An automatic driving vehicle control method, device, equipment and storage medium

Abstract

This application provides a method, apparatus, device, and storage medium for controlling autonomous vehicles. The method includes: after a first autonomous vehicle enters a designated work area, identifying other autonomous vehicles within a preset range; if a second autonomous vehicle's travel path overlaps with the first autonomous vehicle, establishing a connection with the second autonomous vehicle; determining the collision risk between the first and second autonomous vehicles based on the second autonomous vehicle's location information and speed; and when a collision risk exists between the first and second autonomous vehicles, performing obstacle avoidance control on both vehicles. Through the connection between the autonomous vehicles, when conflicts arise in their work tasks, cooperative control commands are generated to coordinate the control of the autonomous vehicles, preventing obstacle avoidance failures and effectively improving the operational safety and efficiency of the autonomous vehicles.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to an autonomous vehicle control method, device, equipment and storage medium. Background Technology

[0002] Port areas, as crucial nodes in logistics and transportation, are characterized by high vehicle density, complex operational scenarios (such as container loading and unloading areas, storage yards, and intersections of transport routes), and poor communication environments (signal attenuation due to metal containers and wireless interference from multiple devices). Currently, autonomous vehicles in port areas mainly rely on traditional cellular networks (such as 4G / 5G) or local wireless networks (such as WiFi) for data transmission and collaborative control. However, traditional networks depend on base stations or access points (APs). Once a base station / AP fails or its signal is blocked, data transmission between vehicles is interrupted, leading to obstacle avoidance failures and chaotic scheduling by autonomous vehicles, severely impacting operational safety and efficiency. Summary of the Invention

[0003] This application provides an autonomous vehicle control method and related apparatus to solve the problem in the related technology that the obstacle avoidance failure of autonomous vehicles is caused by the easy blocking of communication base station signals, which seriously affects the safety and efficiency of operation.

[0004] The first aspect of this application provides an autonomous vehicle control method, the autonomous vehicle control method comprising: After the first autonomous vehicle enters the designated work area, the location information of the first autonomous vehicle is transmitted to the shared data pool in real time, and other autonomous vehicles within the preset range are identified. If there is a second autonomous vehicle whose driving path overlaps with that of the first autonomous vehicle among the other autonomous vehicles, then a communication connection is established with the second autonomous vehicle. After the communication connection is established, the collision risk between the first autonomous vehicle and the second autonomous vehicle is determined based on the location information and driving speed of the second autonomous vehicle in the shared data pool. When there is a risk of collision between the first autonomous vehicle and the second autonomous vehicle, avoidance control is performed on both vehicles.

[0005] Optionally, in a first implementation of the first aspect of this application, the step of performing avoidance control on the first autonomous vehicle and the second autonomous vehicle when there is a collision risk between the first autonomous vehicle and the second autonomous vehicle includes: Based on the location information and driving speed of the first autonomous vehicle and the second autonomous vehicle, the relative arrival order of the first autonomous vehicle and the second autonomous vehicle in the overlapping area of ​​the driving path is determined; Based on the relative arrival order and the current driving status of the first autonomous vehicle and the second autonomous vehicle, the avoidance roles of the first autonomous vehicle and the second autonomous vehicle are determined. Based on the avoidance role, cooperative control commands are generated for the first autonomous vehicle and the second autonomous vehicle, respectively, to perform avoidance control on the first autonomous vehicle and the second autonomous vehicle.

[0006] Optionally, in the second implementation of the first aspect of this application, the cooperative control command includes an avoidance control command and a normal control command. The step of generating cooperative control commands acting on the first autonomous vehicle and the second autonomous vehicle according to the avoidance role, and performing avoidance control on the first autonomous vehicle and the second autonomous vehicle, includes: The avoidance role determines the target vehicle that performs the avoidance action in the first autonomous vehicle and the second autonomous vehicle, as well as the non-avoiding vehicle that maintains its original driving state; Based on the current position and speed of the target vehicle and the positional relationship of the overlapping area of ​​the driving path, an avoidance control command and a normal control command to maintain the driving state are generated corresponding to the target vehicle. The avoidance control command includes at least one of the following: a deceleration command, a pause command, or a path deviation command. The avoidance control command is sent to the target vehicle, and the normal control command is sent to the non-avoiding vehicle, so as to realize the avoidance control of the first autonomous vehicle and the second autonomous vehicle.

[0007] Optionally, in a third implementation of the first aspect of this application, the method further includes: After generating the collaborative control command, the collaborative control command is converted into vehicle control interface call commands corresponding to the first autonomous vehicle and the second autonomous vehicle respectively according to the control command description information in a unified format. The vehicle control interface call command is sent to the first autonomous vehicle and the second autonomous vehicle respectively for coordinated control.

[0008] Optionally, in the fourth implementation of the first aspect of this application, after the step of establishing a communication connection with the second autonomous vehicle if there is a second autonomous vehicle whose driving path overlaps with the first autonomous vehicle among the other autonomous vehicles, the method further includes: Real-time detection of connection status parameters between the first autonomous vehicle and the second autonomous vehicle; When the connection status parameter is lower than a preset threshold, a neighboring device search is performed on the autonomous vehicles within a preset range of the first autonomous vehicle based on the port area equipment identifier to obtain a candidate autonomous vehicle set. Based on the connection quality parameters corresponding to each candidate autonomous vehicle in the candidate autonomous vehicle set, a target autonomous vehicle is selected to establish a backup communication connection, and the connection stability status of the backup communication connection is obtained. When the connection stability of the backup communication connection meets the preset conditions, the communication connection between the first autonomous vehicle and the second autonomous vehicle is disconnected.

[0009] A second aspect of this application provides an autonomous vehicle control device, which is used to implement an autonomous vehicle control method. The autonomous vehicle control device includes: The identification module is used to transmit the location information of the first autonomous vehicle to the shared data pool in real time after the first autonomous vehicle enters the designated work area, and to identify other autonomous vehicles within a preset range. The connection module is used to establish a communication connection with the second autonomous vehicle if there is a second autonomous vehicle whose driving path overlaps with the first autonomous vehicle among the other autonomous vehicles. The judgment module is used to determine the collision risk between the first autonomous vehicle and the second autonomous vehicle based on the location information and driving speed of the second autonomous vehicle in the shared data pool after the communication connection is completed. The control module is used to perform avoidance control on the first autonomous vehicle and the second autonomous vehicle when there is a risk of collision between the first autonomous vehicle and the second autonomous vehicle.

