WO2021189386A1 - 一种驾驶控制方法及装置 - Google Patents
一种驾驶控制方法及装置 Download PDFInfo
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- WO2021189386A1 WO2021189386A1 PCT/CN2020/081507 CN2020081507W WO2021189386A1 WO 2021189386 A1 WO2021189386 A1 WO 2021189386A1 CN 2020081507 W CN2020081507 W CN 2020081507W WO 2021189386 A1 WO2021189386 A1 WO 2021189386A1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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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
- B60W2556/40—High definition maps
Definitions
- This application relates to the field of automatic driving technology, and in particular to a driving control method and device.
- automatic driving is usually the automatic driving module inside the vehicle performs path calculation and real-time navigation broadcast according to the high-precision map, as well as automatic driving.
- a high-precision map can accurately describe traffic information such as roads, lanes, red street lights, stop lines, and zebra crossings, and its accuracy can also reach the centimeter level.
- the production of high-precision maps is independent of traditional maps. Therefore, although it is better than traditional maps in terms of accuracy, it is still better in terms of the abundance of roads (such as road names, road shapes, road function levels, road traffic restrictions, etc.). Not as good as traditional maps.
- the current high-precision maps lack the support of real-time traffic information and lack a large number of long-term historical operation and maintenance records. Therefore, compared with the traditional The route calculated on the map is less reasonable than the route calculated on the high-precision map.
- the broadcast effect of high-precision maps is much lower than that of traditional maps. Therefore, route calculation and real-time navigation broadcast based on high-precision maps may reduce user experience.
- the present application provides a driving control method and device, which are used to implement path calculation and real-time navigation broadcast by a combination of high-precision maps and traditional maps, thereby improving user experience.
- the embodiments of the present application provide a driving control method, which can be applied to in-vehicle equipment such as a driving control device.
- the method can include the following steps:
- the driving control device calculates the first traditional route in the traditional map according to the first position and the second position; when the target high-precision route is found in the high-precision map according to the first traditional route, if the target high-precision route is If the included road sections are the same as the road sections included in the first traditional route, the real-time navigation broadcast based on the first traditional route is turned on, and the automatic driving mode that uses the target high-precision route as the route navigation is turned on.
- the traditional map has the advantages of road section richness and real-time traffic information update
- the traditional route calculated in the traditional map is more reasonable, and real-time navigation and broadcast according to the traditional route in the traditional map can ensure that users receive more information.
- More accurate traffic information further, using the high-precision route in the high-precision map to achieve automatic driving of the vehicle can reduce the user's operability.
- the device can realize path calculation and real-time navigation broadcast through the combination of high-precision maps and traditional maps on the basis of ensuring the automatic driving of vehicles as much as possible, thereby improving user experience.
- the driving control device performs the following steps:
- the first position and the second position calculate at least one first candidate high-precision path in the high-precision map; prompt the user with the path information of the target high-precision path, and the at least one first Path information of each first candidate high-precision path in a to-be-selected high-precision path; receiving a first path selection instruction from the user; if it is determined that the user selects the target high-precision path according to the first path selection instruction Route, the real-time navigation broadcast based on the first traditional route is turned on, and the preparatory automatic driving mode that uses the target high-precision route as the route navigation is started; wherein, the preparatory automatic driving mode is in the automatic driving mode and manual driving The driving mode for switching between modes; if it is determined according to the first path selection instruction that the user selects the first high-precision path of the at least one first candidate high-precision path, then according to the first high-precision path , Find the first target traditional path in the traditional map, wherein the road sections included in the first target traditional path are
- At least one first candidate high-precision path obtained by recalculating the path can be performed on the high-precision map.
- the device can perform real-time navigation and broadcast according to the first traditional route, and perform preparatory automatic driving according to the target high-precision route partially matching the first traditional route, thereby ensuring that the vehicle
- the use of traditional maps for route calculation and real-time navigation and broadcasting can be realized, which can improve the user experience.
- the device can find the first target traditional path that exactly matches the first high-precision path in the traditional map, according to The first target traditional path performs real-time navigation and broadcast, and performs automatic driving according to the first high-precision path.
- the first high-precision route may have detours, long driving time, etc.
- the device may prompt the user with the path information of the target high-precision path and each first candidate high-precision path in the at least one first candidate high-precision path in the following manner.
- the path information of the refined path including:
- the high-precision map is displayed on the display screen, the target high-precision path is displayed on the high-precision map, and at least one of the following information or a combination is displayed: the starting position of the target high-precision path, the target The end position of the high-precision path, the length of each manual driving, the distance of each manual driving, the length of each automatic driving, the distance of each automatic driving, the total length of manual driving, the total distance of manual driving, the total distance of automatic driving Total time, total distance of automatic driving;
- each first candidate high-precision path in the high-precision map and display at least one of the following information or combinations of each first candidate high-precision path: the total length of each first candidate high-precision path , The total time of automatic driving corresponding to each first candidate high-precision path, and the length difference between each first candidate high-precision path and the first traditional path.
- the device can display the detailed information of the target high-precision path and each first candidate high-precision path to the user, so that the user can further understand the above-mentioned high-precision path, which is convenient for the user to analyze and analyze the path later. Compare and filter.
- the device when the device does not find the target high-precision path in the high-precision map according to the first traditional path, the device performs the following steps:
- the first location and the second location calculate at least one second candidate high-precision path in the high-precision map; prompt the user for each second candidate high-precision path in the at least one second candidate high-precision path Path information of the high-precision path to be selected;
- the device can re-calculate at least one second candidate high-precision path obtained by recalculating the path in the high-precision map without finding a target high-precision path that matches the first traditional path.
- the user selects the at least one second candidate high-precision path.
- the device can find the second target traditional path that exactly matches the second high-precision path in the traditional map, according to The second target traditional path performs real-time navigation and broadcast, and performs automatic driving according to the second high-precision path.
- the second high-precision route may have detours, long driving time, etc.
- the device may prompt the user with the path information of each second candidate high-precision path in the at least one second candidate high-precision path in the following manner, including:
- Display the high-precision map on the display screen display each second candidate high-precision path in the high-precision map, and display at least one of the following information or combinations of each second candidate high-precision path: The total length of the second to-be-selected high-precision paths, the total time length of automatic driving corresponding to each second to-be-selected high-precision path, and the length difference between each second to-be-selected high-precision path and the first traditional path.
- the device can display the detailed information of each second to-be-selected high-precision path to the user, so that the user can further understand the above-mentioned high-precision path, which is convenient for the user to analyze, compare, and filter subsequent paths.
- the device may further perform driving control through the following steps:
- the device If the first position is different from the starting position of the first road section in the target high-precision path, the device prompts the user to turn on the manual driving mode; if the first position is different from the target high-precision path If the starting position of the first section of the route is the same, the automatic driving mode is turned on.
- the device can select a reasonable driving mode for the user according to the current position of the vehicle and the starting position of the target high-precision path, so as to improve the user's experience.
- the device determines that the position of the vehicle during driving is within the first range, prompt the user to turn on the automatic driving mode, where the first range includes the first road segment in the target high-precision path Starting position, the starting position of the first road section is different from the first position, and there is no road section connected to the starting position of the first road section in the target high-precision path.
- the device can prompt the user to turn on the automatic driving mode when it can perform route navigation according to the target high-precision route.
- the device determines that the position of the vehicle during driving is within the second range, prompt the user to turn on the manual driving mode, where the second range includes the end position of the second road section, and the second road section The end position of is different from the second position, and there is no road section connected to the end position of the second road section in the target high-precision path.
- the device can prompt for turning on the manual driving mode when the route navigation cannot be performed according to the second high-precision route.
- the user may also be prompted for the current manual driving information, where the current manual driving information includes: the current manual driving distance, and /Or, the duration of this manual driving.
- the device can provide the user with this manual driving information, so that the user can be prepared for this manual driving, and it is convenient for the user to make a final decision on whether to turn on the manual driving mode.
- the device prompts the user to turn on the manual driving mode of the vehicle, when the vehicle turns on the manual driving mode, if it is determined that the position of the vehicle in the driving process deviates from the position When the target high-precision path is described, the preparatory automatic driving mode is exited.
- an embodiment of the present application provides a driving control device, which includes a unit for executing each step in the above first aspect.
- an embodiment of the present application provides a driving control device, including at least one processing element and at least one storage element, wherein the at least one storage element is used to store programs and data, and the at least one processing element is used to execute the present application.
- the method provided in the first aspect is used to store programs and data, and the at least one processing element is used to execute the present application.
- the embodiments of the present application also provide a computer program, which when the computer program runs on a computer, causes the computer to execute the method provided in the above-mentioned first aspect.
- the embodiments of the present application also provide a computer storage medium in which a computer program is stored.
- the computer program is executed by a computer, the computer is caused to execute the method provided in the first aspect. .
- an embodiment of the present application also provides a chip, which is used to read a computer program stored in a memory and execute the method provided in the above-mentioned first aspect.
- an embodiment of the present application also provides a chip system, the chip system includes a processor, and is configured to support a computer device to implement the method provided in the first aspect.
- the chip system further includes a memory, and the memory is used to store necessary programs and data of the computer device.
- the chip system can be composed of chips, or it can include chips and other discrete devices.
- FIG. 1 is a schematic diagram of a traditional map and a high-precision map provided by an embodiment of this application;
- FIG. 2 is a schematic diagram of a traditional path and a high-precision path partially matched with it according to an embodiment of the application;
- FIG. 3 is a schematic diagram of another traditional path and a partially matched high-precision path provided by an embodiment of this application;
- FIG. 4 is a schematic diagram of another traditional path and a high-precision path that partially matches it provided by an embodiment of the application;
- FIG. 5A is a structural diagram of a vehicle provided by an embodiment of this application.
- FIG. 5B is a flowchart of a driving control method provided by an embodiment of this application.
- FIG. 6 is a flowchart of an example of a driving control method provided by an embodiment of the application.
- FIG. 7 is a flowchart of an example of a driving control method after starting a pre-automatic driving mode according to an embodiment of the application.
- FIG. 8A is a flowchart of an example of a driving control method provided by an embodiment of this application.
- FIG. 8B is a flowchart of an example of a driving control method provided by an embodiment of this application.
- FIG. 9 is a structural diagram of a driving control device provided by an embodiment of the application.
- Fig. 10 is a structural diagram of another driving control device provided by an embodiment of the application.
- the present application provides a driving control method and device, which are used to implement path calculation and real-time navigation broadcast by combining high-precision maps and traditional maps, thereby improving user experience.
- the method and the device are based on the same technical concept. Since the principles of the method and the device to solve the problem are similar, the implementation of the device and the method can be referred to each other, and the repetition will not be repeated.
- the driving control device can calculate the traditional route in the traditional map, and then search the high-precision map for the target high-precision route matching the traditional route.
- the target high-precision path is matched, the real-time navigation broadcast based on the traditional path is turned on, and the automatic driving mode that uses the target high-precision path as the route navigation is turned on.
- the traditional map has the advantages of road section richness and real-time traffic information update, the traditional route calculated in the traditional map is more reasonable, and real-time navigation and broadcast according to the traditional route in the traditional map can ensure that users receive more information. More accurate traffic information; further, using the high-precision route in the high-precision map to achieve automatic driving of the vehicle can reduce the user's operability.
- the device can realize path calculation and real-time navigation broadcast through the combination of high-precision maps and traditional maps on the basis of ensuring the automatic driving of vehicles as much as possible, thereby improving user experience.
- the traditional map component may be a global positioning system (GPS) navigation map component, a Baidu map component, a Gaode map component, and the like.
- GPS global positioning system
- Baidu map component a Gaode map component
- Gaode map component a Gaode map component
- the traditional map maintained by the traditional map component contains more abundant and accurate road sections.
- the developer of the traditional map component can provide accurate real-time traffic information for it Therefore, the traditional route planning calculated by the traditional map component in the traditional map is more reasonable (less congestion, short driving time, smooth road conditions, and short total length), and the user experience is higher.
- the path calculated by the traditional map component is the traditional path ⁇ 1 in bold and black in the figure, which is represented by the road segment E , Part of F, L, J, and part of D are connected to form a path.
- High-precision map component a software component installed in the on-board equipment of the vehicle, and its direct user is the automatic driving module, which is mainly used to provide route navigation for the automatic driving module after the vehicle starts the automatic driving mode.
- the high-precision map component also has the functions of path calculation and real-time navigation and broadcasting, but since the developers of the high-precision map component focus on the accuracy of microscopic objects and details such as lane lines and road edges, they may provide real-time traffic information for them. Incomplete or inaccurate, and lack of long-term accumulated historical operation and maintenance records, so compared to traditional maps, the path of the high-precision map maintained by the high-precision map component is less reasonable and the user experience is poor.
- the path calculated by the high-precision map component in the high-precision map is referred to as a high-precision path.
- the high-precision map shown in b in FIG. 1 it is obvious that compared to the traditional map shown in a in FIG. 1, the high-precision map lacks many road sections.
- the path calculated by the high-precision map component in the high-precision map is the high-precision path ⁇ that is bolded and blacked in the figure, consisting of road sections E, F, G Part of the road section of, part of the road section of I, part of the road section of J and D are connected together.
- Real-time navigation broadcast which is a vehicle-mounted device (medium high-precision map component or traditional map component) according to the location of the vehicle on the high-precision map or traditional map to prompt the user's current location by displaying the broadcast and/or voice broadcast , Real-time traffic information, follow-up driving operations and other information.
- the automatic driving mode also known as self-driving (self-driving)
- self-driving is a mode that realizes self-driving through the automatic driving module in the on-board equipment.
- the vehicle’s on-board equipment mainly performs route navigation based on the high-precision path in the high-precision map component, and can also combine and rely on various real-time data transmitted by artificial intelligence, visual computing, radar, sensors and other components to automatically And safely operate the vehicle, so that the vehicle travels along the high-precision path selected by the user on the high-precision map.
- the manual driving mode also called manual takeover in this application, is a driving mode in which the vehicle is driven by the user operating the vehicle.
- the user can directly enter the manual driving mode by selecting or setting before the vehicle travels (for example, during or after the route planning process of the vehicle-mounted equipment), or during the automatic driving process; or when the vehicle-mounted equipment prompts the user to start the manual driving mode, start The man-machine driving mode of the vehicle.
- the on-board device when the vehicle starts to drive, if the on-vehicle device determines that the current position of the vehicle is different from the starting position in the high-precision path selected by the user, the on-board device will prompt the user to turn on the manual driving mode of the vehicle;
- the vehicle starts driving in automatic driving mode, and the on-board equipment determines that the position of the vehicle during the driving process is near the end position of a road section in the high-precision path (the end position is not the target position selected by the user, and there is no difference in the high-precision path.
- the on-board device When the end point is connected to the road section), the on-board device will also prompt the user to turn on the manual driving mode.
- the on-board equipment should prompt the user to turn on the manual driving mode in the above theoretically, if the user does not set to turn on the manual driving mode, then the on-board equipment can still rely on artificial intelligence, visual computing, and radar. , Sensors and other components transmit various real-time data for perception and positioning, and realize automatic driving in a short distance or a short time without the support of route navigation of high-precision map components.
- Preliminary automatic driving mode that is, the driving mode in which the vehicle switches between automatic driving mode and manual driving mode (or a combination of the two driving modes).
- the automatic driving mode should be activated in some sections of the road during the entire driving process, and the manual driving mode should be activated in other sections of the road.
- the high-precision route selected by the user partially matches the traditional route calculated by the traditional map component
- the road segments included in the first road segment set completely match the road segments included in the high-precision path
- the road segments included in the second road segment set do not match the road segments included in the high-precision path (that is, the road segments included in the high-precision path do not match.
- the vehicle in an ideal state, on the road section included in the first road section set (the high-precision path), the vehicle should be driven in automatic driving mode, and on the road section included in the second road section set, the vehicle should be driven manually Mode driving. Therefore, in the above situation, when the vehicle-mounted device turns on the vehicle's preparatory automatic driving mode, the vehicle-mounted device will theoretically switch the driving mode according to the actual situation during the driving process, prompting the user to turn on or actively turn on the corresponding driving mode .
- the on-vehicle device determines that the current position of the vehicle when the pre-automatic driving mode is turned on is different from the starting position of the first section of the selected high-precision path, the user is prompted to turn on the manual driving mode of the vehicle;
- the device determines that the current position is the same as the starting position of the first road section in the selected high-precision path, and prompts the user to turn on or actively turn on the automatic driving mode of the vehicle.
- the vehicle-mounted device determines that the position of the vehicle during driving is within the first range where the starting position of the first road segment in the high-precision path is located, the user is prompted to turn on the automatic driving mode of the vehicle, where , The starting position of the first road section is different from the current position, and there is no road section connected to the starting position of the first road section in the second high-precision path.
- the vehicle-mounted device determines that the position of the vehicle during driving is within the second range where the end position of the second road segment in the high-precision path is located, the user is prompted to turn on the manual driving mode of the vehicle, wherein, The end position of the second road section is different from the target position, and there is no road section connected to the end position of the second road section in the second high-precision path.
- Road sections used to compose maps and paths.
- the road section is a traffic line between two adjacent traffic nodes, the middle of which is continuous and there is no interruption.
- one road section can also be multiple shorter road sections, and multiple road sections (the same traffic node exists between two adjacent road sections) can form a longer road section.
- the path is formed by an orderly arrangement of at least one road section from the starting position to the target position, such as the traditional path calculated by the traditional map shown in a in Figure 1, and the height shown in b in Figure 1.
- traditional map components and high-precision map components calculate paths based on the starting position and the target position. Generally, it is a path that connects the starting position and the target position with uninterrupted traffic in between. Line, the path shown in a and b in Figure 1.
- the high-precision map component in the vehicle-mounted device matches the traditional path with the high-precision map to try to find the path that is the same or the most similar to the traditional path in the high-precision map. There may be an interruption in the high-precision path found on the map.
- Path matching including two types:
- the first matching type executed by the high-precision map component, matching the traditional path with the high-precision map, and trying to find the high-precision path that is the same or the most similar to the traditional path in the high-precision map.
- the second matching type executed by the traditional map component, matching the high-precision path with the traditional map, and trying to find the traditional path that is the same or the most similar to the high-precision path in the traditional map.
- the high-precision map component executes the first matching type.
- the traditional path calculated by the traditional map component is matched with the high-precision map, it is possible The following three results will appear:
- the first result the traditional path fails to match the high-precision map, and the high-precision map component fails to find the high-precision path in the high-precision map.
- the traditional path is successfully matched with the high-precision map
- the high-precision map component finds a high-precision path that exactly matches the traditional path in the high-precision map.
- the sections of the found high-precision path are exactly the same as the sections of the traditional path, and all of the following conditions are specifically met:
- the start position of the first section of the high-precision path is the same as the start position of the first section of the traditional path, that is, the first section of the high-precision path is the same as the first section of the traditional path.
- the end position of the last section of the high-precision path is the same as the end position of the last section of the traditional path, that is, the last section of the high-precision path is the same as the last section of the traditional path.
- the traditional path is successfully matched with the high-precision map, and the high-precision map component finds a high-precision path that partially matches the traditional path.
- the partially matched high-precision path satisfies any one or more of the following conditions:
- the start position of the first section of the high-precision path is different from the start position of the first section of the traditional path, that is, the first section of the high-precision path is different from the first section of the traditional path.
- the high-precision path that partially matches the traditional path lacks at least one of the road sections.
- the high-precision route lacks the first section of the traditional route, or the last section of the traditional route, or the middle section of the traditional route.
- the traditional path includes two road section sets: a first road section set and a second road section set.
- Each road section set contains at least one road section, wherein the road section in the first road section set matches the part
- the road segments included in the high-precision path completely match, and the road segments included in the second road segment set do not match the road segments included in the partially matched high-precision path.
- Example 1 Refer to Figure 2 and continue to take the traditional map and high-precision map shown in Figure 1 as examples.
- the high-precision map component matches the traditional path ⁇ 1 calculated by the traditional map with the high-precision map to try to find the path that is the same or the most similar to the traditional path ⁇ 1 in the high-precision map
- the high-precision map component will search To the high-precision path ⁇ 1 that partially matches the traditional path ⁇ 1, as shown in FIG. 2.
- the high-precision path ⁇ 1 is a path composed of parts of road sections E and F, and parts of road sections J and D. Due to the lack of link L in the high-precision map, there is an interruption between a part of the road section F in the high-precision path ⁇ 1 and the road section J, and they are not directly connected.
- Example 2 Refer to Figure 3 and continue to take the traditional map and high-precision map shown in Figure 1 as examples.
- the traditional path calculated by the traditional map component is the bolded and blacked traditional path ⁇ 2 shown in a in FIG. Parts of I, J, and parts of D are connected together.
- the high-precision map component matches the traditional path ⁇ 2 with the high-precision map, and finds a high-precision path ⁇ 2 that partially matches the traditional path ⁇ 2, as shown in b in FIG. 3, where the high-precision map There is a lack of road segment M. Therefore, the high-precision path ⁇ 2 is a path composed of parts of H, parts of I, J, and parts of D. In this scenario, compared to the traditional path ⁇ 2, the high-precision path ⁇ 2 lacks part of the M section.
- Example 3 Refer to Figure 4, and continue to take the traditional map and high-precision map shown in Figure 1 as examples.
- the traditional path calculated by the traditional map component is the bolded and blacked traditional path ⁇ 3 shown in a in Fig. 4 , Is composed of a part of the path M, a part of H, a part of I, a part of J, and a part of k.
- the high-precision map component matches the traditional path ⁇ 3 with the high-precision map, and finds a high-precision path ⁇ 3 that partially matches the traditional path ⁇ 3, as shown by the bold and black path shown in b in FIG.
- the high-precision path ⁇ 3 is a path composed of a part of the road of H, a part of the road of I, and a part of the road of J. In this scenario, compared to the traditional path ⁇ 3, the high-precision path ⁇ 3 lacks the part of the road section of M and the part of the road section of K.
- the on-vehicle device implements real-time navigation and broadcasting through the traditional route in the traditional map. Therefore, the traditional route used as the basis of the real-time navigation and broadcasting needs to be completely consistent with the high-precision route to be matched. For this reason, in the embodiment of the present application, when the traditional map component executes the second matching type to match the high-precision path calculated by the high-precision map component with the traditional map, the following two results may occur:
- the high-precision route fails to match the traditional map, and the traditional map component is that the traditional route is not found in the traditional map.
- the high-precision path is successfully matched with the traditional map, and the traditional map component finds a traditional path that exactly matches the high-precision path in the traditional map.
- the found road segments included in the traditional path are exactly the same as the road segments included in the high-precision path, and all the following conditions are specifically met:
- the start position of the first road section in the traditional path is the same as the start position of the first road section in the high-precision path, and the first road section in the traditional path is the same as the first road section in the high-precision path.
- Multiple refers to two or more.
- At least one refers to one or more.
- the driving control method provided in the embodiments of the present application may be applied to a vehicle that can realize automatic driving. Specifically, the method may be carried in a separate vehicle-mounted device through software.
- vehicle-mounted equipment may also be referred to as vehicle-mounted electronic equipment, vehicle-mounted computer, driving control device, driving control equipment, etc., which is not limited in this application.
