CN114475654B - Vehicle control method and device and computer readable storage medium - Google Patents
Vehicle control method and device and computer readable storage medium Download PDFInfo
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- 230000004888 barrier function Effects 0.000 claims abstract description 242
- 238000004891 communication Methods 0.000 claims abstract description 29
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 abstract description 11
- 238000004364 calculation method Methods 0.000 abstract description 5
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
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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
- B60W2552/00—Input parameters relating to infrastructure
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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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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Abstract
The application provides a vehicle control method, a device and a computer readable storage medium, wherein the method comprises the following steps: based on the communication connection with the central resource server, requesting the central resource server for corresponding barrier information of the target passing barrier; based on the gate information, acquiring a gate real-time state corresponding to the target pass gate through a central resource server; and controlling the driving of the automatic driving vehicle by referring to the real-time state of the barrier gate. Through implementation of the scheme, the barrier gate carries out state monitoring, accuracy of a barrier gate state identification result is improved, state monitoring data acquisition is realized through the central resource server, and data calculation amount of the vehicle is reduced, so that vehicle control performance of the unmanned vehicle under a barrier gate passing scene can be ensured.
Description
Technical Field
The present disclosure relates to the field of unmanned technologies, and in particular, to a vehicle control method, apparatus, and computer readable storage medium.
Background
With the continuous development of technology, unmanned technology is increasingly applied. Currently, when an unmanned vehicle passes through an aisle gate system, the unmanned vehicle needs to accurately identify the opening and closing states of the aisle gates so as to control the vehicle to normally pass through the aisle gates. In practical applications, an unmanned vehicle usually relies on an image recognition technology to actively recognize the opening and closing states of a barrier, that is, the unmanned vehicle shoots an image of an environment where the barrier is located, and then performs feature recognition on the barrier in the image to determine the opening and closing states of the barrier. However, on one hand, when the actual environment is poor, the quality of the shot image is limited, and the accuracy of the barrier gate state recognition result cannot be ensured; on the other hand, the current image recognition mostly depends on a deep learning technology, the calculated amount in the image recognition process is large, and the efficiency of recognizing the state of the barrier gate is low. In view of the above two drawbacks, current unmanned vehicles are relatively limited in vehicle control performance in a barrier passing scenario.
Disclosure of Invention
The embodiment of the application provides a vehicle control method, a vehicle control device and a computer readable storage medium, which at least can solve the problem that the vehicle control performance of an unmanned vehicle in a barrier passing scene is relatively limited due to the fact that the barrier state is identified by adopting an image identification mode in the related technology.
A first aspect of an embodiment of the present application provides a vehicle control method applied to an automatic driving vehicle, including:
requesting corresponding barrier information of a target passing barrier from a central resource server based on communication connection with the central resource server; wherein the barrier information at least comprises a barrier identification;
based on the barrier gate information, acquiring a corresponding barrier gate real-time state of the target pass-through barrier gate through the central resource server;
and carrying out driving control on the automatic driving vehicle by referring to the real-time state of the barrier gate.
A second aspect of the present embodiment provides a vehicle control apparatus applied to an autonomous vehicle, including:
the request module is used for requesting the gateway information corresponding to the target passing gateway from the central resource server based on the communication connection with the central resource server; wherein the barrier information at least comprises a barrier identification;
the acquisition module is used for acquiring the real-time state of the corresponding barrier gate of the target pass-through barrier gate through the central resource server based on the barrier gate information;
and the control module is used for controlling the driving of the automatic driving vehicle by referring to the real-time state of the barrier gate.
A third aspect of an embodiment of the present application provides an electronic device, including: memory, processor, and bus; the bus is used for realizing connection communication between the memory and the processor; the processor is configured to execute a computer program stored on the memory; when the processor executes the computer program, the steps in the vehicle control method provided in the first aspect of the embodiment of the present application are implemented.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle control method provided in the first aspect of the embodiments of the present application described above.
