Vehicle traveling control method, vehicle and storage medium

Abstract

The present application is suitable for the technical field of vehicle control, and provides a vehicle traveling control method, a vehicle and a storage medium. The method comprises: a map processing module acquires first map information sent by a cloud server, during a traveling process of a vehicle, the map processing module processes the first map information to obtain second map information, and finally the map processing module sends the second map information to an IFC. According to the present application, the map processing module is used for storing and processing map information, and the space of the IFC is not occupied, so as to solve the problem that map data cannot be stored and processed due to the small memory space of the IFC, thereby achieving the objective of precisely controlling a vehicle by the IFC using the map data.

Description

Vehicle driving control method, vehicle and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 6, 2023, with application number 202311144688.6 and invention name “A vehicle driving control method, vehicle and storage medium”. Technical Field

[0002] The present application belongs to the field of vehicle control technology, and in particular relates to a vehicle driving control method, a vehicle, and a storage medium. Background Art

[0003] The Intelligent Forward Camera (IFC) is a key component in autonomous vehicles, enabling decision-making and control of vehicle driving to ensure safe operation. The IFC senses the surrounding environment and uses this information to control and guide the vehicle's movement.

[0004] Currently, when IFC is controlling a vehicle, it is unable to store and process map data due to its small memory space. Therefore, IFC cannot control the vehicle according to the map data, resulting in inaccurate vehicle control. Summary of the Invention

[0005] One of the purposes of the embodiments of the present application is to provide a vehicle driving control method, a vehicle, and a storage medium.

[0006] The technical solution adopted in the embodiment of this application is:

[0007] In a first aspect, an embodiment of the present application provides a vehicle driving control method, wherein the vehicle includes a map processing module and an intelligent forward vision control module, the map processing module and the intelligent forward vision control module being communicatively connected, and the method includes:

[0008] The map processing module receives first map information sent by the cloud server, wherein the first map information matches the navigation path of the vehicle;

[0009] During vehicle travel, the map processing module determines second map information from the first map information based on the vehicle's current position, and sends the second map information to the intelligent forward vision control module. The second map information is the first map information corresponding to a first path that the vehicle has not traveled, and the starting point of the first path is the vehicle's current position.

[0010] The intelligent forward-looking control module controls vehicle driving according to the second map information.

[0011] In a second aspect, an embodiment of the present application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any one of the methods described in the first aspect when executing the computer program.

[0012] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements any one of the methods described in the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a computer program product, which, when running on a vehicle, enables the vehicle to execute any one of the methods described in the first aspect above.

[0014] Compared to the prior art, the first embodiment of the present application has the following advantages: a map processing module is used to obtain first map information sent by a cloud server; while the vehicle is traveling, the map processing module is used to process the first map information to obtain second map information; and finally, the map processing module sends the second map information to the IFC. This application uses the map processing module to store and process map information without occupying IFC memory, thus resolving the issue of the limited IFC memory space preventing the storage and processing of map data. This achieves the goal of the IFC using map data to precisely control the vehicle.

[0015] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG1 is a schematic diagram of the main structure of a vehicle provided in one embodiment of the present application;

[0017] FIG2 is a schematic structural diagram of a vehicle equipped with a sensor according to an embodiment of the present application;

[0018] FIG3 is a flow chart of a vehicle driving control method provided in one embodiment of the present application;

[0019] FIG4 is a flowchart of a method for processing a navigation path by a telematics processor according to an embodiment of the present application;

[0020] FIG5 is a schematic diagram of the main structure of a vehicle provided by another embodiment of the present application;

[0021] FIG6 is a flowchart of a method for processing first map information by a telematics processor according to an embodiment of the present application;

[0022] FIG7 is a flow chart of a method for an intelligent forward-looking control module to send perception map information to a cloud server according to an embodiment of the present application;

[0023] FIG8 is a schematic diagram of the main structure of a vehicle provided by another embodiment of the present application;

[0024] FIG9 is a flowchart of a method for processing first map information by a parking controller provided in one embodiment of the present application;

[0025] FIG10 is a flow chart of a method for an intelligent forward-looking control module to send perception map information to a cloud server according to another embodiment of the present application;

[0026] FIG11 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. Modes for Carrying Out the Invention

[0027] Currently, as shown in Figure 1, the architecture of a vehicle generally includes: an information collection sensor 1, an intelligent forward control module 2, a vehicle longitudinal actuator 3, and a vehicle lateral actuator 4. The information collection sensor 1 can be one or more.