[0010] Optionally, in a first implementation of the second aspect of this application, the control module includes: The first determining unit is configured to determine the relative arrival order of the first autonomous vehicle and the second autonomous vehicle within the overlapping area of ​​their driving paths based on the location information and driving speed of the first autonomous vehicle and the second autonomous vehicle. The second determining unit is used to determine the avoidance roles of the first autonomous vehicle and the second autonomous vehicle based on the relative arrival order and the current driving status of the first autonomous vehicle and the second autonomous vehicle. The control unit is configured to generate cooperative control commands for the first autonomous vehicle and the second autonomous vehicle respectively according to the avoidance role, and to perform avoidance control on the first autonomous vehicle and the second autonomous vehicle.

[0011] Optionally, in a second implementation of the second aspect of this application, the control unit includes: The determination subunit is used to determine, based on the avoidance role, the target vehicle performing the avoidance action in the first autonomous vehicle and the second autonomous vehicle, as well as the non-avoidance vehicle that maintains its original driving state; A generation subunit is used to generate an avoidance control command and a normal control command to maintain the driving state corresponding to the target vehicle based on the current position, driving speed and positional relationship of the overlapping area of ​​the driving path of the target vehicle. The avoidance control command includes at least one of a deceleration command, a pause command or a path deviation command. The control subunit is used to send the avoidance control command to the target vehicle and the normal control command to the non-avoiding vehicle, so as to realize the avoidance control of the first autonomous vehicle and the second autonomous vehicle.

[0012] A third aspect of this application provides an electronic device, including a memory and a processor, wherein the processor is configured to execute a computer program stored in the memory, and when the processor executes the computer program, it implements the steps of the autonomous vehicle control method provided in the first aspect of this application.

[0013] The fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it implements the steps of the autonomous vehicle control method provided in the first aspect of this application.

[0014] In summary, according to the autonomous vehicle control method and related apparatus provided in this application, after the first autonomous vehicle enters the designated work area, its location information is transmitted in real time to a shared data pool, and other autonomous vehicles within a preset range are identified. If a second autonomous vehicle with an overlapping travel path exists among the other autonomous vehicles, a communication connection is established with the second autonomous vehicle. After the communication connection is established, the collision risk between the first and second autonomous vehicles is determined based on the location information and travel speed of the second autonomous vehicle in the shared data pool. When there is a collision risk between the first and second autonomous vehicles, obstacle avoidance control is performed on both vehicles. This application, through the communication connection between autonomous vehicles, can generate cooperative control commands to coordinate the control of autonomous vehicles when their work tasks conflict, preventing obstacle avoidance failure between autonomous vehicles and effectively improving the work safety and efficiency of autonomous vehicles. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an autonomous vehicle control system provided in an embodiment of this application; Figure 2 A flowchart illustrating the autonomous vehicle control method provided in this application embodiment; Figure 3 yes Figure 2 A schematic diagram of the implementation process of step 140; Figure 4 yes Figure 3 A schematic diagram of the implementation process of step 230; Figure 5 This is a schematic diagram of the program modules of the autonomous vehicle control device provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0016] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] To address the problem in related technologies where signal shielding from communication base stations can easily lead to obstacle avoidance failures in autonomous vehicles, severely impacting operational safety and efficiency, this application provides an autonomous vehicle control method applicable to, for example, Figure 1 The autonomous vehicle control system shown includes at least two autonomous vehicles (including container trucks, forklifts, AGVs, etc.), a dispatch center (such as a distributed gateway in a port control tower), and autonomous vehicle control devices. The autonomous vehicles all use the same operating system, and each vehicle is treated as a distributed node based on a distributed soft bus. Each distributed node is configured with a unique port equipment identifier, including vehicle type, work area, and equipment number, ensuring identifiable and traceable identities between nodes. A P2P communication protocol is integrated into the autonomous vehicles, supporting 2.4GHz / 5GHz dual-band communication while being compatible with existing port wireless signal frequencies to avoid interference with other equipment. In this control system, autonomous vehicles prioritize point-to-point communication with other autonomous vehicles within designated work areas, and communicate with the dispatch center when not connected to other vehicles or leaving the designated work area.

[0018] like Figure 2 This is a flowchart illustrating the autonomous vehicle control method provided in this embodiment. The autonomous vehicle control method includes the following steps: Step 110: After the first autonomous vehicle enters the designated work area, the location information of the first autonomous vehicle is transmitted to the shared data pool in real time, and other autonomous vehicles within the preset range are identified. Step 120: If there is a second autonomous vehicle whose driving path overlaps with that of the first autonomous vehicle, then establish a communication connection with the second autonomous vehicle. Step 130: After the communication connection is established, determine the collision risk between the first autonomous vehicle and the second autonomous vehicle based on the location information and driving speed of the second autonomous vehicle in the shared data pool. Step 140: When there is a risk of collision between the first autonomous vehicle and the second autonomous vehicle, perform avoidance control on the first autonomous vehicle and the second autonomous vehicle.

[0019] In this embodiment, after the first autonomous vehicle enters the designated work area, the onboard positioning system acquires the vehicle's real-time location information within the designated work area. This real-time location information is continuously transmitted to a shared data pool for centralized storage and updating at preset time intervals. Simultaneously, the surrounding area is identified based on a preset spatial range centered on the first autonomous vehicle, thereby determining the presence of other autonomous vehicles within that range. After identifying other autonomous vehicles within the preset range, the current driving path information of the first autonomous vehicle is compared with the driving path information of each of the other autonomous vehicles. By analyzing the spatial overlap of the paths, if a second autonomous vehicle is detected whose driving path overlaps with that of the first autonomous vehicle, it is determined that there is a potential driving conflict between the two vehicles in subsequent driving. If this determination result meets preset conditions, a communication connection is established between the first and second autonomous vehicles. After the communication connection is established, the real-time location and speed information of the second autonomous vehicle are obtained through a shared data pool. This information is then combined with the current location of the first autonomous vehicle for analysis to determine if the two vehicles are likely to arrive at the same spatial area at similar times along a predetermined path. Based on this analysis, a collision risk between the first and second autonomous vehicles is determined. If the analysis indicates a collision risk, the driving behavior of both vehicles is coordinated and controlled using the established communication connection. Avoidance-related control commands are sent to at least one autonomous vehicle, causing both vehicles to drive according to the coordinated control method when passing through areas with a risk of conflict, thus completing the avoidance control for both vehicles.

