A vehicle control method, device, system and vehicle based on construction zone detection

Abstract

The application discloses a vehicle control method, device and system based on construction area detection and a vehicle, and belongs to the technical field of intelligent driving. A specific embodiment of the method comprises the following steps: in response to detecting a construction indication sign on a front road, obtaining one or more construction event records associated with the front road from the cloud; determining a construction state of a construction area of the front road according to the one or more construction event records; in the case where it is determined that the construction state of the construction area is that construction is in progress, controlling the ego vehicle to slow down; and in the case where it is determined that the construction state of the construction area is that no construction is in progress, controlling the ego vehicle to maintain the current vehicle speed. The method can realize the technical effect of judging the authenticity of the construction area in advance and accurately reminding the driver or the intelligent driving system to slow down.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to a vehicle control method, device, system, and vehicle based on construction zone detection. Background Technology

[0002] Currently, construction zones are a relatively complex scenario on the driving route, requiring drivers or intelligent driving systems to slow down in advance to cope with the complex environment within the construction zone. Usually, before actually entering the construction zone, there will be construction signs, road speed limit signs, etc., as warning information to remind drivers that they are about to enter the construction section and require drivers or intelligent driving systems to slow down according to the speed limit signs.

[0003] However, when construction work in a construction zone is completed but the construction signs and speed limit signs on both sides of the road are forgotten or not removed in a timely manner, the driver or intelligent driving system may slow down when it detects the signs, only to find that there is no actual construction zone. This ineffective deceleration affects the driver's driving experience, the comfort of the passengers, and driving efficiency. Summary of the Invention

[0004] In view of this, the present invention provides a vehicle control method, device and system based on construction zone detection, which can realize the authenticity of the construction zone in advance and accurately remind the driver or intelligent driving system to decelerate accordingly.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, the present invention provides a vehicle control method based on construction zone detection, applied to a vehicle, comprising: in response to detecting a construction indication sign on a road ahead, acquiring one or more construction event records associated with the road ahead from the cloud; determining the construction status of the construction zone on the road ahead based on the one or more construction event records; controlling the vehicle to decelerate when the construction status of the construction zone is determined to be construction in progress; and controlling the vehicle to maintain its current speed when the construction status of the construction zone is determined to be no construction.

[0006] Optionally, obtaining one or more construction event records associated with the road ahead from the cloud includes: sending a construction event record retrieval request to the cloud, so that the cloud determines a preset number of preceding vehicle identifiers within a preset distance from the vehicle's location based on the vehicle's location contained in the construction event record retrieval request, and sends the construction event records corresponding to the preceding vehicle identifiers uploaded at a preset interval to the vehicle; and receiving the construction event records corresponding to the preceding vehicle identifiers uploaded at the preset interval.

[0007] Optionally, it further includes: storing one or more construction event records in a preset event statistics table; wherein the event statistics table includes the construction event records of each of the preceding vehicles acquired at preset intervals, the construction status detection results for all the construction event records acquired in the same time, and the vehicle operation corresponding to each construction status detection result.

[0008] Secondly, the present invention provides a method for detecting construction zones on a road, applied to the front vehicle, comprising: using an image acquisition device to capture image information of the road ahead; detecting construction signs on the road ahead based on the image information; when the construction signs are detected, detecting whether there are physical barriers for construction based on the image information; generating a construction event record based on the detection results; and reporting it to the cloud.

[0009] Optionally, generating a construction event record based on the detection result includes: in response to the detection result indicating that the construction physical barrier was not detected, generating a construction event record indicating that the construction status of the construction area is not under construction.

[0010] Optionally, generating a construction event record based on the detection result includes: in response to the detection result indicating the presence of the construction physical barrier, obtaining the barrier location information; if the barrier location information overlaps with lane location information, generating a construction event record indicating that the construction status of the construction area is in progress; if the barrier location information does not overlap with any lane location information, generating a construction event record indicating that the construction status of the construction area is not under construction.

[0011] Thirdly, embodiments of the present invention provide a vehicle control device based on construction zone detection, applied to a vehicle, comprising: an acquisition unit and a processing unit; wherein, the acquisition unit is configured to acquire multiple construction event records associated with the road ahead from the cloud in response to detecting a construction indication sign on the road ahead; the processing unit is configured to determine the construction status of the construction zone on the road ahead based on one or more of the construction event records; if the construction status of the construction zone is determined to be in progress, control the vehicle to decelerate; if the construction status of the construction zone is determined to be not under construction, control the vehicle to maintain its current speed.