- the vehicle may include: on-board sensors, driver input devices, on-board equipment, human-computer interaction input and output devices, motors, and so on. The following is an introduction to the various components in the vehicle.
- Vehicle-mounted sensors are used to collect various sensor data of the vehicle in real time. As shown in the figure, some examples of the vehicle-mounted sensor are: a vehicle speed sensor, a shaft rotation speed sensor, a wheel speed sensor, an acceleration sensor, a roll angle sensor, and the like. Among them, the vehicle speed sensor can measure the speed of the vehicle in the set direction; the shaft speed sensor can measure the rotation speed of the motor shaft; the wheel speed sensor can measure the rotation speed of the wheels of the vehicle; the acceleration sensor can measure the acceleration of the vehicle in the set direction; The roll angle sensor can measure the roll angle of the vehicle.
- the driver input device is operated by the driver (hereinafter referred to as the user) when the vehicle is in the manual driving mode, and may specifically include a steering wheel, an accelerator pedal and a brake pedal, a manual gear rocker, an automatic gear controller, etc., Used to receive the user's driving intention and generate corresponding input data. For example, after the user operates the steering wheel, the steering wheel generates a steering wheel angle.
- the human-computer interaction input and output device is used to realize the communication and communication that can understand and recognize each other between the user and the vehicle, and is a component that realizes the human-computer interaction.
- the human-computer interaction input and output device may include, but is not limited to: a display screen, physical buttons, audio circuits, and the like.
- the display screen can be a touch screen, which can not only present the user interface or the playback interface of multimedia files, but also collect the user's touch operations on or near it, generate corresponding touch information and send it to the vehicle-mounted device.
- the vehicle-mounted device executes the instruction corresponding to the touch information. For example, when the vehicle is turning on the real-time navigation broadcast function, it can display a traditional map (including a traditional route) or a high-precision map (including a high-precision route) and some real-time traffic information on the display screen.
- the in-vehicle device obtains multiple paths through path calculation, the multiple paths and the path information of each path may be displayed on the display screen to prompt the user for the user to select the target path.
- the vehicle-mounted device determines that it is necessary to switch the driving mode, the user can be reminded by displaying a prompt message on the display screen.
- the physical button can collect user's button operation, generate button information and send it to the vehicle-mounted device, so that the vehicle-mounted device executes the command corresponding to the button information.
- the audio circuit including a speaker and a microphone, can provide an audio interface between the user and the vehicle-mounted device.
- the audio circuit can convert the audio data received from the vehicle-mounted device into an electric signal, and transmit it to the speaker, and the speaker converts the electric signal into an audio signal (ie, sound wave) for output.
- the microphone can convert the collected audio signal into an electric signal, and after being received by the audio circuit, the electric signal is converted into audio data for further processing such as transmission, analysis or storage.
- the audio circuit may also include an earphone interface for connecting wired earphones.
- speakers also called “speakers” and “speakers” are used to convert electrical signals carrying audio data into audio signals and output them.
- in-vehicle devices can play music, broadcast through speakers, and send out various voice prompts and other voice information when the in-vehicle device turns on real-time navigation and broadcasting.
- Microphones also called “microphones” and “microphones”, are used to collect audio signals in the surrounding environment of the vehicle-mounted equipment (for example, sounds made by users, etc.), and convert the audio signals into electrical signals that carry audio signals.
- the microphone can collect audio signals related to operations such as selecting a target path spoken by the user.
- the motor can generate corresponding torque according to the torque control command issued by the on-board equipment, or according to the input data input by the user through the driver input device, as the power source for the driving of the vehicle.
- Vehicle-mounted equipment can realize real-time navigation and broadcast, route navigation, driving control, positioning, network functions, information indication, entertainment, security, vehicle stability control and other functions, and can satisfy users' navigation, daily affairs processing, entertainment, etc. need. It should be noted that the above functions can be integrated into one in-vehicle device or distributed in multiple in-vehicle devices, but the multiple in-vehicle devices can communicate and interact with each other in order to obtain data for realizing their corresponding functions.
- the vehicle-mounted equipment can use various interfaces and lines to connect to other components, and execute or execute software programs and/or modules stored in the internal memory and call the data stored in the memory.
- Various functions of the vehicle equipment Exemplarily, in the embodiments of the present application, according to the specific logical functions of the on-board equipment, the on-board equipment can be divided into the following modules: automatic driving module, high-precision map component, driving control module, power execution module, human-computer interaction Module, traditional map component.
- the automatic driving module is used to perform route navigation according to the high-precision map when the vehicle starts the automatic driving mode, and rely on various real-time data transmitted by components such as artificial intelligence, visual computing, radar and on-board sensors, and according to the current driving of the vehicle Under the circumstances, the vehicle’s steering demand and braking/driving demand are automatically detected, and the maneuverability and stability of the vehicle are controlled through the driving control module, so that the vehicle can automatically and safely follow the high-precision path selected by the user in the high-precision map Driving.
- the automatic driving module can be integrated with advanced driver assistance system (ADAS), electronic stability program (ESP), etc., to ensure the safety and stability of the vehicle during the automatic driving process. sex.
- ADAS advanced driver assistance system
- ESP electronic stability program
- the high-precision map component maintains a high-precision map for providing route navigation for the automatic driving module according to the high-precision path in the high-precision map.
- the high-precision map component also has path calculation and real-time navigation and broadcast functions.
- the traditional map component maintains a traditional map for providing users with high-quality route calculation and real-time navigation and broadcast functions based on the traditional map.
- the traditional map component has long-term accumulated historical operation and maintenance records and can have real-time traffic information update functions. Therefore, the traditional map maintained by it has obvious road section richness and accuracy.
- the traditional route planning of component calculation is more reasonable, and the real-time navigation broadcast is more accurate and rich.
- the driving control module as the control center of the on-board equipment, can reasonably arrange the driving mode of the vehicle. And in different driving modes, the driving control module can acquire various data from on-board sensors, driver input devices, and other modules in the on-board equipment, and process the acquired data, thereby implementing the embodiments of the present application Provides driving control methods, as well as vehicle maneuverability and stability control.
- the driving control module has a dynamics control function, which can control the driving and stability of the vehicle. Further, the driving control module may include a dynamics control function unit for completing the calculation of the vehicle control amount according to the driving condition of the vehicle, and converting the control amount into a driving/braking torque demand.
- the power execution module is used to send the provincial torque control command to the motor according to the driving/braking torque demand of the dynamics control unit in the driving control module.
- the human-computer interaction module is connected to the vehicle's human-computer interaction input and output device for communication and interaction. Specifically, the human-computer interaction module receives the instruction input by the human-computer interaction input and output device, and feeds it back to the driving control module to execute the operation corresponding to the instruction; and receives the interaction command output by the driving control module, and The interactive command is sent to the human-computer interaction input and output component, and displayed or prompted to the user through a display screen, audio circuit, etc.
- the structure of the vehicle-mounted device shown in FIG. 5A does not constitute a limitation on the vehicle-mounted device.
- the vehicle-mounted device provided in the embodiment of the present application may include more or less modules than those shown in the figure, or a combination of some Some modules, or different component arrangements.
- the vehicle-mounted device may also include a wireless communication module, a communication interface, a human-computer interaction input and output component, and the like.
- the vehicle may also include other devices and components, which are not limited in this application.
- the embodiment of the present application provides a driving control method, which may be executed by an in-vehicle device that controls a driving mode of a vehicle as shown in FIG. 5A.
- a driving control method which may be executed by an in-vehicle device that controls a driving mode of a vehicle as shown in FIG. 5A.
- FIG. 5B the flow of the driving control method provided by the embodiment of the present application will be described.
- the in-vehicle device calculates the first traditional path in the traditional map according to the first position (the starting position of the vehicle, such as the current position) and the second position (the end position of the vehicle, such as the target position the user expects to reach).
- the first traditional route calculated in the traditional map is the most reasonable route planned for the current route, that is, the The first traditional path meets the following characteristics: less congestion, short driving time, smooth road conditions, and short overall length.
- the in-vehicle device searches for a target high-precision path matching the first traditional path in a high-precision map according to the first traditional path, The target high-precision path is found on the map.
- the in-vehicle device attempts to find the same or the most similar high-precision route as the first traditional route in the high-precision map as the basis for the route navigation of automatic driving, so as to make the in-vehicle device use all-based
- the target high-precision path that matches the first traditional path may be any of the following conditions:
- Condition 1 The target high-precision path completely matches the first traditional path, that is, the first traditional path and the road sections included in the first high-precision path are the same.
- the target high-precision path partially matches the first traditional path. That is, the road sections included in the target high-precision path are less than the road sections included in the first traditional path.
- the target high-precision path may lack the first road section and the last road section in the first traditional path, or The middle section.
- the in-vehicle device starts a real-time navigation broadcast based on the first traditional path, and starts taking the target high-precision path as Autopilot mode for route navigation.
- the in-vehicle device can perform real-time navigation and broadcast according to the first traditional path under the condition that the target high-precision path that completely matches with the first traditional path is obtained, and according to the complete match with the first traditional path.
- the target high-precision path for automatic driving so that on the basis of ensuring that the vehicle adopts the automatic driving mode, the traditional map is used for path calculation and real-time navigation broadcast, which can improve the user experience.
- the target high-precision path may lack the first road section, the last road section, or the middle road section in the first traditional path.
- each first candidate high-precision route obtained by recalculating the route in the high-precision map by the vehicle-mounted device is the same as the first traditional route.
- the paths are dissimilar or have low similarity. Therefore, in fact, each first candidate high-precision path may have detours, long driving time, and long total length.
- the in-vehicle device displays the high-precision map on the display screen, displays the target high-precision path in the high-precision map, and displays at least one of the following information or a combination: the start of the target high-precision path Start position, the end position of the target high-precision path, the duration of each manual driving, the distance of each manual driving, the length of each automatic driving, the distance of each automatic driving, the total time of manual driving, the total length of manual driving The total distance, the total time of automatic driving, and the total distance of automatic driving; and the on-board equipment displays each first candidate high-precision path on the high-precision map, and displays the number of each first candidate high-precision path At least one of the following information or a combination: the total length of each first candidate high-precision path, the total length of automatic driving corresponding to each first candidate high-precision path, and each first candidate high-precision path The length difference of the first traditional path.
- the in-vehicle device can prompt the user with the path information of the target high-precision path and each first to-be-selected high-precision path, so that the user can comprehensively consider the above information to make a selection.
- the in-vehicle device can receive the user's first path selection instruction from the human-computer interaction input and output components such as the display screen, audio circuit, or physical keys through the internal human-computer interaction module, and according to the first path selection instruction Determine the high-precision path selected by the user among the second high-precision path and the at least one first candidate high-precision path.
- the in-vehicle device When it is determined that the user selects the target high-precision path according to the first path selection instruction, the in-vehicle device starts a real-time navigation broadcast based on the first traditional path, and starts to use the target high-precision path Preliminary autopilot mode for route navigation.
- the preparatory automatic driving mode is a driving mode in which the vehicle switches between an automatic driving mode and a manual driving mode.
- the target high-precision path is a partially matched path and lacks a part of the road section relative to the first traditional path
- the probability that the target high-precision path is actually the same as the first traditional path is higher. high. Therefore, if the user chooses to use the target high-precision path, the missing section of the road is theoretically safer to drive in manual driving mode. Therefore, the on-board device can use the preparatory automatic driving mode to prompt the user to This part of the road section is driven in the manual driving mode, and the road section included in the second high-precision path is driven in the automatic driving mode.
- the in-vehicle device can perform real-time navigation and broadcast according to the first traditional route, and perform preparatory automatic driving according to the target high-precision route partially matching the first traditional route, thereby ensuring
- the use of traditional maps for route calculation and real-time navigation broadcasts can be realized, thereby improving the user experience.
- the in-vehicle device determines A traditional map is searched for a first target traditional path that completely matches the first high-precision path, wherein the road sections included in the first target traditional path are the same as the road sections included in the first high-precision path.
- the route of the first high-precision path is different from that of the first traditional path, if the vehicle performs automatic driving according to the first high-precision path, the on-board equipment cannot follow the first traditional path.
- Real-time navigation broadcast In order to improve user experience, try to use traditional routes as the basis for real-time navigation and broadcast.
- the vehicle-mounted device can match the first high-precision route with the traditional map in an attempt to find the first high-precision route in the traditional map.
- a traditional path that fully matches the high-precision path is used as the basis for real-time navigation and broadcast.
- the in-vehicle device can search for the first target traditional path that exactly matches the first high-precision path in the traditional map, and perform real-time navigation and broadcast according to the first target traditional path, and according to the Autonomous driving on the first high-precision path.
- the first high-precision path may have detours, long driving time, etc.
- the in-vehicle device determines that the first target traditional path matching the first high-precision path cannot be found in the traditional map
- the first high-precision path is used for real-time navigation and broadcast and Automatic driving, thereby ensuring that the vehicle adopts a full-range automatic driving mode.
- the in-vehicle device uses the first high-precision path to perform real-time navigation and broadcast, which can also basically guarantee the user's real-time navigation and broadcast requirements, and ultimately ensure the user experience.
- the in-vehicle device searches for a target high-precision path matching the first traditional path in a high-precision map according to the first traditional path, and the in-vehicle device searches for a target high-precision path in the high-precision map according to the first traditional path.
- the target high-precision path is not found in the fine map; the on-board device calculates at least one second high-precision path to be selected in the high-precision map according to the first position and the second position.
- each second candidate high-precision path obtained by recalculating the path in the high-precision map by the vehicle-mounted device is the same as the first high-precision path.
- a traditional route is dissimilar or has a low degree of similarity. Therefore, in fact, every second candidate high-precision route may have detours, longer driving times, and longer total lengths.
- the in-vehicle device displays the high-precision map on the display screen, displays each second candidate high-precision path in the high-precision map, and displays at least one of the following information or a combination: each second candidate The total length of the selected high-precision path, the total time length of automatic driving corresponding to each second candidate high-precision path, and the length difference between each second candidate high-precision path and the first traditional path.
- the in-vehicle device can prompt the user of the path information of each second to-be-selected high-precision path, so that the user can comprehensively consider the above information to make a selection.
- the in-vehicle device may receive the user's second path selection instruction from the human-computer interaction input and output components such as the display screen, audio circuit, or physical keys through the internal human-computer interaction module, and according to the second path selection instruction Determine the second high-precision path selected by the user among the at least one second candidate high-precision path.
- S514 The in-vehicle device searches the traditional map for a second target traditional path that completely matches the second high-precision path according to the second high-precision path.
- the road sections included in the second target traditional path are the same as the road sections included in the second high-precision path.
- the in-vehicle device cannot follow the first traditional path.
- Real-time navigation broadcast In order to improve user experience, try to use traditional routes as the basis for real-time navigation and broadcast.
- the vehicle-mounted device can match the second high-precision route with the traditional map in an attempt to find the second high-precision route in the traditional map.
- Two high-precision paths that completely match the traditional paths are used as the basis for real-time navigation and broadcast.
- the in-vehicle device can search for the second target traditional path that exactly matches the second high-precision path in the traditional map, and perform real-time navigation and broadcast according to the second target traditional path, and according to the Autonomous driving is carried out on the second high-precision path.
- the second high-precision route may have detours, long driving time, etc.
- the second high-precision path is used for real-time navigation and broadcast and Automatic driving, thereby ensuring that the vehicle adopts a full-range automatic driving mode.
- the in-vehicle device uses the second high-precision path to perform real-time navigation and broadcast, which can also basically guarantee the user's real-time navigation and broadcast requirements, and ultimately ensure the user experience.
- the embodiment of the present application provides a driving control method.
- the vehicle-mounted device can calculate the traditional route in the traditional map, and then find the target high-precision route matching the traditional route in the high-precision map, and when the traditional route is found When the target high-precision path is completely matched, the real-time navigation broadcast based on the traditional path is turned on, and the automatic driving mode that uses the target high-precision path as the route navigation is turned on. Because the traditional map has the advantages of road section richness and real-time traffic information update, the traditional route calculated in the traditional map is more reasonable, and real-time navigation and broadcast according to the traditional route in the traditional map can ensure that users receive more information.
- the device can realize path calculation and real-time navigation broadcast through the combination of high-precision maps and traditional maps on the basis of ensuring the automatic driving of vehicles as much as possible, thereby improving user experience.
- the embodiment of the present application also provides an example of a driving control method.
- the example is described below by taking the on-board equipment in the vehicle shown in FIG. 5A as an example.
- the vehicle-mounted equipment includes a driving control module, an automatic driving module, a human-computer interaction module, a traditional map component, a high-precision map component, and other modules.
- the traditional map component is used for route calculation and real-time navigation broadcast according to the traditional map
- the high-precision map component is used for providing route navigation for vehicles in automatic driving mode according to the high-precision map, and according to the high-precision map Carry out path calculation and real-time navigation broadcast.
- the method specifically includes the following steps:
- the driving control module calculates the first traditional route in the traditional map through the traditional map component according to the current position of the vehicle and the target location that the user expects to reach.
- the target location may be inputted by the user into the on-board equipment, or determined by the driving control module based on the historical driving record of the vehicle, which is not limited in this application.
- the driving control module may start to execute the solution after receiving the route planning request of the user through the human-computer interaction module.
- the first traditional route calculated by the traditional map component is the most reasonable route planned for the current route, that is, the first route.
- a traditional route meets the following characteristics: less congestion, short driving time, smooth road conditions, and short overall length.
- the driving control module matches the first traditional route with a high-precision map through a high-precision map component.
- the driving control module may input the first traditional route obtained from the traditional map component into the high-precision map component, and the high-precision map component performs path matching.
- the driving control module tries to find the same or most similar high-precision route as the first traditional route in the high-precision map as the basis of route navigation for automatic driving, so as to allow the driving control module to use it as much as possible Real-time navigation and broadcast based on the first traditional route, and automatic driving based on a high-precision route that completely matches the first traditional route, so that the use of traditional maps for route routing is realized on the basis of making the vehicle adopt the automatic driving mode as much as possible Calculation and real-time navigation and broadcasting can improve user experience.
- the driving control module may produce three results after executing S602 through the high-precision map component:
- the first result the first traditional path is successfully matched with the high-precision map, and the high-precision map component finds a first high-precision path that exactly matches the first traditional path.
- the first traditional path and the road sections included in the first high-precision path are the same.
- the first traditional path is successfully matched with the high-precision map, but the high-precision map component finds a second high-precision path that partially matches the first traditional path.
- the road sections included in the second high-precision path are less than the road sections included in the first traditional path.
- the second high-precision path may lack the first road section and the last road section in the first traditional path. Road section, or intermediate section.
- the third result the first traditional path fails to match the high-precision map, and the high-precision map component does not find a high-precision path that is the same or similar to the first traditional path.
- the driving control module determines that the path matching result obtained in S602 is the above-mentioned first result.
- the driving control module turns on the real-time navigation and broadcast function of the traditional map component so that the traditional map component can perform real-time navigation and broadcast based on the first traditional path, and
- the route navigation function of the high-precision map component and the automatic driving mode of the automatic driving module are turned on, so that the automatic driving module can use the first high-precision route as the route navigation for automatic driving.
- the driving control module can perform real-time navigation and broadcast according to the first traditional route in the case of obtaining a first high-precision route that completely matches the first traditional route, and according to the first traditional route.
- the fully-matched first high-precision path is used for automatic driving, so that on the basis of ensuring that the vehicle adopts the automatic driving mode, the traditional map is used for path calculation and real-time navigation broadcast, which can improve the user experience.
- the driving control module determines that the path matching result obtained in S602 is the above-mentioned second result, that is, when the driving control module determines that the high-precision map component is found in the high-precision map to match the first
- a second high-precision path is partially matched by a traditional path, at least one first candidate high-precision path is calculated in the high-precision map through the high-precision map component according to the current position and the target position.
- the road sections included in the second high-precision path are less than the road sections included in the first traditional path, for example, as shown in FIGS. 2 to 4.
- each first candidate high-precision route obtained by recalculating the route by the high-precision map component is not similar or similar to the first traditional route Therefore, in fact, every first candidate high-precision path may have detours, longer driving time, and longer total length.
- the driving control module may prompt the user with the path information of the second high-precision path and the at least one first candidate high-precision path by means of display and/or voice prompts. Path information of each first candidate high-precision path.
- the driving control module may prompt the user with the path information of the second high-precision path by displaying on the display screen. Since the second high-precision path is a partially matched path, a part of the road segment is missing compared to the first traditional path. Therefore, if the user selects the second high-precision path to drive, the missing part of the road may require the vehicle to adopt a manual driving mode Driving, that is, the second high-precision path cannot achieve full automatic driving of the vehicle, so the user needs to be reminded so that the user can comprehensively consider the above conditions and then select the target high-precision path.
- Driving that is, the second high-precision path cannot achieve full automatic driving of the vehicle
- the driving control module may prompt the path information of the second high-precision path through the following steps:
- the driving control module displays the high-precision map on the display screen through the human-computer interaction module, displays the second high-precision path on the high-precision map, and displays at least one or a combination of the following:
- the user can further understand the second high-precision path, which facilitates subsequent comparison and selection of the target high-precision path.
- the driving control module may also only display the second high-precision path in the high-precision map, and prompt the user with the above information of the second high-precision path by way of voice prompts.
- the driving control module may prompt the user of the path information of the second high-precision path through a combination of display and voice prompts.
- the driving control module may prompt the user with the path information of each first to-be-selected high-precision path by displaying on the display screen, which may specifically include the following steps:
- the driving control module displays each first candidate high-precision route in the high-precision map through the human-computer interaction module, and displays at least one of the following information or a combination of each first candidate high-precision route:
- each first to-be-selected high-precision path The total length of each first to-be-selected high-precision path, the total length of automatic driving corresponding to each first to-be-selected high-precision path, and the length difference between each first to-be-selected high-precision path and the first traditional path.
- each first candidate high-precision path has a lower similarity with the first traditional path, so each first candidate high-precision path may have detours and driving time
- the driving control module can display the above information of each first candidate high-precision route to the user, so that the user can further understand each first candidate high-precision route. It is convenient for users to analyze, compare and filter the paths in the follow-up.
- the driving control module may also only display each first candidate high-precision route in the high-precision map, and prompt the user with the above information of each first candidate high-precision route by means of voice prompts.
- the driving control module may prompt the user of the path information of each first high-precision path to be selected by a combination of display and voice prompts.
- the driving control module may receive the first route selection instruction of the user from the display screen, audio circuit, or physical button and other human-machine interactive input and output components through the internal human-computer interaction module, and select the first route according to the first route.
- the instruction determines the target high-precision path selected by the user among the second high-precision path and the at least one first candidate high-precision path.
- the target high-precision path may be the second high-precision path, or any first high-precision path to be selected.
- the driving control module When the target high-precision path is the second high-precision path, the driving control module enables the real-time navigation and broadcast function of the traditional map component so that the traditional map component can be based on the first traditional route Carry out real-time navigation and broadcast, and turn on the route navigation function of the high-precision map component and the pre-autopilot mode of the autopilot module, so that the autopilot module can use the second high-precision route as the route to navigate automatically drive.