[0020] This embodiment, through communication connections between autonomous vehicles, can generate cooperative control commands to coordinate the control of autonomous vehicles when their work tasks conflict, preventing obstacle avoidance failures between autonomous vehicles and effectively improving the operational safety and efficiency of autonomous vehicles.

[0021] In one embodiment, such as Figure 3 As shown, step 140, which is the step of performing avoidance control on the first autonomous vehicle and the second autonomous vehicle when there is a risk of collision, includes: Step 210: Determine the relative arrival order of the first autonomous vehicle and the second autonomous vehicle in the overlapping area of ​​their driving paths based on their location information and driving speed. Step 220: Determine the avoidance roles of the first autonomous vehicle and the second autonomous vehicle based on their relative arrival order and the current driving status of the first autonomous vehicle and the second autonomous vehicle. Step 230: Generate cooperative control commands for the first autonomous vehicle and the second autonomous vehicle respectively according to the avoidance role, and perform avoidance control on the first autonomous vehicle and the second autonomous vehicle.

[0022] In this embodiment, after determining that the first and second autonomous vehicles have overlapping driving paths and establishing a communication connection, the location information and driving speed of the two vehicles are continuously acquired through a shared data pool. The location information represents the spatial coordinates of the vehicles within the work area, and the driving speed represents the rate at which the vehicles move along the driving path. Based on this, and combined with the determined location range of the overlapping driving path area, the driving distances required for the first and second autonomous vehicles to reach the entrance of the overlapping driving path area from their current positions are calculated. The order in which the two vehicles arrive at the overlapping area is determined based on their corresponding driving speeds, thus determining their relative arrival order within the overlapping driving path area. The relative arrival order describes the order in which the two autonomous vehicles enter the same spatial area in the time dimension. This order reflects the temporal relationship of potential conflicts and is an important basis for subsequent avoidance control decisions. After obtaining the relative arrival order, the avoidance roles of the two vehicles are further determined by combining their respective current driving states. The driving state represents the vehicle's current operating status, including whether it is in normal driving, decelerating, or paused driving state. The avoidance role is used to distinguish between vehicles that need to actively adjust their driving behavior when there is a collision risk and vehicles that maintain their original driving behavior. By comprehensively judging the relative arrival order and current driving status, the vehicle that arrives later in the overlapping area of ​​the driving path and has room to adjust is identified as the target vehicle to perform the avoidance action, while the other vehicle is identified as the non-avoiding vehicle. For example, in a container transshipment operation scenario in a port area, if the first autonomous vehicle is on the main channel and is about to enter the intersection area, while the second autonomous vehicle is on the side channel and arrives slightly later, the second autonomous vehicle can be identified as the avoidance role, thereby reducing the impact on the operation rhythm of the main channel. After determining the avoidance role, cooperative control instructions are generated for both the first and second automated vehicles based on the avoidance role. These instructions describe the specific control behaviors the vehicles should perform in the current avoidance scenario. Specifically, avoidance control instructions are generated for the target vehicle (identified as the avoidance role) to guide it in changing its original driving state to avoid spatial conflict with another vehicle in the overlapping area of ​​their driving paths. Normal control instructions are generated for the non-avoidance vehicle to maintain its original driving path and speed through the overlapping area. The avoidance control instructions may include deceleration, pausing, or adjusting the driving path along a predetermined offset direction, thereby completing the avoidance control of the two vehicles in the overlapping area of ​​their driving paths.

[0023] This embodiment establishes inter-vehicle communication when driving paths overlap, determines the relative arrival order based on vehicle location information and driving speed, and then assigns avoidance roles and generates corresponding cooperative control commands. This enables autonomous vehicles to perform orderly avoidance control in work areas with collision risks, avoids spatial conflicts, reduces unnecessary communication connections, and ensures the continuity and coordination of vehicle operation during port operations.

[0024] In one embodiment, such as Figure 4 As shown, step 230, which involves generating cooperative control commands for the first and second autonomous vehicles based on the avoidance role, and performing avoidance control on the first and second autonomous vehicles respectively, includes: Step 310: Determine the target vehicle performing the avoidance action in the first and second autonomous vehicles, as well as the non-avoiding vehicle that maintains its original driving state, based on the avoidance role. Step 320: Based on the target vehicle's current position, speed, and the positional relationship of the overlapping areas of the driving path, generate avoidance control commands and normal control commands to maintain the driving state corresponding to the target vehicle. Step 330: Send the avoidance control command to the target vehicle and the normal control command to the non-avoiding vehicle to achieve avoidance control for the first autonomous vehicle and the second autonomous vehicle.