[0012] Fourthly, embodiments of the present invention provide a device for detecting construction zones on roads, applied to the front vehicle end, comprising: a triggering unit and a generating unit; wherein, the triggering unit is used to use an image acquisition device to capture image information of the road ahead, and detect construction indicator signs on the road ahead based on the image information; the generating unit is used to, when the construction indicator signs are detected, detect whether there are physical barriers for construction based on the image information, generate a construction event record according to the detection result, and report it to the cloud.

[0013] Fifthly, embodiments of the present invention provide a vehicle, including the vehicle control device based on construction zone detection as described in the third aspect or the device for detecting construction zones on roads as described in the fourth aspect.

[0014] Sixthly, embodiments of the present invention provide a vehicle control system based on construction zone detection, comprising: a vehicle end, a front vehicle end, and a cloud; wherein, the front vehicle end uses an image acquisition device to capture image information of the road ahead, and detects construction indicator signs on the road ahead based on the image information; when the construction indicator signs are detected, it detects whether there are physical construction barriers based on the image information, generates construction event records based on the detection results, and reports them to the cloud; the vehicle end, in response to detecting construction indicator signs on the road ahead, obtains one or more construction event records associated with the road ahead from the cloud; determines the construction status of the construction zone on the road ahead based on the one or more construction event records; when the construction status of the construction zone is determined to be construction in progress, the vehicle is controlled to decelerate; when the construction status of the construction zone is determined to be no construction, the vehicle is controlled to maintain its current speed.

[0015] In a seventh aspect, embodiments of the present invention provide a vehicle including a processor, a memory, and a display. The processor is configured to acquire and execute code in the memory to perform the vehicle control method based on construction zone detection or the method for detecting construction zones on a road provided in the above embodiments.

[0016] Eighthly, embodiments of the present invention provide a vehicle-mounted electronic device for vehicle control or detection of construction zones on roads based on construction zone detection, comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement a vehicle control method based on construction zone detection or a method for detecting construction zones on roads, as described in the above embodiments of the present invention.

[0017] Ninthly, embodiments of the present invention provide a computer-readable storage medium for vehicle control or detection of construction zones on roads based on construction zone detection, wherein a computer program for vehicle control or detection of construction zones on roads based on construction zone detection is stored thereon, and the computer program, when executed by an on-board processor, implements a vehicle control method or a method for detecting construction on roads based on construction zone detection according to embodiments of the present invention.

[0018] The technical solution of the above invention has the following advantages or beneficial effects: The present invention can use the cloud to send one or more construction event records of the preceding vehicle as input source to the vehicle about to enter the potential construction area, so that the vehicle can determine the construction status of the construction area and control the vehicle speed to maintain or decelerate, avoiding unnecessary deceleration and braking, thereby improving the driving experience; In addition, the present invention can determine a preset number of preceding vehicles within a preset distance from the vehicle's position through the cloud, so that the vehicle can receive the most accurate one or more construction event records for that vehicle; The present invention can realize intuitive and fast detection of the construction status of the construction area through the recorded event statistics table, which is also conducive to storage and viewing; Furthermore, the preceding vehicle of the present invention can accurately generate construction event records for the construction status of the construction area by detecting construction signs and physical barriers on the road ahead. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main steps of the vehicle-side in the first vehicle control method based on construction zone detection provided by the present invention. Figure 2 This is a schematic diagram of a vehicle and multiple preceding vehicles in a method for detecting a construction zone on a road according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the main steps at the front end of the first method for detecting construction zones on a road, provided by an embodiment of the present invention; Figure 4 This is a schematic diagram showing the overlap between the barrier position information and the lane position information of the construction physical barrier provided in an embodiment of the present invention; Figure 5 This is a schematic diagram showing that the position information of the physical barrier for construction does not overlap with the position information of the lane, according to an embodiment of the present invention. Figure 6 This is a system schematic diagram of a vehicle control method based on construction zone detection according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the main steps at the front end of the second method for detecting construction zones on roads according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the main steps at the front end of the third method for detecting construction zones on roads according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the main self-vehicle unit of a vehicle control device based on construction zone detection according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the main front unit of a device for detecting construction zones on roads according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of a vehicle according to an embodiment of the present invention; Figure 12 This is an exemplary vehicle system architecture diagram to which embodiments of the present invention can be applied; Figure 13 This is a schematic diagram of the structure of a computer system suitable for implementing embodiments of the present invention. Detailed Implementation

[0020] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of the present invention, including various details to aid understanding. These details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0021] It should be noted that, unless otherwise specified, the embodiments of the present invention and the technical features thereof can be combined with each other.

