Autonomous driving method and device

Abstract

An autonomous driving method, an autonomous driving device, a computer-readable storage medium, and a computer program product are provided. The method includes: receiving first driving-related information of a first road section ahead of a road on which a first vehicle is currently traveling and information about a parking waiting area transmitted by a network-side device (S304); determining that the first road section does not satisfy an autonomous driving condition requirement of the first vehicle based on the first driving-related information (S305); and finally controlling the first vehicle to enter the parking waiting area (S306). In this way, if the first road section ahead of a road on which the first vehicle is currently traveling does not satisfy the autonomous driving condition requirement, the vehicle may automatically enter the parking waiting area to achieve safe parking, thereby reducing safety risks.

Description

[Technical field]

[0001] The embodiments of the present application relate to the field of intelligent driving, and in particular to an autonomous driving method and apparatus. [Background technology]

[0002] The development of autonomous driving technology is progressing rapidly. Currently, the driving automation level of a vehicle is classified into five levels, including no automation, driver assistance, partial automation, conditional automation, high automation, and full automation. A higher level of autonomous driving indicates a lower degree of driver participation.

[0003] At the current technology level, autonomous driving has not yet reached the fully automated phase. When road conditions do not meet the autonomous driving conditions, the vehicle will exit the autonomous driving program, and the driver will be reminded in various ways to take over the vehicle within a specified time, and the driver will drive the vehicle. However, as autonomous driving develops and the requirements for the driver are reduced accordingly, it may happen that the driver lacks experience and cannot take over the autonomous driving vehicle, or even that there is no driver, which will lead to security risks for the vehicle when road conditions do not meet the autonomous driving conditions. Summary of the Invention

[0004] The embodiments of the present application provide an autonomous driving method and apparatus to solve the problem in the prior art that there exists a vehicle safety risk when road conditions do not meet the autonomous driving conditions.

[0005] According to a first aspect, an embodiment of the present application provides an autonomous driving method. The method may be applied to an autonomous driving device. The autonomous driving device may be a vehicle, an on-board device, or a chip in the on-board device. The on-board device may be a head unit or a device located in the vehicle. Hereinafter, an on-board terminal is used as an example for explanation. In the method, the on-board terminal receives first driving-related information of a first road section ahead of a road on which the first vehicle is currently traveling and information about a parking waiting area sent by a network side device, and the parking waiting area is used to park the first vehicle before the first vehicle enters the first road section. Then, the on-board terminal determines that the first road section does not satisfy the autonomous driving condition requirements of the first vehicle based on the first driving-related information. Finally, the on-board terminal controls the first vehicle to enter the parking waiting area. The first driving-related information includes, but is not limited to, road condition constraints, road sign and line definitions, road management level, road technology level, population density, traffic volume, weather conditions, or road emergency conditions. The network side device includes, but is not limited to, a server, a base station, or a roadside unit.

[0006] According to the autonomous driving method provided in the first aspect, if a first road section preceding a road on which a first vehicle is currently traveling is not suitable for autonomous driving, the vehicle may automatically enter a parking waiting area to achieve safe parking, thereby reducing safety risks.

[0007] In a possible implementation, information about parking waiting areas is included in the dynamic layer information of the map.

[0008] In a possible implementation, before the in-vehicle terminal receives the first driving-related information of the first road section ahead of the road on which the first vehicle is currently traveling and the information about the parking waiting area sent by the network side device, the method further includes a step of sending second driving-related information of the first vehicle to the network side device, The second driving-related information includes, but is not limited to, the autonomous driving condition request, the autonomous driving status, the current position, the planned driving route, or the road condition information collected by the vehicle of the vehicle.

[0009] In a possible implementation, before the in-vehicle terminal controls the first vehicle to enter the parking waiting area, the method further comprises a step of determining that there is no licensed driver available to take over the first vehicle.

[0010] In this possible implementation, before the in-vehicle terminal controls the first vehicle to enter the parking waiting area, it may be determined that there is no licensed driver to take over the first vehicle, ensuring the safety of the vehicle when the vehicle is unattended or the driver is unable to drive.

[0011] In a possible implementation, after the vehicle-mounted terminal controls the first vehicle to enter the parking waiting area, the method further includes the vehicle-mounted terminal receiving third driving-related information of the first road section sent by the network-side device, where the third driving-related information is an update of the first driving-related information. The vehicle-mounted terminal determines that the first road section meets the autonomous driving condition requirements of the first vehicle based on the third driving-related information. The vehicle-mounted terminal controls the first vehicle to travel along the first road section in an autonomous driving mode. It should be noted that the network-side device that sends the third driving-related information and the network-side device that sends the first driving-related information may be the same device or different devices.

[0012] In a possible implementation, after controlling the first vehicle to enter the parking waiting area, the vehicle-mounted terminal may monitor in real time whether the first road section meets the autonomous driving condition requirements of the first vehicle. After the first road section meets the autonomous driving condition requirements of the first vehicle, the vehicle-mounted terminal may control the first vehicle to travel the first road section in an autonomous driving mode in a timely manner, so that the vehicle can continue traveling in a timely manner after the road ahead is restored.

[0013] In a possible implementation, after the in-vehicle terminal controls the first vehicle to enter the parking waiting area, the method further includes a step of outputting request information to a user of the first vehicle, where the request information is used to request the user to indicate one of the following: whether the vehicle can withdraw from the first road section by remote driving, whether the vehicle can withdraw from the first road section by guidance based on the route and time planned by the server, or whether the vehicle can withdraw from the first road section and follow another vehicle.

[0014] In this possible implementation, after the in-vehicle terminal controls the first vehicle to enter the parking waiting area, the in-vehicle terminal may request an instruction from the user to exit the first road section in a different manner.

[0015] In a possible implementation, the information about the parking waiting area may include the lane number of the parking waiting area, the start location of the parking waiting area, the location of each parking space in the parking waiting area, or the occupancy status of the parking spaces.

[0016] According to a second aspect, an embodiment of the present application provides an autonomous driving method. The method may be applied to an autonomous driving device. The autonomous driving device may be a network device, such as a server or a roadside unit. Alternatively, the autonomous driving device may be a device in the server or a device in the roadside unit. For example, the autonomous driving device may be a chip in the server or a chip in the roadside unit. Hereinafter, the server is used as an example for explanation. In the method, the server receives first driving-related information of a first road section from at least one vehicle or a network-side device. Then, the server transmits the first driving-related information and information about a parking waiting area to the first vehicle, the first road section being located ahead of the road on which the first vehicle is currently traveling, and the parking waiting area is used to park the first vehicle before the first vehicle enters the first road section.

[0017] In a possible implementation, information about parking waiting areas is included in the dynamic layer information of the map.

[0018] In a possible implementation, before the server sends the first driving-related information and the information about the parking waiting area to the first vehicle, the method further includes:

[0019] The server receives second driving-related information of the first vehicle from the first vehicle.

[0020] The server determines a parking waiting area based on the second driving-related information and the first driving-related information.

[0021] In a possible implementation, after the server sends the first driving-related information and the information about the parking waiting area to the first vehicle, the method further includes:

[0022] The server transmits third driving related information to the first vehicle, the third driving related information being an update to the first driving related information.

[0023] In a possible implementation, the information about the parking waiting area may include the lane number of the parking waiting area, the start location of the parking waiting area, the location of each parking space in the parking waiting area, or the occupancy status of the parking spaces.

[0024] According to a third aspect, an embodiment of the present application provides an autonomous driving device including a receiving module, a processing module, and a control module.

[0025] The receiving module is configured to receive first driving-related information of a first road section ahead of a road on which the first vehicle is currently traveling and information about a parking waiting area sent by the network side device, the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section.

[0026] The processing module is configured to determine, based on the first driving-related information, that the first road segment does not satisfy an autonomous driving condition requirement for the first vehicle.

[0027] The control module is configured to control the first vehicle to enter the parking waiting area.

[0028] The autonomous driving device may be, for example, a vehicle, or an on-board device, component, or chip in the vehicle. The on-board device may include a mobile terminal disposed in the vehicle.

[0029] In a possible implementation, information about parking waiting areas is included in the dynamic layer information of the map.

