CN114407923B - Vehicle control method, vehicle control system, and computer-readable storage medium - Google Patents
Vehicle control method, vehicle control system, and computer-readable storage medium Download PDFInfo
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- CN114407923B CN114407923B CN202210057611.4A CN202210057611A CN114407923B CN 114407923 B CN114407923 B CN 114407923B CN 202210057611 A CN202210057611 A CN 202210057611A CN 114407923 B CN114407923 B CN 114407923B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a vehicle control method, a vehicle control system and a computer readable storage medium. The method comprises the following steps: acquiring vehicle position information, and switching a vehicle control instruction according to the vehicle position information and preset road information; and controlling the vehicle to receive the vehicle control instruction and executing the driving operation corresponding to the vehicle control instruction. The invention ensures the control accuracy in the automatic driving process of the vehicle by switching the vehicle control mode.
Description
Technical Field
The present invention relates to the field of automatic driving technologies of vehicles, and in particular, to a vehicle control method, a vehicle control system, and a computer readable storage medium.
Background
In the cloud control unmanned system, a vehicle reports positioning data to a cloud platform for path planning, and receives a track and a vehicle control instruction issued by the cloud platform for tracking. The signal is easily reflected by the surface of a building in the transmission process, so that when a vehicle runs in a building space, the position calculation of the signal is easy to deviate, and the vehicle deviates to cause a safety accident. For this reason, when the unmanned vehicle passes through a weak road section of the positioning signal, it is necessary to change the control method so that it can pass through the road section smoothly. Therefore, in the related art, when the vehicle is in a weak signal region, a problem of inaccurate vehicle control is easily caused.
Disclosure of Invention
The main object of the present invention is to provide a vehicle control method, a vehicle control system and a computer readable storage medium. The method aims to solve the problem that the existing vehicle control method is easy to cause inaccurate vehicle control when the vehicle is in a weak signal area.
In order to achieve the above object, the present invention provides a vehicle control method comprising the steps of:
acquiring vehicle position information, and switching a vehicle control instruction according to the vehicle position information and preset road information;
and controlling the vehicle to receive the vehicle control instruction and executing the driving operation corresponding to the vehicle control instruction.
Optionally, the step of acquiring the vehicle position information and switching the vehicle control instruction according to the vehicle position information and the preset road information includes:
acquiring vehicle position information, and judging whether a vehicle is positioned in a first boundary area or not according to the vehicle position information and preset road information, wherein the preset road information comprises the first boundary area and a second boundary area;
if the vehicle is positioned in the first boundary area, switching the vehicle control instruction into a track point vehicle control instruction;
and if the vehicle is positioned in the second boundary area, switching the vehicle control instruction into a course angle vehicle control instruction.
Optionally, after the step of switching the vehicle control command to the track point vehicle control command if the vehicle is located in the first boundary area, the method further includes:
acquiring surrounding environment information of a vehicle according to the vehicle position information, and planning a vehicle running path according to the surrounding environment information of the vehicle;
and generating vehicle running track points and vehicle speed information according to the vehicle running path, and sending the vehicle running track points and the vehicle speed information to the vehicle.
Optionally, the step of acquiring the surrounding environment information of the vehicle according to the real-time position information of the vehicle and planning the running path of the vehicle according to the surrounding environment information of the vehicle includes:
acquiring obstacle information around a vehicle according to the vehicle position information, wherein the obstacle information comprises the maximum length of an obstacle;
taking the maximum length of the obstacle as a diameter, and expanding the obstacle into a sphere according to the diameter;
shrinking the vehicle into particles in a preset map, and acquiring a plurality of drivable areas without intersection between the particles and the spheres;
and planning a vehicle driving path according to the driving area.
Optionally, the step of generating the vehicle running track point and the vehicle speed information according to the vehicle running path includes:
generating identifiable track points in a preset vehicle-mounted map by the vehicle driving path, and acquiring the spherical speed information;
and generating a vehicle running track point according to the identifiable track point, and calculating vehicle speed information according to the spherical speed information.