[0022] Furthermore, the terms "first," "second," and "third," etc., included in the terminology of this invention are used to distinguish similar objects and are not necessarily used to describe a specific number or order. It should be understood that such terms can be used interchangeably where appropriate; this is merely a distinguishing method used in the embodiments of this invention when describing objects with the same attributes.

[0023] Furthermore, the vehicles involved in the embodiments of the present invention may be internal combustion engine vehicles that use an engine as a power source, hybrid vehicles that use an engine and an electric motor as power sources, electric vehicles that use an electric motor as a power source, etc.

[0024] Figure 1 This is a schematic diagram of the main steps of the vehicle-side in the first vehicle control method based on construction zone detection according to an embodiment of the present invention. Figure 1 As shown, the method mainly includes the following steps: Step S101: In response to detecting a construction sign on the road ahead, retrieve one or more construction event records associated with the road ahead from the cloud.

[0025] In a further embodiment of the present invention, the specific implementation process of step S101, obtaining one or more construction event records associated with the road ahead from the cloud, may include: sending a construction event record retrieval request to the cloud, so that the cloud, based on the vehicle's location included in the construction event record retrieval request, determines a preset number of preceding vehicle identifiers within a preset distance from the vehicle's location and sends the construction event records corresponding to the preceding vehicle identifiers uploaded at a preset interval to the vehicle; and receiving the construction event records corresponding to the preceding vehicle identifiers uploaded at the preset interval. Here, the preceding vehicle refers to a vehicle traveling on the same road (possibly in a different lane) and located ahead of the vehicle. For example: Figure 2 As shown, vehicle V0 sends a request to the cloud to retrieve construction event records for the construction area, thereby receiving construction event records from preceding vehicles V1 to V5. These preceding vehicles V1 to V5 can then report their detected road construction event records to the cloud. Examples include obtaining the vehicle's location through Global Positioning System (GPS), cell tower triangulation, or Automatic Vehicle Location (AVL) systems.

[0026] Step S102: Determine the construction status of the construction zone of the road ahead based on one or more of the construction event records; if the construction status of the construction zone is determined to be in progress, control the vehicle to decelerate; if the construction status of the construction zone is determined to be not under construction, control the vehicle to maintain the current speed.

[0027] In this embodiment of the invention, step S102 can determine the construction status of the construction area based on the construction event records of all preceding vehicles obtained each time, thereby performing control operations on the vehicle. If any one of the construction event records indicates that the construction status of the construction area on the road ahead is in progress, i.e., the construction status detection result is determined to be in progress, a deceleration control operation can be performed on the vehicle. If multiple construction event records indicate that the construction status of the construction area on the road ahead is not under construction, i.e., the construction status detection result is determined to be not under construction, the vehicle can be controlled to maintain its current speed without deceleration (i.e., maintain the current speed). For example: as shown in Table 1, if four of the Case 1 (the first collection of construction event records of 5 preceding vehicles) are 1 (1 indicates that the construction status of the construction area on the road ahead is in progress), then a deceleration control operation is performed; if all of the Case 3 (the third collection of construction event records of 5 preceding vehicles) are 0 (0 indicates that the construction status of the construction area on the road ahead is not under construction), then a control operation to maintain the current speed without deceleration is performed.

[0028] In this embodiment of the invention, a reminder message can be generated and played via voice or displayed via a pop-up window, thereby reminding the driver to confirm whether to slow down or not (i.e., maintain the current speed) in response to the construction status of the construction area.

[0029] In a further embodiment of the present invention, step S102 can also store one or more of the construction event records into a preset event statistics table. The event statistics table includes the construction event records of each preceding vehicle acquired at preset intervals, the construction status detection results for all construction event records acquired in the same acquisition, and the vehicle operation corresponding to each construction status detection result. It can be seen that after each preset interval, the construction event records refreshed by the preceding vehicles can be acquired. For example, if the interval is 2 minutes, then after every 2 minutes, the construction event records of 5 preceding vehicles are acquired respectively. As shown in Table 1 below: Table 1

[0030] Wherein, V1 to V5 represent the preceding vehicles, Case1 to Case3 represent the construction event records of all preceding vehicles collected in three batches, 1 indicates that the construction status of the construction area of ​​the preceding road is in progress, and 0 indicates that the construction status of the construction area of ​​the preceding road is not under construction; Event represents the construction status detection result of all the construction event records acquired in the same batch, "True" indicates that any of the multiple construction event records indicates that the construction status of the construction area of ​​the preceding road is in progress, and "False" indicates that multiple construction event records indicate that the construction status of the construction area of ​​the preceding road is not under construction; Ego represents the vehicular vehicle, which determines the corresponding vehicular vehicle operation (deceleration or no deceleration) based on the construction status indicated by different preceding vehicles.