- the preparatory automatic driving mode is a driving mode in which the vehicle switches between an automatic driving mode and a manual driving mode.
- the second high-precision path is a partially matched path and lacks a part of the road section relative to the first traditional path
- the second high-precision path is actually the same as the first traditional path.
- the probability is higher. Therefore, if the user chooses to use the second high-precision path, the missing section of the road is theoretically safer to drive in manual driving mode. Therefore, the driving control module can activate the preliminary automatic driving mode, so that the This part of the road section prompts the user to drive in the manual driving mode, and the road section included in the second high-precision path is driven in the automatic driving mode.
- the driving control module can perform real-time navigation and broadcast according to the first traditional route, and perform preliminary automatic driving according to the second high-precision route partially matching the first traditional route, thereby
- the use of traditional maps for route calculation and real-time navigation and broadcasting can be realized, which can improve the user experience.
- the driving control module uses the traditional map component to compare the third high-precision path with The traditional map performs matching.
- the driving control module cannot proceed according to the first traditional route.
- Real-time navigation broadcast In order to improve user experience, try to use traditional routes as the basis for real-time navigation and broadcast.
- the driving control module can match the third high-precision route with the traditional map to try to find and match the traditional map.
- the third high-precision path completely matches the traditional path as the basis for real-time navigation and broadcast.
- the driving control module may produce two results after executing S608 through the traditional map component:
- the third high-precision path is successfully matched with the traditional map, that is, the traditional map component finds a second traditional path that exactly matches the third high-precision path in the traditional map.
- the third high-precision path and the second traditional path include the same road sections.
- the third high-precision path fails to match the traditional map, that is, the traditional map component does not find the same traditional path as the third high-precision path in the traditional map.
- the traditional map contains more abundant and accurate road sections than the high-precision map. Therefore, the traditional map component will generally find the third highest in the traditional map.
- the second traditional path that is completely matched in the fine path, that is, the driving control module has a higher probability of obtaining the first result.
- the driving control module determines that the path matching result obtained in S608 is the above-mentioned first result, that is, when the driving control module determines that the traditional map component finds the third highest result in the traditional map.
- the driving control module turns on the real-time navigation and broadcast function of the traditional map component so that the traditional map component can perform real-time navigation and broadcast based on the second traditional route, and turn on all
- the route navigation function of the high-precision map component and the automatic driving mode of the automatic driving module are described, so that the automatic driving module can use the third high-precision route as the route navigation for automatic driving.
- the driving control module can perform real-time navigation and broadcast according to the second traditional route when it is determined that the traditional map component finds a second traditional route that exactly matches the third high-precision route, and according to the The third high-precision path is for automatic driving.
- the third high-precision path may have detours, long driving time, etc., it is possible to use traditional maps for real-time navigation and broadcast on the basis of ensuring that the vehicle adopts the full automatic driving mode, so the user experience can still be guaranteed .
- the driving control module determines that the path matching result obtained in S608 is the second result, that is, when the driving control module determines that the traditional map component fails to match, the driving control module turns on the high-precision The real-time navigation broadcast and route navigation functions of the map component, as well as the automatic driving mode of the automatic driving module, so that the high-precision map component can perform real-time navigation and broadcast based on the third high-precision route, and enable the automatic
- the driving module can use the third high-precision route as route navigation for automatic driving.
- the driving control module determines that the traditional route that matches the third high-precision route cannot be found in the traditional map.
- the driving mode ensures that the vehicle adopts a full-range automatic driving mode.
- the driving control module uses the third high-precision path for real-time navigation and broadcast, which can ensure the user's real-time navigation and broadcast requirements, and ultimately ensure the user experience.
- the path matching result obtained by the driving control module in S602 is the third result mentioned above, that is, when the driving control module determines that the high-precision map component fails to match (the first traditional path and the high-precision When the map matching fails), the driving control module calculates at least one second candidate high-precision path in the high-precision map through the high-precision map component according to the current position and the target location.
- each first candidate high-precision route obtained by re-calculating the route by the high-precision map component is not similar to the first traditional route Or the similarity is low, so in fact, every first candidate high-precision path may have detours, longer driving time, and longer total length.
- the driving control module may prompt the user with the path information of each second candidate high-precision path in the at least one second candidate high-precision path by means of display and/or voice prompts on the display screen .
- the vehicle-mounted vehicle may prompt the user with the path information of each second to-be-selected high-precision path by displaying on the display screen, which may specifically include the following steps:
- the driving control module displays the high-precision map on the display screen through the human-computer interaction module, displays each second candidate high-precision route in the high-precision map, and displays at least one of the following information or a combination:
- each second to-be-selected high-precision path The total length of each second to-be-selected high-precision path, the total length of automatic driving corresponding to each second to-be-selected high-precision path, and the length difference between each second to-be-selected high-precision path and the first traditional path.
- each second candidate high-precision path is different from the first traditional path, each second candidate high-precision path may have detours, long driving time, and long total length. Therefore, The driving control module can display the above information of each second candidate high-precision route to the user, so that the user can further understand each second candidate high-precision route, which is convenient for the user to analyze, compare, and filter subsequent paths.
- the driving control module may also only display each second candidate high-precision route in the high-precision map, and prompt the user with the above information of each second candidate high-precision route by means of voice prompts In this way, the driving control module can prompt the user of the route information of each second to-be-selected high-precision route through a combination of display and voice prompts.
- the driving control module receives the second route selection instruction of the user from the human-machine interactive input and output components such as the display screen, audio circuit or physical keys through the internal human-computer interaction module, and according to the second route selection instruction Determine the fourth high-precision path selected by the user among the at least one second candidate high-precision path.
- the driving control module matches the fourth high-precision path with the traditional map through the traditional map component.
- the driving control module Since the fourth high-precision route is different from the first traditional route, if the vehicle is automatically driven according to the fourth high-precision route, the driving control module cannot follow the first traditional route. Carry out real-time navigation broadcast. In order to improve user experience, try to use traditional routes as the basis for real-time navigation and broadcast.
- the driving control module can match the fourth high-precision route with the traditional map in an attempt to find and The fourth high-precision path, which completely matches the traditional path, is used as the basis for real-time navigation and broadcast.
- the driving control module may also produce two results after executing S614 through the traditional map component:
- the fourth high-precision path is successfully matched with the traditional map, that is, the traditional map component finds a third traditional path that exactly matches the fourth high-precision path in the traditional map.
- the fourth high-precision path and the third traditional path include the same road sections.
- the fourth high-precision path fails to match the traditional map, that is, the traditional map component does not find the same traditional path as the fourth high-precision path in the traditional map.
- the driving control module determines that the path matching result obtained in S614 is the above-mentioned first result, that is, when the driving control module determines that the traditional map component finds the fourth highest result in the traditional map.
- the real-time navigation and broadcast function of the traditional map component is turned on so that the traditional map component performs real-time navigation and broadcast based on the third traditional route, and the route of the high-precision map component is turned on
- the navigation function and the automatic driving mode of the automatic driving module so that the automatic driving module can use the fourth high-precision route as a route navigation for automatic driving.
- the driving control module can perform real-time navigation and broadcast according to the third traditional route when it is determined that the traditional map component finds a third traditional route that exactly matches the fourth high-precision route, and according to the The fourth high-precision path is for automatic driving.
- the vehicle may have detours and long driving time when driving to the target location, it is possible to use traditional maps for real-time navigation and broadcast on the basis of ensuring that the vehicle adopts the full automatic driving mode, so it can still be guaranteed user experience.
- the driving control module determines that the path matching result obtained in S614 is the above-mentioned second result, that is, when the driving control module determines that the traditional map component fails to match (when the fourth high-precision path matches the When the traditional map matching fails), the driving control module turns on the real-time navigation broadcast and route navigation functions of the high-precision map component, and turns on the automatic driving mode of the automatic driving module, so that the high-precision map component can be based on The fourth high-precision path performs real-time navigation and broadcast, and enables the automatic driving module to use the fourth high-precision path as a path to navigate and perform automatic driving.
- the driving control module determines that the traditional route that matches the fourth high-precision route cannot be found in the traditional map, it uses the real-time navigation and broadcast function of the fourth high-precision route and the automatic The driving mode ensures that the vehicle adopts a full-range automatic driving mode.
- the driving control module uses the fourth high-precision path for real-time navigation and broadcast, which can ensure the user's real-time navigation and broadcast requirements, and ultimately ensure the user experience.
- an embodiment of the present application also provides a vehicle start-up automatic driving mode.
- Driving control method after mode For example, after the in-vehicle device starts the preliminary automatic driving mode in S607, the following steps are included:
- the driving control module determines that the current position is different from the start position of the first road section in the second high-precision path (for example, the second high-precision path is the high-precision path shown in b in FIG. 3).
- the path ⁇ 2, or the high-precision path ⁇ 3 shown in b in Figure 4 prompts the user to turn on the manual driving mode of the vehicle; or if the on-board equipment determines that the current position and the second high
- the start position of the first road section in the fine path is the same (for example, the second high-precision path is the high-precision path ⁇ 1 shown in b in FIG. 2), then the user is directly turned on or prompted to turn on the automatic driving mode of the vehicle.
- the in-vehicle device determines that the position of the vehicle during driving is within the first range where the starting position of the first road section in the second high-precision path is located, the user is prompted to turn on the vehicle Automatic driving mode (ie switching driving mode), wherein the starting position of the first road section is different from the current position, and there is no starting position of the first road section in the second high-precision path Connected sections.
- the first range may be 5m or 10ms before and after the starting position of the first road section, and its specific value range may be set by the user or the vehicle-mounted device may be set according to actual conditions, or be the vehicle-mounted The manufacturer of the equipment sets in advance.
- the first section may be the section J in the high-precision path ⁇ 1.
- the first section may be a partial section of H in the high-precision path ⁇ 2.
- the second high-precision path is the high-precision path ⁇ 3 shown in b in FIG. 4
- the first section may be a partial section of H in the high-precision path ⁇ 3.
- the vehicle-mounted device determines that the vehicle's position during the driving process is within the second range of the end position of the second road section in the second high-precision path, the user is prompted to turn on the vehicle's manual Driving mode (ie switching driving mode), wherein the end position of the second road section is different from the target position, and there is no road section connected to the end position of the second road section in the second high-precision path .
- vehicle's manual Driving mode ie switching driving mode
- the second road section may be a part of the road section F in the high-precision path ⁇ 1.
- the second section may be a partial section of J in the high-precision path ⁇ 3.
- the method further includes: the in-vehicle device prompts the user's current manual driving information, wherein the manual driving information Including: the distance of this manual driving, and/or, the length of this manual driving.
- the in-vehicle device may prompt the user for the above-mentioned manual driving information immediately after prompting the user to turn on the manual driving mode. In this way, the in-vehicle device can provide the user with this manual driving information, so that the user can be prepared for this manual driving, so that the user can make a final decision on whether to enable the manual driving mode.
- the in-vehicle device may also prompt the user for the above-mentioned manual driving information after the user turns on the manual driving mode through settings.
- the in-vehicle device may also prompt the user the above-mentioned manual driving information through a display screen and/or voice prompts.
- the vehicle-mounted device may also determine whether the vehicle has deviated from the vehicle by positioning while the vehicle is turning on the manual driving mode. For the driving route of the second high-precision path, if it is determined that the position of the vehicle during the driving process deviates from the second high-precision path, the preparatory automatic driving mode is exited.
- the in-vehicle device After the in-vehicle device prompts the user to turn on the automatic driving mode of the vehicle, when the vehicle exits the automatic driving mode, the in-vehicle device needs to determine whether the reason for this exit is the normal switching shown in step C above, If so, continue to maintain the preparatory automatic driving mode; otherwise (for example, when the user forces a manual takeover, the vehicle is turned off, or the on-board equipment determines that the automatic driving mode is forced to exit in an emergency situation), exit the preparatory automatic driving mode and directly change to manual driving model.
- the embodiment of the present application also provides an example of a driving control method after the vehicle turns on the pre-automatic driving mode. As shown in FIG. 7, the method specifically includes the following steps:
- S701 After the driving control module executes the above S607, turn on the route navigation function of the high-precision map component and the pre-automatic driving mode of the automatic driving module, so that the automatic driving module can use the second high-precision route as the route navigation for automatic
- the in-vehicle device determines whether the current position of the vehicle is the same as the starting position of the first road section in the second high-precision path; if they are the same, execute S702, otherwise execute S706.
- the driving control module determines the position of the vehicle during driving, and when it is determined to reach the interruption of the second high-precision path, prompt the user to turn on the manual driving mode through display or voice prompts, and Prompt the user of the manual driving information this time.
- the interruption of the second high-precision path is within the second range where the end position of the second section of the second high-precision path described in step C above is located.
- the driving control module exits the automatic driving mode of the automatic driving module and starts the manual driving mode after receiving the user's mode switching instruction from the human-computer interaction input and output component through the human-computer interaction module.
- step S705 The driving control module needs to determine whether it is a normal exit from the automatic driving mode every time the automatic driving module exits the automatic driving mode. If yes, execute step S708 related to the manual driving mode; otherwise, execute S712 to directly exit the preparatory automatic driving mode, directly turn on the manual driving mode and no longer prompt to switch the driving mode.
- exiting the automatic driving mode normally refers to exiting the automatic driving mode when the vehicle reaches the interruption of the second high-precision path. Exiting from autopilot mode for other reasons is not a normal exit from autopilot mode.
- S706 When the current position of the vehicle is different from the starting position of the first road section in the second high-precision path, prompt the user to turn on the manual driving mode, and prompt the user for the manual driving information this time.
- the driving control module may also determine whether the vehicle deviates from the driving route of the second high-precision path through positioning. If it is determined that the position of the vehicle during driving deviates from the second high-precision path, execute S712 to exit the preparatory automatic driving mode; otherwise, execute S709.
- the driving control module determines the position of the vehicle during the driving process, and determines whether the vehicle has reached the section where the automatic driving is turned on, and if so, execute S710; otherwise, continue to execute S708.
- the driving control module determines whether the vehicle has reached the section where the automatic driving is turned on, that is, it is within the first range where the starting position of the first section of the second high-precision path is located in the step B above.
- the driving control module prompts the user to turn on the automatic driving mode through a display screen or voice prompt.
- the driving control module continues to execute S703, continues to determine whether the vehicle has reached the interruption of the second high-precision path, and prompts to turn on the manual driving mode when it arrives, and prompts The user’s manual driving information this time.
- the driving control module exits the preparatory automatic driving mode, directly turns on the manual driving mode, and no longer prompts to switch the driving mode.
- the driving control module can position the vehicle, thereby prompting the user to turn on the corresponding driving mode on the corresponding road section, thereby realizing the continuous switching between the manual driving mode and the automatic driving mode.
- the present application also provides an example of a driving control method.
- this example is described by taking the vehicle-mounted device as the architecture of the vehicle shown in FIG. 5A as an example.
- FIG. High-precision map components, autonomous driving modules, etc.
- the steps of this example will be described in detail with reference to the flowcharts shown in FIG. 8A and FIG. 8B.
- the human-computer interaction module After the human-computer interaction module obtains the path planning request input by the user from the human-computer interaction input and output component, it sends the path planning request to the driving control module.
- the path planning request is used to notify the driving control module to perform a path planning operation.
- the path planning request may include the target location input by the user.
- the driving control module sends a traditional route calculation request to the traditional map component according to the route planning request.
- the traditional path calculation request may include the current position of the vehicle determined by the driving control module and the target position that the user expects to reach.
- the target location may be included in the path planning request, or determined by the driving control module according to historical driving records.
- the traditional map component calculates the first traditional route in the traditional map according to the current position of the vehicle and the target position that the user expects to reach. Then send the traditional path calculation response to the driving control module.
- the traditional route calculation response is used to notify the driving control module that the traditional map component has found the first traditional route.
- the traditional path calculation response may include data of the first traditional path.
- the traditional map component may determine the current location based on the positioning itself, and determine the target location based on historical driving records .
- the driving control module sends a traditional route matching request to the high-precision map component.
- the traditional path matching request may carry data of the first traditional path.
- the high-precision map component After receiving the traditional route matching request, the high-precision map component obtains the data of the first traditional route from the traditional route matching request or from the traditional map component, and then matches the first traditional route with the high-precision map , There may be three matching results: A: get the first high-precision path that exactly matches the first traditional path; B: get the second high-precision path that partially matches the first traditional path; C fails to match, and no high-precision path is found Fine path.
- S805a-S807a are the corresponding steps when the matching result is A
- S805b-810b223 are the corresponding steps when the matching result is B
- S805c-810c23 are the corresponding steps when the matching result is C.
- the steps corresponding to each matching result are described below.
- the high-precision map component After the high-precision map component obtains the first high-precision route that completely matches the first traditional route, it sends a first traditional route matching response to the driving control module.
- the first traditional path matching response is used to notify the driving control module that the high-precision map component finds a completely matched first high-precision path.
- the first traditional path matching response includes data of the first high-precision path.
- the driving control module enables the automatic driving mode of the automatic driving module, including enabling route navigation of the high-precision map component based on the first high-precision path. In this way, the automatic driving module can perform full automatic navigation according to the first high-precision path in the high-precision map component.
- the driving control module enables the real-time navigation broadcast of the traditional map component based on the first traditional route.
- the high-precision map component After the high-precision map component obtains the second high-precision path that partially matches the first conventional path, it sends a second conventional path matching response to the driving control module.
- the second traditional path matching response is used to notify the driving control module that the high-precision map component has found a partially matched second high-precision path.
- the second traditional path matching response includes data of the second high-precision path.
- the driving control module After receiving the second traditional path matching response, the driving control module sends a high-precision path calculation request to the high-precision map component, where the high-precision path calculation request may include the current position and the current location. The target location.
- the high-precision map component calculates n first to-be-selected high-precision paths in the high-precision map according to the current position and the target position, and then the high-precision map component sends the high-precision route to the driving control module.
- the high-precision path calculation response is used to notify the driving control module that the high-precision map component calculates n first candidate high-precision paths, and n is an integer greater than 0.
- the high-precision path calculation response includes data of the n first to-be-selected high-precision paths.
- the driving control module sends a first path prompt instruction to the human-computer interaction module, which is used to instruct the human-computer interaction module to prompt the user the path information of the second high-precision path and the path information of each first candidate high-precision path Path information.
- the human-computer interaction module can prompt the user according to the first path prompt instruction by displaying the path information on the display screen and/or by means of voice prompts.
- the human-computer interaction module After receiving the first path selection instruction input by the user from the human-computer interaction input and output component, the human-computer interaction module sends the first path selection instruction to the driving control module.
- the first path selection instruction is used to determine the target high-precision path selected by the user among the second high-precision path and the n first high-precision paths to be selected.
- the driving control module determines a target high-precision path according to the first path selection instruction.
- the target high-precision path may include two situations: B1: the target high-precision path is the second high-precision path; B2, the target high-precision path is the n first candidate high-precision paths The third high-precision path in.
- S810b11-810b12 are the corresponding steps when the target high-precision path is B1
- S810b21-810b222 are the corresponding steps when the target high-precision path is B2.
- S810b11 When the driving control module determines that the target high-precision path is the second high-precision path, start the preparatory automatic navigation mode of the automatic driving module, including starting the high-precision map component based on the second high-precision path. The route navigation of the refined route.
- the automatic driving module can perform segmented automatic navigation according to the second high-precision path in the high-precision map component, and the specific process can refer to the example shown in FIG. 7.
- the driving control module enables the real-time navigation broadcast of the traditional map component based on the first traditional route.
- the driving control module determines that the target high-precision path is the third high-precision path, it sends a first high-precision path matching request to the traditional map component.
- the first high-precision path matching request may carry data of the third high-precision path or indication information of the third high-precision path.
- the traditional map component After receiving the first high-precision map matching request, the traditional map component obtains it from the first high-precision map matching request or obtains it from the high-precision map component according to the indication information of the third high-precision path According to the data of the third high-precision path, and then matching the third high-precision path with a traditional map, two matching results can be obtained: B21: Obtain a second traditional path that exactly matches the third high-precision path ; B22: The matching failed, and the traditional path that completely matches the third high-precision path was not found.
- S810b211-S810b213 are the corresponding steps when the matching result is B21
- S810b221-S810b223 are the corresponding steps when the matching result is B22.
- the traditional map component sends a first high-precision path matching response to the driving control module.
- the first high-precision path matching response is used to notify the driving control module that the conventional map component has found a completely matched second conventional path.
- the driving control module enables the automatic driving mode of the automatic driving module, including enabling the route navigation of the high-precision map component based on the third high-precision route. In this way, the automatic driving module can perform full automatic navigation according to the third high-precision path in the high-precision map component.
- the driving control module enables the real-time navigation broadcast of the traditional map component based on the first traditional route.
- S810b221 After the traditional map component fails to match, send a second high-precision path matching response to the driving control module. Wherein, the second high-precision path matching response is used to notify the driving control module that the traditional map component fails to match.
- the driving control module enables the automatic driving mode of the automatic driving module, including enabling the route navigation of the high-precision map component based on the third high-precision route. In this way, the automatic driving module can perform full automatic navigation according to the third high-precision path in the high-precision map component.
- the driving control module enables the real-time navigation broadcast of the high-precision map component based on the third high-precision route.
- S805c After the high-precision map component fails to match, send a third traditional path matching response to the driving control module. Wherein, the third traditional path matching response is used to notify the driving control module that the high-precision map component fails to match.
- the driving control module After receiving the third traditional path matching response, the driving control module sends a high-precision path calculation request to the high-precision map component, where the high-precision path calculation request may include the current position and The target location.
- the high-precision map component calculates m second candidate high-precision paths in the high-precision map according to the current position and the target position, and then the high-precision map component sends the high-precision route to the driving control module.
- the high-precision path calculation response is used to notify the driving control module that the high-precision map component has calculated m second candidate high-precision paths, and m is an integer greater than 0.
- the high-precision path calculation response includes data of the m second to-be-selected high-precision paths.
- the driving control module sends a second path prompt instruction to the human-computer interaction module, which is used to instruct the human-computer interaction module to prompt the user for the path information of each second candidate high-precision path.
- the human-computer interaction module can prompt the user according to the second path prompt instruction by displaying the path information on the display screen and/or by means of voice prompts.
- the human-computer interaction module After receiving the second path selection instruction input by the user from the human-computer interaction input and output component, the human-computer interaction module sends the second path selection instruction to the driving control module.
- the second path selection instruction is used to determine the fourth high-precision path selected by the user among the m second to-be-selected high-precision paths.
- the driving control module After determining the fourth high-precision path selected by the user according to the second path selection instruction, the driving control module sends a second high-precision path matching request to the traditional map component.
- the second high-precision path matching request may carry data of the fourth high-precision path or indication information of the fourth high-precision path.
- the traditional map component After receiving the second high-precision map matching request, the traditional map component obtains it from the second high-precision map matching request or obtains it from the high-precision map component according to the indication information of the fourth high-precision path According to the data of the fourth high-precision path, and then matching the fourth high-precision path with a traditional map, two matching results can be obtained: C1: a third traditional path that exactly matches the fourth high-precision path is obtained ; C2: The matching failed, and the traditional path that exactly matches the fourth high-precision path was not found.