As can be seen from the above, according to the vehicle control method, apparatus and computer-readable storage medium provided in the present application, based on a communication connection with a central resource server, request, from the central resource server, barrier information corresponding to a target passing through a barrier; based on the gate information, acquiring a gate real-time state corresponding to the target pass gate through a central resource server; and controlling the driving of the automatic driving vehicle by referring to the real-time state of the barrier gate. Through implementation of the scheme, the barrier gate carries out state monitoring, accuracy of a barrier gate state identification result is improved, state monitoring data acquisition is realized through the central resource server, and data calculation amount of the vehicle is reduced, so that vehicle control performance of the unmanned vehicle under a barrier gate passing scene can be ensured.
Drawings
Fig. 1 is a basic flow diagram of a vehicle control method according to a first embodiment of the present application;
fig. 2 is a schematic architecture diagram of a communication system according to a first embodiment of the present application;
fig. 3 is a schematic diagram of a refinement flow of a vehicle control method according to a second embodiment of the present application;
fig. 4 is a schematic program module diagram of a vehicle control device according to a third embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
At present, the industry generally adopts an image recognition technology to perform barrier gate state recognition, but the requirement of a camera on the environment is high, stable recognition cannot be realized under the severe environment, and the camera recognition needs a certain recognition distance and a certain requirement on a field.
In order to solve the problem that in the related art, the barrier state is identified by adopting an image identification manner, so that the vehicle control performance of the unmanned vehicle in a barrier passing scene is relatively limited, a first embodiment of the present application provides a vehicle control method, which is applied to an automatic driving vehicle, as shown in fig. 1, which is a basic flow diagram of the vehicle control method provided in the present embodiment, and the vehicle control method includes the following steps:
step 101, based on the communication connection with the central resource server, requesting the central resource server for the corresponding barrier information of the target passing barrier.
Specifically, the barrier gate is an automatic device installed in a vehicle channel and used for controlling the entrance and exit of vehicles, and can be divided into a straight bar barrier gate, a curved bar barrier gate and a barrier gate according to the type of a gate bar, so that the barrier gate is widely applied to places such as parking lots, toll booths, district gates and the like. The barrier information in this embodiment at least includes barrier identifiers, which are used to distinguish identities of different barriers. As shown in fig. 2, a schematic architecture diagram of a communication system provided in this embodiment is shown, in which the communication system includes an autopilot vehicle, a central resource server and a barrier status monitor disposed on a barrier, when the autopilot vehicle and the barrier status monitor establish P2P (peer-to-peer) communication, the central resource server provides relay service for two terminal devices, and it should be understood that the central resource server in this embodiment is a data server of the autopilot vehicle, and is used for providing services required by multiple autopilots, and in this embodiment, the central resource server is mainly used for recording attribute information of all the barriers in a city, and may include important information such as location, orientation, name, type, IP, port, status, and the like.
In one implementation manner of this embodiment, the step of requesting, from the central resource server, the corresponding barrier information of the target passing barrier specifically includes: requesting gateway distribution map data from a central resource server; acquiring a real-time geographic position of a vehicle, and inquiring a target barrier gate geographic position closest to the vehicle in barrier gate distribution map data based on the real-time geographic position of the vehicle; and acquiring the gateway information of the target passage gateway corresponding to the geographic position of the target gateway.
Specifically, the gate distribution map data in this embodiment includes a plurality of gate information and corresponding gate geographic positions, and in practical application, after the autonomous driving vehicle obtains the global gate distribution map from the background server, the autonomous driving vehicle locates the gate closest to the current position on the map as the current target to be passed through the gate, and further extracts the gate information from the gate distribution map data. It should be noted that, in practical application, there may be a scenario where multiple gates are combined to control the vehicle entering and exiting, and then there are multiple corresponding determined target pass-through gates, that is, the aforementioned "closest to" in this embodiment is not an absolute concept, but a relative concept, and the spacing distance between the gates in the scenario where multiple gates are combined to control is negligible, that is, all the multiple gates are determined to be the target pass-through gates closest to the vehicle at the same time.