[0031] like Figure 3 A schematic diagram of the main steps at the front end of a method for detecting construction zones on a road is shown. In this embodiment of the invention, the steps include the following: Step S301: Using an image acquisition device, capture image information of the road ahead, and detect construction signs on the road ahead based on the image information.

[0032] In one embodiment, a predetermined number of vehicles ahead detect the presence of construction signs on the road ahead, such as construction signs, speed limit signs, etc.

[0033] Step S302: If the construction instruction sign is detected, detect whether there is a physical construction barrier based on the image information, generate a construction event record based on the detection result, and report the construction event record to the cloud.

[0034] Furthermore, in one embodiment of the present invention, step S302 can continue to detect whether there are construction physical barriers such as traffic cones, cone barrels, and water-filled barriers based on image information when the construction indication sign is detected on the road ahead. In response to the absence of the construction physical barriers, a construction event record in which the construction status of the construction area is not under construction can be generated.

[0035] Further, in another embodiment of the present invention, step S302 can continue to detect whether there are physical barriers such as traffic cones, cones, and water barriers in the image information when the construction instruction sign is detected on the road ahead. In response to the detection of the physical barriers, the location information of the physical barriers is obtained. If the location information of the barriers coincides with the lane location information, a construction event record is generated indicating that the construction status of the construction area is in progress. If the location information of the barriers does not coincide with any lane location information, a construction event record is generated indicating that the construction status of the construction area is not under construction. It can be seen that after the vehicle ahead detects the physical barriers, it can generate a construction event record indicating that the construction status of the construction area is in progress or that the construction status of the construction area is not under construction based on the relationship between the location of the physical barriers and the lane location. That is, the coincidence of the location information of the physical barriers with the lane location information indicates that the physical barriers match the lane (e.g., ...). Figure 4 As shown), if the construction physical barrier is placed in a lane and obstructs the normal passage of vehicles, the construction event is recorded as the construction area being under construction. If the barrier's position information does not coincide with the lane's position information, it means the construction physical barrier is not in any lane. For example, if the construction physical barrier is placed at the edge of the road (e.g.,...), it indicates that the construction physical barrier is not in any lane. Figure 5 As shown), if the construction does not obstruct any lane, the construction event is recorded as the construction status of the construction area being "no construction". Additionally, for example: the vehicle in front can use radar (including but not limited to lidar, ultrasonic radar, etc.) to obtain the location information of the physical construction barriers, and use a high-precision map to obtain lane location information.

[0036] In this embodiment of the invention, in order to generate construction event records more efficiently and accurately, the invention can preset a driving length, and the vehicle in front can detect the construction physical barrier within the preset driving length. For example, the preset driving length can be 3 kilometers, but it is not limited to this.

[0037] In a further embodiment of the present invention, the self-vehicle and the preceding vehicle in step S302 can interact with each other through the cloud. The preceding vehicle acquires image information based on a preset interval, detects whether there is a physical construction barrier in the image information, generates a construction event record based on the detection result, and uploads the construction event record to the cloud.

[0038] like Figure 6 A schematic diagram of a system for detecting construction zones on a road is shown. In this embodiment of the invention, the system includes a vehicle terminal B, a front vehicle terminal C, and a cloud terminal A. The vehicle terminal B and the front vehicle terminal C can interact through the cloud terminal A. The vehicle terminal B can obtain multiple construction event records of the road ahead reported by the front vehicle terminal C from the cloud terminal A. By judging the construction status of the construction zone as either in progress or not under construction based on one or more construction event records, the vehicle terminal B can control itself to decelerate or maintain its current speed. Meanwhile, the front vehicle terminal C can generate construction event records based on the detection results of the physical barriers on the road ahead and report them to the cloud terminal A.