[0025] In this embodiment, the cooperative control commands include avoidance control commands and normal control commands. After determining the avoidance role, the first autonomous driving vehicle and the second autonomous driving vehicle are distinguished based on the avoidance role: the target vehicle that needs to perform avoidance actions and the non-avoidance vehicle that maintains its original driving state. The target vehicle refers to the vehicle that needs to adjust its driving behavior to avoid spatial conflicts within the overlapping area of ​​the driving path, while the non-avoidance vehicle refers to the vehicle that continues to pass through the overlapping area while maintaining its predetermined driving behavior in the current avoidance scenario. Based on this, the controllable space of the target vehicle before entering the overlapping area is analyzed by combining the target vehicle's current position, driving speed, and the positional relationship of the overlapping area of ​​the driving path, thereby generating avoidance control commands matched to the target vehicle. The current position describes the real-time spatial position of the target vehicle within the work area, the driving speed reflects the rate at which the target vehicle moves along the driving path, and the positional relationship of the overlapping area describes the spatial distance between the target vehicle's current position and the overlapping area, as well as the time conditions required to enter the overlapping area. When there is sufficient space between the target vehicle's current position and the overlapping area of ​​its driving path, and its speed is within an adjustable range, a deceleration command is generated based on the correspondence between this space distance and driving speed. This allows the target vehicle to gradually reduce its speed while maintaining continuous driving, thus delaying its entry into the overlapping area and reserving space for non-yielding vehicles to pass. For example, in a port container transshipment scenario, when the second autonomous vehicle is located in a branch lane and is still a certain distance from the intersecting operation area, a deceleration command can be used to gradually slow its speed, allowing the first autonomous vehicle on the main lane to pass through the intersecting area first. When the target vehicle has approached the overlapping area of ​​its driving path, and continued driving would cause it to enter the area simultaneously with a non-yielding vehicle within a short period of time, a pause command is generated based on the proximity between the target vehicle's current position and the entrance position of the overlapping area. This keeps the target vehicle stationary before entering the overlapping area until the non-yielding vehicle has passed. For example, in the aforementioned port operation scenario, when the second autonomous vehicle has reached the entrance of the intersecting area and cannot effectively avoid it by decelerating, a pause command is used to make it wait at the entrance position, avoiding spatial conflict caused by entering the overlapping area. When the target vehicle's location has feasible alternative passage space, and a pre-set offset channel exists near the overlapping area of ​​the driving paths, a path offset command is generated based on the spatial relationship between the target vehicle's current position and the offset channel. This guides the target vehicle to temporarily travel along the offset path, thereby bypassing the overlapping area of ​​the driving paths. For example, if a detour channel is provided within the port operation area, the path offset command can be used to allow the target vehicle to avoid the intersection area, and then return to its original driving path after the conflict is resolved.While generating the avoidance control command corresponding to the target vehicle, a normal control command is generated for the non-avoiding vehicle to maintain its driving state. This normal control command is used to keep the non-avoiding vehicle continuing to drive along its original driving path and speed, thereby avoiding unnecessary interference with its operational rhythm due to the avoidance control. Subsequently, the avoidance control command is sent to the target vehicle and the normal control command is sent to the non-avoiding vehicle through the established communication connection, so that both vehicles execute driving behaviors according to their respective control commands in the same avoidance scenario, thereby completing the avoidance control of the first and second autonomous driving vehicles.

[0026] This embodiment distinguishes between vehicles that need to avoid obstacles and those that do not, and generates differentiated avoidance control commands and normal control commands by combining the target vehicle's current position, speed, and the positional relationship of overlapping areas of the driving path. This enables autonomous vehicles to complete avoidance in multiple control methods when driving conflicts occur, reducing interference with the driving process of non-avoiding vehicles and ensuring the continuity and orderliness of vehicle operation within the work area.

[0027] In one embodiment, after generating the cooperative control command, the cooperative control command is converted into vehicle control interface call commands corresponding to the first autonomous vehicle and the second autonomous vehicle respectively according to the control command description information in a unified format; the vehicle control interface call commands are then sent to the first autonomous vehicle and the second autonomous vehicle respectively for cooperative control.

[0028] In this embodiment, within the port area operating environment, different autonomous vehicles have varying names, parameter formats, and invocation methods for their publicly accessible vehicle control interfaces due to differences in manufacturer, vehicle model, and control system architecture. Therefore, it is first necessary to obtain the vehicle control interface information of each autonomous vehicle based on its corresponding vehicle type information within the port area. Vehicle type information describes the vehicle's category characteristics, including its brand, model, and the control system platform it uses. Vehicle control interface information describes the interface identifier and the control command parameters that the vehicle can receive when performing control operations. By reading the type information reported by the vehicle when accessing the port area system and matching it with a pre-maintained interface mapping table, the specific control interface supported by each autonomous vehicle can be obtained. After obtaining the vehicle control interface information of each autonomous vehicle, the interface information is categorized to determine the set of controllable operation items corresponding to each autonomous vehicle. The set of controllable operation items abstractly describes the basic operational capabilities of the vehicle that can be externally controlled during operation. Among them, steering control items characterize the vehicle's ability to adjust its driving direction, braking control items characterize the vehicle's ability to decelerate or stop, and speed regulation control items characterize the vehicle's ability to adjust its driving speed within permissible limits. By categorizing the control interfaces of different vehicles according to their functional attributes, even if the control interfaces differ in their specific implementation, they can all be uniformly mapped to the aforementioned set of controllable operation items. For example, in a port container transshipment scenario, although different models of autonomous transport vehicles may have different braking interface names, they can all be categorized as braking control items, thus forming a consistent capability description. After determining the set of controllable operation items, a unified format of control instruction description information is generated for different autonomous vehicles based on this set. The control instruction description information is used to describe the controlled object, control type, and control parameter range of the control instruction using a unified data structure, so that the collaborative control instruction does not need to concern itself with the interface differences of specific vehicles during the generation stage. For example, the unified format of the control instruction description information can distinguish steering, braking, or speed adjustment control through field identifiers, and describe the corresponding control amplitude or duration through parameter fields, thus providing a standardized basis for subsequent instruction conversion. Upon receiving a collaborative control instruction, the collaborative control instruction is converted into a vehicle control interface call instruction corresponding to the first and second autonomous vehicles based on the unified format of the control instruction description information. Vehicle control interface call instructions are used to map uniformly described control content into a specific vehicle-recognizable interface call format. This conversion process transforms the control type and parameters in the control instruction description information into the interface names and parameter formats supported by the target vehicle by looking up the interface mapping relationship corresponding to the vehicle type information.For example, in port operation scenarios, when a cooperative control command requires a target vehicle to perform deceleration control, the unified deceleration control description can be converted into a braking interface call command supported by the corresponding vehicle, based on the vehicle's type information. After generating the vehicle control interface call command, the command is sent to the first and second autonomous vehicles, enabling both vehicles to execute corresponding control operations according to their respective supported control interfaces, thus completing cooperative control. Through this method, even if multiple types of autonomous vehicles exist within the port area, effective control of different vehicles can be achieved based on a unified control command description in cooperative avoidance or cooperative operation scenarios, ensuring the continuity and consistency of the cooperative control process.