- S810c11-S810c13 are the corresponding steps when the matching result is C1
- S810c21-S810c23 are the corresponding steps when the matching result is C2.
- the traditional map component sends a third high-precision path matching response to the driving control module.
- the third high-precision path matching response is used to notify the driving control module that the traditional map component finds a completely matched third traditional path.
- the driving control module enables the automatic driving mode of the automatic driving module, including enabling the route navigation of the high-precision map component based on the fourth high-precision route. In this way, the automatic driving module can perform full automatic navigation according to the fourth high-precision path in the high-precision map component.
- the driving control module enables the real-time navigation broadcast of the traditional map component based on the third traditional route.
- S810c21 After the traditional map component fails to match, send a fourth high-precision path matching response to the driving control module.
- the fourth high-precision path matching response is used to notify the driving control module that the traditional map component fails to match.
- the driving control module enables the automatic driving mode of the automatic driving module, including enabling the route navigation of the high-precision map component based on the fourth high-precision route. In this way, the automatic driving module can perform full automatic navigation according to the fourth high-precision path in the high-precision map component.
- the driving control module enables the real-time navigation broadcast of the high-precision map component based on the fourth high-precision route.
- an embodiment of the present application also provides a driving control device, which can be applied to a vehicle as shown in FIG. 5A to implement the driving control method provided in the above embodiment.
- the device may include:
- the path determination unit 901 is configured to calculate a first traditional path in the traditional map according to the first position and the second position; and find a target high-precision path in the high-precision map according to the first traditional path;
- the driving control unit 902 is configured to, if the road sections included in the target high-precision path are the same as the road sections included in the first traditional path, turn on the real-time navigation broadcast based on the first traditional path, and turn on the target high-precision path Autopilot mode for route navigation.
- the path determination unit 901 is further configured to: if the target high-precision path includes less road segments than the first traditional path, according to the first position and the At the second location, at least one first candidate high-precision path is calculated in the high-precision map; the user is prompted with path information of the target high-precision path, and each of the at least one first candidate high-precision path Path information of the first to-be-selected high-precision path; receiving a first path selection instruction from the user, and determining that the user is on the target high-precision path and the at least one first path selection instruction according to the first path selection instruction Select the high-precision path selected in the high-precision path;
- the driving control unit 902 is further configured to: if it is determined that the user selects the target high-precision path according to the first path selection instruction, turn on the real-time navigation broadcast based on the first traditional path, and turn on The target high-precision path is a preparatory automatic driving mode for route navigation; wherein, the preparatory automatic driving mode is a driving mode that switches between an automatic driving mode and a manual driving mode;
- the path determining unit 901 is further configured to: if the first high-precision path selected by the user among the at least one first candidate high-precision path is determined according to the first path selection instruction, then according to the first path selection instruction, A high-precision path, searching for a first target traditional path in the traditional map, wherein the road sections included in the first target traditional path are the same as the road sections included in the first high-precision path;
- the driving control unit 902 is further configured to: if the first target traditional route is found, start real-time navigation broadcast based on the first target traditional route, and start navigation using the first high-precision route as the route If the first target traditional path is not found, the real-time navigation broadcast based on the first high-precision path is turned on, and the automatic driving mode that uses the first high-precision path as the path navigation is turned on.
- the path determination unit 901 prompts the user with the path information of the target high-precision path and each first candidate high-precision path in the at least one first candidate high-precision path.
- the path information of the refined path it is specifically used for:
- the high-precision map is displayed on the display screen, the target high-precision path is displayed on the high-precision map, and at least one of the following information or a combination is displayed:
- the starting position of the target high-precision path, the end position of the target high-precision path, the duration of each manual driving, the distance of each manual driving, the length of each automatic driving, the distance of each automatic driving, the manual The total driving time, the total distance of manual driving, the total time of automatic driving, the total distance of automatic driving;
- each first candidate high-precision path in the high-precision map and display at least one of the following information or a combination of each first candidate high-precision path:
- each first to-be-selected high-precision path The total length of each first to-be-selected high-precision path, the total length of automatic driving corresponding to each first to-be-selected high-precision path, and the length difference between each first to-be-selected high-precision path and the first traditional path.
- the path determination unit 901 is further configured to: if the target high-precision path is not found in the high-precision map, according to the first position and the second position, Calculate at least one second candidate high-precision path in the high-precision map; prompt the user with path information of each second candidate high-precision path in the at least one second candidate high-precision path; receive the user According to the second path selection instruction, the second high-precision path selected by the user among the at least one to-be-selected high-precision path is determined according to the second path selection instruction; according to the second high-precision path, Searching for a second target traditional path in a traditional map, where the road sections included in the second target traditional path are the same as the road sections included in the second high-precision path;
- the driving control unit 902 is further configured to: if the second target traditional route is found, start real-time navigation broadcast based on the second target traditional route, and start navigation using the second high-precision route as the route If the second target traditional path is not found, the real-time navigation broadcast function based on the second high-precision path is turned on, and the automatic driving mode that uses the second high-precision path as the route navigation is turned on .
- the path determining unit 901 is specifically configured to: when prompting the user with the path information of each second candidate high-precision path in the at least one second candidate high-precision path:
- each second to-be-selected high-precision path The total length of each second to-be-selected high-precision path, the total length of automatic driving corresponding to each second to-be-selected high-precision path, and the length difference between each second to-be-selected high-precision path and the first traditional path.
- the driving control unit 902 is further configured to:
- the user After starting the preparatory automatic driving mode with the target high-precision route as the route navigation, if it is determined that the position of the vehicle during driving is within the first range, the user is prompted to turn on the automatic driving mode, wherein the first The range includes the starting position of the first section of the target high-precision path, the starting position of the first section is different from the first position, and there is no difference in the target high-precision path from the first section.
- the road section connected by the starting position of a road section;
- the user is prompted to turn on the manual driving mode, wherein the second range includes the end position of the second road section, and the end position of the second road section The second position is different, and there is no road section connected to the end position of the second road section in the target high-precision path.
- the driving control unit 902 is further configured to:
- the automatic driving mode is turned on.
- the driving control unit 902 is further configured to:
- the user After prompting the user to turn on the manual driving mode, the user is prompted for the current manual driving information, where the current manual driving information includes: the distance of the current manual driving, and/or the duration of the current manual driving.
- each functional unit in each embodiment of the present application It can be integrated into one processing unit, or it can exist alone physically, or two or more units can be integrated into one unit.
- the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
- the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
- the technical solution of the present application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application.
- the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .
- the embodiments of this application also provide a driving control device, which can be applied to a vehicle as shown in FIG. 5A to implement the above driving control method and has the function of the device shown in FIG. 9 .
- the device 1000 includes: a communication module 1001, a processor 1002, and a memory 1003.
- the communication module 1001, the memory 1003, and the processor 1002 are connected to each other.
- the communication module 1001, the memory 1003 and the processor 1002 may be connected to each other through a bus;
- the bus may be a peripheral component interconnect (PCI) bus or an extended industry Standard structure (extended industry standard architecture, EISA) bus, etc.
- PCI peripheral component interconnect
- EISA extended industry standard architecture
- the bus can be divided into an address bus, a data bus, a control bus, and so on. For ease of representation, only one thick line is used to represent in FIG. 10, but it does not mean that there is only one bus or one type of bus.
- the communication module 1001 is used to communicate with other devices.
- the communication module 1001 may include a communication interface and a wireless communication module.
- the communication interface is used to communicate with other components in the vehicle.
- the in-vehicle equipment can obtain various data from the in-vehicle sensors, driver input devices and other components through the communication interface.
- the device may send a torque control command to the motor through the communication interface.
- the wireless communication module is used to access the communication system and finally connect to the server, download the software and map data of the traditional map component and the high-precision map component from the server, and obtain real-time updated traffic information.
- the wireless communication module may include: a Bluetooth module, a WiFi module, an RF circuit, and so on.
- the processor 1002 is configured to implement the driving control method provided in the embodiments shown in FIG. 5B to FIG. 8B.