[0039] like Figure 7 A schematic diagram of the main steps at the front end of the second method for detecting construction zones on roads is shown. In this embodiment of the invention, the steps include the following: Step S701: Using an image acquisition device, capture image information of the road ahead, and detect construction signs on the road ahead based on the image information.

[0040] Step S702: If the construction instruction sign is detected, detect whether there is a construction physical barrier based on the image information. In response to the detection result that no construction physical barrier is detected, generate a construction event record in which the construction status of the construction area is not under construction.

[0041] Step S703: Upload the construction event record to the cloud.

[0042] In this embodiment of the invention, the leading vehicle can use image information to detect construction signs on the road ahead. If construction signs are detected, and in the case where there are no physical barriers for construction on the road ahead, the construction status of the construction area can be effectively identified. At the same time, construction event records are generated and uploaded to the cloud, providing effective judgment data for controlling the speed of following vehicles.

[0043] like Figure 8 A schematic diagram of the main steps at the front end of the third method for detecting construction zones on roads is shown. In this embodiment of the invention, the steps include the following: Step S801: Using an image acquisition device, capture image information of the road ahead, and detect construction signs on the road ahead based on the image information.

[0044] Step S802: If the construction instruction sign is detected, detect whether there is a construction physical barrier based on the image information. In response to the detection result that a construction physical barrier is detected, obtain the barrier location information of the construction physical barrier.

[0045] Step S803: If the barrier position information coincides with the lane position information, a construction event record is generated indicating that the construction status of the construction area is in progress; if the barrier position information does not coincide with any lane position information, a construction event record is generated indicating that the construction status of the construction area is not under construction.

[0046] Step S804: Upload the construction event record to the cloud.

[0047] In this embodiment of the invention, the leading vehicle can use image information to detect construction signs on the road ahead. If construction signs are detected, the vehicle can further identify the construction status of the construction area in the case of physical barriers on the road ahead. At the same time, it generates construction event records and uploads them to the cloud, providing effective judgment data for controlling the speed of following vehicles.

[0048] The above steps are provided only to help understand the method, structure, and core ideas of this invention. Those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims.

[0049] Figure 9 This is a schematic diagram of the main self-vehicle unit of a vehicle control device based on construction zone detection according to an embodiment of the present invention. Figure 9 As shown, a vehicle control device 900 based on construction zone detection according to an embodiment of the present invention includes: an acquisition unit 901 and a processing unit 902, wherein the acquisition unit 901 is used to acquire one or more construction event records associated with the road ahead from the cloud in response to detecting a construction indication sign on the road ahead; the processing unit 902 is used to determine the construction status of the construction zone on the road ahead based on one or more of the construction event records; if the construction status of the construction zone is determined to be in progress, the vehicle is controlled to decelerate; if the construction status of the construction zone is determined to be not under construction, the vehicle is controlled to maintain the current speed.

[0050] In this embodiment of the invention, the acquisition unit 901 is used to send a construction event record acquisition request to the cloud, so that the cloud determines a preset number of preceding vehicle identifiers within a preset distance from the vehicle location based on the vehicle location contained in the construction event record acquisition request, and sends the construction event records corresponding to the preceding vehicle identifiers uploaded at a preset interval to the vehicle terminal; and receives the construction event records corresponding to the preceding vehicle identifiers uploaded at a preset interval.

[0051] In this embodiment of the invention, the processing unit 902 is used to store one or more of the construction event records into a preset event statistics table; wherein, the event statistics table includes the construction event records of each of the preceding vehicles acquired at preset intervals, the construction status detection results for all the construction event records acquired at the same time, and the vehicle operation corresponding to each construction status detection result.

[0052] Figure 10 This is a schematic diagram of the main unit at the front end of a device for detecting construction zones on roads, according to an embodiment of the present invention. Figure 10 As shown, an embodiment of the present invention provides a device 1000 for detecting construction zones on roads, comprising: a triggering unit 1001 and a generating unit 1002. The triggering unit 1001 is used to capture image information of the road ahead using an image acquisition device, and detect construction indicator signs on the road ahead based on the image information. When the construction indicator signs are detected, the generating unit 1002 is used to detect whether there are physical barriers for construction based on the image information, generate a construction event record according to the detection result, and report it to the cloud.

[0053] In this embodiment of the invention, the generation unit 1002 is used to generate a construction event record in which the construction status of the construction area is not under construction in response to the detection result that the construction physical barrier was not detected.