[0030] In a possible implementation, the apparatus further includes a transmitting module configured to transmit second driving-related information of the first vehicle to the network side device before the receiving module receives first driving-related information of a first road section ahead of the road on which the first vehicle is currently traveling and information about the parking waiting area transmitted by the network side device.

[0031] In a possible implementation, the processing module is further configured to determine that no licensed driver is available to take over the first vehicle before the control module controls the first vehicle to enter the parking waiting area.

[0032] In a possible implementation, after the control module controls the first vehicle to enter the parking waiting area, the receiving module is further configured to receive third driving-related information of the first road section sent by the network side device, where the third driving-related information is an update of the first driving-related information; and determine that the first road section meets the autonomous driving condition requirement of the first vehicle based on the third driving-related information; The control module is further configured to control the first vehicle to travel along the first road segment in an autonomous driving mode.

[0033] In a possible implementation, the device further includes an output module configured to output request information to a user of the first vehicle after the control module controls the first vehicle to enter the parking waiting area, the request information being used to request the user to indicate one of: whether the vehicle can withdraw from the first road section by remote driving, whether the vehicle can withdraw from the first road section by guidance based on a route and time planned by the server, or whether the vehicle can withdraw from the first road section to follow another vehicle.

[0034] In a possible implementation, the information about the parking waiting area may include the lane number of the parking waiting area, the start location of the parking waiting area, the location of each parking space in the parking waiting area, or the occupancy status of the parking spaces.

[0035] According to a fourth aspect, an embodiment of the present application provides an autonomous driving device including a receiving module and a transmitting module.

[0036] The receiving module is configured to receive first driving-related information for the first road section from at least one vehicle or network-side device.

[0037] The transmitting module is configured to transmit first driving-related information and information about a parking waiting area to the first vehicle, the first road section being located ahead of a road on which the first vehicle is currently traveling, and the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section.

[0038] The autonomous driving equipment may be, for example, a server, a base station, or a roadside unit, or may be a component or chip within these devices.

[0039] In a possible implementation, information about parking waiting areas is included in the dynamic layer information of the map.

[0040] In a possible implementation, the receiving module is further configured to receive second driving-related information of the first vehicle from the first vehicle before the transmitting module transmits the first driving-related information and the information about the parking waiting area to the first vehicle; The apparatus further includes a processing module configured to determine a parking waiting area based on the second driving-related information and the first driving-related information.

[0041] In a possible implementation, the transmission module is further configured to transmit third driving-related information to the first vehicle, the third driving-related information being an update to the first driving-related information.

[0042] In a possible implementation, the information about the parking waiting area may include the lane number of the parking waiting area, the start location of the parking waiting area, the location of each parking space in the parking waiting area, or the occupancy status of the parking spaces.

[0043] According to a fifth aspect, an embodiment of the present application provides an autonomous driving device including a memory and a processor.

[0044] The memory stores computer program instructions and the processor executes the computer program instructions to perform the autonomous driving method according to the first aspect and optional implementations of the first aspect. The autonomous driving device may be, for example, a vehicle, or an on-board device, component, or chip in the vehicle. The on-board device may include a mobile terminal disposed in the vehicle.

[0045] According to a sixth aspect, an embodiment of the present application provides an autonomous driving device including a memory and a processor.

[0046] The memory stores computer program instructions and the processor executes the computer program instructions to perform the autonomous driving method according to the second aspect and optional implementations of the second aspect. The autonomous driving equipment may be, for example, a server, a base station, or a roadside unit, or may be a component or chip within these devices.

[0047] According to a seventh aspect there is provided a computer program product, which when executed by a processor is used to perform the method in the first aspect.

[0048] According to an eighth aspect there is provided a computer program product, which when executed by a processor is used to perform the method in the second aspect.

[0049] According to a ninth aspect, there is provided a program product, for example a computer-readable storage medium, including the program in the seventh aspect.

[0050] According to a tenth aspect, there is provided a program product, for example a computer-readable storage medium, including the program according to the eighth aspect.

[0051] According to an eleventh aspect, an embodiment of the present application provides a chip including a memory and a processor. The memory is configured to store program instructions and the processor is configured to invoke the program instructions in the memory to perform the method according to the first aspect.

[0052] According to a twelfth aspect, an embodiment of the present application provides a chip including a memory and a processor, the memory configured to store program instructions, and the processor configured to invoke the program instructions in the memory and perform the communication method according to the second aspect.

[0053] According to a thirteenth aspect there is provided a computer readable storage medium storing instructions which, when executed on a computer, cause the computer to carry out the method according to the first aspect.

[0054] According to a fourteenth aspect there is provided a computer readable storage medium storing instructions which, when executed on a computer, cause the computer to carry out the method according to the second aspect.

[0055] According to the autonomous driving method and device provided in the embodiment of the present application, first driving-related information of a first road section ahead of the road on which the first vehicle is currently driving and information about a parking waiting area sent by a network-side device are received, and the parking waiting area is used to park the first vehicle before the first vehicle enters the first road section. Then, based on the first driving-related information, it is determined that the first road section does not meet the autonomous driving condition requirements of the first vehicle. Finally, the first vehicle is controlled to enter the parking waiting area. In this way, if the first road section ahead of the road on which the first vehicle is currently driving does not meet the autonomous driving condition requirements, the vehicle automatically enters the parking waiting area, thereby realizing safe parking and reducing safety risks. [Brief description of the drawings]

[0056] [Figure 1] FIG. 1 is a schematic diagram of an autonomous driving application scenario according to an embodiment of the present application.

[0057] [Diagram 2] FIG. 2 is a schematic diagram of another autonomous driving application scenario according to an embodiment of the present application.

[0058] [Diagram 3] FIG. 2 is a signaling interaction diagram of an autonomous driving method according to an embodiment of the present application.

[0059] [Figure 4] FIG. 2 is a schematic diagram of a parking waiting area according to an embodiment of the present application.

[0060] [Diagram 5] FIG. 2 is a schematic diagram of an interface of the in-vehicle terminal according to the embodiment of the present application.

[0061] [Figure 6] FIG. 2 is another signaling interaction diagram of an autonomous driving method according to an embodiment of the present application.

[0062] [Figure 7] FIG. 2 is another schematic diagram of an interface of the in-vehicle terminal according to an embodiment of the present application.

[0063] [Figure 8(a)] FIG. 2 is yet another signaling interaction diagram of an autonomous driving method according to an embodiment of the present application.

[0064] [Figure 8(b)] FIG. 2 is yet another signaling interaction diagram of an autonomous driving method according to an embodiment of the present application.

[0065] [Figure 9] 1 is a schematic diagram of the structure of an autonomous driving device according to an embodiment of the present application.

[0066] [Figure 10] FIG. 2 is a schematic diagram of the structure of another autonomous driving device according to an embodiment of the present application.

[0067] [Figure 11] 1 is a schematic diagram of the structure of yet another autonomous driving device according to an embodiment of the present application.

[0068] [Figure 12] 1 is a schematic diagram of the structure of yet another autonomous driving device according to an embodiment of the present application.

[0069] [Figure 13] 1 is a schematic diagram of a structure of an in-vehicle terminal according to an embodiment of the present application; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0070] The embodiment of the present application provides an autonomous driving method and device to solve the problem in the prior art that there is a risk to the safety of the vehicle when the road conditions do not meet the autonomous driving conditions. In the present application, when the road section ahead of the road on which the vehicle is currently traveling does not meet the autonomous driving condition requirements, the vehicle is controlled to enter a parking waiting area, thereby improving the driving safety and reducing the safety risk of the vehicle when the road conditions do not meet the autonomous driving conditions.

[0071] Hereinafter, first, an application scenario in an embodiment of the present application will be described. The present application is applicable to an autonomous driving scenario. FIG. 1 is a schematic diagram of an autonomous driving application scenario according to an embodiment of the present application. As shown in FIG. 1, a vehicle 101 and a road side unit (RSU) 102 are included. The vehicle 101 may travel on a road. The road side unit 102 is located on both sides of the road. The vehicle 101 interacts with the road side unit 102. The road side unit 102 collects driving-related information and transmits instruction information to the vehicle 101. The vehicle 101 receives the instruction information from the road side server 102 and travels automatically.