- the processor 1002 may be a central processing unit (CPU) or other hardware chips.
- the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
- the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.
- the processor 1002 When the processor 1002 implements the above functions, it may be implemented by hardware, and of course, it may also be implemented by hardware executing corresponding software.
- the processor 102 is the control center of the terminal device 100. It uses various interfaces and lines to connect various components, runs or executes software programs and/or modules stored in the memory 103, and calls The data in the memory 103 executes various functions of the terminal device 100 and processes data, thereby realizing multiple services based on the terminal device 200.
- the memory 1003 is used to store program instructions and data.
- the memory 1003 stores program instructions and data of a traditional map component and a high-precision map component.
- the program instructions may include program code, and the program code includes instructions for computer operations.
- the memory 1003 may include a random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
- the processor 1002 executes the program stored in the memory 1003, and implements the above-mentioned functions through the above-mentioned components, so as to finally realize the driving control method provided by the above-mentioned embodiment.
- the memory 1003 in FIG. 10 of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.
- the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), and electrically available Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
- the volatile memory may be a random access memory (Random Access Memory, RAM), which is used as an external cache.
- RAM random access memory
- SRAM static random access memory
- DRAM dynamic random access memory
- DRAM synchronous dynamic random access memory
- DDR SDRAM Double Data Rate Synchronous Dynamic Random Access Memory
- Enhanced SDRAM, ESDRAM Enhanced Synchronous Dynamic Random Access Memory
- Synchronous Link Dynamic Random Access Memory Synchronous Link Dynamic Random Access Memory
- DR RAM Direct Rambus RAM
- the embodiments of the present application also provide a computer program, which when the computer program runs on a computer, causes the computer to execute the driving control method provided in the above embodiments.
- the embodiments of the present application also provide a computer-readable storage medium in which a computer program is stored.
- the computer program When the computer program is executed by a computer, the computer can execute the driving provided in the above embodiment. Control Method.
- the storage medium may be any available medium that can be accessed by a computer. Take this as an example but not limited to: computer readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or can be used to carry or store instructions or data in the form of structure The desired program code and any other medium that can be accessed by the computer.
- an embodiment of the present application also provides a chip, which is used to read a computer program stored in a memory to implement the driving control method provided in the above embodiment.
- the embodiments of the present application provide a chip system including a processor for supporting a computer device to implement the functions related to the business equipment, forwarding equipment, or site equipment in the above embodiments.
- the chip system further includes a memory, and the memory is used to store necessary programs and data of the computer device.
- the chip system can be composed of chips, or include chips and other discrete devices.
- the embodiments of the present application provide a driving control method and device.
- the driving control device can calculate the traditional route in the traditional map, and then find the target high-precision route matching the traditional route in the high-precision map.
- the target high-precision route that matches the traditional route is found
- the real-time navigation broadcast based on the traditional route is turned on, and the automatic driving mode that uses the target high-precision route as the route navigation is turned on.
- the traditional map has the advantages of road section richness and real-time traffic information update, the traditional route calculated in the traditional map is more reasonable, and real-time navigation and broadcast according to the traditional route in the traditional map can ensure that users receive more information.
- the device can realize path calculation and real-time navigation broadcast through the combination of high-precision maps and traditional maps on the basis of ensuring the automatic driving of vehicles as much as possible, thereby improving user experience.
- this application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
- computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
- These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
- the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
- These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
- the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
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Abstract
一种驾驶控制方法及装置,该方法可以应用于智能驾驶/自动驾驶等智能汽车领域。驾驶控制方法包括:驾驶控制装置在传统地图中计算传统路径后,在高精地图中查找与该传统路径匹配的高精路径,若查找到,则使用该传统路径进行实时导航播报,并使用查找到的该高精路径进行自动驾驶。本驾驶控制方法及装置利用了传统地图路段丰富性和实时交通信息更新,计算的传统路径合理性更高,以及进行实时导航播报效果更好的优点,并使用高精路径实现车辆的自动驾驶减少用户的操作性,从而提高用户体验。
Description
本申请涉及自动驾驶技术领域,尤其涉及一种驾驶控制方法及装置。
目前,自动驾驶通常是车辆内部的自动驾驶模块根据高精地图进行路径计算和实时导航播报,以及自动驾驶。通常,高精地图能够准确地描述道路、车道、红路灯、停止线、斑马线等交通信息,其精度也能够达到厘米级。然而高精地图的制作是独立于传统地图的,因此,虽然在准确度上优于传统地图,但是在道路的丰富度(例如路名、道路形态、道路功能等级、道路通行限制等)上尚不如传统地图。
然而,相对于传统地图的长期历史运维积累和能够同步实时交通信息等优势,目前的高精地图缺少实时交通信息的支持,且缺少长期的大量历史运维记录,因此,相较于根据传统地图计算的路径,根据高精地图计算的路径的合理性较差。另外在实时导航播报方面,高精地图的播报效果远低于传统地图。因此,根据高精地图进行路径计算和实时导航播报,可能会降低用户体验。
发明内容
本申请提供一种驾驶控制方法及装置,用于通过高精地图和传统地图结合的方式实现路径计算和实时导航播报,从而提高用户体验。
第一方面,本申请实施例提供了一种驾驶控制方法,该方法可以应用于驾驶控制装置等车载设备。该方法可以包括以下步骤:
驾驶控制装置根据第一位置和第二位置,在传统地图中计算第一传统路径;当根据所述第一传统路径在高精地图中查找到目标高精路径时,若所述目标高精路径包含的路段与所述第一传统路径包含的路段相同,则开启基于第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的自动驾驶模式。
由于所述传统地图具有路段丰富性和实时交通信息更新等优点,因此,在传统地图中计算的传统路径合理性更高,且根据传统地图中的传统路径进行实时导航播报能够保证用户接收到更多更准确的交通信息;进一步的,使用高精地图中的高精路径实现车辆的自动驾驶可以减少用户的操作性。总之,通过该方案,所述该装置可以在尽量保证车辆的自动驾驶的基础上,实现通过高精地图和传统地图结合的方式实现路径计算和实时导航播报,从而可以提高用户体验。
在一种可能的设计中,若所述目标高精路径包含的路段少于所述第一传统路径包含的路段,则所述驾驶控制装置执行以下步骤:
根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第一待选高精路径;向用户提示所述目标高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息;接收所述用户的第一路径选择指令;若根据所述第一路径选择指令确定所述用户选择所述目标高精路径,则开启基于所述第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的预备自动驾驶模式;其中,所述预备自 动驾驶模式为在自动驾驶模式和人工驾驶模式之间切换的驾驶模式;若根据所述第一路径选择指令确定所述用户选择所述至少一条第一待选高精路径中的第一高精路径,则根据所述第一高精路径,在所述传统地图中查找第一目标传统路径,其中,所述第一目标传统路径包含的路段与所述第一高精路径包含的路段相同;若查找到所述第一目标传统路径,则开启基于所述第一目标传统路径的实时导航播报,并开启以所述第一高精路径为路径导航的自动驾驶模式;若未查找到所述第一目标传统路径,则开启基于所述第一高精路径的实时导航播报,以及开启以所述第一高精路径为路径导航的自动驾驶模式。
通过该设计,在所述装置在高精地图中查找到与第一传统路径部分匹配的目标高精路径的情况下,可以在高精地图中重新进行路径计算得到的至少一条第一待选高精路径,以供用户在所述目标高精路径和所述至少一条第一待选高精路径中选择。
当用户选择目标高精路径时,所述装置可以根据所述第一传统路径进行实时导航播报,并根据与所述第一传统路径部分匹配的目标高精路径进行预备自动驾驶,从而在保证车辆尽量采用自动驾驶模式的基础上,实现使用传统地图进行路径计算和实时导航播报,进而可以提高用户体验。
当用户选择至少一条第一待选高精路径中的第一高精路径时,所述装置可以在传统地图中查找到与第一高精路径完全匹配的第一目标传统路径的情况下,根据所述第一目标传统路径进行实时导航播报,并根据所述第一高精路径进行自动驾驶。这样,虽然第一高精路径可能存绕路、驾驶时间长等情况,但是可以在保证车辆采用全程自动驾驶模式的基础上,实现使用传统地图进行实时导航播报,因此依然可以保证用户体验。
在一种可能的设计中,所述装置可以通过以下方式向所述用户提示所述目标高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息,包括:
在显示屏中显示所述高精地图,在所述高精地图中显示所述目标高精路径,并显示以下至少一项信息或组合:所述目标高精路径的起始位置、所述目标高精路径的终点位置、每次人工驾驶的时长、每次人工驾驶的距离,每次自动驾驶的时长、每次自动驾驶的距离、人工驾驶的总时长、人工驾驶的总距离、自动驾驶的总时长、自动驾驶的总距离;
在所述高精地图中显示每条第一待选高精路径,并显示每条第一待选高精路径的以下至少一项信息或组合:每条第一待选高精路径的总长度、每条第一待选高精路径对应的自动驾驶的总时长,每条第一待选高精路径与所述第一传统路径的长度差。
通过该设计,所述装置可以将所述目标高精路径和每条第一待选高精路径的详细信息显示给用户,这样用户可以进一步了解上述高精路径,便于用户后续进行路径的分析、比较和筛选。
在一种可能的设计中,当所述装置根据所述第一传统路径在所述高精地图中未查找到所述目标高精路径时,所述装置执行以下步骤:
根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第二待选高精路径;向用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息;
接收所述用户的第二路径选择指令,根据所述第二路径选择指令确定所述用户在所述至少一条待选高精路径中选择的第二高精路径;根据所述第二高精路径,在所述传统地图中查找第二目标传统路径,其中,所述第二目标传统路径包含的路段与所述第二高精路径包含的路段相同;若查找到所述第二目标传统路径,则开启基于所述第二目标传统路径的 实时导航播报,并开启以所述第二高精路径为路径导航的自动驾驶模式;若未查找到所述第二目标传统路径,则开启基于所述第二高精路径的实时导航播报功能,以及开启以所述第二高精路径为路径导航的自动驾驶模式。
通过该设计,所述装置在未查找到与第一传统路径匹配的目标高精路径的情况下,可以在高精地图中重新进行路径计算得到的至少一条第二待选高精路径,以供用户在所述至少一条第二待选高精路径中选择。
当用户选择至少一条第二待选高精路径中的第二高精路径时,所述装置可以在传统地图中查找到与第二高精路径完全匹配的第二目标传统路径的情况下,根据所述第二目标传统路径进行实时导航播报,并根据所述第二高精路径进行自动驾驶。这样,虽然所述第二高精路径可能存绕路、驾驶时间长等情况,但是可以在保证车辆采用全程自动驾驶模式的基础上,实现使用传统地图进行实时导航播报,因此依然可以保证用户体验。
在一种可能的设计中,所述装置可以通过以下方式向所述用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息,包括:
在显示屏中显示所述高精地图,在所述高精地图中显示每条第二待选高精路径,并显示每条第二待选高精路径的以下至少一项信息或组合:每条第二待选高精路径的总长度、每条第二待选高精路径对应的自动驾驶的总时长,每条第二待选高精路径与所述第一传统路径的长度差。
通过该设计,所述装置可以将每条第二待选高精路径的详细信息显示给用户,这样用户可以进一步了解上述高精路径,便于用户后续进行路径的分析、比较和筛选。
在一种可能的设计中,在所述装置开启以所述目标高精路径为路径导航的预备自动驾驶模式之后,所述装置还可以通过以下步骤进一步进行驾驶控制:
A、若所述第一位置与所述目标高精路径中首条路段的起始位置不同,则所述装置提示所述用户开启人工驾驶模式;若所述第一位置与所述目标高精路径中首条路段的起始位置相同,则开启自动驾驶模式。
通过步骤A,所述装置可以根据所述车辆的当前位置和所述目标高精路径的起始位置,为用户选择合理的驾驶模式,提高用户的体验。
B、若所述装置确定车辆在行驶过程中的位置处于第一范围内,则提示所述用户开启自动驾驶模式,其中,所述第一范围包含所述目标高精路径中的第一路段的起始位置,所述第一路段的起始位置与所述第一位置不同,且在所述目标高精路径中不存在与所述第一路段的起始位置相连的路段。
通过该步骤B,所述装置可以在能够根据目标高精路径进行路径导航时,提示用户开启自动驾驶模式。
C、若所述装置确定车辆在行驶过程中的位置处于第二范围内,则提示所述用户开启人工驾驶模式,其中,所述第二范围包含第二路段的终点位置,所述第二路段的终点位置与所述第二位置不同,且在所述目标高精路径中不存在与所述第二路段的终点位置相连的路段。
通过该步骤C,所述装置可以在无法根据第二高精路径进行路径导航时,提示用于开启人工驾驶模式。
在一种可能设计中,在所述装置提示所述用户开启人工驾驶模式之后,还可以提示所述用户本次人工驾驶信息,其中,本次人工驾驶信息包含:本次人工驾驶的距离,和/或, 本次人工驾驶的时长。
通过该设计,所述装置可以向用户提供本次人工驾驶信息,以使用户可以对本次人工驾驶有准备,便于用户做出是否开启人工驾驶模式的最终决定。
在一种可能的设计中,在所述装置提示所述用户开启所述车辆的人工驾驶模式之后,在所述车辆开启人工驾驶模式过程中,若确定所述车辆在行驶过程中的位置偏离所述目标高精路径时,则退出预备自动驾驶模式。
通过该设计,可以保证所述车辆能够在人工驾驶模式的情况下,不偏离所述目标高精路径,保证所述车辆行驶的安全性。
第二方面,本申请实施例提供了一种驾驶控制装置,包括用于执行以上第一方面中各个步骤的单元。
第三方面,本申请实施例提供了一种驾驶控制装置,包括至少一个处理元件和至少一个存储元件,其中该至少一个存储元件用于存储程序和数据,该至少一个处理元件用于执行本申请第一方面中提供的方法。
第四方面,本申请实施例还提供了一种计算机程序,当所述计算机程序在计算机上运行时,使得所述计算机执行上述第一方面提供的方法。
第五方面,本申请实施例还提供了一种计算机存储介质,所述计算机存储介质中存储有计算机程序,当所述计算机程序被计算机执行时,使得所述计算机执行上述第一方面提供的方法。
第六方面,本申请实施例还提供了一种芯片,所述芯片用于读取存储器中存储的计算机程序,执行上述第一方面提供的方法。
第七方面,本申请实施例还提供了一种芯片***,该芯片***包括处理器,用于支持计算机装置实现上述第一方面提供的方法。在一种可能的设计中,所述芯片***还包括存储器,所述存储器用于保存该计算机装置必要的程序和数据。该芯片***可以由芯片构成,也可以包含芯片和其他分立器件。
图1为本申请实施例提供的一种传统地图和高精地图的示意图;
图2为本申请实施例提供的一种传统路径和与其部分匹配的高精路径的示意图;
图3为本申请实施例提供的另一种传统路径和与其部分匹配的高精路径的示意图;
图4为本申请实施例提供的另一种传统路径和与其部分匹配的高精路径的示意图;
图5A为本申请实施例提供的一种车辆的架构图;
图5B为本申请实施例提供的一种驾驶控制方法流程图;
图6为本申请实施例提供的一种驾驶控制方法实例流程图;
图7为本申请实施例提供的一种开启预备自动驾驶模式后的驾驶控制方法实例流程图;
图8A为本申请实施例提供的一种驾驶控制方法实例流程图;
图8B为本申请实施例提供的一种驾驶控制方法实例流程图;
图9为本申请实施例提供的一种驾驶控制装置的结构图;
图10为本申请实施例提供的另一种驾驶控制装置的结构图。
本申请提供一种驾驶控制方法及装置,用以通过高精地图和传统地图结合的方式实现 路径计算和实时导航播报,从而提高用户体验。其中,方法和装置是基于同一技术构思的,由于方法及装置解决问题的原理相似,因此装置与方法的实施可以相互参见,重复之处不再赘述。
在本申请实施例提供的方法中,驾驶控制装置可以在传统地图中计算得到传统路径后,然后在高精地图中查找与该传统路径匹配的目标高精路径,当查找到与该传统路径完全匹配的目标高精路径时,开启基于该传统路径的实时导航播报,并开启以该目标高精路径为路径导航的自动驾驶模式。由于所述传统地图具有路段丰富性和实时交通信息更新等优点,因此,在传统地图中计算的传统路径合理性更高,且根据传统地图中的传统路径进行实时导航播报能够保证用户接收到更多更准确的交通信息;进一步的,使用高精地图中的高精路径实现车辆的自动驾驶可以减少用户的操作性。总之,通过该方案,所述该装置可以在尽量保证车辆的自动驾驶的基础上,实现通过高精地图和传统地图结合的方式实现路径计算和实时导航播报,从而可以提高用户体验。
以下,对本申请中的部分用于进行解释说明,以便于本领域技术人员理解。
1)、传统地图组件,安装在车载设备中的软件组件,其能够为用户提供优质的路径计算和实时导航播报功能,例如传统地图的软件开发包(software development kit,SDK)。传统地图组件维护的传统地图的精度能够达到米级。例如,传统地图组件可以为全球定位***(global position system,GPS)导航地图组件、百度地图组件、高德地图组件等。另外,为了便于区分和描述,在本申请实施例中,将传统地图组件在所述传统地图中计算得到的路径称为传统路径。
参阅图1中的a所示,传统地图组件维护的传统地图通过长期积累的历史运维记录,包含的路段更丰富和准确,另外,传统地图组件的开发商能够为其提供准确的实时交通信息,因此,传统地图组件在传统地图中计算的传统路径路线规划更合理(少拥堵、驾驶时间短、路况通畅、总长度短),用户体验较高。例如,图1中的a所示,当车辆的当前位置为x,用户期望到达的目标位置为y,那么传统地图组件计算得到的路径为图中加粗加黑的传统路径α1,由路段E、F的部分路段、L、J,以及D的部分路段相连组成的路径。
2)、高精地图组件,安装在车辆中车载设备中的软件组件,其直接使用者为自动驾驶模块,主要用于在车辆启动自动驾驶模式后为自动驾驶模块提供路径导航。当然,高精地图组件也具有路径计算和实时导航播报的功能,但是由于高精地图组件的开发商专注于车道线、路边沿等微观物体和细节的准确度,可能为其提供的实时交通信息不完整或不准确,且缺乏长期积累的历史运维记录,因此相对于传统地图,通过高精地图组件维护的高精地图计算的路径合理性较差,用户体验较差。另外,为了便于区分和描述,在本申请实施例中,将高精地图组件在所述高精地图中计算得到的路径称为高精路径。
参阅图1中的b所示的高精地图,显然,相对于图1中的a所示的传统地图,该高精地图缺少很多路段。当继续以车辆当前位置为x,目标位置为y为例,那么高精地图组件在高精地图中计算得到的路径为图中加粗加黑的高精路径β,由路段E、F、G的部分路段、I的部分路段、J和D的部分路段相连组成。
通过图1中的a和b所示,在车辆当前位置和用户期望到达的目标位置相同时,通过传统地图组件计算得到的传统路径α1的合理性优于通过高精地图组件计算得到的高精路径β。
3)、实时导航播报,是车载设备(中的高精地图组件或传统地图组件)根据车辆所在 的位置在高精地图或传统地图上通过显示播报和/或语音播报的形式来提示用户当前位置、实时交通信息、后续驾驶操作等信息。
4)、自动驾驶模式,又称为无人驾驶(self driving),是一种通过车载设备中的自动驾驶模块实现无人驾驶的模式。车辆启动自动驾驶模式后,车辆的车载设备主要根据高精地图组件中的高精路径进行路径导航,还可以结合并依靠人工智能、视觉计算、雷达、传感器等部件传输的各种实时数据,自动且安全的操作车辆,使车辆沿用户在高精地图选择的高精路径行驶。
5)、人工驾驶模式,在本申请中又称为人工接管,是一种通过用户操作车辆使车辆行驶的驾驶模式。用户可以在车辆行驶前(例如车载设备在进行路径规划过程中或之后)、或者在自动驾驶过程中,通过选择或设置直接进入人工驾驶模式;或者在车载设备提示用户启动人工驾驶模式时,启动所述车辆的人机驾驶模式。
