WO2022022549A1

WO2022022549A1 - Method and apparatus for controlling vehicle, and electronic device and storage medium

Info

Publication number: WO2022022549A1
Application number: PCT/CN2021/108840
Authority: WO
Inventors: 胡国静
Original assignee: 北京航迹科技有限公司
Priority date: 2020-07-31
Filing date: 2021-07-28
Publication date: 2022-02-03
Also published as: CN111874005B; CN111874005A

Abstract

A method for controlling a vehicle, the method comprising: if it is detected that a first traffic light flickers in a first color (202), determining a first distance from the current position of a vehicle to a first stop position associated with the first traffic light (204); determining, on the basis of the current speed of the vehicle and the acceleration to be used by the vehicle in a deceleration process, a second distance from the current position of the vehicle to a second stop position at which the vehicle is expected to stop (206); and determining, on the basis of the first distance and the second distance, a passing policy for the vehicle at an intersection associated with the first traffic light (208). By means of the method, decision-making can be started before a green light flickers, thereby improving the decision-making effect, reducing vehicle loss, and improving user comfort. Further disclosed are an apparatus for controlling a vehicle, and an electronic device and a computer-readable storage medium.

Description

用于控制车辆的方法、装置、电子设备和存储介质Method, apparatus, electronic device and storage medium for controlling a vehicle

优先权信息priority information

本公开要求2020年07月31日提交的申请号为202010760489.8的中国申请，其全部内容通过引用并入本文。The present disclosure requires Chinese Application No. 202010760489.8 filed on Jul. 31, 2020, the entire contents of which are incorporated herein by reference.

技术领域technical field

本公开的实施例涉及自动驾驶领域，并且更具体地，涉及用于控制车辆的方法、装置、电子设备和存储介质。Embodiments of the present disclosure relate to the field of autonomous driving, and more particularly, to a method, apparatus, electronic device, and storage medium for controlling a vehicle.

背景技术Background technique

现在，伴随着计算机技术的快速发展，无人驾驶车辆也正在快速的发展过程中。无人驾驶车辆一般会通过摄像头、激光雷达和其他的传感器来获得车辆周围的信息，以帮助无人驾驶车辆做出决策。Now, with the rapid development of computer technology, unmanned vehicles are also in the process of rapid development. Driverless vehicles typically use cameras, lidars and other sensors to obtain information around the vehicle to help the driverless vehicle make decisions.

在无人驾驶车辆行驶在道路中时，会将由各种传感器获得的数据结合交通地图来调整行驶策略。随着无人驾驶车辆可以获得的信息越来越多，所做出的决策也越来越准确。然而，由于无人驾驶车辆技术还在发展过程中，其在道路中的行驶过程中还有许多问题需要解决。When the driverless vehicle is driving on the road, the data obtained by various sensors is combined with the traffic map to adjust the driving strategy. As more and more information becomes available to driverless vehicles, the decisions they make become more accurate. However, since driverless vehicle technology is still in the process of development, there are still many problems to be solved in the process of driving on the road.

发明内容SUMMARY OF THE INVENTION

本公开的实施例提供一种用于控制车辆的方法、装置、电子设备和存储介质。Embodiments of the present disclosure provide a method, apparatus, electronic device, and storage medium for controlling a vehicle.

根据本公开的第一方面，提供了一种用于控制车辆的方法。该方法包括如果检测到第一交通指示灯以第一颜色闪烁，确定从车辆的当前位置到与第一交通指示灯相关联的第一停止位置的第一距离。该方法还包括基于车辆的当前速度和车辆在减速过程中将采用的加速度，来确定从车辆的当前位置到车辆预计停止的第二停止位置之间的第二距离。该方法还包括基于第一距离和第二距离，确定车辆在与第一交通指示灯相关联的路口处的通行策略。According to a first aspect of the present disclosure, there is provided a method for controlling a vehicle. The method includes determining a first distance from a current location of the vehicle to a first stop position associated with the first traffic light if the first traffic light is detected to be blinking in a first color. The method also includes determining a second distance from the current position of the vehicle to a second stop position where the vehicle is expected to stop based on the current speed of the vehicle and the acceleration the vehicle will employ during deceleration. The method also includes determining a traffic strategy of the vehicle at the intersection associated with the first traffic light based on the first distance and the second distance.

根据本公开的第二方面，提供了一种用于控制车辆的装置。该装置包括第一距离确定模块，被配置为如果检测到第一交通指示灯以第一颜色闪烁，确定从车辆的当前位置到与第一交通指示灯相关联的第一停止位置的第一距离；第二距离确定模块，被配置为基于车辆的当前速度和车辆在减速过程中将采用的加速度，来确定从车辆的当前位置到车辆预计停止的第二停止位置之间的第二距离；以及通行策略确定模块，被配置为基于第一距离和第二距离，确定车辆在与第一交通指示灯相关联的路口处的通行策略。According to a second aspect of the present disclosure, there is provided an apparatus for controlling a vehicle. The apparatus includes a first distance determination module configured to determine a first distance from a current position of the vehicle to a first stop position associated with the first traffic light if the first traffic light is detected to be flashing in a first color a second distance determination module configured to determine a second distance from the current position of the vehicle to a second stop position where the vehicle is expected to stop based on the current speed of the vehicle and the acceleration that the vehicle will employ during deceleration; and A traffic strategy determination module is configured to determine a traffic strategy of the vehicle at the intersection associated with the first traffic light based on the first distance and the second distance.

根据本公开的第三方面，提供了一种电子设备。该电子设备包括至少一个处理器；存储器，耦合至至少一个处理器并且具有存储在其上的指令，指令由至少一个处理器执行以实现根据本公开的第一方面的方法。According to a third aspect of the present disclosure, there is provided an electronic device. The electronic device includes at least one processor; a memory coupled to the at least one processor and having instructions stored thereon, the instructions being executed by the at least one processor to implement a method according to the first aspect of the present disclosure.