[0072] 2 is a schematic diagram of another autonomous driving application scenario according to an embodiment of the present application. As shown in FIG. 2, a vehicle 101, an RSU 102, and a server 103 are included. The vehicle 101 interacts with the roadside unit 102, and the server 103 interacts with the vehicle 101 and the RSU 102 separately. The server 103 receives driving-related information from the vehicle 101 and / or the RSU 102, and sends instruction information to the vehicle 101. The vehicle 101 receives the instruction information from the server 103 and drives automatically.

[0073] The vehicle 101 is provided with an in-vehicle terminal. The in-vehicle terminal may be a head unit installed in the vehicle 101, or may be a terminal device located in the vehicle 101. This is not limited to this embodiment of the present application.

[0074] The RSU 102 may be a service unit located on both sides of the road and configured to exchange information with the vehicle, collect road and vehicle driving related information, and assist the vehicle in autonomous driving.

[0075] The server 103 is configured to receive road and vehicle driving related information and transmit instruction information to the vehicle 101. The server 103 may be, for example, a cloud server or a vehicle to X (V2X) server.

[0076] It should be noted that the main scenario in the embodiment of the present application is in daily traffic driving, for example, any scenario such as car driving, boat driving, or motorcycle riding where autonomous driving is used. For example, by using the autonomous driving technology, a vehicle is driven to run automatically on a part of a road. Alternatively, by using the autonomous driving technology, a ship is driven to sail automatically on a part of a process.

[0077] The communication method in the present application will be described in detail below by using specific embodiments. It should be noted that some of the following specific embodiments can be combined with each other. The same or similar content will not be described repeatedly in different embodiments.

[0078] Figure 3 is a signaling interaction diagram of an autonomous driving method according to an embodiment of the present application. This embodiment relates to the process of how the first vehicle enters the parking waiting area according to the instruction of the information sent by the server. As shown in Figure 3, the method includes the following steps:

[0079] S301: A server receives first driving-related information of a first road section from at least one vehicle or network-side device.

[0080] The network-side device is an RSU, and the first driving-related information is road-related driving information. For example, the first driving-related information includes, but is not limited to, road condition constraints, road sign and line definitions, road management levels, road engineering levels, population density, traffic volume, weather conditions, or road emergency conditions.

[0081] In some embodiments, when traveling on a road, the vehicle collects the first driving-related information of each road section in real time and actively reports the first driving-related information to the server. Alternatively, the server sends an information acquisition request to the vehicle in the first road section at a predetermined interval, and after receiving the information acquisition request, the vehicle reports the first driving-related information of the first road section at this time to the server.

[0082] In some other embodiments, the RSUs may be disposed on both sides of a road and collect the first driving-related information of passing vehicles in real time. If the RSUs are equipped with a data collection device, such as a camera component, the RSUs may receive the first driving-related information of the first road section from at least one vehicle and directly collect the first driving-related information of the first road section.

[0083] Further, in some optional implementations, the server may alternatively obtain the first driving-related information for the first road segment in another manner, for example, the server may obtain a satellite image of the first road segment and extract the first driving-related information for the first road segment based on the satellite image of the first road segment.

[0084] In this embodiment of the present application, the frequency with which the server receives the first driving-related information of the first road section is not limited. The first driving-related information may be received in real time, or may be received at a preset time interval, for example, every 10 seconds. This may be specifically and appropriately set based on the actual situation.

[0085] S302: The first vehicle transmits second driving-related information of the first vehicle to the server.

[0086] The second driving-related information is vehicle-related driving information, for example, including, but not limited to, the autonomous driving condition request of the vehicle, the autonomous driving status, a current location, a planned driving route, or road condition information collected by the vehicle.

[0087] In this stage, the first vehicle may send the second driving-related information of the first vehicle to the server before the server receives the first driving-related information of the first road section from at least one vehicle, or after the server receives the first driving-related information of the first road section from at least one vehicle, which is not limited in this embodiment of the present application. The second driving-related information may be sent by the first vehicle directly to the server, or may be forwarded to the server by using an RSU, a base station, or a relay.

[0088] In some embodiments, the first vehicle may transmit the first driving-related information for the first road segment and the second driving-related information for the first vehicle to the server.

[0089] S303: The server determines a parking waiting area according to the second driving-related information and the first driving-related information. The parking waiting area is used to park the first vehicle before the first vehicle enters the first road section.

[0090] At this stage, the server may determine the position and planned driving route of the first vehicle based on the second driving-related information, and may determine a location where the first vehicle can be parked based on information such as road condition constraints in the first driving-related information, thereby determining a parking waiting area for the first vehicle.

[0091] Please note that there may be one or more parking waiting areas determined in this embodiment of the present application, which is not limited to this embodiment of the present application.

[0092] In some embodiments, the parking waiting area may be preset. The server may determine an appropriate parking waiting area for parking the first vehicle from the preset parking waiting areas based on the second driving-related information and the first driving-related information. When there are a relatively large number of vehicles, the server may further appropriately plan parking waiting areas for different vehicles based on the vehicle positions and the number of vehicles.

[0093] In some other embodiments, the parking waiting area is temporarily planned: if the server does not set a parking waiting area or if the server does not set a parking waiting area for the road section where the first vehicle is located, the server may temporarily plan a part of the road or some lanes in the part of the road as a parking waiting area for vehicles to temporarily park.

[0094] In an optional implementation, the information about the parking waiting area is included in the dynamic layer information of the map. Correspondingly, the collection and processing of the second driving-related information and the first driving-related information are completed by the map server, and then the information about the parking waiting area can be synchronously updated as part of the dynamic layer of the map.

[0095] 4 is a schematic diagram of a parking waiting area according to an embodiment of the present application. As shown in FIG. 4, when the road ahead of the vehicle temporarily faces an unusual scene that is not suitable for autonomous driving, the server may divide the parking waiting area on the road. For example, when the road is a two-way six-lane road, the lane A and lane B on both sides may be divided into temporary waiting areas, and the parking space is divided at intervals of 5 meters.

[0096] S304: The server transmits to the first vehicle first driving-related information of a first road section ahead of the road on which the first vehicle is currently traveling, and information about the parking waiting area.

[0097] At this stage, after acquiring the first driving-related information of the first road section and the second driving-related information of the first vehicle and determining a parking waiting area based on the second driving-related information and the first driving-related information, the server may transmit to the first vehicle the first driving-related information of the first road section preceding the road on which the first vehicle is currently traveling and information about the parking waiting area.

[0098] The information about the parking waiting area may include the lane number of the parking waiting area, the start location of the parking waiting area, the location of each parking space in the parking waiting area, or the occupancy status of the parking spaces.

[0099] In some embodiments, if the server sends information about multiple parking waiting areas to the first vehicle, the server may further rank the information about the parking waiting areas in order of recommendation, and may rank information about the parking waiting area that is closest to the first vehicle or has the fewest parked vehicles as first.

[0100] S305: The first vehicle determines, based on the first driving-related information, that the first road section does not satisfy the autonomous driving condition requirements of the first vehicle.

[0101] At this stage, after receiving first driving-related information of a first road section preceding the road on which the first vehicle is currently driving and information about the parking waiting area sent by the server, the first vehicle may determine, based on the first driving-related information, that the first road section does not satisfy the autonomous driving condition requirements of the first vehicle.

[0102] The autonomous driving condition requirements of the first vehicle may be set by the manufacturer or instructed by the server. The autonomous driving conditions are not limited in this embodiment of the present application and may be specifically set based on actual conditions. For example, the autonomous driving conditions may include, but are not limited to, the wind speed of the road is lower than A, the precipitation at the road position is lower than B, the traffic volume of the road is lower than C, and there are no obstacles on the road.

[0103] S306: The first vehicle controls the first vehicle to enter the parking waiting area.

[0104] In this stage, if the first vehicle determines based on the first driving-related information that the first road section does not satisfy the autonomous driving condition requirements of the first vehicle, the first vehicle controls the first vehicle to enter the parking waiting area.