[0029] In one embodiment, if there is a second autonomous vehicle whose driving path overlaps with that of the first autonomous vehicle among other autonomous vehicles, after the step of establishing a communication connection with the second autonomous vehicle, the method further includes: real-time detection of the connection status parameters between the first and second autonomous vehicles; when the connection status parameters are lower than a preset threshold, performing a neighboring device search on autonomous vehicles within a preset range of the first autonomous vehicle based on the port area equipment identifier to obtain a candidate autonomous vehicle set; selecting a target autonomous vehicle to establish a backup communication connection based on the connection quality parameters corresponding to each candidate autonomous vehicle in the candidate autonomous vehicle set, and obtaining the connection stability state of the backup communication connection; when the connection stability state of the backup communication connection meets a preset condition, disconnecting the communication connection between the first and second autonomous vehicles.

[0030] In this embodiment, during the collaborative operation of autonomous vehicles in the port area, the first and second autonomous vehicles rely on a communication connection to exchange location information, driving status, and collaborative control commands. Therefore, continuous awareness of the communication status between the two vehicles is fundamental to ensuring the reliability of collaborative control. To this end, the connection status parameters between the first and second autonomous vehicles are monitored in real time to reflect the availability of the current communication connection. These connection status parameters quantify the operational status of the communication link, including indicators such as signal strength, data transmission latency, and packet loss. These parameters are collected synchronously by the vehicle communication module during data interaction and updated in the shared data pool or onboard control unit, ensuring continuous awareness of the connection status. When the connection status parameters are detected to be below a preset threshold, it indicates that the current communication connection can no longer meet the real-time and stability requirements of collaborative control, necessitating the establishment of a backup communication connection. The preset threshold is used to define whether the communication connection is in an acceptable state. This threshold is determined by the timeliness requirements of control commands in the port operation scenario. For example, in container transport operations, collaborative avoidance is more sensitive to communication delays, thus requiring a stricter threshold setting. After the threshold is triggered, a search for neighboring devices is performed on autonomous vehicles within a preset range of the first autonomous vehicle, based on the port area equipment identifier. The port area equipment identifier uniquely identifies autonomous vehicles or auxiliary communication nodes with communication capabilities within the port area, allowing for rapid identification of vehicles with communication capabilities within a local area. The preset range limits the search space, preventing irrelevant vehicles from participating in the communication evaluation, thereby improving search efficiency. After completing the neighboring device search, a candidate autonomous vehicle set is formed, where each vehicle possesses the basic conditions to establish a communication connection with the first autonomous vehicle. Subsequently, based on the connection quality parameters corresponding to each candidate autonomous vehicle in the candidate set, a target autonomous vehicle is selected to establish a backup communication connection. The connection quality parameter measures the quality of the potential communication link between the first autonomous vehicle and the candidate vehicles. This parameter can be obtained through short-term communication detection; for example, vehicles operating within the same working channel in the port area have shorter communication distances, higher signal stability, and relatively better connection quality parameters. By comparing the connection quality parameters of each candidate vehicle, a target autonomous vehicle that meets the cooperative control requirements is selected, and a backup communication connection is established with it. After the backup communication connection is established, its connection stability status is acquired to determine whether the backup connection is capable of replacing the original connection. The connection stability status describes the operational performance of the backup communication connection over a continuous period, such as whether there are frequent interruptions or significant fluctuations.Taking a container transshipment scenario in a port area as an example, when the communication quality between the first autonomous vehicle and the second autonomous vehicle deteriorates in a narrow operating area, a backup communication connection can be established with a nearby third autonomous vehicle traveling in the same direction. The data transmission status of this connection is continuously monitored over multiple control cycles. When the connection stabilizes and meets preset conditions, it indicates that the backup communication connection can handle the data interaction tasks required for collaborative control. At this point, the communication connection between the first and second autonomous vehicles is disconnected, thus completing a smooth switch of the communication link and preventing the interruption of collaborative control due to a sudden drop in connection quality. Through this process, the autonomous vehicles in the port area can maintain the continuity and reliability of collaborative control even in complex communication environments.

[0031] In one embodiment, when no candidate autonomous vehicle that meets the connection quality requirements is obtained, or when the connection status parameters of the existing communication connection are continuously lower than a preset threshold, a communication connection is established between the first autonomous vehicle and the dispatch center. Before establishing a communication connection with the dispatch center, device identity authentication is performed between the first autonomous vehicle and the dispatch center. After the device identity authentication is successful, an encrypted communication session identifier is generated, and an encrypted communication channel is established based on the encrypted communication session identifier. The status information of the first autonomous vehicle is uploaded and collaborative control commands are issued through the encrypted communication channel.

[0032] In this embodiment, during the collaborative operation of autonomous vehicles in the port area, when the communication connection between the first and second autonomous vehicles becomes continuously unstable, and no candidate autonomous vehicle meeting the connection quality requirements is found within a preset range, it indicates that local vehicle-to-vehicle communication can no longer support the collaborative control requirements. At this point, the conditions for establishing a communication connection with the dispatch center are triggered. The dispatch center is used for centralized management and control of autonomous vehicles within the port area. It possesses more stable network resources and global vehicle operation information. Therefore, when vehicle-to-vehicle connections cannot be maintained or the collaborative relationship temporarily fails, the first autonomous vehicle actively initiates a connection request to the dispatch center, thereby ensuring the continuous transmission of control commands. Before establishing a communication connection, device authentication is required to prevent unauthorized devices from accessing the port area control network. Device authentication is used to confirm the true identities of both communicating parties. Device identification information is used to uniquely identify the autonomous vehicle, such as a vehicle number or system registration identifier, and authentication credentials are used as digital credentials to prove the legitimacy of the device. The first autonomous vehicle sends its device identification information and authentication credentials to the dispatch center. The dispatch center performs a consistency check based on pre-stored legitimate device information. Only when the check results match is subsequent communication allowed. For example, in a container transshipment scenario at a port, when a transport vehicle is unable to maintain a vehicle-to-vehicle connection due to distance from other vehicles, it sends its identity information to the dispatch center. The dispatch center confirms the vehicle's registration by comparing it with the database and then allows it to access the system. After successful authentication, both parties generate an encrypted communication session identifier and establish an encrypted communication channel based on this identifier. The encrypted communication session identifier distinguishes different communication sessions, preventing data from being misused or intercepted by other devices. The encrypted communication channel encrypts transmitted data, ensuring that control commands and vehicle status information are not illegally tampered with during transmission. The session key is used for encrypting and decrypting data, and its generation is based on the negotiated results after successful authentication by both parties, thus ensuring communication security. After the encrypted communication channel is established, the first autonomous vehicle uploads its vehicle status information to the dispatch center and simultaneously receives collaborative control commands issued by the dispatch center. When a nearby autonomous vehicle that meets the conditions is subsequently detected and a vehicle-to-vehicle communication connection is established, the vehicle can choose whether to exit the dispatch center connection based on operational needs, thus forming a dynamic switching mechanism between vehicle-to-vehicle collaboration and center collaboration.