[0028] The information collection sensor 1 can be a millimeter-wave radar sensor, a camera, or the like. For example, the vehicle shown in FIG2 is equipped with five information collection sensors, including four corner millimeter-wave radars 5 and one front millimeter-wave radar 51. The four corner millimeter-wave radars 5 are installed at the left front corner, right front corner, left rear corner, and right rear corner of the vehicle, respectively; the front millimeter-wave radar 51 is installed on the front bumper of the vehicle.

[0029] The intelligent forward-looking control module is composed of a forward-looking camera and a controller. As shown in FIG2 , the intelligent forward-looking control module 6 can be installed at the front windshield of the vehicle.

[0030] As the vehicle moves, information collection sensors collect road environment information and transmit it to the IFC. After receiving this information from the information collection sensors, the IFC determines the vehicle's lateral and longitudinal travel information based on the road environment information. It then sends longitudinal travel control instructions to the longitudinal actuator and lateral travel control instructions to the lateral actuator. Upon receiving the longitudinal travel control instructions, the longitudinal actuator controls the vehicle's longitudinal travel. Upon receiving the lateral travel control instructions, the lateral actuator controls the vehicle's lateral travel.

[0031] However, because IFC supports fewer functions, it only supports the highway assist function (HWA). When HWA is turned on, if there are lane lines on the road where the vehicle is located, the vehicle will control the vehicle according to the lane lines to maintain driving in the lane; if there are no lane lines on the road where the vehicle is located, the vehicle can follow the lateral movement of the vehicle in front. However, in special circumstances, such as no lane lines on the road and no vehicles in front, or when the vehicle is passing a sharp curve, intersection, or merging lanes, IFC cannot effectively control the vehicle and the user needs to take over the vehicle, which brings inconvenience to the user.

[0032] Based on the above problems, the inventors thought of using the fusion of maps and vehicle-side perception of road conditions to determine lane conditions, and then driving the vehicle according to the determined lane conditions. This method can not only improve the accuracy of vehicle driving, but also solve the problem that IFC cannot effectively control vehicle driving in situations such as no lane lines, sharp bends, and intersections.

[0033] However, the inventors discovered that the IFC's limited functionality, lacking only a CAN interface and ample internal storage space for map data, prevented it from directly storing or accessing external maps. Based on this, the inventors determined that enabling the IFC to control the vehicle based on a map would require a map processing module within the vehicle to handle both map storage and processing. This map processing module would communicate with the IFC and send map information to the IFC, enabling the IFC to control vehicle driving based on the received map information.

[0034] Specifically, the inventors have thought that the map processing module can be the telematic box (T-BOX) in the vehicle, or the map processing module can be the T-BOX and the parking controller in the vehicle. This method does not increase the hardware in the vehicle, while also realizing the required functions, improving the hardware resource utilization of the entire vehicle and the user experience.

[0035] The following is a detailed description of the vehicle driving control method according to an embodiment of the present application in conjunction with FIG3 .

[0036] FIG3 shows a schematic flow chart of a vehicle driving control method provided by the present application. Referring to FIG3 , the method is described in detail as follows:

[0037] S101, a map processing module receives first map information sent by a cloud server, wherein the first map information matches a navigation path of a vehicle.

[0038] In this embodiment, a cloud server stores a high-precision map that includes the location of each lane, facilities, and obstacles within the lanes. When using the vehicle, the user selects a navigation route as needed. After the user selects the navigation route, the vehicle sends the navigation route to the cloud server. The cloud server matches the navigation route with the stored high-precision map, determines the map within the high-precision map that matches the navigation route, and stores the map within the high-precision map that matches the navigation route as first map information. The first map information may include map information corresponding to the navigation route and map information corresponding to divergent paths from the navigation route, where the divergent paths are paths in the area surrounding the navigation route.

[0039] S102, during vehicle driving, the map processing module determines second map information from the first map information based on the current position of the vehicle, and sends the second map information to the intelligent forward control module. The second map information is the first map information corresponding to the first path that the vehicle has not traveled, and the starting point of the first path is the current position of the vehicle.

[0040] In this embodiment, since the IFC needs to use the first map information to control vehicle driving during vehicle driving, and the storage space of the IFC is relatively small, each time the vehicle travels a preset distance, the map processing module can intercept a section of map information of the upcoming driving route from the first map information and send it to the IFC for use. The map information intercepted by the map processing module from the first map information is determined based on the current position of the vehicle and the preset distance traveled by the vehicle.

[0041] Optionally, the map processing module divides the first map information into different map segments, and all the map segments are spliced ​​into the first map information. Based on the current position of the vehicle, the map processing module sends a preset number of map segments in front of the vehicle to the IFC. The preset number can be set as needed. For example, the preset number can be set to 2 or 3, etc.