一般地,当车辆启动开始行驶时,若车载设备确定车辆所在的当前位置与用户选择的高精路径中起始位置不同时,所述车载设备会提示用户开启所述车辆的人工驾驶模式;当车辆启动自动驾驶模式行驶,且车载设备确定车辆在行驶过程中的位置处于高精路径中一条路段的终点位置附近(该终点位置不是用户选择的目标位置,且在该高精路径中不存在与该终点位置相连的路段)时,车载设备也会提示用户开启人工驾驶模式。
当然,车载设备虽然在上述理论上应该开启人工驾驶模式的情况下,提示用户开启人工驾驶模式,但是如果用户未设置开启人工驾驶模式,那么所述车载设备依然可以依靠人工智能、视觉计算、雷达、传感器等部件传输各种的实时数据进行感知和定位,在没有高精地图组件的路径导航支持的情况下短距离或短时间内实现自动驾驶。
6)、预备自动驾驶模式,即车辆在自动驾驶模式和人工驾驶模式之间切换(或该两种驾驶模式相结合)的驾驶模式。当车辆开启基于预备自动驾驶模式后,理论上(或理想状态下)在整个行驶过程中应该在部分路段启动自动驾驶模式,且在其他部分路段启动人工驾驶模式。
例如,在用户选择的高精路径与通过传统地图组件计算的传统路径部分匹配的情况下,此时,传统路径中存在两个路段集合——第一路段集合和第二路段集合。其中,第一路段集合中包含的路段与该高精路径中包含的路段完全匹配,而第二路段集合中包含的路段与该高精路径中包含的路段不匹配(即该高精路径中不包含第二路段集合中的路段)。其中,理想状态下,在第一路段集合(该高精路径)包含的路段上,所述车辆应该采用自动驾驶模式行驶,而在第二路段集合包含的路段上,所述车辆应该采用人工驾驶模式行驶。因此,在上述情况下,当车载设备开启车辆的预备自动驾驶模式后,所述车载设备会针对行驶过程中的实际情况在理论上应该切换驾驶模式时,提示用户开启或主动开启对应的驾驶模式。
例如,若车载设备确定车辆开启预备自动驾驶模式时的当前位置与选择的高精路径中首条路段的起始位置不同,则提示所述用户开启所述车辆的人工驾驶模式;若所述车载设备确定该当前位置与选择的高精路径中首条路段的起始位置相同,则提示用户开启或主动开启所述车辆的自动驾驶模式。
再例如,若车载设备确定所述车辆在行驶过程中的位置处于高精路径中第一路段的起始位置所在的第一范围内,则提示所述用户开启所述车辆的自动驾驶模式,其中,所述第一路段的起始位置与所述当前位置不同,且在所述第二高精路径中不存在与所述第一路段的起始位置相连的路段。
又例如,若车载设备确定所述车辆在行驶过程中的位置处于高精路径中第二路段的终点位置所在的第二范围内,则提示所述用户开启所述车辆的人工驾驶模式,其中,所述第二路段的终点位置与所述目标位置不同,且在所述第二高精路径中不存在与所述第二路段的终点位置相连的路段。
7)路段,用于组成地图和路径。其中,路段为相邻两个交通节点之间的交通线路,其中间是连续的,不存在中断。当然,一条路段还可以为多条更短的路段,多个路段(相邻两个路段之间存在相同的交通节点)可以组成更长的路段。例如,图1中a和b所示的路段A、B、C、D等。因此,在本申请实施例中提到的路段相同,是指在不同地图中的路段的交通线路完全相同,交通节点也相同。
8)、路径,从起始位置到目标位置之间的至少一个路段的有序排列形成,例如图1中的a所示的传统地图计算的传统路径,和图1中的b所示的高精地图计算的高精路径。
需要说明的是,通常,传统地图组件和高精地图组件基于起始位置和目标位置进行路径计算得到的路径,一般为一条连通所述起始位置和所述目标位置,且中间不间断的交通线路,图1中的a和b中所示的路径。另外在一些特殊场景下,例如,车载设备中的高精地图组件将传统路径与高精地图匹配,以在高精地图中试图查找与该传统路径相同或相似度最高的路径时,在高精地图中查找到的高精路径中间可能存在中断。
9)、路径匹配,具体包括两种类型:
第一种匹配类型:由高精地图组件执行,将传统路径与高精地图进行匹配,试图在高精地图中查找与所述传统路径相同或最相似的高精路径。
第二种匹配类型:由传统地图组件执行,将高精路径与传统地图进行匹配,试图在传统地图中查找与所述高精路径相同或最相似的传统路径。
由于高精地图相对于传统地图存在路段丰富性较差的问题,因此所述高精地图组件执行第一种匹配类型,将通过传统地图组件计算得到的传统路径与高精地图进行匹配时,可能会出现以下三种结果:
第一种结果:该传统路径与高精地图匹配失败,所述高精地图组件未在高精地图中查找到高精路径。
第二种结果:该传统路径与高精地图匹配成功,且所述高精地图组件在高精地图中查找到与该传统路径完全匹配的高精路径。其中,查找到的该高精路径包含的路段与该传统路径包含的路段完全相同,具体满足以下所有条件:
(1)该高精路径中首条路段的起始位置与该传统路径中首条路段的起始位置相同,即该高精路径中首条路段与该传统路径中首条路段相同。
(2)该高精路径中最后一条路段的结束位置与该传统路径中的最后一条路段的结束位置相同,即该高精路径中最后一条路段与该传统路径中最后一条路段相同。
(3)该高精路径中间不存在中断的现象。
第三种结果:该传统路径与高精地图匹配成功,且所述高精地图组件查找到与该传统路径部分匹配的高精路径。其中,该部分匹配的高精路径满足以下任意一项或多项条件:
(1)该高精路径中首条路段的起始位置与该传统路径中首条路段的起始位置不同,即该高精路径中首条路段与该传统路径中首条路段不同。
(2)该高精路径中最后一条路段的结束位置与该传统路径中最后一条路段的结束位置不同,即该高精路径中最后一条路段与该传统路径中最后一条路段不同。
(3)该高精路径中间存在中断的现象。
总之,相对于传统路径包含的多个路段,与该传统路径部分匹配的高精路径缺少其中的至少一个路段。例如,该高精路径缺少传统路径中的首条路段,或缺少传统路径中的最后一条路段,或缺少传统路径中的中间路段。换而言之,所述传统路径中包含两个路段集合:第一路段集合和第二路段集合,每个路段集合中包含至少一个路段,其中,第一路段集合中的路段与该部分匹配的高精路径中包含的路段完全匹配,第二路段集合中包含的路段与该部分匹配的高精路径中包含的路段不匹配。
下面结合附图,对与传统路径部分匹配的高精路径进行举例说明。
例1:参阅图2所示,继续以图1所示的传统地图和高精地图为例。当高精地图组件将传统地图计算的传统路径α1与高精地图进行匹配,以在高精地图中试图查找与所述传统路径α1相同或相似度最高的路径,所述高精地图组件会查找到与所述传统路径α1部分匹配的高精路径β1,如图2所示。其中,所述高精路径β1为由路段E、F的部分路段、J和D的部分路段组成的路径。由于所述高精地图中缺少路段L,因此在高精路径β1中F的部分路段与路段J之间存在中断,未直接相连。
例2:参阅图3所示,继续以图1所示的传统地图和高精地图为例。当车辆的当前位置x位于路段M中,那么传统地图组件计算得到的传统路径为图3中的a所示的加粗加黑的传统路径α2,由路径M的部分路段、H的部分路段、I的部分路段、J,以及D的部分路段相连组成。高精地图组件将该传统路径α2与高精地图进行匹配,会查找到与所述传统路径α2部分匹配的高精路径β2,如图3中的b所示,其中,由于所述高精地图中缺少路段M,因此,所述高精路径β2为由H的部分路段、I的部分路段、J,以及D的部分路段相连组成的路径。在该场景下,相对于传统路径α2,高精路径β2缺少所述M的部分路段。
例3:参阅图4所示,继续以图1所示的传统地图和高精地图为例。当车辆的当前位置x位于路段M中,用户期望到达的目标位置位于路段K中,那么所述传统地图组件计算得到的传统路径为图4中的a所示的加粗加黑的传统路径α3,由路径M的部分路段、H的部分路段、I的部分路段、J的部分路段和k的部分路段相连组成。高精地图组件将该传统路径α3与高精地图进行匹配,会查找到与所述传统路径α3部分匹配的高精路径β3,图3中的b所示的加粗加黑路径所示。由于所述高精地图中缺少路段M和路段K,因此,所述高精路径β3为由H的部分路段、I的部分路段、J的部分路段相连组成的路径。在该场景下,相对于传统路径α3,高精路径β3缺少所述M的部分路段和K的部分路段。
由于本申请实施例中,车载设备通过传统地图中的传统路径实现实时导航播报,因此,作为实时导航播报的依据的传统路径需要与待匹配的高精路径完全一致。基于该原因,在本申请实施例中当传统地图组件执行第二种匹配类型,将通过高精地图组件计算得到的高精路径与传统地图进行匹配时,可能会出现以下两种结果:
第一种结果:该高精路径与传统地图匹配失败,所述传统地图组件为未在传统地图中查找到传统路径。
第二种结果:该高精路径与传统地图匹配成功,所述传统地图组件在传统地图中查找到与该高精路径完全匹配的传统路径。其中,查找到的该传统路径包含的路段与该高精路径包含的路段完全相同,具体满足以下所有条件:
(1)该传统路径中首条路段的起始位置与该高精路径中首条路段的起始位置相同, 该传统路径中首条路段与该高精路径中首条路段相同。
(2)该传统路径中最后一条路段的结束位置与该高精路径中的最后一条路段的结束位置相同,该传统路径中最后一条路段与该高精路径中最后一条路段相同。
(3)该传统路径中不存在中断的现象。
10)、多个,是指两个或两个以上。
11)、至少一个,是指一个或多个。
12)、“和/或”,描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:单独存在A,同时存在A和B,单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
另外,需要理解的是,在本申请的描述中,“第一”、“第二”等词汇,仅用于区分描述的目的,而不能理解为指示或暗示相对重要性,也不能理解为指示或暗示顺序。
下面将结合附图,对本申请实施例进行详细描述。
本申请实施例提供的驾驶控制方法可以应用于能够实现自动驾驶的车辆中,具体的,该方法可以通过软件承载在一个单独的车载设备中。所述车载设备还可以称为车载电子设备、车载电脑、驾驶控制装置、驾驶控制设备等,本申请对此不作限定。参阅图5A所示的车辆的架构图,该车辆可以包含:车载传感器、驾驶员输入装置、车载设备、人机交互输入输出装置、电机等等。下面对车辆中的各个部件进行介绍。
车载传感器,用于实时采集所述车辆的各种传感器数据。如图中所示,所述车载传感器的一些举例为:车速传感器、轴转速传感器、轮速传感器、加速度传感器、侧倾角传感器等。其中,车速传感器能够测量车辆在设定方向上的速度;轴转速传感器能够测量电机轴旋转速度;轮速传感器能够测量车辆的车轮的旋转速度;加速度传感器能够测量车辆在设定方向上的加速度;侧倾角传感器能够测量车辆的侧倾角。
驾驶员输入装置,当所述车辆处于人工驾驶模式时由驾驶员(后续简称为用户)操作,具体可以包含方向盘、油门踏板和制动踏板、手动档位摇杆、自动档位控制器等,用于接收用户的驾驶意图,生成相应的输入数据。例如,在用户对方向盘进行操作后,方向盘会生成方向盘转角。
人机交互输入输出装置,用于实现用户与车辆之间能够相互理解和识别的交流与通信,实现人机互动的部件。如图所示,所述人机交互输入输出装置可以但不限于包含:显示屏、物理按键、音频电路等。
其中,显示屏可以为触控显示屏,不仅能够呈现用户界面或多媒体文件的播放界面等内容,还可以收集用户在其上或附近的触摸操作,生成相应的触摸信息发送给车载设备,以使所述车载设备执行该触摸信息对应的指令。例如,当所述车辆在开启实时导航播报功能时,可以在显示屏中显示传统地图(包含传统路径)或高精地图(包含高精路径),以及一些实时交通信息。又例如,当所述车载设备通过路径计算得到多条路径时,可以将所述多条路径以及每条路径的路径信息显示在所述显示屏中以提示给用户以供用户选择目标路径。再例如,车辆在行驶过程中,当车载设备确定需要切换驾驶模式时,可以通过显示屏显示提示信息提醒用户。
物理按键,可以收集用户的按键操作,生成按键信息发送给车载设备,以使所述车载设备执行该按键信息对应的命令。
音频电路,包括扬声器和麦克风,可提供用户与所述车载设备之间的音频接口。音频电路可将从车载设备接收到的音频数据转换为电信号,并传输到所述扬声器,由所述扬声器将电信号转换为音频信号(即声波)输出。另一方面,所述麦克风可以将采集的音频信号转换为电信号,由所述音频电路接收后将电信号转换为音频数据,以进行传输、分析或存储等进一步处理。可选的,所述音频电路还可以包含耳机接口,用于连接有线耳机。
其中,扬声器,也称“喇叭”、“音箱”,用于将承载音频数据的电信号转换为音频信号,并输出。例如,车载设备可以通过扬声器播放音乐,广播,以及在车载设备开启实时导航播报时发出各种语音提示等语音信息。
麦克风,也称“话筒”、“传声器”,用于采集所述车载设备周围环境中的音频信号(例如用户发出的声音等),并将音频信号转换为承载音频信号的电信号。例如,麦克风可以采集用户说出的选择目标路径等操作的相关音频信号。
电机,能够根据车载设备发出的扭矩控制命令,或者根据用户通过驾驶员输入装置输入的输入数据,产生相应的扭矩作为车辆行驶的动力源。
车载设备,能够实现实时导航播报、路径导航、驾驶控制、定位、网络功能、信息指示、娱乐、安防、车辆稳定性控制等多种功能,能够满足用户的导航、日常事务处理、娱乐等各种需求。需要说明的是,以上功能可以集成到一个车载设备中,或者分布在多个车载设备中,但是所述多个车载设备之间可以进行通信交互,以便获取用于实现其相应功能的数据。
所述车载设备作为车辆的控制中心,可以利用各种接口和线路连接其他部件,并通过运行或执行存储在内部存储器内的软件程序和/或模块,以及调用存储在该存储器内的数据,执行该车载设备的各种功能。示例性的,在本申请实施例中,按照车载设备具体的逻辑功能,可以将车载设备分为以下几个模块:自动驾驶模块、高精地图组件、驾驶控制模块、动力执行模块、人机交互模块、传统地图组件。
所述自动驾驶模块用于在车辆启动自动驾驶模式时,根据高精地图进行路径导航,以及依靠人工智能、视觉计算、雷达和车载传感器等部件传输的各种实时数据,以及根据当前车辆的行驶情况,自动检测车辆的转向需求和制动/驱动需求,并通过驾驶控制模块,进行车辆的操纵性和稳定性控制,从而使车辆自动且安全地沿用户在高精地图中选择的高精路径行驶。其中,所述自动驾驶模块中可以集成有高级驾驶辅助***(advanced driver assistance system,ADAS)、车身电子稳定***(electronic stability program,ESP)等,以保证车辆在自动驾驶过程中的安全性和稳定性。
所述高精地图组件维护有高精地图,用于根据高精地图中的高精路径为自动驾驶模块提供路径导航。所述高精地图组件也具有路径计算和实时导航播报功能。
所述传统地图组件维护有传统地图,用于根据传统地图为用户提供优质地路径计算和实时导航播报功能。相对于所述高精地图组件,所述传统地图组件具有长期积累的历史运维记录,且能够具有实时交通信息更新功能,因此其维护的传统地图具有明显的路段丰富性和准确性,传统地图组件计算的传统路径路线规划更合理,实时导航播报更准确和丰富。
驾驶控制模块,作为车载设备的控制中心,能够合理安排车辆的驾驶模式。并在不同的驾驶模式下,所述驾驶控制模块可以从车载传感器、驾驶员输入装置,以及所述车载设备内的其他模块获取各种数据,并获取的数据进行处理,从而实现本申请实施例提供的驾驶控制方法,以及对车辆的操纵性和稳定性控制。
如图所示,所述驾驶控制模块具有动力学控制功能,可以控制车辆行驶和稳定性。进一步的,所述驾驶控制模块中可以包含动力学控制功能单元,用于根据车辆的行驶情况,完成车辆控制量的计算,并将控制量转化为驱动/制动扭矩需求。
动力执行模块,用于根据驾驶控制模块中的动力学控制单元的驱动/制动扭矩需求,省城扭矩控制命令发送给电机。
人机交互模块,与车辆的人机交互输入输出装置连接,用于与其进行通信交互。具体的,所述人机交互模块接收所述人机交互输入输出装置输入的指令,并反馈给所述驾驶控制模块执行该指令对应的操作;以及接收所述驾驶控制模块输出的交互命令,并将该交互命令发送给所述人机交互输入输出部件,通过显示屏、音频电路等展示或提示给用户。
本领域技术人员可以理解,图5A中示出的车载设备的结构并不构成对车载设备的限定,本申请实施例提供的车载设备可以包括比图示更多或更少的模块,或者组合某些模块,或者不同的部件布置。例如,所述车载设备内还可以包括无线通信模块、通信接口、人机交互输入输出部件等。所述车辆也还可以包含其他装置和部件,本申请也不作限定。
本申请实施例提供了一种驾驶控制方法,该方法可以由如图5A所示的控制车辆的驾驶模式的车载设备执行。下面参阅图5B所示的驾驶控制方法,对本申请实施例提供的驾驶控制方法的流程进行说明。
S501:车载设备根据第一位置(车辆的起始位置,例如当前所在位置)和第二位置(车辆的终点位置,例如用户期望到达的目标位置),在传统地图中计算第一传统路径。
由于传统地图的路段丰富性和准确性,以及传统地图能够得到更新的实时交通信息,因此,在所述传统地图中计算得到的所述第一传统路径为当前路径规划最合理的路径,即该第一传统路径符合以下特点:少拥堵、驾驶时间短、路况通畅、总长度短。
S502:所述车载设备根据所述第一传统路径,在高精地图中查找与所述第一传统路径匹配的目标高精路径,所述车载设备根据所述第一传统路径在所述高精地图中查找到所述目标高精路径。
通过本步骤,所述车载设备试图在所述高精地图中查找与所述第一传统路径相同或最相似的高精路径作为自动驾驶的路径导航依据,以便尽量让所述车载设备使用基于所述第一传统路径的实时导航播报,并基于与所述第一传统路径匹配的高精路径进行自动驾驶,从而在尽量使车辆采用自动驾驶模式的基础上,实现使用传统地图进行路径计算和实时导航播报,进而可以提高用户体验。
通过前序中对路径匹配中第一种匹配类型的描述可知,在本申请实施例中,与所述第一传统路径匹配的所述目标高精路径可以为以下任一条件:
条件1:所述目标高精路径与所述第一传统路径完全匹配,即所述第一传统路径与所述第一高精路径中包含的路段相同。
条件2:所述目标高精路径与所述第一传统路径部分匹配。即所述目标高精路径中包含的路段少于所述第一传统路径中包含的路段,例如所述目标高精路径可以缺少所述第一传统路径中的首条路段、最后一条路段,或者中间路段。
S503:当所述目标高精路径包含的路段与所述第一传统路径包含的路段相同时,所述车载设备开启基于第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的自动驾驶模式。
通过以上步骤,所述车载设备可以在得到与第一传统路径完全匹配的目标高精路径的情况下,根据所述第一传统路径进行实时导航播报,并根据与所述第一传统路径完全匹配的目标高精路径进行自动驾驶,从而在保证车辆采用自动驾驶模式的基础上,实现使用传统地图进行路径计算和实时导航播报,进而可以提高用户体验。
S504:当所述目标高精路径包含的路段少于所述第一传统路径包含的路段,所述车载设备根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第一待选高精路径。
例如图2-图4所示,所述目标高精路径可以缺少所述第一传统路径中的首条路段、最后一条路段,或中间路段。
由于所述第一传统路径是路径规划最优的交通路线,但是所述车载设备在所述高精地图中重新进行路径计算得到的每条第一待选高精路径均与所述第一传统路径不相似或相似度较低,因此,实际上每条第一待选高精路径均可能存在绕路、驾驶时间较长、总长度较长等情况。
S505:所述车载设备在显示屏中显示所述高精地图,在所述高精地图中显示所述目标高精路径,并显示以下至少一项信息或组合:所述目标高精路径的起始位置、所述目标高精路径的终点位置、每次人工驾驶的时长、每次人工驾驶的距离,每次自动驾驶的时长、每次自动驾驶的距离、人工驾驶的总时长、人工驾驶的总距离、自动驾驶的总时长、自动驾驶的总距离;以及所述车载设备在所述高精地图中显示每条第一待选高精路径,并显示每条第一待选高精路径的以下至少一项信息或组合:每条第一待选高精路径的总长度、每条第一待选高精路径对应的自动驾驶的总时长,每条第一待选高精路径与所述第一传统路径的长度差。
通过该步骤,所述车载设备可以将所述目标高精路径和每条第一待选高精路径的路径信息提示给用户,以便用户可以综合考虑以上信息做出选择。
S506:所述车载设备可以通过内部的人机交互模块从显示屏、音频电路或物理按键等人机交互输入输出部件,接收所述用户的第一路径选择指令,根据所述第一路径选择指令确定所述用户在所述第二高精路径和所述至少一条第一待选高精路径中选择的高精路径。
S507:当根据所述第一路径选择指令确定所述用户选择所述目标高精路径时,所述车载设备开启基于所述第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的预备自动驾驶模式。其中,所述预备自动驾驶模式为车辆在自动驾驶模式和人工驾驶模式之间切换的驾驶模式。
上文提到,虽然所述目标高精路径为部分匹配路径,且相对于所述第一传统路径缺少一部分路段,但是所述目标高精路径实际上与所述第一传统路径相同的概率较高。因此,如果用户选择采用该目标高精路径后,那么缺失这部分路段理论上采用人工驾驶模式行驶安全性更高,因此,所述车载设备可以采用所述预备自动驾驶模式,从而提示用户在缺失这部分路段采用人工驾驶模式行驶,而在所述第二高精路径中包含的路段采用自动驾驶模式行驶。
综上所述,通过以上步骤,所述车载设备可以根据所述第一传统路径进行实时导航播报,并根据与所述第一传统路径部分匹配的目标高精路径进行预备自动驾驶,从而在保证车辆尽量采用自动驾驶模式的基础上,实现使用传统地图进行路径计算和实时导航播报,进而可以提高用户体验。
S508:当根据所述第一路径选择指令确定所述用户选择所述至少一条第一待选高精路径中的第一高精路径时,所述车载设备根据所述第一高精路径,在传统地图中查找与所述第一高精路径完全匹配的第一目标传统路径,其中,所述第一目标传统路径包含的路段与所述第一高精路径包含的路段相同。
由于所述第一高精路径与所述第一传统路径的路线不同,因此若所述车辆根据所述第一高精路径进行自动驾驶,那么所述车载设备不能根据所述第一传统路径进行实时导航播报。为了提高用户体验,尽量以传统路径作为实时导航播报的依据,所述车载设备可以将所述第一高精路径与所述传统地图进行匹配,以试图在所述传统地图中查找与所述第一高精路径完全匹配的传统路径作为实时导航播报的依据。
S509:当所述车载设备在所述传统地图中查找到与所述第一高精路径完全匹配的第一目标传统路径时,所述车载设备开启基于所述第一目标传统路径的实时导航播报,并开启以所述第一高精路径为路径导航的自动驾驶模式。
通过以上步骤,所述车载设备可以在传统地图中查找到与第一高精路径完全匹配的第一目标传统路径的情况下,根据所述第一目标传统路径进行实时导航播报,并根据所述第一高精路径进行自动驾驶。这样,虽然所述第一高精路径可能存绕路、驾驶时间长等情况,但是可以在保证车辆采用全程自动驾驶模式的基础上,实现使用传统地图进行实时导航播报,因此依然可以保证用户体验。
S510:当所述车载设备在所述传统地图中未查找到与所述第一高精路径完全匹配的所述第一目标传统路径时,所述车载设备开启基于所述第一高精路径的实时导航播报,以及开启以所述第一高精路径为路径导航的自动驾驶模式。
通过以上步骤,当所述车载设备确定无法在所述传统地图中找到与所述第一高精路径匹配的第一目标传统路径的情况下,使用所述第一高精路径进行实时导航播报和自动驾驶,从而保证所述车载采用全程自动驾驶模式。另外,所述车载设备使用所述第一高精路径进行实时导航播报,也可以基本保证用户的实时导航播报需求,最终也可以保证用户体验。
S511:所述车载设备根据所述第一传统路径,在高精地图中查找与所述第一传统路径匹配的目标高精路径,且所述车载设备根据所述第一传统路径在所述高精地图中未查找到所述目标高精路径;所述车载设备根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第二待选高精路径。
其中,由于所述第一传统路径是路径规划最优的交通路线,但是所述车载设备在所述高精地图中重新进行路径计算得到的每条第二待选高精路径均与所述第一传统路径不相似或相似度较低,因此,实际上每条第二待选高精路径均可能存在绕路、驾驶时间较长、总长度较长等情况。
S512:所述车载设备在显示屏中显示所述高精地图,在所述高精地图中显示每条第二待选高精路径,并显示以下至少一项信息或组合:每条第二待选高精路径的总长度、每条第二待选高精路径对应的自动驾驶的总时长,每条第二待选高精路径与所述第一传统路径的长度差。
通过该步骤,所述车载设备可以将每条第二待选高精路径的路径信息提示给用户,以便用户可以综合考虑以上信息做出选择。
S513:所述车载设备可以通过内部的人机交互模块从显示屏、音频电路或物理按键等人机交互输入输出部件,接收所述用户的第二路径选择指令,根据所述第二路径选择指令 确定所述用户在所述至少一条第二待选高精路径中选择的第二高精路径。
S514:所述车载设备根据所述第二高精路径,在所述传统地图中查找与所述第二高精路径完全匹配的第二目标传统路径。其中,所述第二目标传统路径包含的路段与所述第二高精路径包含的路段相同。
由于所述第二高精路径与所述第一传统路径的路线不同,因此若所述车辆根据所述第二高精路径进行自动驾驶,那么所述车载设备不能根据所述第一传统路径进行实时导航播报。为了提高用户体验,尽量以传统路径作为实时导航播报的依据,所述车载设备可以将所述第二高精路径与所述传统地图进行匹配,以试图在所述传统地图中查找与所述第二高精路径完全匹配的传统路径作为实时导航播报的依据。
S515:当所述车载设备在所述传统地图中查找到与所述第二高精路径完全匹配的第二目标传统路径时,所述车载设备开启基于所述第二目标传统路径的实时导航播报,并开启以所述第二高精路径为路径导航的自动驾驶模式。
通过以上步骤,所述车载设备可以在传统地图中查找到与第二高精路径完全匹配的第二目标传统路径的情况下,根据所述第二目标传统路径进行实时导航播报,并根据所述第二高精路径进行自动驾驶。这样,虽然所述第二高精路径可能存绕路、驾驶时间长等情况,但是可以在保证车辆采用全程自动驾驶模式的基础上,实现使用传统地图进行实时导航播报,因此依然可以保证用户体验。
S516:当所述车载设备在所述传统地图中未查找到与所述第二高精路径完全匹配的所述第二目标传统路径时,所述车载设备开启基于所述第二高精路径的实施导航播报,以及开启以所述第二高精路径为路径导航的自动驾驶模式。
通过以上步骤,当所述车载设备确定无法在所述传统地图中找到与所述第二高精路径匹配的第二目标传统路径的情况下,使用所述第二高精路径进行实时导航播报和自动驾驶,从而保证所述车载采用全程自动驾驶模式。另外,所述车载设备使用所述第二高精路径进行实时导航播报,也可以基本保证用户的实时导航播报需求,最终也可以保证用户体验。
本申请实施例提供了一种驾驶控制方法,车载设备可以在传统地图中计算得到传统路径后,然后在高精地图中查找与该传统路径匹配的目标高精路径,当查找到与该传统路径完全匹配的目标高精路径时,开启基于该传统路径的实时导航播报,并开启以该目标高精路径为路径导航的自动驾驶模式。由于所述传统地图具有路段丰富性和实时交通信息更新等优点,因此,在传统地图中计算的传统路径合理性更高,且根据传统地图中的传统路径进行实时导航播报能够保证用户接收到更多更准确的交通信息;进一步的,使用高精地图中的高精路径实现车辆的自动驾驶可以减少用户的操作性。总之,通过该方案,所述该装置可以在尽量保证车辆的自动驾驶的基础上,实现通过高精地图和传统地图结合的方式实现路径计算和实时导航播报,从而可以提高用户体验。
基于以上实施例提供的驾驶方法,本申请实施例还提供了一种驾驶控制方法实例。下面以图5A所示的车辆中的车载设备为例,对该实例进行说明。参阅图5A所示,所述车载设备中包含驾驶控制模块、自动驾驶模块、人机交互模块、传统地图组件和高精地图组件等模块。其中,所述传统地图组件用于根据传统地图进行路径计算和实时导航播报;所述高精地图组件用于根据高精地图为处于自动驾驶模式的车辆提供路径导航,以及根据所述高精地图进行路径计算和实时导航播报。参阅图6所示,该方法具体包括以下步骤:
S601:驾驶控制模块根据车辆的当前位置和用户期望到达的目标位置,通过传统地图组件在传统地图中计算第一传统路径。其中,所述目标位置可以为用户输入所述车载设备的,或者为所述驾驶控制模块根据所述车辆的历史行驶记录自行确定的,本申请对此不作限定。其中,所述驾驶控制模块可以在通过人机交互模块接收到用户的路径规划请求后启动执行本方案。
由于传统地图的路段丰富性和准确性,以及传统地图组件能够更新实时交通信息,因此,通过所述传统地图组件计算得到的所述第一传统路径为当前路径规划最合理的路径,即该第一传统路径符合以下特点:少拥堵、驾驶时间短、路况通畅、总长度短。
S602:所述驾驶控制模块通过高精地图组件将所述第一传统路径与高精地图进行匹配。
具体的,所述驾驶控制模块可以将从传统地图组件获得的所述第一传统路径输入到所述高精地图组件中,由高精地图组件进行路径匹配。
通过本步骤,所述驾驶控制模块试图在所述高精地图中查找与所述第一传统路径相同或最相似的高精路径作为自动驾驶的路径导航依据,以便尽量让所述驾驶控制模块使用基于所述第一传统路径的实时导航播报,并基于与所述第一传统路径完全匹配的高精路径进行自动驾驶,从而在尽量使车辆采用自动驾驶模式的基础上,实现使用传统地图进行路径计算和实时导航播报,进而可以提高用户体验。
通过前序中对路径匹配中第一种匹配类型的描述可知,在本申请实施例中,所述驾驶控制模块通过所述高精地图组件执行S602之后可能会产生三种结果:
第一种结果:所述第一传统路径与所述高精地图匹配成功,且所述高精地图组件查找到与所述第一传统路径完全匹配的第一高精路径。其中,所述第一传统路径与所述第一高精路径中包含的路段相同。
第二种结果:所述第一传统路径与所述高精地图匹配成功,但所述高精地图组件查找到与所述第一传统路径部分匹配的第二高精路径。其中,所述第二高精路径中包含的路段少于所述第一传统路径中包含的路段,例如所述第二高精路径可以缺少所述第一传统路径中的首条路段、最后一条路段,或者中间路段。
第三种结果:所述第一传统路径与所述高精地图匹配失败,所述高精地图组件未查找到与所述第一传统路径相同或相似的高精路径。
S603:所述驾驶控制模块确定在S602中得到的路径匹配结果为上述第一种结果,即当所述驾驶控制模块确定所述高精地图组件在所述高精地图中查找到与所述第一传统路径完全匹配的第一高精路径时,所述驾驶控制模块开启所述传统地图组件的实时导航播报功能以使所述传统地图组件可以基于所述第一传统路径进行实时导航播报,并开启所述高精地图组件的路径导航功能和所述自动驾驶模块的自动驾驶模式,以使所述自动驾驶模块能够以所述第一高精路径为路径导航进行自动驾驶。
通过以上步骤,所述驾驶控制模块可以在得到与第一传统路径完全匹配的第一高精路径的情况下,根据所述第一传统路径进行实时导航播报,并根据与所述第一传统路径完全匹配的第一高精路径进行自动驾驶,从而在保证车辆采用自动驾驶模式的基础上,实现使用传统地图进行路径计算和实时导航播报,进而可以提高用户体验。
S604:所述驾驶控制模块确定在S602中得到的路径匹配结果为上述第二种结果,即当所述驾驶控制模块确定所述高精地图组件在所述高精地图中查找到与所述第一传统路径部分匹配的第二高精路径时,根据所述当前位置和所述目标位置,通过所述高精地图组 件在所述高精地图中计算至少一条第一待选高精路径。
其中,所述第二高精路径包含的路段少于所述第一传统路径包含的路段,例如图2-图4所示。
由于所述第一传统路径是路径规划最优的交通路线,但是所述高精地图组件重新进行路径计算得到的每条第一待选高精路径均与所述第一传统路径不相似或相似度较低,因此,实际上每条第一待选高精路径均可能存在绕路、驾驶时间较长、总长度较长等情况。
S605:所述驾驶控制模块可以通过显示屏中显示和/或语音提示的方式,向所述用户提示所述第二高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息。
在一种实施方式中,所述驾驶控制模块可以通过在显示屏中显示的方式,向用户提示所述第二高精路径的路径信息。由于第二高精路径为部分匹配路径,相对于所述第一传统路径缺少一部分路段,因此,假设用户选择所述第二高精路径行驶的话,缺失的这部分路段可能需要车辆采用人工驾驶模式行驶,即第二高精路径不能实现车辆全程自动驾驶,因此需要提醒用户,以便用户可以综合考虑上述情况然后再选择目标高精路径。
所述驾驶控制模块可以通过以下步骤提示所述第二高精路径的路径信息:
所述驾驶控制模块通过人机交互模块在显示屏中显示所述高精地图,在所述高精地图中显示所述第二高精路径和显示以下至少一项或组合:
所述第二高精路径的起始位置、所述第二高精路径的终点位置、每次人工驾驶的时长、每次人工驾驶的距离,每次自动驾驶的时长、每次自动驾驶的距离,人工驾驶的总时长、人工驾驶的总距离,自动驾驶的总时长、自动驾驶的总距离。
通过显示以上所述第二高精路径的路径信息,可以使用户进一步了解所述第二高精路径,便于后续比较和筛选目标高精路径。
可选的,所述驾驶控制模块还可以仅在所述高精地图中显示所述第二高精路径,并通过语音提示的方式提示所述用户所述第二高精路径的以上信息,这样所述驾驶控制模块可以通过显示和语音提示相结合的方式,将所述第二高精路径的路径信息提示给用户。
在一种实施方式中,所述驾驶控制模块可以通过在显示屏中显示的方式,向用户提示每条第一待选高精路径的路径信息,具体可以包括以下步骤:
所述驾驶控制模块通过人机交互模块在所述高精地图中显示每条第一待选高精路径,并显示每条第一待选高精路径的以下至少一项信息或组合:
每条第一待选高精路径的总长度、每条第一待选高精路径对应的自动驾驶的总时长,每条第一待选高精路径与所述第一传统路径的长度差。
由于相对于所述第二高精路径,每条第一待选高精路径与所述第一传统路径的相似度较低,因此每条第一待选高精路径可能存在绕路、驾驶时间较长、总长度较长等情况,因此,所述驾驶控制模块可以将每条第一待选高精路径的以上信息显示给用户,这样用户可以进一步了解每条第一待选高精路径,便于用户后续进行路径的分析、比较和筛选。
可选的,所述驾驶控制模块还可以仅在高精地图中显示每条第一待选高精路径,并通过语音提示的方式提示用户每条第一待选高精路径的以上信息,这样所述驾驶控制模块可以通过显示和语音提示相结合的方式,将每条第一待选高精路径的路径信息提示给用户。
S606:所述驾驶控制模块可以通过内部的人机交互模块从显示屏、音频电路或物理按键等人机交互输入输出部件中接收所述用户的第一路径选择指令,根据所述第一路径选择 指令确定所述用户在所述第二高精路径和所述至少一条第一待选高精路径中选择的目标高精路径。其中,所述目标高精路径可以为所述第二高精路径,或者为任一条第一待选高精路径。
S607:当所述目标高精路径为所述第二高精路径时,所述驾驶控制模块开启所述传统地图组件的实时导航播报功能以使所述传统地图组件可以基于所述第一传统路径进行实时导航播报,并开启所述高精地图组件的路径导航功能和所述自动驾驶模块的预备自动驾驶模式,以使所述自动驾驶模块能够以所述第二高精路径为路径导航进行自动驾驶。其中,所述预备自动驾驶模式为车辆在自动驾驶模式和人工驾驶模式之间切换的驾驶模式。
上文提到,虽然所述第二高精路径为部分匹配路径,且相对于所述第一传统路径缺少一部分路段,但是所述第二高精路径实际上与所述第一传统路径相同的概率较高。因此,如果用户选择采用该第二高精路径后,那么缺失这部分路段理论上采用人工驾驶模式行驶安全性更高,因此,所述驾驶控制模块可以启动所述预备自动驾驶模式,从而在缺失这部分路段提示用户采用人工驾驶模式行驶,而在所述第二高精路径中包含的路段采用自动驾驶模式行驶。
综上所述,通过以上步骤,所述驾驶控制模块可以根据所述第一传统路径进行实时导航播报,并根据与所述第一传统路径部分匹配的第二高精路径进行预备自动驾驶,从而在保证车辆尽量采用自动驾驶模式的基础上,实现使用传统地图进行路径计算和实时导航播报,进而可以提高用户体验。
S608:当所述目标高精路径为所述至少一条第一待选高精路径中的第三高精路径时,所述驾驶控制模块通过所述传统地图组件将所述第三高精路径与所述传统地图进行匹配。
由于所述第三高精路径与所述第一传统路径的路线不同,因此在用户选择的目标高精路径为第三高精路径时,所述驾驶控制模块不能根据所述第一传统路径进行实时导航播报。为了提高用户体验,尽量以传统路径作为实时导航播报的依据,所述驾驶控制模块可以将所述第三高精路径与所述传统地图进行匹配,以试图在所述传统地图中查找与所述第三高精路径完全匹配的传统路径作为实时导航播报的依据。
通过前序中对路径匹配中第二种匹配类型的描述可知,在本申请实施例中,所述驾驶控制模块通过所述传统地图组件执行S608之后可能会产生两种结果:
第一种结果:所述第三高精路径与所述传统地图匹配成功,即所述传统地图组件在所述传统地图中查找到与所述第三高精路径完全匹配的第二传统路径。其中,所述第三高精路径与所述第二传统路径包含的路段相同。
第二种结果:所述第三高精路径与所述传统地图匹配失败,即所述传统地图组件在所述传统地图中未查找到与所述第三高精路径相同的传统路径。
通过以上对传统地图和高精地图的描述可知,传统地图比高精地图包含的路段更丰富和准确,因此,所述传统地图组件一般会在所述传统地图中查找到与所述第三高精路径中完全匹配的所述第二传统路径,即所述驾驶控制模块得到第一种结果的概率较高。
S609:所述驾驶控制模块确定在S608中得到的路径匹配结果为上述第一种结果,即当所述驾驶控制模块确定所述传统地图组件在所述传统地图中查找到与所述第三高精路径完全匹配的第二传统路径时,所述驾驶控制模块开启所述传统地图组件的实时导航播报功能以使所述传统地图组件可以基于所述第二传统路径进行实时导航播报,并开启所述高精地图组件的路径导航功能和自动驾驶模块的自动驾驶模式,以使所述自动驾驶模块能够 以所述第三高精路径为路径导航进行自动驾驶。
通过以上步骤,所述驾驶控制模块可以在确定传统地图组件查找到与第三高精路径完全匹配的第二传统路径的情况下,根据所述第二传统路径进行实时导航播报,并根据所述第三高精路径进行自动驾驶。这样,虽然所述第三高精路径可能存绕路、驾驶时间长等情况,但是可以在保证车辆采用全程自动驾驶模式的基础上,实现使用传统地图进行实时导航播报,因此依然可以保证用户体验。
S610:所述驾驶控制模块确定在S608中得到的路径匹配结果为上述第二种结果,即当所述驾驶控制模块确定所述传统地图组件匹配失败时,所述驾驶控制模块开启所述高精地图组件的实时导航播报和路径导航功能,以及开启所述自动驾驶模块的自动驾驶模式,以使所述高精地图组件可以基于所述第三高精路径进行实时导航播报,以及使所述自动驾驶模块能够以所述第三高精路径为路径导航进行自动驾驶。
通过以上步骤,当所述驾驶控制模块确定无法在所述传统地图中找到与所述第三高精路径匹配的传统路径的情况下,使用所述第三高精路径的实时导航播报功能和自动驾驶模式,从而保证所述车载采用全程自动驾驶模式,另外,所述驾驶控制模块使用所述第三高精路径进行实时导航播报,可以保证用户的实时导航播报需求,最终也可以保证用户体验。
S611:所述驾驶控制模块在S602中得到的路径匹配结果为上述第三种结果,即当所述驾驶控制模块确定所述高精地图组件匹配失败(所述第一传统路径与所述高精地图匹配失败)时,所述驾驶控制模块根据所述当前位置和所述目标位置,通过所述高精地图组件在所述高精地图中计算至少一条第二待选高精路径。
其中,由于所述第一传统路径是路径规划最优的交通路线,但是所述高精地图组件重新进行路径计算得到的每条第一待选高精路径均与所述第一传统路径不相似或相似度较低,因此,实际上每条第一待选高精路径均可能存在绕路、驾驶时间较长、总长度较长等情况。
S612:所述驾驶控制模块可以通过显示屏中显示和/或语音提示的方式,向所述用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息。
在一种实施方式中,所述车载可以通过通过在显示屏中显示的方式,向所述用户提示每条第二待选高精路径的路径信息,具体可以包括以下步骤:
所述驾驶控制模块通过人机交互模块在显示屏中显示所述高精地图,在所述高精地图中显示每条第二待选高精路径,并显示以下至少一项信息或组合:
每条第二待选高精路径的总长度、每条第二待选高精路径对应的自动驾驶的总时长,每条第二待选高精路径与所述第一传统路径的长度差。
由于每条第二待选高精路径与所述第一传统路径均不同,因此每条第二待选高精路径可能存在绕路、驾驶时间较长、总长度较长等情况,因此,所述驾驶控制模块可以将每条第二待选高精路径的以上信息显示给用户,这样用户可以进一步了解每条第二待选高精路径,便于用户后续进行路径的分析、比较和筛选。
可选的,所述驾驶控制模块还可以仅在所述高精地图中显示每条第二待选高精路径,并通过语音提示的方式提示用户每条第二待选高精路径的以上信息,这样所述驾驶控制模块可以通过显示和语音提示相结合的方式,将每条第二待选高精路径的路径信息提示给用户。
S613:所述驾驶控制模块通过内部的人机交互模块从显示屏、音频电路或物理按键等 人机交互输入输出部件中接收所述用户的第二路径选择指令,根据所述第二路径选择指令确定所述用户在所述至少一条第二待选高精路径中选择的第四高精路径。
S614:所述驾驶控制模块通过所述传统地图组件将所述第四高精路径与所述传统地图进行匹配。
由于所述第四高精路径与所述第一传统路径的路线不同,因此若所述车辆根据所述第四高精路径进行自动驾驶,那么所述驾驶控制模块不能根据所述第一传统路径进行实时导航播报。为了提高用户体验,尽量以传统路径作为实时导航播报的依据,所述驾驶控制模块可以将所述第四高精路径与所述传统地图进行匹配,以试图在所述传统地图中查找与所述第四高精路径完全匹配的传统路径用于作用实时导航播报的依据。
同S608类似的,所述驾驶控制模块通过所述传统地图组件执行S614之后也可能会产生两种结果:
第一种结果:所述第四高精路径与所述传统地图匹配成功,即所述传统地图组件在所述传统地图中查找到与所述第四高精路径完全匹配的第三传统路径。其中,所述第四高精路径与所述第三传统路径包含的路段相同。
第二种结果:所述第四高精路径与所述传统地图匹配失败,即述传统地图组件在所述传统地图中未查找到与所述第四高精路径相同的传统路径。
S615:所述驾驶控制模块确定在S614中得到的路径匹配结果为上述第一种结果,即当所述驾驶控制模块确定所述传统地图组件在所述传统地图中查找到与所述第四高精路径完全匹配的第三传统路径时,开启所述传统地图组件实时导航播报功能以使所述传统地图组件基于所述第三传统路径进行实时导航播报,并开启所述高精地图组件的路径导航功能和所述自动驾驶模块的自动驾驶模式,以使所述自动驾驶模块可以以所述第四高精路径为路径导航进行自动驾驶。
通过以上步骤,所述驾驶控制模块可以在确定传统地图组件查找到与第四高精路径完全匹配的第三传统路径的情况下,根据所述第三传统路径进行实时导航播报,并根据所述第四高精路径进行自动驾驶。这样,虽然所述车辆行驶到所述目标位置可能存绕路、驾驶时间长等情况,但是可以在保证车辆采用全程自动驾驶模式的基础上,实现使用传统地图进行实时导航播报,因此依然可以保证用户体验。
S616:所述驾驶控制模块确定在S614中得到的路径匹配结果为上述第二种结果,即当所述驾驶控制模块确定所述传统地图组件匹配失败(当所述第四高精路径与所述传统地图匹配失败)时,所述驾驶控制模块开启所述高精地图组件的实时导航播报和路径导航功能,以及开启所述自动驾驶模块的自动驾驶模式,以使所述高精地图组件可以基于所述第四高精路径进行实时导航播报,并使所述自动驾驶模块能够以所述第四高精路径为路径导航进行自动驾驶。
通过以上步骤,当所述驾驶控制模块确定无法在所述传统地图中找到与所述第四高精路径匹配的传统路径的情况下,使用所述第四高精路径的实时导航播报功能和自动驾驶模式,从而保证所述车载采用全程自动驾驶模式,另外,所述驾驶控制模块使用所述第四高精路径进行实时导航播报,可以保证用户的实时导航播报需求,最终也可以保证用户体验。
由于以上实施例中涉及到的预备自动驾驶模式相较于自动驾驶模式和人工驾驶模式较为复杂,其涉及到切换驾驶模式的时机等,因此本申请实施例还提供了一种车辆开启预 备自动驾驶模式后的驾驶控制方法。例如,在所述车载设备在S607开启预备自动驾驶模式之后,包括以下步骤:
A、若所述驾驶控制模块确定所述当前位置与所述第二高精路径中首条路段的起始位置不同(例如所述第二高精路径为图3中的b所示的高精路径β2,或为图4中的b所示的高精路径β3),则提示所述用户开启所述车辆的人工驾驶模式;或者若所述车载设备确定所述当前位置与所述第二高精路径中首条路段的起始位置相同(例如所述第二高精路径为图2中的b所示的高精路径β1),则直接开启或提示用户开启所述车辆的自动驾驶模式。
B、若所述车载设备确定所述车辆在行驶过程中的位置处于所述第二高精路径中第一路段的起始位置所在的第一范围内,则提示所述用户开启所述车辆的自动驾驶模式(即切换驾驶模式),其中,所述第一路段的起始位置与所述当前位置不同,且在所述第二高精路径中不存在与所述第一路段的起始位置相连的路段。其中,所述第一范围可以为所述第一路段的起始位置的前后5m或10ms,其具体取值范围可以由用户设定或者所述车载设备根据实际情况设定,或者为所述车载设备的生产厂家提前设定。
示例性的,当所述第二高精路径为图2中的b所示的高精路径β1时,所述第一路段可以为高精路径β1中的路段J。当所述第二高精路径为图3中的b所示的高精路径β2时,所述第一路段可以为高精路径β2中的H的部分路段。当所述第二高精路径为图4中的b所示的高精路径β3时,所述第一路段可以为高精路径β3中的H的部分路段。
C、若所述车载设备确定所述车辆在行驶过程中的位置处于所述第二高精路径中第二路段的终点位置所在的第二范围内,则提示所述用户开启所述车辆的人工驾驶模式(即切换驾驶模式),其中,所述第二路段的终点位置与所述目标位置不同,且在所述第二高精路径中不存在与所述第二路段的终点位置相连的路段。
示例性的,当所述第二高精路径为图2中的b所示的高精路径β1时,所述第二路段可以为高精路径β1中的路段F的部分路段。当所述第二高精路径为图4中的b所示的高精路径β3时,所述第二路段可以为高精路径β3中的J的部分路段。
另外,在上述步骤中所述车载设备提示所述用户开启所述车辆的人工驾驶模式之后,所述方法还包括:所述车载设备提示所述用户本次的人工驾驶信息,其中,人工驾驶信息包含:本次人工驾驶的距离,和/或,本次人工驾驶的时长。
所述车载设备可以在提示用户开启人工驾驶模式之后立即提示用户上述人工驾驶信息。这样,所述车载设备可以向用户提供本次人工驾驶信息,以使用户可以对本次人工驾驶有准备,便于用户做出是否开启人工驾驶模式的最终决定。
所述车载设备还可以在用户通过设置,开启人工驾驶模式之后提示用户上述人工驾驶信息。
需要说明的是,所述车载设备也可以通过显示屏显示和/或语音提示的方式提示用户上述人工驾驶信息。
为了保证车辆行驶的安全性,在所述车载设备提示所述用户开启所述车辆的人工驾驶模式之后,在所述车辆开启人工驾驶模式过程中,所述车载设备还可以通过定位判断车辆是否偏离第二高精路径的行驶路线,若确定所述车辆在行驶过程中的位置偏离所述第二高精路径时,则退出预备自动驾驶模式。在所述车载设备提示所述用户开启所述车辆的自动驾驶模式之后,在所述车辆退出自动驾驶模式时,所述车载设备需要判断本次退出原因是否为上述步骤C所示的正常切换,若是的话,则继续保持预备自动驾驶模式;否则(例如 用户强制人工接管、车辆熄火或车载设备确定遇到突发紧急情况强制退出自动驾驶模式时),退出预备自动驾驶模式,直接变为人工驾驶模式。
基于以上步骤,本申请实施例还提供了一种车辆开启预备自动驾驶模式后的驾驶控制方法实例,参阅图7所示,该方法具体包括以下步骤:
S701:在驾驶控制模块执行完上述S607开启高精地图组件的路径导航功能和自动驾驶模块的预备自动驾驶模式,以使所述自动驾驶模块能够以所述第二高精路径为路径导航进行自动驾驶之后,所述车载设备确定所述车辆的当前位置是否与所述第二高精路径中首条路段的起始位置相同;若相同则执行S702,否则执行S706。
S702:在所述车辆的当前位置与所述第二高精路径中首条路段的起始位置相同时,所述驾驶控制模块直接开启所述自动驾驶模块的自动驾驶模式,以使所述自动驾驶模块根据所述第二高精路径进行路径导航。
S703:所述驾驶控制模块确定所述车辆在行驶过程中的位置,当确定到达所述第二高精路径的中断处,通过显示屏显示或者语音提示的方式,提示用户开启人工驾驶模式,并提示用户本次的人工驾驶信息。
其中,所述第二高精路径的中断处,即为上述步骤C中记载的所述第二高精路径中第二路段的终点位置所在的第二范围内。
S704:所述驾驶控制模块通过人机交互模块从人机交互输入输出部件接收到用户的模式切换指示后,退出所述自动驾驶模块的自动驾驶模式,以及开启人工驾驶模式。
S705:所述驾驶控制模块每次在所述自动驾驶模块退出自动驾驶模式时,需要判断是否属于正常退出自动驾驶模式。若是,则执行人工驾驶模式相关步骤S708;否则执行S712,直接退出预备自动驾驶模式,直接开启人工驾驶模式并不再提示切换驾驶模式。
其中,正常退出自动驾驶模式即为由于在车辆到达所述第二高精路径的中断处而退出自动驾驶模式。其他原因退出自动驾驶模式均不属于正常退出自动驾驶模式。
S706:在所述车辆的当前位置与所述第二高精路径中首条路段的起始位置不同时,提示用户开启人工驾驶模式,并提示用户本次的人工驾驶信息。
S707:在所述驾驶控制模块接收到用户的模式确认指示后,开启人工驾驶模式。
S708:在所述车辆开启人工驾驶模式过程中,所述驾驶控制模块还可以通过定位判断车辆是否偏离第二高精路径的行驶路线。若确定所述车辆在行驶过程中的位置偏离所述第二高精路径时,则执行S712退出预备自动驾驶模式;否则执行S709。
S709:所述驾驶控制模块确定所述车辆在行驶过程中的位置,并判断所述车辆是否到达开启自动驾驶路段处,若是,则执行S710;否则继续执行S708。
其中,所述驾驶控制模块判断所述车辆是否到达开启自动驾驶路段处,即为上述步骤B中记载的处于所述第二高精路径中第一路段的起始位置所在的第一范围内。
S710:所述驾驶控制模块通过显示屏显示或者语音提示的方式,提示用户开启自动驾驶模式。
S711:所述驾驶控制模块接收到用户的模式切换指示后,退出人工驾驶模式,开启所述自动驾驶模块的自动驾驶模式。
需要说明的是,在开启自动驾驶模式之后,所述驾驶控制模块继续执行S703,继续判断所述车辆是否到达所述第二高精路径的中断处,当到达时提示开启人工驾驶模式,并提示用户本次的人工驾驶信息。
S712:所述驾驶控制模块退出预备自动驾驶模式,直接开启人工驾驶模式并不再提示切换驾驶模式。
通过以上步骤,所述驾驶控制模块可以对所述车辆进行定位,从而可以提示用户在相应的路段提示用户开启对应的驾驶模式,进而实现人工驾驶模式和自动驾驶模式的接续切换。
基于图5B和图6所示的实施例,本申请还提供了一种驾驶控制方法实例。其中,该实例以车载设备为图5A所示的车辆的架构为例进行说明,如图5A中所示,所述车载设备内部的软件模块包含人机交互模块、驾驶控制模块、传统地图组件、高精地图组件、自动驾驶模块等。下面参考图8A和图8B所示的流程图对该实例的步骤进行具体说明。
S801:人机交互模块从人机交互输入输出部件中获取用户输入的路径规划请求后,向驾驶控制模块发送所述路径规划请求。所述路径规划请求用于通知驾驶控制模块进行路径规划操作。可选的,路径规划请求中可以包含用户输入的目标位置。
S802:所述驾驶控制模块根据所述路径规划请求,向传统地图组件发送传统路径计算请求。
可选的,所述传统路径计算请求中可以包含所述驾驶控制模块确定的车辆的当前位置和用户期望到达的目标位置。其中,所述目标位置可以为所述路径规划请求中包含的,或者为所述驾驶控制模块根据历史行驶记录中确定的。
S803:所述传统地图组件接收到所述传统路径计算请求后,根据车辆的当前位置和用户期望到达的目标位置,在传统地图中计算得到第一传统路径。然后向所述驾驶控制模块发送传统路径计算响应。其中,所述传统路径计算响应用于通知所述驾驶控制模块所述传统地图组件查找到所述第一传统路径。可选的,所述传统路径计算响应中可以包含所述第一传统路径的数据。
可选的,当所述传统路径计算请求中不包含所述当前位置和所述目标位置时,所述传统地图组件可以自行根据定位确定所述当前位置,并根据历史行驶记录确定所述目标位置。
S804:所述驾驶控制模块向高精地图组件发送传统路径匹配请求。其中,所述传统路径匹配请求中可以携带所述第一传统路径的数据。
所述高精地图组件在接收到传统路径匹配请求后,从所述传统路径匹配请求或从传统地图组件中获取所述第一传统路径的数据,然后将第一传统路径与高精地图进行匹配,可能得到三种匹配结果:A:得到与第一传统路径完全匹配的第一高精路径;B:得到与第一传统路径部分匹配的第二高精路径;C匹配失败,未查找到高精路径。
其中,S805a-S807a为匹配结果为A时对应的步骤,S805b-810b223为匹配结果为B时对应的步骤,S805c-810c23为匹配结果为C时对应的步骤。下面分别对每种匹配结果对应的步骤进行描述。
S805a:所述高精地图组件得到与第一传统路径完全匹配的第一高精路径后,向所述驾驶控制模块发送第一传统路径匹配响应。所述第一传统路径匹配响应用于通知所述驾驶控制模块所述高精地图组件查找到完全匹配的第一高精路径。可选的,所述第一传统路径匹配响应中包含所述第一高精路径的数据。
S806a:所述驾驶控制模块开启所述自动驾驶模块的自动驾驶模式,包含开启所述高精地图组件基于所述第一高精路径的路径导航。这样,所述自动驾驶模块可以根据所述高 精地图组件中的第一高精路径进行全程自动导航。
S807a:所述驾驶控制模块开启所述传统地图组件基于所述第一传统路径的实时导航播报。
S805b:所述高精地图组件得到与第一传统路径部分匹配的第二高精路径后,向所述驾驶控制模块发送第二传统路径匹配响应。所述第二传统路径匹配响应用于通知所述驾驶控制模块所述高精地图组件查找到部分匹配的第二高精路径。可选的,所述第二传统路径匹配响应中包含所述第二高精路径的数据。
S806b:所述驾驶控制模块接收到所述第二传统路径匹配响应后,向所述高精地图组件发送高精路径计算请求,其中所述高精路径计算请求中可以包含所述当前位置和所述目标位置。
S807b:所述高精地图组件根据所述当前位置和所述目标位置在高精地图中计算n条第一待选高精路径,然后,所述高精地图组件向所述驾驶控制模块发送高精路径计算响应。其中,所述高精路径计算响应用于通知所述驾驶控制模块所述高精地图组件计算得到n条第一待选高精路径,n为大于0的整数。可选的,所述高精路径计算响应中包含所述n条第一待选高精路径的数据。
S808b:所述驾驶控制模块向人机交互模块发送第一路径提示指令,用于指示人机交互模块向用户提示所述第二高精路径的路径信息和每条第一待选高精路径的路径信息。
这样,所述人机交互模块可以根据所述第一路径提示指令,将上述路径信息通过显示屏显示和/或语音提示的方式向用户发出提示。
S809b:所述人机交互模块从人机交互输入输出部件接收用户输入的第一路径选择指令后,将所述第一路径选择指令发送给所述驾驶控制模块。其中,所述第一路径选择指令用于确定用户在第二高精路径和n条第一待选高精路径中选择的目标高精路径。
所述驾驶控制模块根据所述第一路径选择指令,确定目标高精路径。其中,所述目标高精路径可以包含两种情况:B1:所述目标高精路径为所述第二高精路径;B2所述目标高精路径为所述n条第一待选高精路径中的第三高精路径。
其中,S810b11-810b12为目标高精路径为B1情况下对应的步骤,S810b21-810b222为目标高精路径为B2情况下对应的步骤。
S810b11:所述驾驶控制模块确定所述目标高精路径为所述第二高精路径时,开始所述自动驾驶模块的预备自动导航模式,包含开启所述高精地图组件基于所述第二高精路径的路径导航。这样,所述自动驾驶模块可以根据所述高精地图组件中的第二高精路径进行分段自动导航,具体过程可以参考图7所示的实例。
S810b12:所述驾驶控制模块开启所述传统地图组件基于所述第一传统路径的实时导航播报。
S810b21:所述驾驶控制模块确定所述目标高精路径为所述第三高精路径时,向所述传统地图组件发送第一高精路径匹配请求。其中所述第一高精路径匹配请求中可以携带所述第三高精路径的数据或者所述第三高精路径的指示信息。
所述传统地图组件在接收到第一高精地图匹配请求后,从所述第一高精地图匹配请求中获取或者根据所述第三高精路径的指示信息从所述高精地图组件中获取所述第三高精路径的数据,然后将所述第三高精路径与传统地图进行匹配,可以得到两种匹配结果:B21:得到与所述第三高精路径完全匹配的第二传统路径;B22:匹配失败,未查找到与所述第 三高精路径完全匹配的传统路径。
其中S810b211-S810b213为匹配结果为B21的对应的步骤,S810b221-S810b223为匹配结果为B22时对应的步骤。
S810b211:所述传统地图组件向所述驾驶控制模块发送第一高精路径匹配响应。其中,所述第一高精路径匹配响应用于通知所述驾驶控制模块所述传统地图组件查找到完全匹配的第二传统路径。
S810b212:所述驾驶控制模块开启所述自动驾驶模块的自动驾驶模式,包含开启所述高精地图组件基于所述第三高精路径的路径导航。这样,所述自动驾驶模块可以根据所述高精地图组件中的第三高精路径进行全程自动导航。
S810b213:所述驾驶控制模块开启所述传统地图组件基于所述第一传统路径的实时导航播报。
S810b221:所述传统地图组件匹配失败后,向所述驾驶控制模块发送第二高精路径匹配响应。其中,所述第二高精路径匹配响应用于通知所述驾驶控制模块所述传统地图组件匹配失败。
S810b222:所述驾驶控制模块开启所述自动驾驶模块的自动驾驶模式,包含开启所述高精地图组件基于所述第三高精路径的路径导航。这样,所述自动驾驶模块可以根据所述高精地图组件中的第三高精路径进行全程自动导航。
S810b223:所述驾驶控制模块开启所述高精地图组件基于所述第三高精路径的实时导航播报。
S805c:所述高精地图组件匹配失败后,向所述驾驶控制模块发送第三传统路径匹配响应。其中,所述第三传统路径匹配响应用于通知所述驾驶控制模块所述高精地图组件匹配失败。
S806c:所述驾驶控制模块接收到所述第三传统路径匹配响应后,向所述高精地图组件发送高精路径计算请求,其中,所述高精路径计算请求中可以包含所述当前位置和所述目标位置。
S807c:所述高精地图组件根据所述当前位置和所述目标位置在高精地图中计算m条第二待选高精路径,然后,所述高精地图组件向所述驾驶控制模块发送高精路径计算响应。其中,所述高精路径计算响应用于通知所述驾驶控制模块所述高精地图组件计算得到m条第二待选高精路径,m为大于0的整数。可选的,所述高精路径计算响应中包含所述m条第二待选高精路径的数据。