Step 102, based on the gate information, acquiring the real-time state of the gate corresponding to the target pass gate through the central resource server.
It should be noted that, the barrier gate is provided with a barrier gate state monitor, which can be connected with a single or multiple sensors to monitor the state of the barrier gate, and the sensors include: laser sensor, angular position sensor, tilt sensor, press sensor, torque sensor. The singlechip of the barrier gate state monitor is provided with an RJ485 port and is used for wired network connection, and in addition, the singlechip is also provided with a WIFI module and a 4G module and is used for wireless network connection, and the singlechip can be used for solar power supply or direct-plug power supply. The software module of the singlechip comprises: (1) The sensor driving module has different data collection modes according to different sensors; (2) And the data filtering module is used for effectively filtering error data generated by the monitoring sensor due to external interference. Mainly comprises the following steps: average filtering, low-pass filtering, gaussian filtering and Kalman filtering; (3) And the data processing and packaging module is used for carrying out accumulated computation and data format packaging on the filtered effective data. The data format is uniformly packaged in a default mode under the condition of no customization; (4) The network service module provides external connection service, the module can be set as a server or a client in SOCKET communication, and the module has P2P (peer-to-peer) communication establishment logic.
In addition, it should be noted that, in this embodiment, the barrier gate status monitor, the sensor used and the power supply device all have waterproof, dustproof and antifogging properties, and the barrier gate status monitor uses a fanless housing to dissipate heat, and supports SSH protocol and remote software upgrading functions.
In practical applications, the specific implementation manner of the step 102 in this embodiment includes, but is not limited to, the following two types:
in one mode, the barrier gate information further comprises a barrier gate communication address; transmitting a barrier gate status request to a barrier gate status monitor corresponding to the barrier gate communication address through the central resource server; and receiving the real-time state of the corresponding gateway of the target pass-through gateway through the central resource server.
Specifically, after the real-time state of the barrier gate is detected, the barrier gate state monitor can be stored locally, and when the automatic driving vehicle needs to acquire the real-time state of the target passing the barrier gate, the barrier gate state monitor is requested for the real-time state of the barrier gate based on the barrier gate communication address by taking the central resource server as a communication relay point.
A second mode is that a state query request is sent to a central resource server based on the barrier gate information; receiving a real-time state of the barrier corresponding to the barrier information responded after the central resource server queries the local database; the local database comprises real-time states of the gates uploaded in real time by different gates.
Specifically, unlike the former approach, the barrier status monitor may upload the real-time status of the barrier to the central resource server after detecting that the real-time status of the barrier is completed, and the central resource server stores the real-time status of the target passing through the barrier locally, and then the autonomous vehicle may directly request the real-time status of the target passing through the barrier from the central resource server.
And 103, referring to the real-time state of the barrier gate, performing driving control on the automatic driving vehicle.
Specifically, the real-time status of the barrier in this embodiment includes that the barrier is opened and the barrier is closed, if the barrier is opened, the autonomous vehicle can travel forward through the barrier, and if the barrier is closed, the autonomous vehicle continues waiting in front of the barrier.
In one implementation of this embodiment, the real-time status of the barrier includes the opening of the barrier and the real-time opening degree. Correspondingly, the step of controlling the driving of the automatic driving vehicle by referring to the real-time state of the barrier gate specifically comprises the following steps: determining corresponding vehicle speed control information according to the real-time opening degree when the barrier gate is opened; controlling the autonomous vehicle through the target pass gate with reference to the vehicle speed control information.
Specifically, the opening degree of the present embodiment includes a shutter lifting angle or a shutter opening distance. In practical application, the time node when the automatic driving vehicle obtains that the barrier gate is opened can be any time node in the process from the start of the barrier gate opening to the complete opening, the barrier gate opening process is a continuous process, namely the barrier gate needs to pass a certain time interval from the start of the barrier gate opening to the complete opening, if the real-time opening degree of the barrier gate is not matched with the speed of the automatic driving vehicle, the situation that the barrier gate still forms a certain barrier to the vehicle when the vehicle passes through the position of the barrier gate can exist, and the vehicle is damaged when passing through the barrier gate is caused.