[0042] For example, the first map segment is divided into five sub-segments, namely map segments A, B, C, D and E. If the current position of the vehicle is within map segment B, the map processing module sends map segments C and E to the IFC.

[0043] S103: The intelligent forward-looking control module controls the vehicle driving according to the second map information.

[0044] In this embodiment, the IFC determines longitudinal and lateral movement information of the vehicle based on the second map information and controls vehicle travel based on the longitudinal and lateral movement information. The longitudinal movement information includes a longitudinal offset angle, and the lateral movement information includes a lateral offset angle.

[0045] Specifically, IFC implements the intelligent navigation assisted driving function (navigation on HIPilot, NOH) based on the second map information. The NOH function is to realize point-to-point automatic assisted navigation driving of the vehicle within the structured road range covered by high-precision maps under the supervision of the driver based on the route planned by the navigation.

[0046] After the vehicle travels through the first route, the IFC deletes the second map information to reduce the occupancy of the storage space in the IFC.

[0047] In this embodiment, a map processing module is used to obtain first map information sent by a cloud server. During vehicle travel, the map processing module processes the first map information to obtain second map information, which is then sent to the IFC. This application uses the map processing module to store and process map information without occupying IFC memory. This solves the problem of limited IFC memory space preventing the storage and processing of map data, and achieves the goal of the IFC using map data to precisely control the vehicle.

[0048] As shown in FIG4 , in a possible implementation, before step S101 , the method further includes:

[0049] S201, the telematics processor receives the navigation path of the vehicle sent by the vehicle computer.

[0050] S202, the telematics processor sends a navigation path to the cloud server, where the navigation path is used to instruct the cloud server to send first map information matching the navigation path to the telematics processor according to the navigation path.

[0051] Specifically, after the user sets a navigation route in the head unit (HUT), the HUT sends the navigation route to the T-BOX, which then transparently transmits the route to the cloud server via Ethernet. Upon receiving the navigation route from the T-BOX, the cloud server searches for first-map information that matches the route and sends it to the T-BOX. In actual use, the cloud server can divide the first-map information into N map segments, which it then transmits to the T-BOX via Ethernet.

[0052] Correspondingly, in step S101, the T-BOX receives the first map information sent by the cloud server, and the T-BOX stores the first map information.

[0053] In one possible implementation, a vehicle is equipped with an information collection sensor that collects road environment information about the vehicle's road. This road environment information may include obstacles, traffic light conditions, etc. To enable IFC to more accurately control vehicle driving, the IFC can jointly control vehicle driving based on this road environment information and the secondary map information.

[0054] Specifically, the above step S103 includes:

[0055] The intelligent forward-looking control module receives the road environment information sent by the information collection sensor; the intelligent forward-looking control module controls the vehicle driving according to the second map information and the road environment information.

[0056] In this embodiment, while the vehicle is driving, information collection sensors collect road environment information about the road the vehicle is on. After receiving this road environment information, the IFC fuses it with the second map information to obtain more accurate road information, including lane location, obstacle locations, and traffic light conditions. The IFC controls vehicle driving based on this fused road information.

[0057] In the embodiment of the present application, since the road information obtained by fusing the road environment information and the second map information is more accurate and has richer content, the vehicle driving is controlled jointly according to the two parameters of the road environment information and the second map information, which is more accurate than the vehicle controlled only using the road environment information or only using the second map information.

[0058] In one possible implementation, the map processing module is a T-BOX, as shown in FIG5 . The vehicle in FIG5 includes an information collection sensor 1 , an intelligent forward-looking control module 2 , a vehicle longitudinal actuator 3 , a vehicle lateral actuator 4 , a T-BOX 7 , a cloud server 8 , a positioning antenna 9 and a head unit (HUT) 10 .

[0059] The T-BOX communicates with the cloud server, receives and processes the first map information sent by the cloud server, and determines the vehicle's current location via positioning antenna 9. The HUT sends the navigation route to the T-BOX.

[0060] The T-BOX is equipped with a controller that processes the first map information. It also incorporates a positioning chip that determines the vehicle's current location based on information from the positioning antenna, providing positioning services for the entire vehicle. Finally, the T-BOX includes a SIM card (subscriber identification module) that provides connected vehicle services. To meet the requirements of this application, a map storage unit can be provided within the T-BOX to cache the first map information and map information collected by the IFC. The T-BOX can also include a data format conversion unit to convert data formats for map information, vehicle positioning information, and so on.