[0033] It should be noted that the communication connection with the dispatch center will also occur after the first autonomous vehicle enters the designated work area and no other autonomous vehicles are identified within the preset range, in which case the dispatch center will carry out effective work tasks through distributed control.

[0034] In the collaborative control of autonomous vehicles in the port area, a sleep-wake mechanism is implemented to reduce the energy consumption of the onboard communication module and computing unit. When the first autonomous vehicle does not detect other autonomous vehicles with overlapping driving paths within a preset range, and no communication connection is established within several consecutive detection cycles, the control communication module enters a low-power sleep state. In the sleep state, high-frequency data broadcasting is disabled, and only the periodic low-frequency heartbeat signal transmission function is retained. The heartbeat signal is used to maintain basic network reachability and identify the online status of devices. At the same time, the processor operating frequency is reduced, and collaborative control-related computing tasks are suspended. When an event that meets preset trigger conditions is detected, the system performs a wake-up operation. Trigger conditions include: receiving a collaborative connection request from another autonomous vehicle, detecting that the signal strength of a nearby device exceeds a preset threshold, or the dispatch center issuing a wake-up command. During the wake-up process, the communication module resumes full-speed operation, and the location data acquisition and shared data pool interaction process is restarted, while the collaborative control logic calculation is resumed. By entering sleep mode when there is no collaborative need and waking up in a timely manner when there is a potential conflict or scheduling need, the continuous power consumption of the communication and computing units is reduced while ensuring collaborative response capabilities, enhancing the operational stability of the system in large-scale vehicle deployment scenarios.

[0035] In one embodiment, the current operation status information and communication status information of the first autonomous vehicle are obtained; it is determined whether there is a collaborative operation requirement or a critical data upload requirement based on the current operation status information; when there is a collaborative operation requirement or a critical data upload requirement, a point-to-point connection request is initiated to the target device and a communication connection is established; when the collaborative operation requirement disappears and no critical data upload requirement is detected, the point-to-point connection is disconnected.

[0036] In this embodiment, the on-demand connection strategy controls the establishment and release of communication links based on two types of conditions: collaborative triggering and event triggering. First, it determines whether the vehicle is in a collaborative scenario such as platooning, meeting oncoming traffic, or intersecting on the same path by acquiring current operation status information. Operation status information refers to the vehicle's current task execution status and spatial relationship status, such as whether it is in a path overlap area, has entered a platooning section, or is performing loading / unloading operations. When a collaborative operation requirement is determined, the vehicle initiates a point-to-point connection request to the target device. A point-to-point connection refers to a short-range data channel directly established between two devices, which supports high-frequency status data exchange for location, speed, and control command synchronization. In addition to collaborative triggering, a critical data triggering mechanism is also included. Critical data refers to time-sensitive safety data such as fault alarm information, emergency braking signals, and battery anomaly information. When such data is detected, even if there is no path overlap or platooning requirement, a communication connection will be actively established, and the relevant information will be sent to the target vehicle or dispatch center. When a vehicle leaves the collaborative area, completes platooning disbandment, or no longer requires data upload, the system generates a connection release flag and shuts down the high-frequency data channel, retaining only low-frequency broadcasts or entering a completely disconnected state, thus preventing the communication module from continuously operating at high power consumption. Regarding energy consumption control, the system obtains real-time information on remaining battery range. Remaining battery range refers to the percentage of driving distance the battery can currently support. When the battery level falls below a preset threshold, such as below 20%, the system generates an energy consumption optimization level upgrade command. The energy consumption optimization level refers to the graded state of the communication module's power control; different levels correspond to different transmit power, data refresh cycles, and connection holding times. After the level is upgraded, the system adjusts communication parameters by reducing the data refresh frequency, shortening the connection holding time, and reducing the number of unnecessary connection establishments. For example, when the battery level is below the threshold, a connection is only allowed to be established when the path intersection distance is within a preset range; otherwise, a sleep listening state is maintained, thereby reducing communication power consumption. By linking connection establishment with operational requirements, critical data events, and power status, the communication behavior changes from a fixed, continuous connection mode to a dynamic triggering mode. This allows communication resources and energy consumption to be adjusted according to actual operational needs, reducing power loss caused by invalid connections and ensuring that a reliable communication link can still be established in necessary coordination or abnormal situations.

[0037] In one embodiment, during port loading and unloading operations, the second autonomous vehicle may be temporarily paused due to unloading, waiting for hoisting instructions, or temporarily verifying operational information. However, this pause is not a malfunction but a predictable, temporary stop. For example, the second autonomous vehicle completes container unloading under the quay crane, and its operation is "to leave the loading / unloading position and proceed to the buffer zone after container unloading is completed." The shared data pool stores not only location information and driving speed but also the current operation content field, operation stage identifier, and estimated operation completion time. The operation stage identifier is used to distinguish between states such as "loading," "unloading completed and awaiting confirmation," "awaiting release," and "preparing to depart." The estimated operation completion time is written by the operation system when the task is issued and is updated as progress is made. When the first autonomous vehicle detects a spatial overlap between its planned path and the current pause position of the second autonomous vehicle, it first reads the operation content field and operation stage identifier of the second autonomous vehicle through the shared data pool. If the reading result is "unloading completed and awaiting confirmation" or "awaiting release," and the time difference between the estimated operation completion time and the time difference between the first autonomous vehicle and the arrival of the overlapping area is within a controllable range (e.g., less than a preset buffer time), a control decision to delay entering the overlapping area is generated. The first autonomous vehicle calculates its remaining travel time to reach the overlapping area based on its current position and speed. This time is obtained by dividing the path length from its current position to the starting point of the overlapping area by its current speed. This arrival time is then compared to the estimated departure time of the second autonomous vehicle in the shared data pool. If the estimated departure time is earlier than the arrival time of the first autonomous vehicle, the current speed is maintained. If the estimated departure time is slightly later than the arrival time of the first autonomous vehicle, a deceleration command is generated, shifting the arrival time of the first autonomous vehicle backward to align with the departure time of the second autonomous vehicle. The deceleration magnitude is determined based on the time difference; for example, if the time difference is 3 seconds, the arrival time is delayed by 3 seconds by reducing the speed, thus avoiding simultaneous occupancy in the overlapping area. If the time difference exceeds a preset adjustable range, a more pronounced deceleration or brief stop command is generated. During this process, the second autonomous vehicle is not intervened in; instead, its pause is determined to be a short-term release state based on the work content and work phase change trends recorded in the shared data pool. If the shared data pool shows that the second autonomous vehicle has switched from "waiting for clearance" to "preparing to leave," the first autonomous vehicle can resume normal speed. For example, after unloading is completed under the quay crane, the system records that the spreader is expected to be raised and the vehicle is allowed to leave in 5 seconds. Based on this information, the first autonomous vehicle reduces its speed in advance, allowing it to reach the loading / unloading position entrance 5 seconds later. At this time, the second autonomous vehicle has just left, and the overlapping path area is clear, thus avoiding the risk of collision.The core of this process lies in combining the work content with spatial information. By reading the work stage identifiers and estimated completion times in the shared data pool, the process distinguishes between stalled behaviors, identifies the difference between "short-term work stalls" and "abnormal stalls," and adjusts the arrival rhythm accordingly. This allows the space occupation to be staggered in the time dimension without frequently triggering emergency avoidance control, thereby maintaining the continuity of operations and the stability of traffic order.