[0105] In an optional embodiment, it may be further determined that no licensed driver is available to take over the first vehicle before the first vehicle is controlled to enter the parking waiting area.

[0106] For example, if a first road section does not meet the autonomous driving condition requirements of the vehicle, the in-vehicle terminal may output first prompt information, where the first prompt information is used to prompt the driver of the vehicle to manually take over the vehicle.

[0107] The first prompt information may be a voice prompt, or may be a light prompt, or may be a text prompt on the display device of the in-vehicle terminal. In this embodiment of the present application, the prompt may be implemented in one or more of the above-mentioned ways.

[0108] For example, FIG. 5 is a schematic diagram of an interface of an in-vehicle terminal according to an embodiment of the present application. As shown in FIG. 5, after it is determined that the first road section does not meet the autonomous driving condition requirements of the first vehicle based on the first driving-related information, a first prompt box may pop up on the interface of the in-vehicle terminal of the first vehicle. The first prompt box displays the text "The road conditions ahead are relatively bad. Do you want to manually take over the vehicle?", and further includes a first control unit marked with "Yes" and a second control unit marked with "No". If the driver triggers the first control unit, the driver manually takes over the vehicle, and the vehicle enters a manual driving mode. If the driver triggers the second control unit, the vehicle still drives automatically, and the vehicle automatically enters a parking waiting area. The manner of triggering the control unit is not limited in this embodiment of the present application. The driver may manually trigger the control unit, or may trigger the control by using voice.

[0109] In an optional implementation, the first prompt box may further include a third control, and the third control is marked as “Details”. The driver may obtain the first driving-related information of the detailed first road section by triggering the third control, so that the driver can determine whether manual driving is feasible.

[0110] Furthermore, after the in-vehicle terminal sends the first prompt information, if it is still not detected after a first period during which the driver manually takes over the vehicle, the vehicle is controlled to enter a parking waiting area.

[0111] The first period is not limited to this embodiment of the present application and may be set based on specific circumstances. For example, the first period may be 1 minute or 5 minutes.

[0112] It should be noted that if the first vehicle receives an autonomous driving instruction sent by a driver or passenger, the first vehicle may directly control the vehicle to enter the parking waiting area without waiting for the end of the first period.

[0113] According to the autonomous driving method and device provided in this embodiment of the present application, first driving-related information of a first road section ahead of the road on which the first vehicle is currently driving and information about a parking waiting area sent by a network-side device are received, and the parking waiting area is used to park the first vehicle before the first vehicle enters the first road section. Then, based on the first driving-related information, it is determined that the first road section does not meet the autonomous driving condition requirements of the first vehicle. Finally, the first vehicle is controlled to enter the parking waiting area. In this way, if the first road section ahead of the road on which the first vehicle is currently driving does not meet the autonomous driving condition requirements, the vehicle automatically enters the parking waiting area, thereby realizing safe parking and reducing safety risks.

[0114] It should be understood that in the embodiment shown in Figure 3, step 302 is optional. In step 303, the server may not use the second driving-related information of the first vehicle when determining the parking waiting area. It will be understood that the parking waiting area may not be customized for the first vehicle. Correspondingly, the server may broadcast information about the parking waiting area to multiple vehicles including the first vehicle.

[0115] Based on the above embodiment, the following describes how to drive a vehicle away from a parking waiting area. Figure 6 is another signaling interaction diagram of an autonomous driving method according to an embodiment of the present application. This embodiment relates to a process of driving a vehicle away from a parking waiting area. As shown in Figure 6, the method includes the following steps:

[0116] S401: The server sends third driving-related information to the first vehicle, where the third driving-related information is an update of the first driving-related information.

[0117] In this stage, after the first vehicle enters the parking waiting area, the server may further send third driving-related information to the first vehicle, thereby informing the first vehicle of the road conditions of the first road section in real time.

[0118] It should be noted that the first driving-related information and the third driving-related information are information about the same object at different times.

[0119] S402: The first vehicle determines, based on the third driving-related information, that the first road section meets the autonomous driving condition requirements of the first vehicle.

[0120] In some embodiments, if the first vehicle determines based on the third driving-related information that the first road section meets the autonomous driving condition requirements of the first vehicle, the first vehicle may further inquire whether a driver or passenger of the vehicle should control the vehicle to drive away from the parking waiting area by outputting second prompt information.

[0121] The second prompt information may be a voice prompt, or may be a flashing light prompt, or may be a text prompt on the display device of the in-vehicle terminal. In this embodiment of the present application, the prompt may be implemented in one or more of the above-mentioned ways.

[0122] For example, FIG. 7 is another schematic diagram of an interface of an in-vehicle terminal according to an embodiment of the present application. As shown in FIG. 7, when a first road section meets the autonomous driving condition requirements of a first vehicle, a second prompt box may pop up on the interface of the in-vehicle terminal. The second prompt box displays the text "Road conditions are recovering. Leave the parking waiting area?", and further includes a fourth control marked with "Yes" and a fifth control marked with "No". When the driver or passenger triggers the fourth control, the vehicle is controlled to drive away from the parking waiting area, and the command information is sent. When the driver or passenger triggers the fifth control, the vehicle still parks in the parking waiting area. The manner of triggering the control is not limited. The driver may manually trigger the control, or may trigger the control by using voice.

[0123] S403: The first vehicle controls the first vehicle to travel along a first road section in an autonomous driving mode.

[0124] In some embodiments, after the first vehicle is controlled to enter the parking waiting area, the method further includes a step of outputting request information to a user of the first vehicle, where the request information is used to request the user to indicate one of the following: whether the vehicle can withdraw from the first road section by remote driving, whether the vehicle can withdraw from the first road section by guidance based on a route and time planned by the server, or whether the vehicle can withdraw from the first road section to follow another vehicle.

[0125] In response, in accordance with the user's instructions, the vehicle either evacuates from the first road section directly by remote driving, or evacuates from the first road section based on a route and time planned by the server, or follows another vehicle evacuating from the first road section.

[0126] According to the autonomous driving method provided in this embodiment of the present application, the server sends third driving-related information to the first vehicle, where the third driving-related information is an update of the first driving-related information. Then, the first vehicle determines that the first road section meets the autonomous driving condition requirements of the first vehicle based on the third driving-related information. Finally, the first vehicle controls the first vehicle to drive along the first road section in an autonomous driving mode. In the above manner, after the road conditions are restored, the vehicles parked in the parking waiting area can drive away from the parking waiting area in a timely manner, which is conducive to the rapid recovery of traffic.

[0127] It should be understood that in the embodiments shown in Figures 3 and 6, the information exchange between the first vehicle and the server may be a direct interaction or an indirect interaction forwarded by using a base station, a roadside unit, or another relay device.

[0128] In the present application, the first driving-related information may be collected by using a server, or may be collected by using an RSU. Figure 8(a) is yet another signaling interaction diagram of an autonomous driving method according to an embodiment of the present application. The method includes the following steps.

[0129] S501: An RSU receives a first portion of driving-related information for a first road segment from a first group of vehicles.

[0130] S502: The server receives a second portion of driving-related information for the first road segment from a second group of vehicles.

[0131] There is no specific time sequence between S501 and S502, and both S501 and S502 may be executed as routine road monitoring operations of the RSU and the server. There may or may not be intermixing between the first group of vehicles and the second group of vehicles.

[0132] S503: The server sends a second portion of the driving-related information to the RSU.

[0133] In general, compared to the RSU, the server may collect road information more widely, and the step of transmitting the second portion of the driving-related information by the server to the RSU may be used as a supplement or correction to the first portion of the driving-related information collected by the RSU.

[0134] S504: The RSU determines first driving-related information based on the first portion of the driving-related information and the second portion of the driving-related information.

[0135] S505: The RSU determines a parking waiting area based on the first driving-related information.

[0136] S506: The RSU transmits to the first vehicle first driving-related information of a first road section ahead of the road on which the first vehicle is currently traveling and information about a parking waiting area.

[0137] This step may be implemented based on the RSU broadcasting a message to multiple vehicles including the first vehicle, or may be implemented based on peer-to-peer communication being established between the RSU and the first vehicle.