[0061] Furthermore, the T-BOX is chosen as the map processing module because it is a standard controller in vehicles. If an IFC is present, the T-BOX is also generally present. Therefore, there is no need for an additional map processing module, reducing the number of hardware components required. Furthermore, the T-BOX integrates vehicle networking and positioning functions. Map uploads and downloads handled by the T-BOX require fewer controllers, minimizing the risk of failure.

[0062] 5 , a vehicle driving control method when the map processing module is a T-BOX will be described below.

[0063] As shown in FIG6 , in one embodiment, step S102 may specifically include:

[0064] S301 , the telematics processor determines second map information from the first map information based on the current location of the vehicle.

[0065] Specifically, since the first map information is stored in the T-BOX, the T-BOX can determine the current position of the vehicle. Therefore, the T-BOX can locate the current position of the vehicle on the first map information, and then determine the first map information corresponding to the first path that the vehicle is about to travel. The first map information corresponding to the first path is recorded as the second map information.

[0066] S302, the remote information processor converts the data format of the second map information to obtain the second map information after data format conversion, and sends the second map information after data format conversion to the intelligent forward-looking control module. The data format of the second map information after data format conversion matches the interface type of the intelligent forward-looking control module.

[0067] Accordingly, the above step S103 may specifically include: the intelligent forward-looking control module controls the vehicle driving according to the second map information after data format conversion.

[0068] Specifically, due to the presence of a CAN interface on the IFC, the IFC can only receive and process CAN format data, while the first map information sent by the cloud server is in Ethernet data format. Therefore, in order for the second map information to be received and used by the IFC, the T-BOX also needs to convert the data format of the second map information so that the data format of the second map information can be received and used by the IFC.

[0069] Converting the second map information into data in CAN format is only an example. In actual use, the second map information may also be converted into data in other formats according to the type of data interface existing on the IFC.

[0070] It should be noted that after the vehicle has traveled all the navigation routes, the T-BOX deletes the stored / cached first map information to increase the storage space in the T-BOX.

[0071] In one embodiment, the IFC is equipped with a road perception sensor, such as a camera or radar. While the vehicle is in motion, the IFC can perceive road information using the road perception sensor. In this application, the road information perceived by the IFC is referred to as its own road perception information. After perceiving its own road perception information, the IFC can transmit it to the cloud server via the T-BOX, allowing the cloud server to optimize the first map information based on its own road perception information.

[0072] In one embodiment, the IFC may also send the perception map information determined based on its own road perception information and road environment information to the cloud server via the T-BOX, so that the cloud server can optimize the first map information based on the perception map information.

[0073] As shown in FIG7 , specifically, after the IFC receives the road environment information, the above method may further include:

[0074] S401, the intelligent forward-looking control module extracts road feature points of the vehicle's road from the road environment information and its own road perception information to obtain perception map information of the vehicle's road, wherein the own road perception information is the information of the vehicle's road perceived by the intelligent forward-looking control module.

[0075] In this embodiment, the IFC fuses the road environment information and its own road perception information to obtain fused information, extracts road feature points from the fused information, and draws perception map information based on the road feature points.

[0076] Alternatively, the IFC extracts first road feature points from the road environment information and second road feature points from its own road perception information, fuses the first and second road feature points to obtain fused road feature points, and draws perception map information based on the fused road feature points.

[0077] S402, the intelligent forward vision control module sends the perception map information to the telematics processor.

[0078] Specifically, the IFC segments the perception map information to obtain segmented perception map information, and sends the segmented perception map information to the T-BOX via the CAN network.

[0079] S403, after the telematics processor receives the perception map information, the telematics processor sends the perception map information to the cloud server, where the perception map information is used to instruct the cloud server to optimize the first map information stored in the cloud server according to the perception map information.

[0080] In this embodiment, after receiving the perceived map information, the T-BOX converts the format of the perceived map information to obtain the perceived map information in Ethernet format. The T-BOX then sends the perceived map information in Ethernet format to the cloud server. After receiving the perceived map information, the cloud server compares the perceived map information with the first map information, determines the difference between the two, and determines whether to optimize the first map information based on the difference.

[0081] Specifically, the cloud server categorizes the differences between the perceived map information and the first map information, such as differences in the number of lane lines or lane widths, and pre-defines a difference level for each difference category. If the cloud server determines that the difference between the perceived map information and the first map information falls within the first difference level, the first map information is optimized. If the cloud server determines that the difference between the perceived map information and the first map information does not fall within the first difference level, the first map information is not optimized. The first difference level refers to differences that have a significant impact on vehicle operation, such as a change in the number of lane lines.