Optionally, after the step of switching the vehicle control instruction to the heading angle vehicle control instruction if the vehicle is located in the second boundary area, the method further includes:
acquiring building information around the vehicle according to the vehicle position information and preset map information;
and calculating a vehicle running course angle and running parameters according to the surrounding building information of the vehicle, and sending the running course angle and the running parameters to the vehicle.
Optionally, the step of calculating a vehicle driving course angle and a driving parameter according to the building information around the vehicle, and transmitting the driving course angle and the driving parameter to the vehicle includes:
judging whether the running direction of the vehicle needs to be changed in running according to the building information around the vehicle;
if the running direction needs to be changed, acquiring a course angle corresponding to the running direction and a running distance corresponding to the running direction;
and calculating the running speed and the running time according to the running distance, and sending the running course angle and the running speed to the vehicle by taking the running time as a period.
Optionally, after the step of controlling the vehicle to receive the vehicle control instruction and perform the driving operation corresponding to the vehicle control instruction, the method further includes:
and detecting the intensity of the vehicle-mounted communication signal, and switching the vehicle working mode into the manual driving mode when the vehicle-mounted communication signal is smaller than a preset threshold value.
In addition, in order to achieve the above object, the present invention also provides a vehicle control system including: the vehicle control system comprises a memory, a processor and a vehicle control program stored on the memory and capable of running on the processor, wherein the vehicle control program realizes the steps of the vehicle control method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a vehicle control program which, when executed by a processor, implements the steps of the vehicle control method as described above.
The invention provides a vehicle control method, a vehicle control system and a computer readable storage medium, comprising the following steps: acquiring vehicle position information, and switching a vehicle control instruction according to the vehicle position information and preset road information; and controlling the vehicle to receive the vehicle control instruction and executing the driving operation corresponding to the vehicle control instruction. By the method, the vehicle control mode can be switched according to the road information, when the road information is changed, the control mode of the vehicle is correspondingly changed, the situation that the vehicle is in a safety accident due to the fact that the vehicle control instruction is wrong on a road section with weak signals is avoided, and the safety of the vehicle in the running process and the accuracy of the control vehicle instruction are improved.
Drawings
FIG. 1 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a vehicle control method according to the present invention;
FIG. 3 is a schematic diagram showing a refinement flow of step S10 in a first embodiment of the vehicle control method according to the present invention;
FIG. 4 is a flow chart of a third embodiment of a vehicle control method according to the present invention;
fig. 5 is a flowchart of a fifth embodiment of the vehicle control method according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running environment according to an embodiment of the present invention.
The terminal of the embodiment of the invention can be a computer, and also can be mobile terminal equipment with a display function, such as a smart phone, a tablet personal computer, a portable computer and the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a dvi interface 1004, a usb interface 1005, and a memory 1006. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The DVI interface 1004 may optionally include a standard wired interface to connect with other external devices via DVI lines. The USB interface 1005 may optionally include a standard wired interface, which connects to other external devices via a USB connection. The memory 1006 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 1006 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the terminal may further include audio circuits and the like, which are not described herein.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a DVI interface module, a USB interface module, a user interface module, and a vehicle control program may be included in the memory 1006, which is one type of computer storage medium.
In the terminal shown in fig. 1, the DVI interface 1004 is mainly used for connecting an external device, and performing data communication with the external device; the USB interface 1005 is mainly used for connecting an external device, and performing data communication with the external device; the user interface 1003 is mainly used for connecting a client and communicating data with the client; and the processor 1001 may be configured to call a vehicle control program stored in the memory 1005 and perform the following operations:
acquiring vehicle position information, and switching a vehicle control instruction according to the vehicle position information and preset road information;
and controlling the vehicle to receive the vehicle control instruction and executing the driving operation corresponding to the vehicle control instruction.