[0138] S507: The first vehicle determines, based on the first driving-related information, that the first road section does not satisfy the autonomous driving condition requirements of the first vehicle.

[0139] S508: The first vehicle enters the parking waiting area.

[0140] In the embodiment shown in FIG. 8(a), the parking waiting area is determined by the RSU based on a first part of the driving-related information collected by the RSU and a second part of the driving-related information collected by the server. Moreover, the parking waiting area may alternatively be determined by the server and then transferred to the first vehicle by using the RSU. The reference basis for determining the parking waiting area by the server may be only the driving-related information of the relevant road section collected by the server or the network side device from another vehicle, and may further include the driving-related information of the relevant road section reported to the server by the RSU or the first vehicle. FIG. 8(b) is yet another signaling interaction diagram of the autonomous driving method according to an embodiment of the present application. FIG. 8(b) shows an embodiment of the present application in which the parking waiting area is determined by the server, including steps S1001 to S1008. S1001, S1002, S1005, S1006, S1007, and S1008 are the same as S501, S502, S504, S506, S507, and S508 in Fig. 8(a), respectively. The difference is that this embodiment includes the following steps.

[0141] S1003: The server determines a parking waiting area based on a second portion of the driving-related information.

[0142] S1004: The server sends the second part of the driving-related information and the information about the parking waiting area to the RSU.

[0143] It is understood by those skilled in the art that all or part of the steps of the method embodiments may be implemented by the program instructing relevant hardware. The program may be stored in a computer-readable storage medium. When the program runs, the steps of the method embodiments are executed. The aforementioned storage medium includes any medium that can store program code, such as a ROM, a RAM, a magnetic disk, or an optical disk.

[0144] FIG. 9 is a schematic diagram of the structure of an autonomous driving device according to an embodiment of the present application. The autonomous driving device may be the first vehicle, the on-board device of the first vehicle, or a subsystem, component, or chip of the on-board device in FIG. 3, FIG. 6, FIG. 8(a), or FIG. 8(b). The on-board device may be a head unit or device located in the vehicle. The autonomous driving device may be configured to execute the autonomous driving method on the first vehicle side in the aforementioned embodiment. As shown in FIG. 9, the autonomous driving device 600 includes a receiving module 601, a processing module 602, a control module 603, a transmitting module 604, and an output module 605.

[0145] The receiving module 601 is configured to receive first driving-related information of a first road section ahead of the road on which the first vehicle is currently driving and information about a parking waiting area sent by the network side device, where the parking waiting area is used to park the first vehicle before the first vehicle enters the first road section.

[0146] The processing module 602 is configured to determine, based on the first driving-related information, that the first road segment does not satisfy an autonomous driving condition requirement for the first vehicle.

[0147] The control module 603 is configured to control the first vehicle to enter the parking waiting area.

[0148] In an optional implementation, information about parking waiting areas is included in dynamic layer information of the map.

[0149] In an optional implementation, before the receiving module receives first driving-related information of a first road section ahead of the road on which the first vehicle is currently traveling and information about the parking waiting area transmitted by the network side device, the transmitting module 604 of the apparatus is configured to transmit second driving-related information of the first vehicle to the network side device.

[0150] In an optional implementation, the processing module 602 is further configured to determine that there is no licensed driver available to take over the first vehicle before the control module controls the first vehicle to enter the parking waiting area.

[0151] In an optional implementation, after the control module controls the first vehicle to enter the parking waiting area, the receiving module 601 is further configured to receive third driving-related information of the first road section sent by the network side device, where the third driving-related information is an update to the first driving-related information, and determine that the first road section meets the autonomous driving condition requirements of the first vehicle based on the third driving-related information.

[0152] The control module 603 is further configured to control the first vehicle to travel along the first road section in an autonomous driving mode.

[0153] In an optional implementation, the device further includes an output module 605 configured to output request information to a user of the first vehicle after the control module controls the first vehicle to enter the parking waiting area, the request information being used to request the user to indicate one of: whether the vehicle can withdraw from the first road section by remote driving, whether the vehicle can withdraw from the first road section by guidance based on a route and time planned by the server, or whether the vehicle can withdraw from the first road section to follow another vehicle.

[0154] In optional implementations, the information about the parking waiting area may include the lane number of the parking waiting area, the start location of the parking waiting area, the location of each parking space in the parking waiting area, or the occupancy status of the parking spaces.

[0155] The autonomous driving device in this embodiment may implement the autonomous driving method on the first vehicle side in the above-mentioned embodiment, and the specific implementation principle and implementation process are the same as the contents of the above-mentioned embodiment, and the details will not be described again in this specification.

[0156] FIG. 10 is a schematic diagram of the structure of another autonomous driving device according to an embodiment of the present application. The autonomous driving device may be the server of FIG. 3 or FIG. 6 or the RSU of FIG. 8(a) or FIG. 8(b), or a subsystem, component, or chip of the server or the RSU. The autonomous driving device may be configured to execute the autonomous driving method on the server side or the RSU side in the above embodiments. As shown in FIG. 10, the autonomous driving device 700 includes a receiving module 701, a transmitting module 702, and a processing module 703.

[0157] The receiving module 701 is configured to receive first driving-related information for a first road section from at least one vehicle or network-side device.

[0158] The transmitting module 702 is configured to transmit first driving-related information and information about a parking waiting area to the first vehicle, the first road section being located ahead of a road on which the first vehicle is currently traveling, and the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section.

[0159] In an optional implementation, information about parking waiting areas is included in dynamic layer information of the map.

[0160] In an optional implementation, the receiving module is further configured to receive second driving-related information of the first vehicle from the first vehicle before the transmitting module transmits the first driving-related information and the information about the parking waiting area to the first vehicle.

[0161] The processing module 703 of the device is configured to determine a parking waiting area based on the second driving-related information and the first driving-related information.

[0162] In an optional implementation, the transmission module 702 is further configured to transmit third driving-related information to the first vehicle, the third driving-related information being an update to the first driving-related information.

[0163] In optional implementations, the information about the parking waiting area may include the lane number of the parking waiting area, the start location of the parking waiting area, the location of each parking space in the parking waiting area, or the occupancy status of the parking spaces.

[0164] The autonomous driving device in this embodiment may implement the autonomous driving method on the server side or the RSU side in the above-mentioned embodiment. The specific implementation principle and implementation process are similar to the contents of the above-mentioned embodiment, and the details will not be described again in this specification.

[0165] Only one or more of the modules in the embodiments shown in Figures 9 and 10 may be implemented by software, hardware, firmware, or a combination thereof. Software or firmware may include, but is not limited to, computer program instructions or code and may be executed by a hardware processor. Hardware may include, but is not limited to, various types of integrated circuits.

[0166] FIG. 11 is a schematic diagram of the structure of yet another autonomous driving device according to an embodiment of the present application. The autonomous driving device may be the first vehicle, the on-board device of the first vehicle, or a subsystem, component, or chip of the on-board device in FIG. 3, FIG. 6, FIG. 8(a), or FIG. 8(b). The on-board device may be a head unit or device located in the vehicle. The autonomous driving device may be configured to execute the autonomous driving method on the first vehicle side in the above-mentioned embodiment. As shown in FIG. 11, the autonomous driving device may include a processor 801 (e.g., a CPU), a memory 802, and a transceiver 803. The transceiver 803 is coupled to the processor 801, and the processor 801 controls the transceiver 803's transmission and reception actions. The memory 802 may include a high-speed random access memory (RAM), or may further include a non-volatile memory (NVM), for example, at least two disk memories, and the memory 802 may store various instructions, thereby completing various processing functions and implementing steps of the method in the present application. In implementation, the autonomous device in this application may further include a power source 804, a communication bus 805, and a communication port 806. The transceiver 803 may be integrated into the transceiver of the autonomous device or may be an independent transmitting and receiving antenna of the autonomous device. The communication bus 805 is configured to implement communication connections between the elements. The communication port 806 is configured to implement connections and communications between the autonomous device and another peripheral device.