In one implementation of this embodiment, the target pass-through gate includes a first gate and a second gate disposed back and forth along the current direction of travel of the vehicle. Correspondingly, the step of controlling the driving of the automatic driving vehicle by referring to the real-time state of the barrier gate specifically comprises the following steps: if the real-time state of the barrier gate comprises that the first barrier gate is opened and the second barrier gate is opened, requesting ETC identification result data from a central resource server; if the ETC recognition result data is recognition passing, controlling the automatic driving vehicle to continuously pass through the first barrier gate and the second barrier gate; and if the ETC identification result data is not identified to pass, controlling the automatic driving vehicle to wait in front of the second road gate after passing through the first road gate.
Specifically, in practical application, the electronic toll collection point is provided with two gates for preventing a part of vehicles from being rubbed, wherein the first gate is the first gate through which the vehicles pass through the toll collection point, the initial state of the first gate is a closed state, the second gate is the last gate through which the vehicles pass, the initial state of the first gate is an open state, the first gate is switched to the closed state when the vehicles passing through the first gate are identified as illegal vehicles without ETC, and the vehicles are intercepted in the middle area of the first gate and the second gate.
Under partial application scenes, when the vehicle enters an electronic toll collection point, the condition of unsuccessfully identifying ETC may exist, and if a following vehicle exists, when ETC of the following vehicle is successfully identified, the first road gate is still opened, so that the vehicle can actually pass through the first road gate when the ETC of the vehicle is unidentified, but a road gate control system can timely identify that the vehicle is not paid by a certain means and intercept the vehicle before the second road gate, for example, detect whether the following vehicle successfully identified by the ETC passes through the first road gate within a preset time period, if the following vehicle does not pass through the first road gate, the vehicle before the following vehicle is indicated to be rubbed by the first road gate, and therefore the second road gate which is opened by default is closed to intercept the vehicle in the middle area of the road gate again for ETC identification.
In another implementation of this embodiment, the target pass-through gate includes a first gate and a second gate disposed back and forth along a current traveling direction of the vehicle. Correspondingly, before the step of requesting the central resource server for the corresponding barrier information of the target passing barrier, the method further comprises the following steps: requesting ETC recognition result data from a central resource server; the step of requesting the central resource server for the corresponding barrier information of the target passing barrier specifically comprises the following steps: if the ETC identification result data is identification passing, requesting corresponding barrier gate information of the target passing barrier gate from the central resource server after the preset time interval.
Specifically, the barrier gate control system of the present embodiment is the same as the previous embodiment, but different from the previous application scenario, the present embodiment is applied to an application scenario that the host vehicle is a rear vehicle that legally identifies the ETC, but the front vehicle does not legally identify the ETC, so in practical application, the front vehicle may successfully pass through the first barrier gate by using the ETC identification result of the host vehicle and be intercepted in front of the second barrier gate, in order to avoid rear-end collision of the vehicle, the first barrier gate may also be closed simultaneously along with closing of the second barrier gate, and then the driving behavior of the front vehicle may affect the normal traffic of the host vehicle. Therefore, the embodiment can not immediately request the barrier information and acquire the barrier real-time state after determining that the own ETC passes through, and the barrier real-time state acquired at present can be changed and disabled if the front vehicle which falsely uses the ETC of the vehicle exists, so that the barrier real-time state acquisition can be executed after a certain time interval, and the barrier real-time state acquired after the time interval is changed if the front vehicle uses the ETC of the vehicle, so that the authenticity of the barrier real-time state acquired by the vehicle is ensured, and the vehicle is prevented from being controlled wrongly.