S808c:所述驾驶控制模块向人机交互模块发送第二路径提示指令,用于指示人机交互模块向用户提示每条第二待选高精路径的路径信息。
这样,所述人机交互模块可以根据所述第二路径提示指令,将上述路径信息通过显示屏显示和/或语音提示的方式向用户发出提示。
S809c:所述人机交互模块从人机交互输入输出部件接收用户输入的第二路径选择指令后,将所述第二路径选择指令发送给所述驾驶控制模块。其中,所述第二路径选择指令用于确定用户在m条第二待选高精路径中选择的第四高精路径。
S810c:所述驾驶控制模块根据所述第二路径选择指令,确定用户选择的所述第四高精路径后,向所述传统地图组件发送第二高精路径匹配请求。其中,所述第二高精路径匹配请求中可以携带所述第四高精路径的数据或者所述第四高精路径的指示信息。
所述传统地图组件在接收到第二高精地图匹配请求后,从所述第二高精地图匹配请求中获取或者根据所述第四高精路径的指示信息从所述高精地图组件中获取所述第四高精路径的数据,然后将所述第四高精路径与传统地图进行匹配,可以得到两种匹配结果:C1:得到与所述第四高精路径完全匹配的第三传统路径;C2:匹配失败,未查找到与所述第四高精路径完全匹配的传统路径。
其中S810c11-S810c13为匹配结果为C1的对应的步骤,S810c21-S810c23为匹配结果为C2时对应的步骤。
S810c11:所述传统地图组件向所述驾驶控制模块发送第三高精路径匹配响应。其中,所述第三高精路径匹配响应用于通知所述驾驶控制模块所述传统地图组件查找到完全匹配的第三传统路径。
S810c12:所述驾驶控制模块开启所述自动驾驶模块的自动驾驶模式,包含开启所述高精地图组件基于所述第四高精路径的路径导航。这样,所述自动驾驶模块可以根据所述高精地图组件中的第四高精路径进行全程自动导航。
S810c13:所述驾驶控制模块开启所述传统地图组件基于所述第三传统路径的实时导航播报。
S810c21:所述传统地图组件匹配失败后,向所述驾驶控制模块发送第四高精路径匹配响应。其中,所述第四高精路径匹配响应用于通知所述驾驶控制模块所述传统地图组件匹配失败。
S810c22:所述驾驶控制模块开启所述自动驾驶模块的自动驾驶模式,包含开启所述高精地图组件基于所述第四高精路径的路径导航。这样,所述自动驾驶模块可以根据所述高精地图组件中的第四高精路径进行全程自动导航。
S810c23:所述驾驶控制模块开启所述高精地图组件基于所述第四高精路径的实时导航播报。
基于以上实施例,本申请实施例还提供了一种驾驶控制装置,所述装置可以应用于如图5A所示的车辆中,用于实现以上实施例提供的驾驶控制方法。参阅图9所示,所述装置可以包括:
路径确定单元901,用于根据第一位置和第二位置,在所述传统地图中计算第一传统路径;以及根据所述第一传统路径,在所述高精地图中查找目标高精路径;
驾驶控制单元902,用于若所述目标高精路径包含的路段与所述第一传统路径包含的路段相同,则开启基于第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的自动驾驶模式。
在一种实施方式中,所述路径确定单元901,还用于:若所述目标高精路径包含的路段少于所述第一传统路径包含的路段,则根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第一待选高精路径;向用户提示所述目标高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息;接收所述用户的第一路径选择指令,根据所述第一路径选择指令,确定所述用户在所述目标高精路径和所述至少一条第一待选高精路径中选择的高精路径;
所述驾驶控制单元902,还用于:若根据所述第一路径选择指令确定所述用户选择所述目标高精路径,则开启基于所述第一传统路径的实时导航播报,并开启以所述目标高精 路径为路径导航的预备自动驾驶模式;其中,所述预备自动驾驶模式为在自动驾驶模式和人工驾驶模式之间切换的驾驶模式;
所述路径确定单元901,还用于:若根据所述第一路径选择指令确定所述用户在所述至少一条第一待选高精路径中选择的第一高精路径,则根据所述第一高精路径,在所述传统地图中查找第一目标传统路径,其中,所述第一目标传统路径包含的路段与所述第一高精路径包含的路段相同;
所述驾驶控制单元902,还用于:若查找到所述第一目标传统路径,则开启基于所述第一目标传统路径的实时导航播报,并开启以所述第一高精路径为路径导航的自动驾驶模式;若未查找到所述第一目标传统路径,则开启基于所述第一高精路径的实时导航播报,以及开启以所述第一高精路径为路径导航的自动驾驶模式。
在一种实施方式中,所述路径确定单元901,在向所述用户提示所述目标高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息时,具体用于:
在显示屏中显示所述高精地图,在所述高精地图中显示所述目标高精路径,并显示以下至少一项信息或组合:
所述目标高精路径的起始位置、所述目标高精路径的终点位置、每次人工驾驶的时长、每次人工驾驶的距离,每次自动驾驶的时长、每次自动驾驶的距离、人工驾驶的总时长、人工驾驶的总距离、自动驾驶的总时长、自动驾驶的总距离;
在所述高精地图中显示每条第一待选高精路径,并显示每条第一待选高精路径的以下至少一项信息或组合:
每条第一待选高精路径的总长度、每条第一待选高精路径对应的自动驾驶的总时长,每条第一待选高精路径与所述第一传统路径的长度差。
在一种实施方式中,所述路径确定单元901,还用于:若在所述高精地图中未查找到所述目标高精路径,则根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第二待选高精路径;向用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息;接收所述用户的第二路径选择指令,根据所述第二路径选择指令确定所述用户在所述至少一条待选高精路径中选择的第二高精路径;根据所述第二高精路径,在所述传统地图中查找第二目标传统路径,其中,所述第二目标传统路径包含的路段与所述第二高精路径包含的路段相同;
所述驾驶控制单元902,还用于:若查找到所述第二目标传统路径,则开启基于所述第二目标传统路径的实时导航播报,并开启以所述第二高精路径为路径导航的自动驾驶模式;若未查找到所述第二目标传统路径,则开启基于所述第二高精路径的实时导航播报功能,以及开启以所述第二高精路径为路径导航的自动驾驶模式。
在一种实施方式中,所述路径确定单元901,在向所述用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息时,具体用于:
在显示屏中显示所述高精地图,在所述高精地图中显示每条第二待选高精路径,并显示每条第二待选高精路径的以下至少一项信息或组合:
每条第二待选高精路径的总长度、每条第二待选高精路径对应的自动驾驶的总时长,每条第二待选高精路径与所述第一传统路径的长度差。
在一种实施方式中,所述驾驶控制单元902,还用于:
在开启以所述目标高精路径为路径导航的预备自动驾驶模式之后,若确定车辆在行驶过程中的位置处于第一范围内,则提示所述用户开启自动驾驶模式,其中,所述第一范围包含所述目标高精路径中的第一路段的起始位置,所述第一路段的起始位置与所述第一位置不同,且在所述目标高精路径中不存在与所述第一路段的起始位置相连的路段;
若确定车辆在行驶过程中的位置处于第二范围内,则提示所述用户开启人工驾驶模式,其中,所述第二范围包含第二路段的终点位置,所述第二路段的终点位置与所述第二位置不同,且在所述目标高精路径中不存在与所述第二路段的终点位置相连的路段。
在一种实施方式中,所述驾驶控制单元902,还用于:
若所述第一位置与所述目标高精路径中首条路段的起始位置不同,则提示所述用户开启人工驾驶模式;
若所述第一位置与所述目标高精路径中首条路段的起始位置相同,则开启自动驾驶模式。
在一种实施方式中,所述驾驶控制单元902,还用于:
在提示所述用户开启人工驾驶模式之后,提示所述用户本次人工驾驶信息,其中,本次人工驾驶信息包含:本次人工驾驶的距离,和/或,本次人工驾驶的时长。
需要说明的是,本申请实施例中对模块的划分是示意性的,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,另外,在本申请各个实施例中的各功能单元可以集成在一个处理单元中,也可以是单独物理存在,也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现,也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
基于以上实施例本申请实施例还提供了一种驾驶控制装置,所述装置可以应用于如图5A所示的车辆中,用于实现上述驾驶控制方法,且具有图9所示的装置的功能。参阅图10所示,所述装置1000中包括:通信模块1001、处理器1002,以及存储器1003。
所述通信模块1001和所述存储器1003与所述处理器1002之间相互连接。可选的,所述通信模块1001和所述存储器1003与所述处理器1002之间可以通过总线相互连接;所述总线可以是外设部件互连标准(peripheral component interconnect,PCI)总线或扩展工业标准结构(extended industry standard architecture,EISA)总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示,图10中仅用一条粗线表示,但并不表示仅有一根总线或一种类型的总线。
所述通信模块1001用于与其他设备通信。示例性的,所述通信模块1001中可以包含通信接口和无线通信模块。其中,所述通信接口用于与所述车辆中的其他部件通信。例如,所述车载设备可以通过所述通信接口从车载传感器、驾驶员输入装置等部件中获取各种数 据。又例如,所述装置可以通过所述通信接口向电机发送扭矩控制命令。所述无线通信模块用于接入通信***最终连接服务器,从服务器中下载传统地图组件和高精地图组件的软件和地图数据,以及获取实时更新的交通信息等。示例性的,所述无线通信模块可以包括:蓝牙模块、WiFi模块,RF电路等。
所述处理器1002用于实现如图5B-图8B所示的实施例提供的驾驶控制方法,具体可以参见上述实施例中的描述,此处不再赘述。可选的,所述处理器1002可以是中央处理器(central processing unit,CPU),或者其他硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit,ASIC),可编程逻辑器件(programmable logic device,PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device,CPLD),现场可编程逻辑门阵列(field-programmable gate array,FPGA),通用阵列逻辑(generic array logic,GAL)或其任意组合。所述处理器1002在实现上述功能时,可以通过硬件实现,当然也可以通过硬件执行相应的软件实现。所述处理器102是所述终端设备100的控制中心,利用各种接口和线路连接各个部件,通过运行或执行存储在所述存储器103内的软件程序和/或模块,以及调用存储在所述存储器103内的数据,执行所述终端设备100的各种功能和处理数据,从而实现基于所述终端设备200的多种业务。
所述存储器1003用于存放程序指令和数据等。示例性的,在本申请实施例中,所述存储器1003中存储有传统地图组件和高精地图组件的程序指令和数据。具体地,程序指令可以包括程序代码,该程序代码包括计算机操作的指令。存储器1003可能包含随机存取存储器(random access memory,RAM),也可能还包括非易失性存储器(non-volatile memory),例如至少一个磁盘存储器。所述处理器1002执行所述存储器1003所存放的程序,并通过上述各个部件,实现上述功能,从而最终实现以上实施例提供的驾驶控制方法。
可以理解,本申请图10中的存储器1003可以是易失性存储器或非易失性存储器,或可包括易失性和非易失性存储器两者。其中,非易失性存储器可以是只读存储器(Read-Only Memory,ROM)、可编程只读存储器(Programmable ROM,PROM)、可擦除可编程只读存储器(Erasable PROM,EPROM)、电可擦除可编程只读存储器(Electrically EPROM,EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory,RAM),其用作外部高速缓存。通过示例性但不是限制性说明,许多形式的RAM可用,例如静态随机存取存储器(Static RAM,SRAM)、动态随机存取存储器(Dynamic RAM,DRAM)、同步动态随机存取存储器(Synchronous DRAM,SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM,DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM,ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM,SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM,DR RAM)。应注意,本文描述的***和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
基于以上实施例,本申请实施例还提供了一种计算机程序,当所述计算机程序在计算机上运行时,使得所述计算机执行以上实施例提供的驾驶控制方法。
基于以上实施例,本申请实施例还提供了一种计算机可读存储介质,该计算机可读存储介质中存储有计算机程序,所述计算机程序被计算机执行时,使得计算机执行以上实施例提供的驾驶控制方法。
其中,存储介质可以是计算机能够存取的任何可用介质。以此为例但不限于:计算机可读介质可以包括RAM、ROM、EEPROM、CD-ROM或其他光盘存储、磁盘存储介质或 者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质。
基于以上实施例,本申请实施例还提供了一种芯片,所述芯片用于读取存储器中存储的计算机程序,实现以上实施例提供的驾驶控制方法。
基于以上实施例,本申请实施例提供了一种芯片***,该芯片***包括处理器,用于支持计算机装置实现以上实施例中业务设备、转发设备或站点设备所涉及的功能。在一种可能的设计中,所述芯片***还包括存储器,所述存储器用于保存该计算机装置必要的程序和数据。该芯片***,可以由芯片构成,也可以包含芯片和其他分立器件。
综上所述,本申请实施例提供了一种驾驶控制方法及装置。在该方法中,驾驶控制装置可以在传统地图中计算得到传统路径后,然后在高精地图中查找与该传统路径匹配的目标高精路径,当查找到与该传统路径完全匹配的目标高精路径时,开启基于该传统路径的实时导航播报,并开启以该目标高精路径为路径导航的自动驾驶模式。由于所述传统地图具有路段丰富性和实时交通信息更新等优点,因此,在传统地图中计算的传统路径合理性更高,且根据传统地图中的传统路径进行实时导航播报能够保证用户接收到更多更准确的交通信息;进一步的,使用高精地图中的高精路径实现车辆的自动驾驶可以减少用户的操作性。总之,通过该方案,所述该装置可以在尽量保证车辆的自动驾驶的基础上,实现通过高精地图和传统地图结合的方式实现路径计算和实时导航播报,从而可以提高用户体验。
本领域内的技术人员应明白,本申请的实施例可提供为方法、***、或计算机程序产品。因此,本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且,本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器,使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中,使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品,该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上,使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理,从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然,本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的保护范围。这样,倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内,则本申请也意图包含这些改动和变型在内。
Claims (20)
- 一种驾驶控制方法,其特征在于,包括:根据第一位置和第二位置,在传统地图中计算第一传统路径;当根据所述第一传统路径在高精地图中查找到目标高精路径时,若所述目标高精路径包含的路段与所述第一传统路径包含的路段相同,则开启基于第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的自动驾驶模式。
- 如权利要求1所述的方法,其特征在于,所述方法还包括:若所述目标高精路径包含的路段少于所述第一传统路径包含的路段,则根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第一待选高精路径;向用户提示所述目标高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息;接收所述用户的第一路径选择指令;若根据所述第一路径选择指令确定所述用户选择所述目标高精路径,则开启基于所述第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的预备自动驾驶模式;其中,所述预备自动驾驶模式为在自动驾驶模式和人工驾驶模式之间切换的驾驶模式;若根据所述第一路径选择指令确定所述用户选择所述至少一条第一待选高精路径中的第一高精路径,则根据所述第一高精路径,在所述传统地图中查找第一目标传统路径,其中,所述第一目标传统路径包含的路段与所述第一高精路径包含的路段相同;若查找到所述第一目标传统路径,则开启基于所述第一目标传统路径的实时导航播报,并开启以所述第一高精路径为路径导航的自动驾驶模式;若未查找到所述第一目标传统路径,则开启基于所述第一高精路径的实时导航播报,以及开启以所述第一高精路径为路径导航的自动驾驶模式。
- 如权利要求2所述的方法,其特征在于,向所述用户提示所述目标高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息,包括:在显示屏中显示所述高精地图,在所述高精地图中显示所述目标高精路径,并显示以下至少一项信息或组合:所述目标高精路径的起始位置、所述目标高精路径的终点位置、每次人工驾驶的时长、每次人工驾驶的距离,每次自动驾驶的时长、每次自动驾驶的距离、人工驾驶的总时长、人工驾驶的总距离、自动驾驶的总时长、自动驾驶的总距离;在所述高精地图中显示每条第一待选高精路径,并显示每条第一待选高精路径的以下至少一项信息或组合:每条第一待选高精路径的总长度、每条第一待选高精路径对应的自动驾驶的总时长,每条第一待选高精路径与所述第一传统路径的长度差。
- 如权利要求1-3任一项所述的方法,其特征在于,所述方法还包括:当根据所述第一传统路径在所述高精地图中未查找到所述目标高精路径,根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第二待选高精路径;向用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息;接收所述用户的第二路径选择指令,根据所述第二路径选择指令确定所述用户在所述至少一条待选高精路径中选择的第二高精路径;根据所述第二高精路径,在所述传统地图中查找第二目标传统路径,其中,所述第二目标传统路径包含的路段与所述第二高精路径包含的路段相同;若查找到所述第二目标传统路径,则开启基于所述第二目标传统路径的实时导航播报,并开启以所述第二高精路径为路径导航的自动驾驶模式;若未查找到所述第二目标传统路径,则开启基于所述第二高精路径的实时导航播报,以及开启以所述第二高精路径为路径导航的自动驾驶模式。
- 如权利要求4所述的方法,其特征在于,向所述用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息,包括:在显示屏中显示所述高精地图,在所述高精地图中显示每条第二待选高精路径,并显示每条第二待选高精路径的以下至少一项信息或组合:每条第二待选高精路径的总长度、每条第二待选高精路径对应的自动驾驶的总时长,每条第二待选高精路径与所述第一传统路径的长度差。
- 如权利要求2或3所述的方法,其特征在于,在开启以所述目标高精路径为路径导航的预备自动驾驶模式之后,所述方法还包括:若确定车辆在行驶过程中的位置处于第一范围内,则提示所述用户开启自动驾驶模式,其中,所述第一范围包含所述目标高精路径中的第一路段的起始位置,所述第一路段的起始位置与所述第一位置不同,且在所述目标高精路径中不存在与所述第一路段的起始位置相连的路段;若确定车辆在行驶过程中的位置处于第二范围内,则提示所述用户开启人工驾驶模式,其中,所述第二范围包含第二路段的终点位置,所述第二路段的终点位置与所述第二位置不同,且在所述目标高精路径中不存在与所述第二路段的终点位置相连的路段。
- 如权利要求6所述的方法,其特征在于,所述方法还包括:若所述第一位置与所述目标高精路径中首条路段的起始位置不同,则提示所述用户开启人工驾驶模式;若所述第一位置与所述目标高精路径中首条路段的起始位置相同,则开启自动驾驶模式。
- 如权利要求6或7所述的方法,其特征在于,在提示所述用户开启人工驾驶模式之后,所述方法还包括:提示所述用户本次人工驾驶信息,其中,本次人工驾驶信息包含:本次人工驾驶的距离,和/或,本次人工驾驶的时长。
- 一种驾驶控制装置,其特征在于,包括:路径确定单元,用于根据第一位置和第二位置,在所述传统地图中计算第一传统路径;以及根据所述第一传统路径,在所述高精地图中查找目标高精路径;驾驶控制单元,用于若所述目标高精路径包含的路段与所述第一传统路径包含的路段相同,则开启基于第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的自动驾驶模式。
- 如权利要求9所述的装置,其特征在于,所述路径确定单元,还用于:若所述目标高精路径包含的路段少于所述第一传统路径包含的路段,则根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第一待选高精路径;向用户提示所述目标高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息;接收所述用户的第一路径选择指令,根据所 述第一路径选择指令,确定所述用户在所述目标高精路径和所述至少一条第一待选高精路径中选择的高精路径;所述驾驶控制单元,还用于:若根据所述第一路径选择指令确定所述用户选择所述目标高精路径,则开启基于所述第一传统路径的实时导航播报,并开启以所述目标高精路径为路径导航的预备自动驾驶模式;其中,所述预备自动驾驶模式为在自动驾驶模式和人工驾驶模式之间切换的驾驶模式;所述路径确定单元,还用于:若根据所述第一路径选择指令确定所述用户在所述至少一条第一待选高精路径中选择的第一高精路径,则根据所述第一高精路径,在所述传统地图中查找第一目标传统路径,其中,所述第一目标传统路径包含的路段与所述第一高精路径包含的路段相同;所述驾驶控制单元,还用于:若查找到所述第一目标传统路径,则开启基于所述第一目标传统路径的实时导航播报,并开启以所述第一高精路径为路径导航的自动驾驶模式;若未查找到所述第一目标传统路径,则开启基于所述第一高精路径的实时导航播报,以及开启以所述第一高精路径为路径导航的自动驾驶模式。
- 如权利要求10所述的装置,其特征在于,所述路径确定单元,在向所述用户提示所述目标高精路径的路径信息,以及所述至少一条第一待选高精路径中每条第一待选高精路径的路径信息时,具体用于:在显示屏中显示所述高精地图,在所述高精地图中显示所述目标高精路径,并显示以下至少一项信息或组合:所述目标高精路径的起始位置、所述目标高精路径的终点位置、每次人工驾驶的时长、每次人工驾驶的距离,每次自动驾驶的时长、每次自动驾驶的距离、人工驾驶的总时长、人工驾驶的总距离、自动驾驶的总时长、自动驾驶的总距离;在所述高精地图中显示每条第一待选高精路径,并显示每条第一待选高精路径的以下至少一项信息或组合:每条第一待选高精路径的总长度、每条第一待选高精路径对应的自动驾驶的总时长,每条第一待选高精路径与所述第一传统路径的长度差。
- 如权利要求9-11任一项所述的装置,其特征在于,所述路径确定单元,还用于:若在所述高精地图中未查找到所述目标高精路径,则根据所述第一位置和所述第二位置,在所述高精地图中计算至少一条第二待选高精路径;向用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息;接收所述用户的第二路径选择指令,根据所述第二路径选择指令确定所述用户在所述至少一条待选高精路径中选择的第二高精路径;根据所述第二高精路径,在所述传统地图中查找第二目标传统路径,其中,所述第二目标传统路径包含的路段与所述第二高精路径包含的路段相同;所述驾驶控制单元,还用于:若查找到所述第二目标传统路径,则开启基于所述第二目标传统路径的实时导航播报,并开启以所述第二高精路径为路径导航的自动驾驶模式;若未查找到所述第二目标传统路径,则开启基于所述第二高精路径的实时导航播报,以及开启以所述第二高精路径为路径导航的自动驾驶模式。
- 如权利要求12所述的装置,其特征在于,所述路径确定单元,在向所述用户提示所述至少一条第二待选高精路径中每条第二待选高精路径的路径信息时,具体用于:在显示屏中显示所述高精地图,在所述高精地图中显示每条第二待选高精路径,并显示每条第二待选高精路径的以下至少一项信息或组合:每条第二待选高精路径的总长度、每条第二待选高精路径对应的自动驾驶的总时长,每条第二待选高精路径与所述第一传统路径的长度差。
- 如权利要求10或11所述的装置,其特征在于,所述驾驶控制单元,还用于:在开启以所述目标高精路径为路径导航的预备自动驾驶模式之后,若确定车辆在行驶过程中的位置处于第一范围内,则提示所述用户开启自动驾驶模式,其中,所述第一范围包含所述目标高精路径中的第一路段的起始位置,所述第一路段的起始位置与所述第一位置不同,且在所述目标高精路径中不存在与所述第一路段的起始位置相连的路段;若确定车辆在行驶过程中的位置处于第二范围内,则提示所述用户开启人工驾驶模式,其中,所述第二范围包含第二路段的终点位置,所述第二路段的终点位置与所述第二位置不同,且在所述目标高精路径中不存在与所述第二路段的终点位置相连的路段。
- 如权利要求14所述的装置,其特征在于,所述驾驶控制单元,还用于:若所述第一位置与所述目标高精路径中首条路段的起始位置不同,则提示所述用户开启人工驾驶模式;若所述第一位置与所述目标高精路径中首条路段的起始位置相同,则开启自动驾驶模式。
- 如权利要求14或15所述的装置,其特征在于,所述驾驶控制单元,还用于:在提示所述用户开启人工驾驶模式之后,提示所述用户本次人工驾驶信息,其中,本次人工驾驶信息包含:本次人工驾驶的距离,和/或,本次人工驾驶的时长。
- 一种驾驶控制装置,其特征在于,包括:存储器,用于存储程序指令;通信模块,用于接收和发送数据;处理器,用于调用存储在所述存储器中的所述程序指令,执行如权利要求1-8任一项所述的方法。
- 一种计算机程序,其特征在于,当所述计算机程序在计算机上运行时,使得所述计算机执行如权利要求1-8任一项所述的方法。
- 一种计算机存储介质,其特征在于,所述计算机存储介质中存储有计算机程序,当所述计算机程序被计算机执行时,使得所述计算机执行如权利要求1-8任一项所述的方法。
- 一种芯片,其特征在于,所述芯片用于读取存储器中存储的计算机程序,执行如权利要求1-8任一项所述的方法。
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US20230019968A1 (en) | 2023-01-19 |
CN112543723A (zh) | 2021-03-23 |
CN112543723B (zh) | 2021-12-21 |
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