Further, the processor 1001 may call the vehicle control program stored in the memory 1006, and also perform the following operations:
the step of acquiring the vehicle position information and switching the vehicle control instruction according to the vehicle position information and the preset road information comprises the following steps:
acquiring vehicle position information, and judging whether a vehicle is positioned in a first boundary area or not according to the vehicle position information and preset road information, wherein the preset road information comprises the first boundary area and a second boundary area;
if the vehicle is positioned in the first boundary area, switching the vehicle control instruction into a track point vehicle control instruction;
and if the vehicle is positioned in the second boundary area, switching the vehicle control instruction into a course angle vehicle control instruction.
Further, the processor 1001 may call the vehicle control program stored in the memory 1006, and also perform the following operations:
and if the vehicle is located in the first boundary area, after the step of switching the vehicle control instruction to the track point vehicle control instruction, the method further comprises the following steps:
acquiring surrounding environment information of a vehicle according to the vehicle position information, and planning a vehicle running path according to the surrounding environment information of the vehicle;
and generating vehicle running track points and vehicle speed information according to the vehicle running path, and sending the vehicle running track points and the vehicle speed information to the vehicle.
Further, the processor 1001 may call the vehicle control program stored in the memory 1006, and also perform the following operations:
the step of obtaining the surrounding environment information of the vehicle according to the real-time position information of the vehicle and planning the running path of the vehicle according to the surrounding environment information of the vehicle comprises the following steps:
acquiring obstacle information around a vehicle according to the vehicle position information, wherein the obstacle information comprises the maximum length of an obstacle;
taking the maximum length of the obstacle as a diameter, and expanding the obstacle into a sphere according to the diameter;
shrinking the vehicle into particles in a preset map, and acquiring a plurality of drivable areas without intersection between the particles and the spheres;
and planning a vehicle driving path according to the driving area.
Further, the processor 1001 may call the vehicle control program stored in the memory 1006, and also perform the following operations:
the step of generating vehicle running track points and vehicle speed information according to the vehicle running path comprises the following steps:
generating identifiable track points in a preset vehicle-mounted map by the vehicle driving path, and acquiring the spherical speed information;
and generating a vehicle running track point according to the identifiable track point, and calculating vehicle speed information according to the spherical speed information.
Further, the processor 1001 may call the vehicle control program stored in the memory 1006, and also perform the following operations:
and if the vehicle is located in the second boundary area, after the step of switching the vehicle control instruction to the heading angle vehicle control instruction, the method further comprises the following steps:
acquiring building information around the vehicle according to the vehicle position information and preset map information;
and calculating a vehicle running course angle and running parameters according to the surrounding building information of the vehicle, and sending the running course angle and the running parameters to the vehicle.
Further, the processor 1001 may call the vehicle control program stored in the memory 1006, and also perform the following operations:
the step of calculating a vehicle travel course angle and a travel parameter from the vehicle surrounding building information and transmitting the travel course angle and the travel parameter to the vehicle includes:
judging whether the running direction of the vehicle needs to be changed in running according to the building information around the vehicle;
if the running direction needs to be changed, acquiring a course angle corresponding to the running direction and a running distance corresponding to the running direction;
and calculating the running speed and the running time according to the running distance, and sending the running course angle and the running speed to the vehicle by taking the running time as a period.
Further, the processor 1001 may call the vehicle control program stored in the memory 1006, and also perform the following operations:
the step of controlling the vehicle to receive the vehicle control instruction and execute the running operation corresponding to the vehicle control instruction further comprises:
and detecting the intensity of the vehicle-mounted communication signal, and switching the vehicle working mode into the manual driving mode when the vehicle-mounted communication signal is smaller than a preset threshold value.