[0038] Figure 5 An autonomous vehicle control device is provided as an embodiment of this application. This autonomous vehicle control device can be used to implement the autonomous vehicle control method in the foregoing embodiments. For example... Figure 5 As shown, the autonomous vehicle control device mainly includes: The identification module 10 is used to transmit the location information of the first autonomous vehicle to the shared data pool in real time after the first autonomous vehicle enters the designated work area, and to identify other autonomous vehicles within a preset range. The connection module 20 is used to establish a communication connection with the second autonomous vehicle if there is a second autonomous vehicle whose driving path overlaps with that of the first autonomous vehicle among other autonomous vehicles. The judgment module 30 is used to judge the collision risk between the first autonomous vehicle and the second autonomous vehicle based on the location information and driving speed of the second autonomous vehicle in the shared data pool after the communication connection is completed. The control module 40 is used to perform avoidance control on the first autonomous vehicle and the second autonomous vehicle when there is a risk of collision between the first autonomous vehicle and the second autonomous vehicle.

[0039] In one optional embodiment of this example, the control module includes: a first determining unit, configured to determine the relative arrival order of the first autonomous vehicle and the second autonomous vehicle within the overlapping area of ​​their driving paths based on their position information and driving speed; a second determining unit, configured to determine the avoidance roles of the first autonomous vehicle and the second autonomous vehicle based on their relative arrival order and their current driving states; and a control unit, configured to generate cooperative control commands for the first autonomous vehicle and the second autonomous vehicle based on their avoidance roles, and to perform avoidance control on the first autonomous vehicle and the second autonomous vehicle.

[0040] In one optional embodiment of this example, the control unit includes: a determination subunit, configured to determine, based on the avoidance role, the target vehicle performing the avoidance action in the first autonomous vehicle and the second autonomous vehicle, and the non-avoiding vehicle maintaining its original driving state; a generation subunit, configured to generate an avoidance control command corresponding to the target vehicle and a normal control command maintaining the driving state based on the target vehicle's current position, driving speed, and the positional relationship of the overlapping area of ​​the driving path, wherein the avoidance control command includes at least one of a deceleration command, a pause command, or a path deviation command; and a control subunit, configured to send the avoidance control command to the target vehicle and the normal control command to the non-avoiding vehicle, thereby realizing avoidance control of the first autonomous vehicle and the second autonomous vehicle.

[0041] In an optional implementation of this embodiment, the control module is further configured to: after generating the collaborative control command, convert the collaborative control command into vehicle control interface call commands corresponding to the first autonomous vehicle and the second autonomous vehicle respectively according to the control command description information in a unified format; and send the vehicle control interface call commands to the first autonomous vehicle and the second autonomous vehicle respectively for collaborative control.

[0042] In an optional embodiment of this example, the connection module is further configured to: detect the connection status parameters between the first autonomous vehicle and the second autonomous vehicle in real time; when the connection status parameters are lower than a preset threshold, perform a neighboring device search for autonomous vehicles within a preset range of the first autonomous vehicle based on the port area equipment identifier to obtain a candidate autonomous vehicle set; select a target autonomous vehicle to establish a backup communication connection based on the connection quality parameters corresponding to each candidate autonomous vehicle in the candidate autonomous vehicle set, and obtain the connection stability status of the backup communication connection; when the connection stability status of the backup communication connection meets a preset condition, disconnect the communication connection between the first autonomous vehicle and the second autonomous vehicle.

[0043] According to the scheme provided in this application Figure 6 An electronic device is provided as an embodiment of this application. This electronic device can be used to implement the autonomous vehicle control method in the foregoing embodiments, and mainly includes: The system includes a memory 601, a processor 602, and a computer program 603 stored on the memory 601 and executable on the processor 602. The memory 601 and the processor 602 are communicatively connected. When the processor 602 executes the computer program 603, it implements the autonomous vehicle control method described in the foregoing embodiments. The number of processors can be one or more.

[0044] The memory 601 can be a high-speed random access memory (RAM) or a non-volatile memory, such as a disk storage device. The memory 601 is used to store executable program code, and the processor 602 is coupled to the memory 601.

[0045] Furthermore, embodiments of this application also provide a computer-readable storage medium, which may be disposed in the electronic device described in the above embodiments, and the computer-readable storage medium may be as described above. Figure 6 The memory in the illustrated embodiment.

[0046] The computer-readable storage medium stores a computer program that, when executed by a processor, implements the autonomous vehicle control method described in the foregoing embodiments. Furthermore, the computer-readable storage medium can also be a USB flash drive, a portable hard drive, a read-only memory (ROM), RAM, a magnetic disk, or an optical disk, or any other medium capable of storing program code.