[0054] In this embodiment of the invention, the generation unit 1002 is configured to, in response to the detection result indicating the presence of the construction physical barrier, acquire the barrier location information; if the barrier location information overlaps with lane location information, generate a construction event record indicating that the construction status of the construction area is in progress; if the barrier location information does not overlap with any lane location information, generate a construction event record indicating that the construction status of the construction area is not under construction.

[0055] like Figure 11As shown, an embodiment of the present invention provides a vehicle 1100, which may include the vehicle control device 900 based on construction zone detection or the device 1000 for detecting construction zones on the road provided in the above embodiments.

[0056] Figure 12 An exemplary vehicle system architecture 1200 is shown, in which one or more of the following embodiments of the present invention are applied: a vehicle control method based on construction zone detection, a method for detecting construction zones on a road, a vehicle control device for detecting construction zones, and a device for detecting construction zones on a road.

[0057] like Figure 12 As shown, the vehicle system architecture 1200 may include various systems, such as an intelligent driving system 1201, a powertrain system 1202, a sensor system 1203, a control system 1204, one or more peripheral devices 1205, a power supply 1206, a computer system 1207, and a user interface 1208. Optionally, the vehicle system architecture 1200 may include more or fewer systems, and each system may include multiple components. Furthermore, each system and component of the vehicle system architecture 1200 can be interconnected via wired or wireless means.

[0058] The vehicle system architecture 1200 includes an intelligent driving system 1201, which can be in a fully or partially automated driving mode. For example, the intelligent driving system 1201 can automatically control the vehicle's driving without human interaction; the intelligent driving system 1201 can also control the vehicle's automated driving while in automated driving mode, and can also adjust the automated driving behavior of the intelligent driving system 1201 through human interaction. Specifically, the intelligent driving system 1201 can also, in response to detecting a construction sign on the road ahead, obtain one or more construction event records associated with the road ahead from the cloud; determine the construction status of the construction area on the road ahead based on one or more construction event records; if the construction status of the construction area is determined to be in progress, control the vehicle to decelerate; if the construction status of the construction area is determined to be not under construction, control the vehicle to maintain the current speed. Alternatively, the intelligent driving system 1201 can also use an image acquisition device to capture image information of the road ahead, detect construction signs on the road ahead based on the image information; detect the presence of physical construction barriers based on the image information, generate construction event records based on the detection results, and report them to the cloud.

[0059] The powertrain 1202 may include components that provide power to the vehicle. For example, the powertrain 1202 may include an engine, an energy source, a transmission, wheels, tires, etc. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or other combinations of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts the energy source into mechanical energy to supply the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other electrical sources. The energy source may also provide energy to other systems of the vehicle. Furthermore, the transmission may include a gearbox, a differential, a drive shaft, and a clutch, etc.

[0060] Sensor system 1203 may include sensors for sensing the vehicle's surrounding environment. Examples include a positioning system (which may be a Global Positioning System (GPS), BeiDou Navigation Satellite System, or other positioning systems), radar, a laser rangefinder, an inertial measurement unit (IMU), and a camera. The positioning system can be used to determine the vehicle's geographical location. The IMU is used to sense changes in the vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. Radar can use radio signals to sense objects in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or direction of travel of objects.

[0061] To monitor environmental information and objects located in front of, behind, or to the sides of the vehicle, radar, cameras, and other devices can be configured at appropriate locations on the exterior of the vehicle. For example, to acquire an image of the front of the vehicle, a camera can be configured inside the vehicle and close to the windshield. Alternatively, the camera can be configured around the front bumper or radiator grille. Similarly, to acquire an image of the rear of the vehicle, a camera can be configured inside the vehicle and close to the rear window. Alternatively, the camera can be configured around the rear bumper, trunk, or tailgate. To acquire images of the sides of the vehicle, a camera can be configured inside the vehicle and close to at least one of the side windows. Alternatively, the camera can be configured around the side mirrors, fenders, or doors.

[0062] Laser rangefinders use lasers to sense objects in the environment in which a vehicle is located.

[0063] A camera can be used to capture multiple images of the vehicle's surroundings. The camera can be a still camera or a video camera.

[0064] The control system 1204 may include software systems for implementing autonomous driving, such as a route planning system, an obstacle avoidance system, and a vision system for image analysis. The control system 1204 may also include hardware systems such as an accelerator and steering wheel system. Furthermore, the control system 1204 may add or replace components other than those shown and described. Alternatively, some of the components shown above may be omitted.