The specific embodiments of the vehicle control system of the present invention are substantially the same as the embodiments of the vehicle control method described below, and are not described herein.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a vehicle control method according to the present invention, where the vehicle control method includes the following steps:
step S10, acquiring vehicle position information, and switching a vehicle control instruction according to the vehicle position information and preset road information;
referring to fig. 3, in an embodiment, the step S10 includes:
step S11, acquiring vehicle position information, and judging whether a vehicle is located in a first boundary area or not according to the vehicle position information and preset road information, wherein the preset road information comprises the first boundary area and a second boundary area;
in this embodiment, the vehicle position information includes a real-time vehicle position, and the cloud platform may be uploaded in real time by a vehicle-mounted positioning device, where the vehicle-mounted positioning device includes, but is not limited to, an RTK (RTK measurement) real-time differential positioning, a GPS sensor, a beidou positioning device, and the like. The preset road information comprises a first boundary area and a second boundary area, specifically, when the vehicle runs in the running area, the running area comprises an RTK weak signal area and a RKT strong signal area, the first boundary area and the second boundary area are isolated, RKT signal strength of the first boundary area and RKT signal strength of the second boundary area are good, the signal strength is located between the strong signal area and the weak signal area, and the weak signal area is located between the first boundary area and the second boundary area. The strong signal area is an open road section, and the signal area is a dense road section of a building, such as a narrow roadway, a canopy and the like. When the vehicle is in a strong signal area, the cloud platform sends a track point vehicle control instruction to the vehicle; and when the vehicle is in the weak signal area, the cloud platform sends a course angle control instruction to the vehicle.
Step S12, if the vehicle is located in the first boundary area, switching the vehicle control instruction into a track point vehicle control instruction;
when the vehicle is located in the first boundary area and the driving direction is from the weak signal area to the strong signal area, the cloud platform can switch from a course angle sending vehicle control instruction to a track point vehicle control instruction due to strong signals, and accuracy of vehicle control is improved.
And S13, if the vehicle is positioned in the second boundary area, switching the vehicle control instruction into a course angle vehicle control instruction.
When the vehicle is located in the second boundary area and the driving direction is from the strong signal area to the weak signal area, the vehicle control instruction can be switched from the track point sending vehicle control instruction to the course angle vehicle control instruction by the cloud platform due to weak signals, so that the accuracy of vehicle control is improved.
Step S20, controlling the vehicle to receive the vehicle control instruction and executing the driving operation corresponding to the vehicle control instruction.
In this embodiment, the vehicle receives the cloud platform and sends the vehicle control instruction, where the vehicle control instruction includes a track point vehicle control instruction, specifically refers to a track point coordinate instruction, including real-time coordinates and a running speed, and the vehicle can combine the real-time position of the vehicle according to the real-time coordinates and the speed to realize tracking running of the vehicle; the vehicle control instruction also comprises a course angle vehicle control instruction, specifically a cloud platform issues a real-time running course angle and speed of the vehicle and a running time period corresponding to the course angle and the speed, so that the running of the course angle of the vehicle is realized.
The invention provides a vehicle control method, which comprises the following steps: acquiring vehicle position information, and switching a vehicle control instruction according to the vehicle position information and preset road information; and controlling the vehicle to receive the vehicle control instruction and executing the driving operation corresponding to the vehicle control instruction. By the method, the vehicle control mode can be switched according to the road information, when the road information is changed, the control mode of the vehicle is correspondingly changed, the situation that the vehicle is in a safety accident due to the fact that the vehicle control instruction is wrong on a road section with weak signals is avoided, and the safety of the vehicle in the running process and the accuracy of the control vehicle instruction are improved.
Further, a second embodiment of the vehicle control method according to the present invention provides a vehicle control method, based on the embodiment shown in fig. 2, wherein after the step of switching the vehicle control command to the track point vehicle control command if the vehicle is located in the first boundary area, the method further includes:
step a121, obtaining surrounding environment information of a vehicle according to the vehicle position information, and planning a vehicle running path according to the surrounding environment information of the vehicle;
in this embodiment, the vehicle surrounding environment information includes vehicle surrounding obstacle information, and the obstacle may be other running vehicles, or an article such as a building, stone, or the like. Specifically, the vehicle surrounding environment information can be collected in a vehicle driving area before the vehicle is driven, and the collected data is stored in the cloud platform to ensure the orientation of fixed objects in the driving area; meanwhile, the surrounding environment can be photographed through the vehicle-mounted camera or real-time obstacle information can be obtained through vehicle-mounted radar measurement in the vehicle driving process, the obstacle information is uploaded to the cloud platform, and the vehicle driving path is calculated and planned.