[0047] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0048] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0049] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling an autonomous vehicle, characterized in that, include: After the first autonomous vehicle enters the designated work area, the location information of the first autonomous vehicle is transmitted to the shared data pool in real time, and other autonomous vehicles within the preset range are identified. If there is a second autonomous vehicle whose driving path overlaps with that of the first autonomous vehicle among the other autonomous vehicles, then a communication connection is established with the second autonomous vehicle. After the communication connection is established, the collision risk between the first autonomous vehicle and the second autonomous vehicle is determined based on the location information and driving speed of the second autonomous vehicle in the shared data pool. When there is a risk of collision between the first autonomous vehicle and the second autonomous vehicle, avoidance control is performed on both vehicles.

2. The autonomous vehicle control method according to claim 1, characterized in that, The step of performing avoidance control on the first autonomous vehicle and the second autonomous vehicle when there is a risk of collision includes: Based on the location information and driving speed of the first autonomous vehicle and the second autonomous vehicle, the relative arrival order of the first autonomous vehicle and the second autonomous vehicle in the overlapping area of ​​the driving path is determined; Based on the relative arrival order and the current driving status of the first autonomous vehicle and the second autonomous vehicle, the avoidance roles of the first autonomous vehicle and the second autonomous vehicle are determined. Based on the avoidance role, cooperative control commands are generated for the first autonomous vehicle and the second autonomous vehicle, respectively, to perform avoidance control on the first autonomous vehicle and the second autonomous vehicle.

3. The autonomous vehicle control method according to claim 2, characterized in that, The cooperative control commands include avoidance control commands and normal control commands. The step of generating cooperative control commands for the first autonomous vehicle and the second autonomous vehicle based on the avoidance role, and performing avoidance control on the first autonomous vehicle and the second autonomous vehicle, includes: The avoidance role determines the target vehicle that performs the avoidance action in the first autonomous vehicle and the second autonomous vehicle, as well as the non-avoiding vehicle that maintains its original driving state; Based on the current position and speed of the target vehicle and the positional relationship of the overlapping area of ​​the driving path, an avoidance control command and a normal control command to maintain the driving state are generated corresponding to the target vehicle. The avoidance control command includes at least one of the following: a deceleration command, a pause command, or a path deviation command. The avoidance control command is sent to the target vehicle, and the normal control command is sent to the non-avoiding vehicle, so as to realize the avoidance control of the first autonomous vehicle and the second autonomous vehicle.

4. The autonomous vehicle control method according to claim 2, characterized in that, The method further includes: After generating the collaborative control command, the collaborative control command is converted into vehicle control interface call commands corresponding to the first autonomous vehicle and the second autonomous vehicle respectively according to the control command description information in a unified format. The vehicle control interface call command is sent to the first autonomous vehicle and the second autonomous vehicle respectively for coordinated control.

5. The autonomous vehicle control method according to any one of claims 1 to 4, characterized in that, After the step of establishing a communication connection with the second autonomous vehicle if there is a second autonomous vehicle whose driving path overlaps with the first autonomous vehicle among the other autonomous vehicles, the method further includes: Real-time detection of connection status parameters between the first autonomous vehicle and the second autonomous vehicle; When the connection status parameter is lower than a preset threshold, a neighboring device search is performed on the autonomous vehicles within a preset range of the first autonomous vehicle based on the port area equipment identifier to obtain a candidate autonomous vehicle set. Based on the connection quality parameters corresponding to each candidate autonomous vehicle in the candidate autonomous vehicle set, a target autonomous vehicle is selected to establish a backup communication connection, and the connection stability status of the backup communication connection is obtained. When the connection stability of the backup communication connection meets the preset conditions, the communication connection between the first autonomous vehicle and the second autonomous vehicle is disconnected.

6. An autonomous vehicle control device, characterized in that, The autonomous vehicle control device is used to implement the autonomous vehicle control method according to any one of claims 1 to 5, and the autonomous vehicle control device includes: The identification module is used to transmit the location information of the first autonomous vehicle to the shared data pool in real time after the first autonomous vehicle enters the designated work area, and to identify other autonomous vehicles within a preset range. The connection module is used to establish a communication connection with the second autonomous vehicle if there is a second autonomous vehicle whose driving path overlaps with the first autonomous vehicle among the other autonomous vehicles. The judgment module is used to determine the collision risk between the first autonomous vehicle and the second autonomous vehicle based on the location information and driving speed of the second autonomous vehicle in the shared data pool after the communication connection is completed. The control module is used to perform avoidance control on the first autonomous vehicle and the second autonomous vehicle when there is a risk of collision between the first autonomous vehicle and the second autonomous vehicle.

7. The autonomous vehicle control device according to claim 6, characterized in that, The control module includes: The first determining unit is configured to determine the relative arrival order of the first autonomous vehicle and the second autonomous vehicle within the overlapping area of ​​their driving paths based on the location information and driving speed of the first autonomous vehicle and the second autonomous vehicle. The second determining unit is used to determine the avoidance roles of the first autonomous vehicle and the second autonomous vehicle based on the relative arrival order and the current driving status of the first autonomous vehicle and the second autonomous vehicle. The control unit is configured to generate cooperative control commands for the first autonomous vehicle and the second autonomous vehicle respectively according to the avoidance role, and to perform avoidance control on the first autonomous vehicle and the second autonomous vehicle.

8. The autonomous vehicle control device according to claim 7, characterized in that, The control unit includes: The determination subunit is used to determine, based on the avoidance role, the target vehicle performing the avoidance action in the first autonomous vehicle and the second autonomous vehicle, as well as the non-avoidance vehicle that maintains its original driving state; A generation subunit is used to generate an avoidance control command and a normal control command to maintain the driving state corresponding to the target vehicle based on the current position, driving speed and positional relationship of the overlapping area of ​​the driving path of the target vehicle. The avoidance control command includes at least one of a deceleration command, a pause command or a path deviation command. The control subunit is used to send the avoidance control command to the target vehicle and the normal control command to the non-avoiding vehicle, so as to realize the avoidance control of the first autonomous vehicle and the second autonomous vehicle.

9. An electronic device, characterized in that, Includes memory and processor, of which: The processor is used to execute computer programs stored in the memory; When the processor executes the computer program, it implements the steps in the autonomous vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in the autonomous vehicle control method according to any one of claims 1 to 7.

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