[0065] The control system 1204 interacts with external sensors, other autonomous driving devices, other computer systems, or users via peripheral devices 1205. Peripheral devices 1205 may include wireless communication systems, on-board computers, microphones, and / or speakers.

[0066] In some embodiments, peripheral device 1205 provides a means for user interaction with the control system 1204 via a user interface. For example, an onboard computer may provide information to a user of the vehicle. The user interface may also operate the onboard computer to receive user input. The onboard computer may be operated via a touchscreen. In other cases, peripheral device may provide a means for communicating with other devices located within the vehicle. For example, a microphone may receive audio (e.g., voice commands or other audio input) from a user of the control system 1204. Similarly, a speaker may output audio to a user of the control system 1204.

[0067] Wireless communication systems can communicate wirelessly with one or more devices, either directly or via a communication network. For example, wireless communication systems can use networks such as cellular networks, WiFi, and wireless local area networks (WLANs), or they can use infrared links, Bluetooth, or ZigBee to communicate directly with devices. Other wireless protocols include those used in various autonomous driving communication systems.

[0068] The power source 1206 can provide power to various components of the vehicle. The power source 1206 can be a rechargeable lithium-ion or lead-acid battery.

[0069] The computer system 1207 controls some or all of the functions enabling autonomous driving. The computer system 1207 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as memory. The computer system 1207 provides the execution code for the aforementioned intelligent driving system to enable autonomous driving.

[0070] The processor can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special-purpose device such as an application-specific integrated circuit (ASIC) or other hardware-based processor. Those skilled in the art will understand that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, memory can be a hard disk drive or other storage media located in a housing different from that of a computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor that performs calculations only related to the component's specific function.

[0071] User interface 1208 is used to provide information to or receive information from users of the vehicle. Optionally, user interface 1208 may include one or more input / output devices within a set of peripheral devices 1205, such as wireless communication systems, on-board computers, microphones, and speakers.

[0072] It should be understood that the components described above are merely an example. In actual applications, components in the various modules or systems mentioned above may be added or removed as needed. Figure 12 This should not be construed as a limitation on the embodiments of this application.

[0073] The following is for reference. Figure 13 It shows a schematic diagram of the structure of a computer system 1300 suitable for implementing embodiments of the present invention. Figure 13 The computer system shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0074] like Figure 13 As shown, the computer system 1300 includes a central processing unit (CPU) 1301, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 1302 or programs loaded from storage section 1308 into random access memory (RAM) 1303. The RAM 1303 also stores various programs and data required for the operation of the system 1300. The CPU 1301, ROM 1302, and RAM 1303 are interconnected via a bus 1304. An input / output (I / O) interface 1305 is also connected to the bus 1304.

[0075] The following components are connected to I / O interface 1305: an input section 1306; an output section 1307 including devices such as cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; a storage section 1308 including devices such as hard disks; and a communication section 1309 including network interface cards such as LAN cards and modems. The communication section 1309 performs communication processing via a network such as the Internet. A drive 1310 is also connected to I / O interface 1305 as needed. Removable media 1311, such as disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on drive 1310 as needed so that computer programs read from them can be installed into storage section 1308 as needed.

[0076] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1309, and / or installed from removable medium 1311. When the computer program is executed by central processing unit (CPU) 1301, it performs the functions defined above in the system of this invention.

[0077] It should be noted that the computer-readable medium shown in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this invention, a readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0078] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0079] The modules described in the embodiments of the present invention can be implemented in software or hardware. The described modules can also be housed in a processor; for example, a processor may be described as including an acquisition unit and a processing unit. The names of these units do not necessarily limit the module itself; for example, the acquisition unit may also be described as "a module for determining one or more construction event records associated with the road ahead."

[0080] In another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, cause the device to: in response to detecting a construction sign on a road ahead, acquire one or more construction event records associated with the road ahead from a cloud; determine the construction status of a construction zone on the road ahead based on the one or more construction event records; control the vehicle to decelerate if the construction status of the construction zone is determined to be in progress; and control the vehicle to maintain its current speed if the construction status of the construction zone is determined to be not under construction.

[0081] Alternatively, the aforementioned computer-readable medium may carry one or more programs, which, when executed by a device, cause the device to include: using an image acquisition device to capture image information of the road ahead; detecting construction signs on the road ahead based on the image information; detecting the presence of physical construction barriers based on the image information; generating a construction event record based on the detection result; and reporting it to the cloud.