Step a122, generating vehicle running track points and vehicle speed information according to the vehicle running path, and sending the vehicle running track points and the vehicle speed information to the vehicle.
In this embodiment, the running track point is a set of points marked by coordinates, and the running track point and the speed of the vehicle are calculated in a preset vehicle-mounted map, so as to perform tracking running. According to the vehicle position information, vehicle surrounding environment information is obtained, a vehicle running path is planned according to the vehicle surrounding environment information, vehicle running track points and vehicle speed information are generated according to the vehicle running path, and the vehicle running track points and the vehicle speed information are sent to the vehicle, so that tracking running of the vehicle under a track point vehicle control instruction is realized, and accuracy in the running process is guaranteed.
Further, referring to fig. 4, a third embodiment of the vehicle control method according to the present invention provides a vehicle control method, based on the embodiment shown in fig. 2, the steps of obtaining vehicle surrounding environment information according to the vehicle real-time position information, and planning a vehicle driving path according to the vehicle surrounding environment information include:
step S1211, acquiring obstacle information around the vehicle according to the vehicle position information, wherein the obstacle information includes a maximum obstacle length;
in this embodiment, the maximum length of the obstacle is the maximum length of other running vehicles.
Step S1212 of taking the maximum obstacle length as a diameter and expanding the obstacle into a sphere according to the diameter;
step S1213, shrinking the vehicle into particles in a preset map, and obtaining a plurality of drivable areas without intersections between the particles and the spheres;
in this embodiment, a two-dimensional map of the travel path may be constructed in the travel area of the vehicle, the trajectory points and the vehicle and the obstacle in the above embodiment are represented on the two-dimensional map of the travel path, the obstacle is inflated into a sphere according to the maximum length of the obstacle on the two-dimensional map, and the vehicle is contracted into a particle. And acquiring a plurality of running areas of the intersection of the mass points and the spheres, and planning a running path according to the adjacent running areas. When there is no intersection area between the mass points and the spheres, the vehicle and the obstacle can not collide in the area, and the vehicle is a driving safety area.
Step S1214, planning a vehicle driving path according to the driving area.
In this embodiment, the drivable region is a non-intersection region, and when a plurality of non-intersection regions are adjacent, the drivable region can be driven from the adjacent drivable region, that is, the drivable region is driven by tracking the track point.
In the present invention, by acquiring the obstacle information around the vehicle according to the vehicle position information, wherein the obstacle information includes the maximum length of the obstacle; taking the maximum length of the obstacle as a diameter, and expanding the obstacle into a sphere according to the diameter; shrinking the vehicle into particles in a preset map, and acquiring a plurality of drivable areas without intersection between the particles and the spheres; and planning a vehicle driving path according to the driving area. Collision between the vehicle and the obstacle can be avoided, and the safety of driving path planning is improved.
Further, a fourth embodiment of the vehicle control method according to the present invention provides a vehicle control method, based on the embodiment shown in fig. 2, wherein the step of generating the vehicle travel track point and the vehicle speed information according to the vehicle travel path includes:
step a1221, generating identifiable track points in a preset vehicle-mounted map of the vehicle driving path, and acquiring the spherical speed information;
step a1222, generating a vehicle running track point according to the identifiable track point, and calculating vehicle speed information according to the spherical speed information.