Based on the technical scheme of the embodiment of the application, the gateway information corresponding to the target passing gateway is requested to the central resource server based on the communication connection with the central resource server; based on the gate information, acquiring a gate real-time state corresponding to the target pass gate through a central resource server; and controlling the driving of the automatic driving vehicle by referring to the real-time state of the barrier gate. Through implementation of the scheme, the barrier gate carries out state monitoring, accuracy of a barrier gate state identification result is improved, state monitoring data acquisition is realized through the central resource server, and data calculation amount of the vehicle is reduced, so that vehicle control performance of the unmanned vehicle under a barrier gate passing scene can be ensured.
The method in fig. 3 is a refined vehicle control method provided in the second embodiment of the present application, where the vehicle control method includes:
step 301, requesting gateway distribution map data from a central resource server based on a communication connection with the central resource server.
The barrier distribution map data comprises a plurality of barrier information and corresponding barrier geographic positions.
Step 302, acquiring a real-time geographic position of the vehicle, and inquiring a nearest target barrier geographic position in the barrier distribution map data based on the real-time geographic position of the vehicle.
Step 303, obtaining the gateway identification information of the target pass gateway corresponding to the geographic position of the target gateway.
And 304, sending a state query request to the central resource server based on the barrier identification information.
Step 305, receiving real-time status of the barrier corresponding to the barrier identification information responded by the central resource server after querying the local database.
The local database of the central resource server comprises real-time states of the different gates uploaded in real time.
And 306, when the real-time state of the barrier gate is that the barrier gate is opened, determining corresponding vehicle speed control information according to the real-time opening degree of the barrier gate.
Step 307, referring to the vehicle speed control information, controlling the autonomous vehicle to pass through the target pass gate.
And 308, controlling the automatic driving vehicle to wait before the target passing through the gateway when the real-time state of the gateway is that the gateway is closed.
It should be understood that, the sequence number of each step in this embodiment does not mean the order of execution of the steps, and the execution order of each step should be determined by its functions and internal logic, and should not be construed as a unique limitation on the implementation process of the embodiments of the present application.
Based on the technical scheme of the embodiment of the application, the barrier gate carries out state monitoring, so that the accuracy of the barrier gate state identification result is improved, the state monitoring data acquisition is realized through the central resource server, the data calculation amount of the vehicle is reduced, and the vehicle control performance of the unmanned vehicle in a barrier gate passing scene can be ensured.
Fig. 4 is a vehicle control apparatus according to a third embodiment of the present application. The vehicle control apparatus may be used to implement the vehicle control method in the foregoing embodiment. As shown in fig. 4, the vehicle control apparatus mainly includes:
a request module 401, configured to request, from a central resource server, barrier information corresponding to a target passing barrier based on a communication connection with the central resource server; the barrier information at least comprises a barrier mark;
an obtaining module 402, configured to obtain, based on the barrier information, a real-time state of a barrier corresponding to the target pass-through barrier through the central resource server;
the control module 403 is configured to perform driving control on the autonomous vehicle with reference to the real-time status of the barrier gate.
In some implementations of this embodiment, the request module is specifically configured to: requesting gateway distribution map data from a central resource server; the barrier gate distribution map data comprises a plurality of barrier gate information and corresponding barrier gate geographic positions; acquiring a real-time geographic position of a vehicle, and inquiring a target barrier gate geographic position closest to the vehicle in barrier gate distribution map data based on the real-time geographic position of the vehicle; and acquiring the gateway information of the target passage gateway corresponding to the geographic position of the target gateway.
In some implementations of this embodiment, the barrier information further includes a barrier communication address. Correspondingly, the acquisition module is specifically configured to: transmitting a barrier gate status request to a barrier gate status monitor corresponding to the barrier gate communication address through the central resource server; and receiving the real-time state of the corresponding gateway of the target pass-through gateway through the central resource server.
In other implementations of this embodiment, the obtaining module is specifically configured to: transmitting a state query request to a central resource server based on the barrier gate information; receiving a real-time state of the barrier corresponding to the barrier information responded after the central resource server queries the local database; the local database comprises real-time states of the gates uploaded in real time by different gates.