[0082] In an embodiment of the present application, the IFC determines the perceived map information based on the road environment information and its own road perception information, and sends the perceived map information to the cloud server so that the cloud server can optimize the first map information based on the perceived map information. The present application achieves the effect of optimizing the first map information pre-stored in the cloud server through the road information collected by the vehicle, making the first map information more consistent with the actual road and improving the accuracy of the first map information.

[0083] In one embodiment, before step S401, the method further includes:

[0084] Based on the vehicle's current location and its own road perception information, the IFC determines the area in which the vehicle is located and the category of the area. It then determines whether the category of the area in which the vehicle is located is a preset category. If the IFC determines that the category of the area in which the vehicle is located is a preset category, the IFC does not execute steps S401 through S403. If the IFC determines that the category of the area in which the vehicle is located is not a preset category, it executes steps S401 through S403.

[0085] Specifically, the preset category is an area where map information cannot be uploaded, for example, the preset category may be a parking lot, a residential area, a gas station, a server, etc. The current position of the vehicle in the IFC is sent by the T-BOX to the IFC.

[0086] Specifically, IFC extracts road information around the vehicle from its own road perception information, and then combines it with the vehicle's current position to determine the specific area where the vehicle is located and the category of the area.

[0087] In this embodiment, before the IFC sends map perception information to the cloud server, it first determines whether the area where the vehicle is located can upload map perception information. Only when it is determined that the area where the vehicle is located can upload map perception information will the IFC transmit the map perception information to the cloud server; when it is determined that the area where the vehicle is located cannot upload map perception information, the map perception information will not be transmitted to the server, thereby reducing data transmission and output processing within the vehicle and making data transmission more accurate.

[0088] In one embodiment, in the above step S403, after the telematics processor receives the perception map information and before the telematics processor sends the perception map information to the cloud server, the T-BOX may also determine from the cloud server whether the perception map information needs to be uploaded. After the T-BOX receives the instruction from the cloud server to upload the perception map information, the T-BOX sends the perception map information to the cloud server.

[0089] Specifically, in step S403, the telematics processor sends the perception map information to the cloud server, including:

[0090] S501 , the telematics processor compares the perceived map information with the first map information to obtain difference information between the perceived map information and the first map information.

[0091] In this embodiment, T-BOX compares the feature points in the perceived map information with the feature points in the first map information to determine the difference between the perceived map information and the first map information. The difference information can be the number of different feature points or the road characteristics corresponding to the different feature points (for example, differences in road width, traffic light locations, obstacles, etc.).

[0092] S502, the telematics processor sends difference information to the cloud server, where the difference information is used to instruct the cloud server to determine whether the first map information needs to be optimized based on the difference information, and when it is determined that the first map information needs to be optimized, the cloud server sends a first instruction to the telematics processor.

[0093] In this embodiment, after receiving the difference information, if the difference information is the number of feature points with differences, the cloud server determines whether the number of feature points with differences is greater than a preset number. If the number of feature points with differences is greater than the preset number, it is determined that the first map information needs to be optimized; if the number of feature points with differences is less than or equal to the preset number, it is determined that the first map information does not need to be optimized.

[0094] If the difference information is a road feature, the cloud server searches for the weight value corresponding to each road feature and adds the weight values ​​corresponding to each road feature to obtain a total weight. If the total weight is greater than the preset weight, it is determined that the first map information needs to be optimized; if the total weight is less than or equal to the preset weight, it is determined that the first map information does not need to be optimized.

[0095] S503, after the telematics processor receives the first instruction, the telematics processor sends the perception map information to the cloud server, where the perception map information is used to instruct the cloud server to optimize the first map information according to the perception map information.

[0096] In this embodiment, after receiving the first instruction, the T-BOX determines that the first map information in the cloud server needs to be optimized. Then, the T-BOX sends the perception map information to the cloud server so that the cloud server can optimize the first map information based on the perception map information, making the first map information more consistent with the actual situation of the road where the vehicle is located, thereby improving the accuracy of the first map information.

[0097] It should be noted that if the perception map information needs to be uploaded to the cloud server, the T-BOX will delete the perception map information after sending it to the cloud server to reduce the T-BOX memory usage. If the perception map information does not need to be uploaded to the cloud server, the T-BOX can directly delete the perception map information.

[0098] Therefore, when the map processing module is T-BOX, the vehicle-side perception and cloud map jointly form a map network. The map in the cloud server can provide map information to the vehicle-side while receiving the perception map information uploaded by the vehicle-side IFC, and then use the perception map information to optimize the cloud map; the vehicle-side can use the cloud map for vehicle driving, and the cloud server can also use the vehicle's perception map information to optimize the cloud map, so that the vehicle-side data and cloud map are fully utilized.