[0167] In this embodiment of the present application, the memory 802 is configured to store a computer executable program code, and the program code includes instructions. When the processor 801 executes the instructions, the instructions enable the processor 801 of the autonomous driving device to perform the processing action of the first vehicle in the above-mentioned method embodiment, and the transceiver 803 to perform the transmitting and receiving action of the first vehicle in the above-mentioned method embodiment. The implementation principles and technical effects of these are similar. The details will not be described again in this specification.

[0168] FIG. 12 is a schematic diagram of the structure of yet another autonomous driving device according to an embodiment of the present application. The autonomous driving device may be the server of FIG. 3 or FIG. 6 or the RSU of FIG. 8(a) or FIG. 8(b), or a subsystem, component, or chip of the server or the RSU. The autonomous driving device may be configured to execute the autonomous driving method on the server side or the RSU side in the above-mentioned embodiment. As shown in FIG. 12, the autonomous driving device may include a processor 901 (e.g., a CPU), a memory 902, and a transceiver 903. The transceiver 903 is coupled to the processor 901, and the processor 901 controls the transmission and reception actions of the transceiver 903. The memory 902 may include a high-speed random access memory (RAM), or may further include a non-volatile memory (NVM), for example, at least two disk memories, and the memory 902 may store various instructions, thereby completing various processing functions and implementing steps of the method on the server side or the RSU side in the present application. In implementation, the autonomous device in this application may further include a power source 904, a communication bus 905, and a communication port 906. The transceiver 903 may be integrated into the transceiver of the autonomous device or may be an independent transmitting and receiving antenna of the autonomous device. The communication bus 905 is configured to implement communication connections between the elements. The communication port 906 is configured to implement connections and communications between the autonomous device and another peripheral device.

[0169] In this embodiment of the present application, the memory 902 is configured to store a computer-executable program code, and the program code includes instructions. When the processor 901 executes the instructions, the instructions enable the processor 901 of the autonomous driving device to perform processing actions at the server side or the RSU side in the above-mentioned method embodiment, and enable the transceiver 903 to perform transmission and reception actions at the server side or the RSU side in the above-mentioned method embodiment. The implementation principles and technical effects of these are similar. The details will not be described again in this specification.

[0170] Below, an in-vehicle terminal is used as an example to explain in detail each component of the autonomous driving device on the first vehicle side.

[0171] Figure 13 is a schematic diagram of the structure of an in-vehicle terminal according to an embodiment of the present application. As shown in Figure 13, the in-vehicle terminal includes components such as a radio frequency (RF) circuit 210, a memory 220, an input unit 230, a display unit 240, a sensor 250, an audio circuit 260, a camera 270, a processor 280, and a power supply 290. Those skilled in the art will understand that the structure of the in-vehicle terminal shown in Figure 13 does not constitute a limitation to the in-vehicle terminal, and the in-vehicle terminal may include more or less components than those shown, may combine some components, or may have a different component configuration.

[0172] The RF circuit 210 may be configured to receive and transmit signals during reception and transmission of information or during a call. In particular, after receiving downlink information of a base station, the RF circuit 210 transmits the downlink information to the processor 280 for processing, and further transmits related uplink data to the base station. The RF circuit 210 typically includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (LNA), and a duplexer. In addition, the RF circuit 210 may further communicate with a network and another device by wireless communication. Wireless communication may use any communication standard or protocol, including, but not limited to, Global System of Mobile communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Message Service (SMS), and the like.

[0173] The memory 220 may be configured to store software programs and modules. The processor 280 may execute various functional applications and data processing of the in-vehicle terminal by executing the software programs and modules stored in the memory 220. The memory 220 may mainly include a program storage area and a data storage area, where the program storage area may store an operating system, an application program for implementing at least one function (such as a sound playback function or an image playback function), and the data storage area may store data (audio data or a phone book) created based on the use of the in-vehicle terminal, and the like. Furthermore, the memory 220 may include a high-speed random access memory, or may include at least one magnetic disk storage device, a non-volatile memory such as a flash memory, or another volatile solid-state storage device.

[0174] The input unit 230 may be configured to receive inputted number or character information and generate key signal inputs related to the driver's settings and function control of the in-vehicle terminal. Specifically, the input unit 230 may include a touch panel 231 and another input device 232. The touch panel 231, also referred to as a touch screen, may collect the driver's touch operation on or near the touch panel 231 (such as the driver's operation on or near the touch panel 231 by using any suitable object or accessory such as a finger or a stylus), and drive a corresponding connected device according to a pre-set program. Optionally, the touch panel 231 may include two parts: a touch detection device and a touch controller. The touch detection device detects the driver's touch position, detects a signal caused by the touch operation, and delivers the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 280, and receives and executes commands sent by the processor 280. Furthermore, the touch panel 231 may be implemented in multiple types, such as a resistive type, a capacitive type, an infrared type, a surface acoustic wave type, etc. In addition to the touch panel 231, the input unit 230 may further include another input device 232. Specifically, the another input device 232 may include, but is not limited to, one or more of a physical keyboard, a function button (such as a volume control button or a power button), a trackball, a mouse, a joystick, etc.

[0175] The display unit 240 may be configured to display information input by or provided to the driver, and various menus of the in-vehicle terminal. The display unit 240 may include a display panel 241. Optionally, the display panel 241 may be configured in the form of a Liquid Crystal Display (LCD) or an Organic Light-Emitting Diode (OLED), etc. Furthermore, the touch panel 231 may include the display panel 241. After detecting a touch operation on or near the touch panel 231, the touch panel 231 transfers the touch operation to the processor 280, thereby determining the type of the touch event. Then, the processor 280 provides a corresponding visual output on the display panel 241 based on the type of the touch event. Regardless of FIG. 13, the touch panel 231 and the display panel 241 function as two independent components implementing the input and input functions of the in-vehicle terminal. However, in some embodiments, the touch panel 231 and the display panel 241 may be integrated to implement the input and output functions of the in-vehicle terminal.

[0176] In an optional implementation, the vehicle-mounted terminal may further include at least one sensor 250, such as an optical sensor, a motion sensor, and another sensor. Specifically, the optical sensor may include an ambient light sensor and a proximity sensor. The ambient light sensor may adjust the brightness of the display panel 241 based on the brightness of the ambient light. The proximity sensor may power off the display panel 241 and / or the backlight when the vehicle-mounted terminal is moved to the ear. As a type of motion sensor, the acceleration sensor detects the acceleration value in each direction (generally three axes), detects the value and direction of gravity when the acceleration sensor is static, and is applicable to applications for recognizing the attitude of the vehicle-mounted terminal (e.g., switch between landscape screen and portrait screen, related games, and magnetometer attitude calibration), functions related to vibration recognition (such as pedometer or knock), etc. Other sensors, such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, may also be arranged in the vehicle-mounted terminal. Details will not be described in this specification.

[0177] The audio circuit 260, the loudspeaker 261, and the microphone 262 may provide an audio interface between the driver and the in-vehicle terminal. The audio circuit 260 may convert the received audio data into an electrical signal, and then transmit the electrical signal to the speaker 261, which converts the electrical signal into a sound signal for output. Furthermore, the microphone 262 converts the collected sound signal into an electrical signal. The audio circuit 260 receives the electrical signal, converts the electrical signal into audio data, and then outputs the audio data to the processor 280 for processing. After processing, the processor 280 transmits the audio data, for example, to another terminal by using the RF circuit 210, or outputs the audio data to the memory 220 for further processing.

[0178] The camera 270 of the vehicle-mounted terminal may obtain optical images, including infrared light images and / or visible light images. One or at least two cameras (not shown) may be provided on the vehicle-mounted terminal. This may be specifically adjusted based on actual design requirements.

[0179] The processor 280 is the control center of the vehicle-mounted terminal, and is connected to all parts of the vehicle-mounted terminal by using various interfaces and lines, and performs various functions and data processing of the vehicle-mounted terminal by operating or executing software programs and / or modules stored in the memory 220 and calling up data stored in the memory 220, thereby performing overall monitoring on the vehicle-mounted terminal. Optionally, the processor 280 may include one or more processing units. Preferably, an application processor and a modem processor may be integrated into the processor 280. The application processor mainly processes the operating system, the driver interface, the application, etc. The modem processor mainly processes wireless communication. It is understood that the modem processor may not be integrated into the processor 280.