In some implementations of this embodiment, the real-time status of the barrier includes a barrier opening and a real-time opening level. Correspondingly, the control module is specifically configured to: determining corresponding vehicle speed control information according to the real-time opening degree when the barrier gate is opened; controlling the autonomous vehicle through the target pass gate with reference to the vehicle speed control information.
In other implementations of the present embodiment, the target pass-through gate includes a first gate and a second gate disposed back and forth along a current travel direction of the vehicle. Correspondingly, the control module is specifically configured to: if the real-time state of the barrier gate comprises that the first barrier gate is opened and the second barrier gate is opened, requesting ETC identification result data from a central resource server; if the ETC recognition result data is recognition passing, controlling the automatic driving vehicle to continuously pass through the first barrier gate and the second barrier gate; and if the ETC identification result data is not identified to pass, controlling the automatic driving vehicle to wait in front of the second road gate after passing through the first road gate.
In some implementations of the present embodiment, the target pass-through gate includes a first gate and a second gate disposed back and forth along a current travel direction of the vehicle. Correspondingly, the request module is specifically configured to: requesting ETC recognition result data from a central resource server; if the ETC identification result data is identification passing, requesting corresponding barrier gate information of the target passing barrier gate from the central resource server after the preset time interval.
It should be noted that, the vehicle control methods in the first and second embodiments may be implemented based on the vehicle control device provided in the first embodiment, and those skilled in the art can clearly understand that, for convenience and brevity of description, the specific working process of the vehicle control device described in the present embodiment may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
According to the vehicle control device provided by the embodiment, based on communication connection with the central resource server, corresponding barrier information of a target passing barrier is requested to the central resource server; based on the gate information, acquiring a gate real-time state corresponding to the target pass gate through a central resource server; and controlling the driving of the automatic driving vehicle by referring to the real-time state of the barrier gate. Through implementation of the scheme, the barrier gate carries out state monitoring, accuracy of a barrier gate state identification result is improved, state monitoring data acquisition is realized through the central resource server, and data calculation amount of the vehicle is reduced, so that vehicle control performance of the unmanned vehicle under a barrier gate passing scene can be ensured.
Referring to fig. 5, fig. 5 is an electronic device according to a fourth embodiment of the present application. The electronic device may be used to implement the vehicle control method in the foregoing embodiment. As shown in fig. 5, the electronic device mainly includes:
memory 501, processor 502, bus 503, and a computer program stored in memory 501 and executable on processor 502, memory 501 and processor 502 being connected by bus 503. When the processor 502 executes the computer program, the vehicle control method in the foregoing embodiment is implemented. Wherein the number of processors may be one or more.
The memory 501 may be a high-speed random access memory (RAM, random Access Memory) memory or a non-volatile memory (non-volatile memory), such as a disk memory. The memory 501 is used for storing executable program codes, and the processor 502 is coupled to the memory 501.
Further, the embodiment of the application further provides a computer readable storage medium, which may be provided in the electronic device in each embodiment, and the computer readable storage medium may be a memory in the embodiment shown in fig. 5.
The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle control method in the foregoing embodiment. Further, the computer-readable medium may be any medium capable of storing a program code, such as a usb (universal serial bus), a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a readable storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned readable storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all necessary for the present application.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing is a description of the vehicle control method, apparatus and computer readable storage medium provided herein, and it is not intended that the disclosure be limited to the specific embodiments and applications described herein, as long as the disclosure is not intended to limit the scope of the disclosure.