[0082] According to the technical solution of the present invention, it is possible to determine the authenticity of the construction area in advance and accurately remind the driver or intelligent driving system to decelerate accordingly.

[0083] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method based on construction zone detection, characterized in that, Applications in vehicles include: In response to the detection of a construction sign on the road ahead, one or more construction event records associated with the road ahead are retrieved from the cloud; The construction status of the construction zone of the road ahead is determined based on one or more of the aforementioned construction event records; If the construction status of the construction area is determined to be in progress, the vehicle is controlled to decelerate. If the construction status of the construction area is determined to be no construction, the vehicle is controlled to maintain its current speed.

2. The vehicle control method based on construction zone detection according to claim 1, characterized in that, Retrieve one or more construction event records associated with the road ahead from the cloud, including: Send a construction event record retrieval request to the cloud, so that the cloud determines a preset number of preceding vehicle identifiers within a preset distance from the vehicle's location based on the vehicle's location contained in the construction event record retrieval request, and sends the construction event records corresponding to the preceding vehicle identifiers uploaded at preset intervals to the vehicle terminal; Receive the construction event records uploaded at preset intervals corresponding to the preceding vehicle identification.

3. The vehicle control method based on construction zone detection according to claim 1 or 2, characterized in that, Also includes: One or more of the aforementioned construction events are recorded and stored in a preset event statistics table; The event statistics table includes construction event records of each preceding vehicle acquired at preset intervals, construction status detection results for all construction event records acquired in the same instance, and vehicle operations corresponding to each construction status detection result.

4. A method for detecting construction zones on roads, characterized in that, Applied to the front end of the vehicle, including: Using image acquisition equipment, images of the road ahead are captured, and construction signs on the road ahead are detected based on the image information; If the construction instruction sign is detected, the presence of a physical construction barrier is detected based on the image information. A construction event record is generated based on the detection result and reported to the cloud.

5. The method for detecting construction zones on roads according to claim 4, characterized in that, The generation of construction event records based on the test results includes: In response to the detection result that the construction physical barrier was not detected, a construction event record is generated indicating that the construction status of the construction area is not under construction.

6. The method for detecting construction zones on roads according to claim 4, characterized in that, The generation of construction event records based on the test results includes: In response to the detection result indicating the presence of the construction physical barrier, the location information of the construction physical barrier is obtained; If the location information of the barrier coincides with the location information of the lane, a construction event record is generated in which the construction status of the construction area is in progress. If the location information of the barrier does not overlap with any lane location information, a construction event record is generated indicating that the construction status of the construction area is not under construction.

7. A vehicle control device based on construction zone detection, characterized in that, Applied to the vehicle end, it includes: an acquisition unit and a processing unit, wherein, The acquisition unit is used to acquire multiple construction event records associated with the road ahead from the cloud in response to detecting a construction sign on the road ahead; The processing unit is configured to determine the construction status of the construction zone of the road ahead based on one or more of the construction event records; if the construction status of the construction zone is determined to be in progress, control the vehicle to decelerate; if the construction status of the construction zone is determined to be not under construction, control the vehicle to maintain its current speed.

8. A device for detecting construction zones on roads, characterized in that, Applied to the front end of the vehicle, it includes: a triggering unit and a generating unit, wherein, The triggering unit is used to capture image information of the road ahead using an image acquisition device, and detect construction signage on the road ahead based on the image information; The generation unit is used to detect whether there is a physical construction barrier based on the image information when the construction instruction sign is detected, generate a construction event record based on the detection result, and report it to the cloud.

9. A vehicle, characterized in that, include: The vehicle control device based on construction zone detection as described in claim 7 or the device for detecting construction zones on roads as described in claim 8.

10. A vehicle control system based on construction zone detection, characterized in that, include: From the vehicle end, the front vehicle end, and the cloud; The front vehicle uses an image acquisition device to capture image information of the road ahead, and detects construction signs on the road ahead based on the image information; If the construction instruction sign is detected, the presence of a physical construction barrier is detected based on the image information. A construction event record is generated based on the detection result and reported to the cloud. In response to detecting a construction sign on the road ahead, the vehicle obtains one or more construction event records associated with the road ahead from the cloud; determines the construction status of the construction zone on the road ahead based on the one or more construction event records; if the construction status of the construction zone is determined to be in progress, the vehicle is controlled to decelerate; if the construction status of the construction zone is determined to be not under construction, the vehicle is controlled to maintain its current speed.

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