[0180] The vehicle-mounted terminal further includes a power source 290 (such as a battery) that supplies power to all parts. Preferably, the power source may be logically connected to the processor 180 by using a power management system, so that functions such as charging and discharging management and power consumption management are implemented by using the power management system.

[0181] Although not shown, the vehicle-mounted terminal may further include a Bluetooth (registered trademark) module, etc. Details will not be described in this specification.

[0182] The embodiment of the present application further provides a chip including a processor and an interface. The interface is configured to input / output data or instructions to be processed by the processor. The processor is configured to execute the method provided in the above-mentioned method embodiment. The chip may be applied on the server side or the RSU side, or may be applied on the in-vehicle terminal of the first vehicle.

[0183] An embodiment of the present application further provides a program, which, when executed by a processor, is configured to perform the method provided in the aforementioned method embodiment.

[0184] An embodiment of the present application further provides a program product, for example a computer-readable storage medium, which stores instructions, which, when executed on a computer, cause the computer to perform the method provided in the aforementioned method embodiment.

[0185] An embodiment of the present application provides a chip including a memory and a processor. The memory is configured to store program instructions, and the processor is configured to access the program instructions in the memory, thereby performing the methods provided in the aforementioned method embodiments.

[0186] All or part of the embodiments may be implemented by using software, hardware, firmware, or any combination thereof. When software is used to implement the embodiments, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions of the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired (e.g., coaxial cable, optical fiber, or digital driver line (DSL)) or wireless (e.g., infrared, radio wave, or microwave) manner. The computer-readable storage medium may be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. The usable medium may be a magnetic medium (eg, a floppy disk, a hard disk, or a magnetic tape), an optical medium (eg, a DVD), a semiconductor medium (eg, a solid-state disk (SSD)), or the like. Other possible items 1. An autonomous driving method, comprising: receiving first driving-related information of a first road section ahead of a road on which a first vehicle is currently traveling and information about a parking waiting area sent by a network-side device, the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section; determining, based on the first driving-related information, that the first road section does not satisfy an autonomous driving condition requirement of the first vehicle; controlling the first vehicle to enter the parking waiting area; A method for providing the above. 2. The method of claim 1, wherein the information about the parking waiting area is included in dynamic layer information of a map. 3. Before the step of receiving the first driving-related information of the first road section ahead of the road on which the first vehicle is currently traveling and the information about the parking waiting area sent by the network-side device, the method includes: transmitting second driving-related information of the first vehicle to the network-side device; 3. The method of claim 1 or 2, further comprising: 4. A method according to any one of items 1 to 3, wherein prior to the step of controlling the first vehicle to enter the parking waiting area, the method further comprises a step of determining that there is no licensed driver available to take over the first vehicle. 5. After the step of controlling the first vehicle to enter the parking waiting area, the method further comprises: receiving third driving-related information of the first road section sent by the network-side device, the third driving-related information being an update of the first driving-related information; determining, based on the third driving-related information, that the first road section satisfies the autonomous driving condition requirement of the first vehicle; controlling the first vehicle to travel along the first road section in an autonomous driving mode; 5. The method of any one of items 1 to 4, further comprising: 6. A method according to any one of items 1 to 4, wherein after the step of controlling the first vehicle to enter the parking waiting area, the method further comprises a step of outputting request information to a user of the first vehicle, the request information being used to request the user to indicate one of the following: whether the vehicle can withdraw from the first road section by remote driving, whether the vehicle can withdraw from the first road section by guidance based on a route and time planned by a server, or whether the vehicle can withdraw from the first road section and follow another vehicle. 7. The method according to any one of items 1 to 6, wherein the information about the parking waiting area includes a lane number of the parking waiting area, a start position of the parking waiting area, a position of each parking space in the parking waiting area, or an occupancy status of the parking spaces. 8. An autonomous driving method, comprising: receiving first driving-related information for a first road section from at least one vehicle or network side device; transmitting the first driving-related information and information about a parking waiting area to a first vehicle, the first road section being located ahead of a road on which the first vehicle is currently traveling, and the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section; A method for providing the above. 9. 9. The method of claim 8, wherein the information about the parking waiting area is included in dynamic layer information of a map. 10. Prior to the step of transmitting the first driving-related information and information about a parking waiting area to a first vehicle, the method further comprises: receiving second driving-related information from the first vehicle; determining the parking waiting area based on the second driving-related information and the first driving-related information; 10. The method of claim 8 or 9, further comprising: 11. After the step of transmitting the first driving-related information and information about the parking waiting area to the first vehicle, the method further comprises: transmitting third driving-related information of the first vehicle, the third driving-related information being an update of the first driving-related information; 11. The method of any one of items 8 to 10, further comprising: 12. The method according to any one of items 8 to 11, wherein the information about the parking waiting area includes a lane number of the parking waiting area, a start position of the parking waiting area, a position of each parking space in the parking waiting area, or an occupancy status of the parking spaces. 13. An autonomous driving device, a receiving module configured to receive first driving-related information of a first road section ahead of a road on which a first vehicle is currently traveling and information about a parking waiting area sent by a network-side device, the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section; a processing module configured to determine, based on the first driving-related information, that the first road section does not satisfy an autonomous driving condition requirement of the first vehicle; a control module configured to control the first vehicle to enter the parking waiting area; An apparatus comprising: 14. The device of item 13, wherein the information about the parking waiting area is included in dynamic layer information of a map. 15. The device described in item 13 or 14, further comprising a transmitting module configured to transmit second driving-related information of the first vehicle to the network side device before the receiving module receives the first driving-related information of the first road section ahead of the road on which the first vehicle is currently traveling and the information about the parking waiting area transmitted by the network side device. 16. The apparatus of any one of items 13 to 15, wherein the processing module is further configured to determine that there is no licensed driver available to take over the first vehicle before the control module controls the first vehicle to enter the parking waiting area. 17. After the control module controls the first vehicle to enter the parking waiting area, the receiving module further receives third driving-related information of the first road section sent by the network-side device, where the third driving-related information is an update of the first driving-related information; determining, based on the third driving-related information, that the first road section satisfies the autonomous driving condition requirement of the first vehicle; configured to run The control module is further configured to control the first vehicle to travel along the first road segment in an autonomous driving mode. 17. Apparatus according to any one of items 13 to 16. 18. The device described in any one of items 13 to 16, further comprising an output module configured to output request information to a user of the first vehicle after the control module controls the first vehicle to enter the parking waiting area, the request information being used to request the user to indicate one of the following: whether the vehicle can withdraw from the first road section by remote driving, whether the vehicle can withdraw from the first road section by guidance based on a route and time planned by a server, or whether the vehicle can withdraw from the first road section and follow another vehicle. 19. The device of any one of items 13 to 18, wherein the information about the parking waiting area includes a lane number of the parking waiting area, a start position of the parking waiting area, a position of each parking space in the parking waiting area, or an occupancy status of the parking spaces. 20. An autonomous driving device, a receiving module configured to receive first driving-related information for a first road section from at least one vehicle or network-side device; a transmission module configured to transmit the first driving-related information and information about a parking waiting area to a first vehicle, the first road section being located ahead of a road on which the first vehicle is currently traveling, and the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section; and An apparatus comprising: 21. The device of item 20, wherein the information about the parking waiting area is included in dynamic layer information of a map. 22. The receiving module is further configured to receive second driving-related information of the first vehicle from the first vehicle before the transmitting module transmits the first driving-related information and the information about the parking waiting area to the first vehicle; the apparatus further comprises a processing module configured to determine the parking waiting area based on the second driving-related information and the first driving-related information; 22. The device according to item 20 or 21. 23. The apparatus of any one of items 20 to 22, wherein the transmission module is further configured to transmit third driving-related information to the first vehicle, the third driving-related information being an update to the first driving-related information. 24. The device of any one of items 20 to 23, wherein the information about the parking waiting area includes a lane number of the parking waiting area, a start position of the parking waiting area, a position of each parking space in the parking waiting area, or an occupancy status of the parking spaces. 25. An autonomous driving device comprising a memory and a processor, wherein the memory stores computer program instructions and the processor executes the computer program instructions to perform the autonomous driving method described in any one of items 1 to 7. 26. An autonomous driving device comprising a memory and a processor, wherein the memory stores computer program instructions and the processor executes the computer program instructions to perform the autonomous driving method described in any one of items 8 to 12. 27. A computer-readable storage medium storing a computer program or instructions, which, when executed, implements the method according to any one of items 1 to 7 or the method according to any one of items 8 to 12. 28. A computer program product, which, when executed on a processor, implements the method according to any one of items 1 to 7 or the method according to any one of items 8 to 12.

