless positioning signals; the recognition unit 402 is specifically configured to preferentially utilize the visual sensor to recognize the target visual signal; the target visual signal includes a preset posture signal, the preset posture being a preset body posture made by the user; if the target visual signal is recognized, the wireless sensor is triggered to recognize the target wireless positioning signal; the target wireless positioning signal is a signal emitted by a target terminal device, the target terminal device being a terminal device that receives the starting address information input, or, the recognition unit 402 is specifically configured to preferentially utilize the wireless sensor to recognize the target wireless positioning signal; if the target wireless positioning signal is recognized, the visual sensor is triggered to recognize the target visual signal, or, the recognition unit 402 is specifically configured to utilize the visual sensor to recognize the target visual signal and simultaneously utilize the wireless sensor to recognize the target wireless positioning signal.

[0071] As an example, the determining unit 403 is specifically used to determine the user's own position based on the target visual signal if the target visual signal is identified; to determine the position of the target terminal device based on the target wireless positioning signal if the target wireless positioning signal is identified; and to determine a corrected positioning point based on one of the user's own position and the position of the target terminal device if the distance between the user's own position and the position of the target terminal device is less than or equal to a preset distance threshold.

[0072] As an example, the determining unit 403 is further configured to use the initial positioning point as the stopping point of the autonomous vehicle if the distance between the user's own position and the position of the target terminal device is greater than the preset distance threshold.

[0073] As an example, the determining unit 403 is also used to detect that the autonomous vehicle has stopped at the parking point, and then authenticate the user; if the authentication is successful, the unit controls the door of the autonomous vehicle to open.

[0074] This application also provides an electronic device, such as Figure 5 As shown, the electronic device includes: Processor 501; Memory 502 is used to store processor-executable instructions; The processor 501 is configured to implement the method for determining the stopping point of an autonomous vehicle as described in any of the embodiments above.

[0075] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining the stopping point of an autonomous vehicle as described in any of the embodiments above.

[0076] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for determining the stopping point of an autonomous vehicle, characterized in that, The method includes: The system determines the initial location point based on the starting address information input by the user, and controls the autonomous vehicle to move towards the initial location point. Within the target area determined based on the initial positioning point, several sensors configured on the autonomous vehicle are used to identify target interaction signals; the target interaction signals are interaction signals from the actual location of the user. If the target interaction signal is detected, a corrected positioning point is determined based on the target interaction signal, and a stopping point for the autonomous vehicle is determined based on the corrected positioning point.

2. The method according to claim 1, characterized in that, The target range is determined centered on the initial positioning point, and its area is less than or equal to a preset area threshold; the identification of target interaction signals using several sensors configured on the autonomous vehicle includes: When the autonomous vehicle is detected to have entered the target area, the target interaction signals are identified using the aforementioned sensors.

3. The method according to claim 1, characterized in that, The target range includes the position point of the autonomous vehicle before it begins to move; The process of identifying target interaction signals using several sensors configured on the autonomous vehicle includes: When the autonomous vehicle is detected to be moving from the location point to the initial positioning point, the target interaction signal is identified using the plurality of sensors.

4. The method according to claim 1, characterized in that, The plurality of sensors includes a vision sensor; the target interaction signal includes a target visual signal; The process of identifying target interaction signals using several sensors configured on the autonomous vehicle includes: The visual sensor is used to identify the target visual signal; the target visual signal includes a preset posture signal, the preset posture being a preset body posture made by the user; Determining the corrected positioning point based on the target interaction signal includes: If the target visual signal is detected, the user's own position is determined based on the target visual signal, and the corrected positioning point is determined based on the user's own position.

5. The method according to claim 1, characterized in that, The plurality of sensors includes wireless sensors; the target interaction signal includes a target wireless positioning signal; The process of identifying target interaction signals using several sensors configured on the autonomous vehicle includes: The wireless sensor is used to identify the target wireless positioning signal; the target wireless positioning signal is a signal emitted by the target terminal device, and the target terminal device is a terminal device that receives the starting address information input. Determining the corrected positioning point based on the target interaction signal includes: If the target wireless positioning signal is detected, the location of the target terminal device is determined based on the target wireless positioning signal, and the corrected positioning point is determined based on the location of the target terminal device.

6. The method according to claim 5, characterized in that, The wireless sensor includes an ultra-wideband (UWB) wireless communication module and a low-power Bluetooth (BLE) module; the step of using the wireless sensor to identify the wireless positioning signal includes: The UWB module is used preferentially to identify UWB signals; If the UWB signal is not detected, the BLE module is used to identify the BLE signal.

7. The method according to claim 5, characterized in that, The wireless sensor includes an ultra-wideband wireless communication UWB module and / or a low-power Bluetooth BLE module; the step of using the wireless sensor to identify the wireless positioning signal includes: The UWB module is used to identify UWB signals, or The BLE module is used to identify BLE signals.

8. The method according to claim 1, characterized in that, The plurality of sensors include a visual sensor capable of recognizing visual signals and a wireless sensor capable of recognizing wireless positioning signals. The process of identifying target interaction signals using several sensors configured on the autonomous vehicle includes: The visual sensor is used preferentially to identify the target visual signal; the target visual signal includes a preset posture signal, which is a preset body posture made by the user; If the target visual signal is detected, the wireless sensor is used to identify the target wireless positioning signal; the target wireless positioning signal is a signal emitted by the target terminal device, which is a terminal device that receives the starting address information input, or The wireless sensor is used preferentially to identify the target wireless positioning signal; If the target wireless positioning signal is detected, the visual sensor is used to identify the target visual signal, or The visual sensor is used to identify the target visual signal, and the wireless sensor is used simultaneously to identify the target wireless positioning signal.

9. The method according to claim 8, characterized in that, Determining the corrected positioning point based on the target interaction signal includes: If the target visual signal is detected, the user's own position is determined based on the target visual signal; If the target wireless positioning signal is detected, the location of the target terminal device is determined based on the target wireless positioning signal; If the distance between the user's own location and the target terminal device's location is less than or equal to a preset distance threshold, then the corrected positioning point is determined based on either the user's own location or the target terminal device's location.

10. The method according to claim 9, characterized in that, The method further includes: If the distance between the user's own location and the location of the target terminal device is greater than the preset distance threshold, then the initial positioning point is used as the stopping point of the autonomous vehicle.

11. The method according to claim 9, characterized in that, The method further includes: After detecting that the autonomous vehicle has stopped at the designated stop, the user is authenticated. If authentication is successful, the doors of the autonomous vehicle will be opened.

12. A device for determining the stopping point of an autonomous vehicle, characterized in that, The device includes: The control unit is used to determine the initial positioning point based on the starting address information input by the user, and to control the autonomous vehicle to move toward the initial positioning point; The identification unit is used to identify target interaction signals within a target area determined based on the initial positioning point using a plurality of sensors configured on the autonomous vehicle; the target interaction signals are interaction signals from the actual location of the user. The determining unit is configured to, if the target interaction signal is detected, determine a corrected positioning point based on the target interaction signal, and determine the stopping point of the autonomous vehicle based on the corrected positioning point.

13. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the method according to any one of claims 1 to 11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 11.

Images