In this embodiment, the identifiable track point is a track point identifiable by a vehicle, and when the vehicle receives the track point, the track point is combined with a preset vehicle-mounted map to obtain a driving path; when the obstacle is a vehicle in other running processes, the speed of the obstacle, namely the spherical speed, needs to be obtained, when the spherical speed is 0, the vehicle can normally run, and when the speed information of the vehicle is not 0, the vehicle can be controlled to decelerate or accelerate according to the spherical speed, so that the safety of the vehicle in the running process is ensured, and the occurrence of collision between the vehicle and other vehicles is avoided.
Further, referring to fig. 5, a fifth embodiment of the vehicle control method according to the present invention provides a vehicle control method, based on the embodiment shown in fig. 2, after the step of switching the vehicle control command to the heading angle vehicle control command if the vehicle is located in the second boundary area, the method further includes:
step S131, obtaining building information around the vehicle according to the vehicle position information and preset map information;
in this embodiment, the building information includes a narrow roadway, a canopy, and the like in the driving area, where the building information may be measured before the vehicle runs, and uploaded to a cloud platform to generate a preset map.
Step S132, calculating a vehicle running course angle and running parameters according to the building information around the vehicle, and sending the running course angle and the running parameters to the vehicle.
In an embodiment, the step S132 further includes:
step a1321, judging whether the running direction of the vehicle needs to be changed during running according to the building information around the vehicle;
in this embodiment, when the vehicle is traveling, if a building exists in front of the vehicle and cannot advance, the traveling direction needs to be changed, including left turn, right turn, head drop, and the like.
Step a1322, if the running direction needs to be changed, acquiring a heading angle corresponding to the running direction and a running distance corresponding to the running direction;
in this embodiment, the heading angle is a heading angle of the vehicle, specifically, an included angle between a centroid speed of the vehicle and a transverse axis under a ground coordinate system, so that the angle of the heading angle of the vehicle can be controlled to be changed, thereby changing a running direction of the vehicle. The travel distance corresponding to the travel direction is the distance that the vehicle needs to travel in the travel direction until the next direction change. For example, when the vehicle turns right and then needs to turn left after the right turn is completed, the travel distance is the distance that needs to be traveled before the left turn after the right turn.
And a step a1323 of calculating a running speed and a running time according to the running distance, and sending the running course angle and the running speed to the vehicle by taking the running time as a period.
In this embodiment, the running speed and the running time can be automatically allocated according to the running distance, for example, when the running distance is 20 m, the running speed can be calculated to be 5m/s, the running time is 4s, or the running speed is 4m/s, and the running time is 5s. The period is the driving time.
In the embodiment, whether the vehicle needs to change the running direction in running is judged according to the building information around the vehicle; if the running direction needs to be changed, acquiring a course angle corresponding to the running direction and a running distance corresponding to the running direction; and calculating the running speed and the running time according to the running distance, and sending the running course angle and the running speed to the vehicle by taking the running time as a period. The automatic driving of the steering angle vehicle control command vehicle is realized, the problem of inaccurate control of the track point vehicle control mode in a weak signal area is avoided, and the safety of the vehicle in the automatic driving process is improved.
Further, a sixth embodiment of the vehicle control method according to the present invention provides a vehicle control method, based on the embodiment shown in fig. 2, wherein after the step of receiving the vehicle control command and executing the driving operation corresponding to the vehicle control command, the method further includes:
and detecting the intensity of the vehicle-mounted communication signal, and switching the vehicle working mode into the manual driving mode when the vehicle-mounted communication signal is smaller than a preset threshold value.
In this embodiment, the vehicle-mounted communication signal is a 5G communication signal, when the vehicle-mounted communication signal is strong, a cloud control mode may be executed, when the vehicle-mounted navigation signal is weak, the vehicle may be manually taken over and controlled, so as to avoid that the vehicle cannot receive the data of the cloud platform, and thus, automatic driving cannot be completed or interrupted, and ensure the safety of the vehicle in the control process.