Claims (9)
1. A vehicle control method applied to an autonomous vehicle, characterized by comprising:
requesting barrier distribution map data from a central resource server based on a communication connection with the central resource server; acquiring a real-time geographic position of a vehicle, and inquiring a nearest target barrier gate geographic position in the barrier gate distribution map data based on the real-time geographic position of the vehicle; acquiring the barrier gate information of the target pass-through barrier gate corresponding to the geographic position of the target barrier gate; the barrier distribution map data comprise a plurality of barrier information and corresponding barrier geographic positions, and the barrier information at least comprises barrier identifications;
based on the barrier gate information, acquiring a corresponding barrier gate real-time state of the target pass-through barrier gate through the central resource server;
and carrying out driving control on the automatic driving vehicle by referring to the real-time state of the barrier gate.
2. The vehicle control method according to claim 1, wherein the barrier information further includes a barrier communication address; the step of acquiring the real-time state of the corresponding barrier gate of the target pass-through barrier gate through the central resource server based on the barrier gate information comprises the following steps:
transmitting a barrier gate status request to a barrier gate status monitor corresponding to the barrier gate communication address via the central resource server;
and receiving the real-time state of the corresponding gateway of the target pass-through gateway through the central resource server.
3. The vehicle control method according to claim 1, characterized in that the step of acquiring, based on the barrier information, a corresponding barrier real-time state of the target pass-through barrier through the center resource server includes:
sending a state query request to the central resource server based on the barrier gate information;
receiving a real-time state of the barrier corresponding to the barrier information responded by the central resource server after inquiring a local database; the local database comprises real-time states of the gates uploaded in real time by different gates.
4. The vehicle control method according to claim 1, wherein the real-time status of the barrier includes a barrier opening and a real-time opening degree; the step of controlling the driving of the autonomous vehicle with reference to the real-time status of the barrier gate includes:
determining corresponding vehicle speed control information according to corresponding real-time opening degree when the barrier gate is opened;
controlling the autonomous vehicle to pass through the target pass gate with reference to the vehicle speed control information.
5. The vehicle control method according to claim 1, characterized in that the target pass-through passage gate includes a first gate and a second gate provided back and forth in a current traveling direction of the vehicle; the step of controlling the driving of the autonomous vehicle with reference to the real-time status of the barrier gate includes:
if the real-time state of the barrier gate comprises that a first barrier gate is opened and a second barrier gate is opened, requesting ETC identification result data from the central resource server;
if the ETC recognition result data is recognition passing, controlling the automatic driving vehicle to continuously pass through the first barrier gate and the second barrier gate;
and if the ETC identification result data is not identified to pass, controlling the automatic driving vehicle to pass through the first barrier gate and then wait in front of the second barrier gate.
6. The vehicle control method according to any one of claims 1 to 4, characterized in that the target pass-through passage gate includes a first gate and a second gate provided back and forth in a current traveling direction of the vehicle; before the step of requesting the central resource server for the corresponding barrier information of the target passing the barrier, the method further comprises the following steps:
requesting ETC identification result data from the central resource server;
the step of requesting the central resource server for corresponding barrier information of the target passing the barrier comprises the following steps:
and if the ETC identification result data is that identification is passed, requesting corresponding barrier gate information of the target passing barrier gate from the central resource server after a preset time interval.
7. A vehicle control apparatus applied to an autonomous vehicle, characterized by comprising:
the request module is used for requesting the gateway distribution map data from the central resource server based on communication connection with the central resource server; acquiring a real-time geographic position of a vehicle, and inquiring a nearest target barrier gate geographic position in the barrier gate distribution map data based on the real-time geographic position of the vehicle; acquiring the barrier gate information of the target pass-through barrier gate corresponding to the geographic position of the target barrier gate; the barrier distribution map data comprise a plurality of barrier information and corresponding barrier geographic positions, and the barrier information at least comprises barrier identifications;
the acquisition module is used for acquiring the real-time state of the corresponding barrier gate of the target pass-through barrier gate through the central resource server based on the barrier gate information;
and the control module is used for controlling the driving of the automatic driving vehicle by referring to the real-time state of the barrier gate.
8. An electronic device, comprising: memory, processor, and bus;
the bus is used for realizing connection communication between the memory and the processor;
the processor is used for executing the computer program stored on the memory;
the processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 6.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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