Claims

1. An autonomous driving method, comprising: receiving first driving-related information of a first road section preceding a road on which a first vehicle is currently traveling and information about a parking waiting area on the road transmitted by a network-side device, the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section, the information about the parking waiting areas being ranked in order of recommendation by a server, and information about a parking waiting area with the fewest parked vehicles being ranked first; determining, based on the first driving-related information, that the first road section does not satisfy an autonomous driving condition requirement of the first vehicle; controlling the first vehicle to enter the parking waiting area; A method for providing the above.

2. The method of claim 1 , wherein the information about the parking waiting area is included in dynamic layer information of a map.

3. Before the step of receiving first driving-related information of a first road section ahead of a road on which the first vehicle is currently traveling and information about a parking waiting area sent by a network-side device, the method further comprises: transmitting second driving-related information of the first vehicle to the network-side device; The method of claim 1 or 2, further comprising:

4. 4. The method according to claim 1, wherein, prior to the step of controlling the first vehicle to enter the parking waiting area, the method further comprises a step of determining that there is no licensed driver to take over the first vehicle.

5. After the step of controlling the first vehicle to enter the parking waiting area, the method further comprises: receiving third driving-related information of the first road section sent by the network-side device, the third driving-related information being an update of the first driving-related information; determining, based on the third driving-related information, that the first road section satisfies the autonomous driving condition requirement of the first vehicle; controlling the first vehicle to travel along the first road section in an autonomous driving mode; The method of claim 1 , further comprising:

6. 5. The method according to claim 1, wherein after the step of controlling the first vehicle to enter the parking waiting area, the method further comprises a step of outputting request information to a user of the first vehicle, the request information being used to request the user to indicate one of the following: whether the first vehicle can withdraw from the first road section by remote driving, whether the first vehicle can withdraw from the first road section by guidance based on a route and time planned by a server, or whether the first vehicle can withdraw from the first road section and follow another vehicle.

7. 7. The method according to claim 1, wherein the information about the parking waiting area includes a lane number of the parking waiting area, a start position of the parking waiting area, a position of each parking space in the parking waiting area, or an occupancy status of the parking spaces.

8. An autonomous driving method, comprising: receiving first driving-related information for a first road section from at least one vehicle or network side device; transmitting the first driving-related information and information about a parking waiting area on a road to a first vehicle, the first road section being located ahead of a road on which the first vehicle is currently traveling, the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section, the information about the parking waiting areas being ranked in order of recommendation by a server, and information about a parking waiting area with the fewest parked vehicles being ranked first; A method for providing the above.

9. The method of claim 8 , wherein the information about the parking waiting area is included in dynamic layer information of a map.

10. Prior to the step of transmitting the first driving related information and information about a parking waiting area to a first vehicle, the method further comprises: receiving second driving related information from the first vehicle; determining the parking waiting area based on the second driving-related information and the first driving-related information; The method of claim 8 or 9, further comprising:

11. After the step of transmitting the first driving related information and information about the parking waiting area to the first vehicle, the method further comprises: transmitting third driving-related information to the first vehicle, the third driving-related information being an update of the first driving-related information; The method of any one of claims 8 to 10, further comprising:

12. 12. The method according to claim 8, wherein the information about the parking waiting area includes a lane number of the parking waiting area, a start position of the parking waiting area, a position of each parking space in the parking waiting area, or an occupancy status of the parking spaces.

13. An autonomous driving device, a receiving module configured to receive first driving-related information of a first road section preceding a road on which a first vehicle is currently traveling and information about parking waiting areas on the road transmitted by a network-side device, the parking waiting areas being used to park the first vehicle before the first vehicle enters the first road section, the information about the parking waiting areas being ranked in order of recommendation by a server, and information about the parking waiting area with the fewest parked vehicles being ranked as the best; a processing module configured to determine, based on the first driving-related information, that the first road section does not satisfy an autonomous driving condition requirement of the first vehicle; a control module configured to control the first vehicle to enter the parking waiting area; An apparatus comprising:

14. The apparatus of claim 13 , wherein the information about the parking waiting area is included in dynamic layer information of a map.

15. The apparatus according to claim 13 or 14, further comprising a transmitting module configured to transmit second driving-related information of the first vehicle to the network-side device before the receiving module receives the first driving-related information of the first road section ahead of the road on which the first vehicle is currently traveling and the information about the parking waiting area transmitted by the network-side device.

16. 16. The apparatus of claim 13, wherein the processing module is further configured to determine that there is no licensed driver available to take over the first vehicle before the control module controls the first vehicle to enter the parking waiting area.

17. After the control module controls the first vehicle to enter the parking waiting area, the receiving module is further configured to receive third driving-related information of the first road section sent by the network-side device, the third driving-related information being an update of the first driving-related information; The processing module is further configured to determine, based on the third driving-related information, that the first road section satisfies the autonomous driving condition requirement of the first vehicle; The control module is further configured to control the first vehicle to travel along the first road segment in an autonomous driving mode.

17. Apparatus according to any one of claims 13 to 16.

18. The device according to any one of claims 13 to 16, further comprising an output module configured to output request information to a user of the first vehicle after the control module controls the first vehicle to enter the parking waiting area, the request information being used to request the user to indicate one of the following: whether the first vehicle can withdraw from the first road section by remote driving, whether the first vehicle can withdraw from the first road section by guidance based on a route and time planned by a server, or whether the first vehicle can withdraw from the first road section and follow another vehicle.

19. 19. The apparatus of claim 13, wherein the information about the parking waiting area includes a lane number of the parking waiting area, a start location of the parking waiting area, a location of each parking space in the parking waiting area, or an occupancy status of the parking spaces.

20. An autonomous driving device, a receiving module configured to receive first driving-related information for a first road section from at least one vehicle or network-side device; a transmission module configured to transmit the first driving-related information and information about a parking waiting area on a road to a first vehicle, the first road section being located ahead of a road on which the first vehicle is currently traveling, the parking waiting area being used to park the first vehicle before the first vehicle enters the first road section, the information about the parking waiting areas being ranked in order of recommendation by the autonomous driving device, and information about a parking waiting area with the fewest parked vehicles being ranked as the best; and An apparatus comprising:

21. The apparatus of claim 20 , wherein the information about the parking waiting area is included in dynamic layer information of a map.

22. The receiving module is further configured to receive second driving-related information of the first vehicle from the first vehicle before the transmitting module transmits the first driving-related information and the information about the parking waiting area to the first vehicle; the apparatus further comprises a processing module configured to determine the parking waiting area based on the second driving-related information and the first driving-related information.

22. Apparatus according to claim 20 or 21.

23. 23. The apparatus of claim 20, wherein the transmission module is further configured to transmit third driving related information to the first vehicle, the third driving related information being an update to the first driving related information.

24. 24. The apparatus of claim 20, wherein the information about the parking waiting area includes a lane number of the parking waiting area, a start location of the parking waiting area, a location of each parking space in the parking waiting area, or an occupancy status of the parking spaces.

25. An autonomous driving device comprising a memory and a processor, the memory storing computer program instructions, and the processor executing the computer program instructions to perform the autonomous driving method of any one of claims 1 to 7.

26. An autonomous driving device comprising a memory and a processor, the memory storing computer program instructions, and the processor executing the computer program instructions to perform the autonomous driving method of any one of claims 8 to 12.

27. A computer program product causing a computer to carry out the method according to any one of claims 1 to 7 or the method according to any one of claims 8 to 12.

Images