In addition, an embodiment of the present invention also proposes a computer-readable storage medium having stored thereon a vehicle control program that, when executed by a processor, realizes the following operations:
acquiring vehicle position information, and switching a vehicle control instruction according to the vehicle position information and preset road information;
and controlling the vehicle to receive the vehicle control instruction and executing the driving operation corresponding to the vehicle control instruction.
Further, the vehicle control program when executed by the processor also realizes the following operations:
the step of acquiring the vehicle position information and switching the vehicle control instruction according to the vehicle position information and the preset road information comprises the following steps:
acquiring vehicle position information, and judging whether a vehicle is positioned in a first boundary area or not according to the vehicle position information and preset road information, wherein the preset road information comprises the first boundary area and a second boundary area;
if the vehicle is positioned in the first boundary area, switching the vehicle control instruction into a track point vehicle control instruction;
and if the vehicle is positioned in the second boundary area, switching the vehicle control instruction into a course angle vehicle control instruction.
Further, the vehicle control program when executed by the processor also realizes the following operations:
and if the vehicle is located in the first boundary area, after the step of switching the vehicle control instruction to the track point vehicle control instruction, the method further comprises the following steps:
acquiring surrounding environment information of a vehicle according to the vehicle position information, and planning a vehicle running path according to the surrounding environment information of the vehicle;
and generating vehicle running track points and vehicle speed information according to the vehicle running path, and sending the vehicle running track points and the vehicle speed information to the vehicle.
Further, the vehicle control program when executed by the processor also realizes the following operations:
the step of obtaining the surrounding environment information of the vehicle according to the real-time position information of the vehicle and planning the running path of the vehicle according to the surrounding environment information of the vehicle comprises the following steps:
acquiring obstacle information around a vehicle according to the vehicle position information, wherein the obstacle information comprises the maximum length of an obstacle;
taking the maximum length of the obstacle as a diameter, and expanding the obstacle into a sphere according to the diameter;
shrinking the vehicle into particles in a preset map, and acquiring a plurality of drivable areas without intersection between the particles and the spheres;
and planning a vehicle driving path according to the driving area.
Further, the vehicle control program when executed by the processor also realizes the following operations:
the step of generating vehicle running track points and vehicle speed information according to the vehicle running path comprises the following steps:
generating identifiable track points in a preset vehicle-mounted map by the vehicle driving path, and acquiring the spherical speed information;
and generating a vehicle running track point according to the identifiable track point, and calculating vehicle speed information according to the spherical speed information.
Further, the vehicle control program when executed by the processor also realizes the following operations:
and if the vehicle is located in the second boundary area, after the step of switching the vehicle control instruction to the heading angle vehicle control instruction, the method further comprises the following steps:
acquiring building information around the vehicle according to the vehicle position information and preset map information;
and calculating a vehicle running course angle and running parameters according to the surrounding building information of the vehicle, and sending the running course angle and the running parameters to the vehicle.
Further, the vehicle control program when executed by the processor also realizes the following operations:
the step of calculating a vehicle travel course angle and a travel parameter from the vehicle surrounding building information and transmitting the travel course angle and the travel parameter to the vehicle includes:
judging whether the running direction of the vehicle needs to be changed in running according to the building information around the vehicle;
if the running direction needs to be changed, acquiring a course angle corresponding to the running direction and a running distance corresponding to the running direction;
and calculating the running speed and the running time according to the running distance, and sending the running course angle and the running speed to the vehicle by taking the running time as a period.
Further, the vehicle control program when executed by the processor also realizes the following operations:
the step of controlling the vehicle to receive the vehicle control instruction and execute the running operation corresponding to the vehicle control instruction further comprises:
and detecting the intensity of the vehicle-mounted communication signal, and switching the vehicle working mode into the manual driving mode when the vehicle-mounted communication signal is smaller than a preset threshold value.