[0099] In one possible implementation, the map processing module includes a T-BOX and a parking controller, as shown in FIG8 . The vehicle in FIG8 includes an information acquisition sensor 1 , an intelligent forward-looking control module 2 , a vehicle longitudinal actuator 3 , a vehicle lateral actuator 4 , a T-BOX 7 , a cloud server 8 , a positioning antenna 9 , a head unit (HUT) 10 , a parking controller 11 , and a parking sensor 12 .

[0100] The T-BOX communicates with the cloud server. After receiving the first map information from the cloud server, the T-BOX sends it to the parking controller. The parking controller processes the first map information and sends the processed map information to the IFC. When the vehicle is parking, the parking sensors collect environmental information and send it to the parking controller. The parking controller generates lateral and longitudinal control commands based on this environmental information. The parking controller sends the longitudinal control command to the vehicle's longitudinal actuator, which in turn sends the lateral control command to the vehicle's lateral actuator to control the vehicle's automatic parking.

[0101] In order to meet the requirements of this application, a map storage unit can be set in the parking controller, which is used to cache / store the first map information and the map information collected by the IFC; the parking controller can also add a data format conversion unit to convert the data format of the map information, vehicle positioning information, etc.

[0102] Furthermore, the parking controller is used as a map processing module because it has ample storage space, allowing it to store map information for longer routes. Furthermore, when the vehicle is not in automated parking mode, the parking controller is idle. Using the parking controller to process map information improves vehicle hardware resource utilization. Finally, using the parking controller to process map information allows map data to be transmitted only within the intelligent driving domain, reducing data transmission between domains and ensuring data security and accuracy.

[0103] When the map processing module includes the T-BOX and the parking controller, the T-BOX does not process the map information but only transmits the map information.

[0104] 8 , a vehicle driving control method when the map processing module includes a T-BOX and a parking controller will be described below.

[0105] As shown in FIG9 , in one embodiment, step S102 may specifically include:

[0106] S601: After receiving the first map information, the telematics processor sends the first map information to the parking controller.

[0107] In this embodiment, the T-BOX is in communication with the cloud server, so the first map information sent by the cloud server is received by the T-BOX. After receiving the first map information, the T-BOX does not process the first map information, but instead sends the first map information to the parking controller.

[0108] S602: The parking controller determines second map information from the first map information based on the current position of the vehicle.

[0109] In this embodiment, after determining the vehicle's current location, the T-BOX sends the vehicle's current location to the parking controller. The parking controller determines the second map information based on the current location in the same manner as the T-BOX determines the second map information based on the current location in step S301 above. Please refer to the description of step S301 above and will not be repeated here.

[0110] S603 , the parking controller converts the data format of the second map information to obtain the second map information after the data format conversion, and sends the second map information after the data format conversion to the intelligent forward vision control module.

[0111] Accordingly, the above step S103 includes: the intelligent forward-looking control module controls the vehicle driving according to the second map information after data format conversion.

[0112] Step S603 is similar to the above-mentioned step S302. Please refer to the description of the above-mentioned step S302 and will not be repeated here.

[0113] It should be noted that after the vehicle has completed all navigation routes, the parking controller deletes the stored / cached first map information to increase storage space within the parking controller. After the vehicle has completed the first route, the parking controller may not delete the second map information, but may delete the second map information when the storage / cached space within the parking controller reaches a certain value.

[0114] In one embodiment, while the vehicle is driving, the IFC can sense road information using road perception sensors. In this application, this road information sensed by the IFC is referred to as self-road perception information. After sensing this self-road perception information, the IFC can transmit it to the T-BOX via the parking controller. The T-BOX then transmits this self-road perception information to the cloud server, which then optimizes the first map information based on this self-road perception information.

[0115] In one embodiment, the IFC may also send perception map information determined based on its own road perception information and road environment information to the parking controller. The parking controller sends the perception map information to the T-BOX, and then the T-BOX sends the perception map information to the cloud server so that the cloud server can optimize the first map information based on the perception map information.

[0116] As shown in FIG10 , specifically, after the IFC receives the road environment information, the above method may further include:

[0117] S701, the intelligent forward-looking control module extracts road feature points of the vehicle's road from the road environment information and its own road perception information to obtain perception map information of the vehicle's road.

[0118] S702: The intelligent forward vision control module sends the perception map information to the parking controller.

[0119] S703: After receiving the perception map information, the parking controller sends the perception map information to the telematics processor.

[0120] S704, after receiving the perception map information, the telematics processor sends the perception map information to the cloud server, where the perception map information is used to instruct the cloud server to optimize the first map information stored in the cloud server according to the perception map information.