The specific embodiments of the computer readable storage medium of the present invention are substantially the same as the embodiments of the vehicle control method described above, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. A vehicle control method characterized by comprising the steps of:
acquiring vehicle position information and a vehicle running direction, and judging whether a vehicle is positioned in a first boundary area or not according to the vehicle position information and preset road information, wherein the preset road information comprises the first boundary area and a second boundary area;
if the vehicle is positioned in the first boundary area and the running direction of the vehicle is from the weak signal area to the strong signal area, switching the vehicle control instruction into a track point vehicle control instruction;
if the vehicle is positioned in the second boundary area and the running direction of the vehicle is from the strong signal area to the weak signal area, switching the vehicle control instruction into a course angle vehicle control instruction;
controlling a vehicle to receive the vehicle control instruction and executing a driving operation corresponding to the vehicle control instruction;
the step of executing the running operation corresponding to the vehicle control instruction includes:
if the vehicle control instruction comprises a track point vehicle control instruction, controlling the vehicle to execute tracking running operation;
and if the vehicle control instruction comprises a course angle vehicle control instruction, controlling the vehicle to execute course angle running operation.
2. The vehicle control method according to claim 1, characterized in that after the step of switching the vehicle control command to the track point vehicle control command if the vehicle is located in the first boundary region, further comprising:
acquiring surrounding environment information of a vehicle according to the vehicle position information, and planning a vehicle running path according to the surrounding environment information of the vehicle;
and generating vehicle running track points and vehicle speed information according to the vehicle running path, and sending the vehicle running track points and the vehicle speed information to the vehicle.
3. The vehicle control method according to claim 2, wherein the step of acquiring vehicle surrounding environment information based on the vehicle real-time position information, and planning a vehicle travel path based on the vehicle surrounding environment information includes:
acquiring obstacle information around a vehicle according to the vehicle position information, wherein the obstacle information comprises the maximum length of an obstacle;
taking the maximum length of the obstacle as a diameter, and expanding the obstacle into a sphere according to the diameter;
shrinking the vehicle into particles in a preset map, and acquiring a plurality of drivable areas without intersection between the particles and the spheres;
and planning a vehicle driving path according to the driving area.
4. The vehicle control method according to claim 3, characterized in that the step of generating vehicle travel locus point and vehicle speed information from the vehicle travel path includes:
generating identifiable track points in a preset vehicle-mounted map by the vehicle driving path, and acquiring the spherical speed information;
and generating a vehicle running track point according to the identifiable track point, and calculating vehicle speed information according to the spherical speed information.
5. The vehicle control method according to claim 1, characterized in that after the step of switching the vehicle control command to the heading angle vehicle control command if the vehicle is located in the second boundary area, further comprising:
acquiring building information around the vehicle according to the vehicle position information and preset map information;
and calculating a vehicle running course angle and running parameters according to the surrounding building information of the vehicle, and sending the running course angle and the running parameters to the vehicle.
6. The vehicle control method according to claim 5, characterized in that the step of calculating a vehicle travel course angle and a travel parameter from the vehicle surrounding building information, and transmitting the travel course angle and the travel parameter to the vehicle, comprises:
judging whether the running direction of the vehicle needs to be changed in running according to the building information around the vehicle;
if the running direction needs to be changed, acquiring a course angle corresponding to the running direction and a running distance corresponding to the running direction;
and calculating the running speed and the running time according to the running distance, and sending the running course angle and the running speed to the vehicle by taking the running time as a period.
7. The vehicle control method according to claim 1, characterized in that the step of controlling the vehicle to receive the vehicle control instruction and to perform a running operation corresponding to the vehicle control instruction further comprises:
and detecting the intensity of the vehicle-mounted communication signal, and switching the vehicle working mode into the manual driving mode when the vehicle-mounted communication signal is smaller than a preset threshold value.
8. A vehicle control system, characterized in that the vehicle system comprises: a memory, a processor, and a vehicle control program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the vehicle control method of any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a vehicle control program which, when executed by a processor, implements the steps of the vehicle control method according to any one of claims 1 to 7.
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