[0121] Steps S701 to S704 are similar to the above-mentioned steps S401 to S403 . Please refer to the description of the above-mentioned steps S401 to S403 and will not be repeated here.

[0122] In one embodiment, before step S701, the method further includes:

[0123] Based on the vehicle's current location and its own road perception information, the IFC determines the area in which the vehicle is located and the category of the area. It then determines whether the category of the area in which the vehicle is located is a preset category. If the IFC determines that the category of the area in which the vehicle is located is a preset category, the IFC does not execute steps S701 through S704. If the IFC determines that the category of the area in which the vehicle is located is not a preset category, it executes steps S701 through S704.

[0124] In one embodiment, in the above step S703, after the parking controller receives the perception map information and before sending the perception map information to the telematics processor, the parking controller may also determine from the cloud server via T-BOX whether the perception map information needs to be uploaded. After the parking controller receives the instruction from the cloud server via T-BOX to upload the perception map information, the parking controller sends the perception map information to the cloud server via T-BOX.

[0125] Specifically, in step S703, the parking controller sends the perception map information to the telematics processor, including:

[0126] S801: The parking controller compares the perceived map information with the first map information to obtain difference information between the perceived map information and the first map information.

[0127] Please refer to the above step S501 for this step, which will not be described again here.

[0128] S802 , the parking controller sends difference information to the telematics processor.

[0129] S803. After the telematics processor receives the difference information, it sends the difference information to the cloud server. The difference information is used to instruct the cloud server to determine whether the first map information needs to be optimized based on the difference information. When it is determined that the first map information needs to be optimized, the cloud server sends a first instruction to the telematics processor.

[0130] S804 , after the telematics processor receives the first instruction, the telematics processor sends the first instruction to the parking controller.

[0131] S805. After receiving the first instruction, the parking controller sends the perception map information to the cloud server through the telematics processor. The perception map information is used to instruct the cloud server to optimize the first map information according to the perception map information.

[0132] It should be noted that if the perception map information needs to be uploaded to the cloud server, the parking controller will delete the perception map information after sending it to the cloud server to reduce the parking controller's memory usage. If the perception map information does not need to be uploaded to the cloud server, the parking controller can directly delete the perception map information.

[0133] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0134] An embodiment of the present application also provides a vehicle, see Figure 11, the vehicle 800 may include: at least one processor 810, a memory 820, and a computer program stored in the memory 820 and executable on at least one processor 810, and when the processor 810 executes the computer program, it implements the steps in any of the above-mentioned method embodiments, such as steps S101 to S103 in the embodiment shown in Figure 3.

[0135] For example, the computer program can be divided into one or more modules / units, which are stored in memory 820 and executed by processor 810 to implement the present application. One or more modules / units can be a series of computer program segments capable of performing specific functions, and the program segments are used to describe the execution process of the computer program in vehicle 800.

[0136] Those skilled in the art will understand that Figure 11 is only an example of a vehicle and does not constitute a limitation on the vehicle. The vehicle may include more or fewer components than shown in the figure, or a combination of certain components, or different components, such as input and output devices, network access devices, buses, etc.

[0137] The processor 810 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0138] Memory 820 can be an internal storage unit of the vehicle or an external storage device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, or a flash memory card. Memory 820 is used to store computer programs and other programs and data required by the vehicle. Memory 820 can also be used to temporarily store data that has been output or is about to be output.

[0139] A bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0140] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0141] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0142] In the embodiments provided in this application, it should be understood that the disclosed vehicles and methods can be implemented in other ways. For example, the vehicle embodiments described above are merely illustrative. For example, the division of modules or units is merely a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0143] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0144] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0145] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, it can implement the steps of the above-mentioned various method embodiments.

[0146] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by one or more processors, it can implement the steps of the above-mentioned various method embodiments.

[0147] Similarly, as a computer program product, when the computer program product is run on a vehicle, the vehicle can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0148] Computer programs include computer program code, which may be in source code, object code, executable files, or some intermediate form. Computer-readable media may include any entity or device capable of carrying computer program code, recording media, USB flash drives, removable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signals, telecommunications signals, and software distribution media. It should be noted that the content of computer-readable media may be appropriately expanded or reduced based on the requirements of legislation and patent practice within a jurisdiction. For example, in some jurisdictions, based on legislation and patent practice, computer-readable media do not include electric carrier signals or telecommunications signals.

[0149] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A vehicle driving control method, characterized in that: The vehicle includes a map processing module and an intelligent forward-looking control module, the map processing module and the intelligent forward-looking control module are in communication connection, and the method includes: The map processing module receives first map information sent by a cloud server, wherein the first map information matches a navigation path of the vehicle; During the driving of the vehicle, the map processing module determines second map information from the first map information based on the current position of the vehicle, and sends the second map information to the intelligent forward vision control module, wherein the second map information is first map information corresponding to a first path that the vehicle has not driven, and the starting point of the first path is the current position of the vehicle; The intelligent forward-looking control module controls the vehicle to travel according to the second map information.

2. The method according to claim 1, characterized in that The map processing module is a telematics processor; The map processing module determines second map information from the first map information based on the current position of the vehicle, and sends the second map information to the intelligent forward vision control module, including: The telematics processor determines the second map information from the first map information based on a current location of the vehicle; The telematics processor performs data format conversion on the second map information to obtain the second map information after data format conversion, and sends the second map information after data format conversion to the intelligent forward vision control module, wherein the data format of the second map information after data format conversion matches the interface type of the intelligent forward vision control module; The intelligent forward-looking control module controls the vehicle to travel according to the second map information, including: The intelligent forward-looking control module controls the vehicle to travel according to the second map information after data format conversion.

3. The method according to claim 1, characterized in that The map processing module includes a telematics processor and a parking controller; The map processing module determines second map information from the first map information based on the current position of the vehicle, and sends the second map information to the intelligent forward vision control module, including: After receiving the first map information, the telematics processor sends the first map information to the parking controller; The parking controller determines the second map information from the first map information based on the current position of the vehicle; The parking controller performs data format conversion on the second map information to obtain the second map information after the data format conversion, and sends the second map information after the data format conversion to the intelligent forward vision control module; The intelligent forward-looking control module controls the vehicle to travel according to the second map information, including: The intelligent forward-looking control module controls the vehicle to travel according to the second map information after data format conversion.

4. The method according to any one of claims 1 to 3, characterized in that The vehicle includes a vehicle computer and a telematics processor; Before the map processing module receives the first map information sent by the cloud server, the method further includes: The telematics processor receives the navigation path of the vehicle sent by the vehicle computer; The telematics processor sends the navigation path to the cloud server, and the navigation path is used to instruct the cloud server to send the first map information matching the navigation path to the telematics processor according to the navigation path.

5. The method according to claim 1, characterized in that The vehicle further comprises an information collection sensor, wherein the information collection sensor is used to collect road environment information of the road where the vehicle is located; The intelligent forward-looking control module controls the vehicle to travel according to the second map information, including: The intelligent forward-looking control module receives the road environment information sent by the information collection sensor; The intelligent forward-looking control module controls the vehicle driving according to the second map information and the road environment information.

6. The method according to claim 5, characterized in that The map processing module is a telematics processor; After the intelligent forward-looking control module receives the road environment information sent by the information acquisition sensor, the method further includes: The intelligent forward-looking control module extracts road feature points of the road where the vehicle is located from the road environment information and the own road perception information to obtain the perception map information of the road where the vehicle is located, wherein the own road perception information is the information of the road where the vehicle is located perceived by the intelligent forward-looking control module; The intelligent forward-looking control module sends the perceived map information to the telematics processor; After the telematics processor receives the perceptual map information, the telematics processor sends the perceptual map information to the cloud server, where the perceptual map information is used to instruct the cloud server to optimize the first map information stored in the cloud server based on the perceptual map information.

7. The method according to claim 5, characterized in that The map processing module includes a telematics processor and a parking controller; After the intelligent forward-looking control module receives the road environment information sent by the information acquisition sensor, the method further includes: The intelligent forward-looking control module extracts road feature points of the road where the vehicle is located from the road environment information and its own road perception information to obtain perception map information of the road where the vehicle is located; The intelligent forward-looking control module sends the perception map information to the parking controller; After receiving the perception map information, the parking controller sends the perception map information to the telematics processor; After receiving the perception map information, the telematics processor sends the perception map information to the cloud server, where the perception map information is used to instruct the cloud server to optimize the first map information stored in the cloud server according to the perception map information.

8. The method according to claim 6, characterized in that The telematics processor sends the perception map information to the cloud server, including: The telematics processor compares the perceived map information with the first map information to obtain difference information between the perceived map information and the first map information; The telematics processor sends the difference information to the cloud server, the difference information is used to instruct the cloud server to determine whether the first map information needs to be optimized according to the difference information, and when it is determined that the first map information needs to be optimized, the cloud server sends a first instruction to the telematics processor; After the telematics processor receives the first instruction, the telematics processor sends the perceptual map information to the cloud server, where the perceptual map information is used to instruct the cloud server to optimize the first map information according to the perceptual map information.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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