根据本公开的第四方面，提供一种计算机可读存储介质。该计算机可读存储介质具有存储在其上的指令，指令在被处理器执行时使处理器实现根据本公开的第一方面的方法。According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium. The computer-readable storage medium has stored thereon instructions that, when executed by a processor, cause the processor to implement the method according to the first aspect of the present disclosure.

附图说明Description of drawings

通过结合附图对本公开示例性实施例进行更详细的描述，本公开的上述以及其它目的、特征和优势将变得更加明显，其中，在本公开示例性实施例中，相同的参考标号通常代表相同部件。The above and other objects, features and advantages of the present disclosure will become more apparent from the more detailed description of the exemplary embodiments of the present disclosure, taken in conjunction with the accompanying drawings, wherein the same reference numerals generally refer to the exemplary embodiments of the present disclosure. same parts.

图1图示了根据本公开的实施例的设备和/或方法可以在其中被实施的示例环境的示意图；1 illustrates a schematic diagram of an example environment in which devices and/or methods according to embodiments of the present disclosure may be implemented;

图2图示了根据本公开的实施例的用于控制车辆的方法的流程图；2 illustrates a flowchart of a method for controlling a vehicle according to an embodiment of the present disclosure;

图3图示了根据本公开的实施例的用于确定通行策略的方法的流程图；3 illustrates a flowchart of a method for determining a traffic strategy according to an embodiment of the present disclosure;

图4示出了根据本公开的一些实施例的控制车辆的装置的框图；4 shows a block diagram of an apparatus for controlling a vehicle according to some embodiments of the present disclosure;

图5示出了能够实施本公开的多个实施例的设备的框图。5 illustrates a block diagram of a device capable of implementing various embodiments of the present disclosure.

在各个附图中，相同或对应的标号表示相同或对应的部分。In the various figures, the same or corresponding reference numerals designate the same or corresponding parts.

具体实施方式detailed description

下面将参照附图更详细地描述本公开的实施例。虽然附图中显示了本公开的某些实施例，然而应当理解的是，本公开可以通过各种形式来实现，而且不应该被解释为限于这里阐述的实施例，相反提供这些实施例是为了更加透彻和完整地理解本公开。应当理解的是，本公开的附图及实施例仅用于示例性作用，并非用于限制本公开的保护范围。Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided for the purpose of A more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes, and are not intended to limit the protection scope of the present disclosure.

在本公开的实施例的描述中，术语“包括”及其类似用语应当理解为开放性包含，即“包括但不限于”。术语“基于”应当理解为“至少部分地基于”。术语“一个实施例”或“该实施例”应当理解为“至少一个实施例”。术语“第一”、“第二”等等可以指代不同的或相同的对象。下文还可能包括其他明确的和隐含的定义。In the description of embodiments of the present disclosure, the term "comprising" and the like should be understood as open-ended inclusion, ie, "including but not limited to". The term "based on" should be understood as "based at least in part on". The terms "one embodiment" or "the embodiment" should be understood to mean "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

无人驾驶车辆在道路中行进时，需在做出各种通行策略。在无人驾驶车辆行驶到路口时，需要依据红绿灯的指示来做出适当的通行策略。如果是红灯，无人驾驶车辆需要停车；如果是绿灯，无人驾驶车辆可以通过路口。传统方案中，无人驾驶车辆通常在检测到黄灯亮时才开始进行决策。When an unmanned vehicle travels on the road, it needs to make various traffic strategies. When an unmanned vehicle drives to an intersection, it needs to make an appropriate traffic strategy according to the instructions of the traffic lights. If the light is red, the driverless vehicle needs to stop; if the light is green, the driverless vehicle can pass the intersection. In traditional solutions, driverless vehicles usually only start making decisions when they detect a yellow light.

然而，如果在看到黄灯时才开始进行决策，无人驾驶车辆在速度比较快并且离停止线比较近的情况下，会出现急刹急停的操作。这种通行策略会使得户感觉很不舒适，影响用户体验。此外这种急刹急停也会对无人驾驶车辆形成较大的磨损，减少了车辆的使用时间。However, if the decision is made only when it sees a yellow light, the driverless vehicle will experience a sudden stop if the vehicle is moving faster and closer to the stop line. This traffic strategy will make users feel uncomfortable and affect the user experience. In addition, this kind of sudden braking and emergency stop will also cause greater wear and tear on the unmanned vehicle, reducing the use time of the vehicle.

至少为了解决上述问题，本公开提出了一种用于控制车辆的方法。在该方法中，如果检测到第一交通指示灯以第一颜色闪烁，就确定从车辆的当前位置到与第一交通指示灯相关联的第一停止位置的第一距离。然后利用车辆的当前速度和车辆在减速过程中将采用的加速度，来确定从车辆的当前位置到车辆预计停止的第二停止位置之间的第二距离。通过比较第一距离和第二距离，来确定车辆在路口处的通行策略。通过该方法，可以在绿灯闪烁的时候提前开始决策，提升了决策效果，减少了车辆损耗，提高了用户舒适度。At least in order to solve the above problems, the present disclosure proposes a method for controlling a vehicle. In the method, a first distance from a current position of the vehicle to a first stop position associated with the first traffic light is determined if the first traffic light is detected to be flashing in a first color. A second distance from the current position of the vehicle to a second stop position where the vehicle is expected to stop is then determined using the current speed of the vehicle and the acceleration that the vehicle will employ during deceleration. By comparing the first distance and the second distance, a traffic strategy of the vehicle at the intersection is determined. Through this method, decision-making can be started in advance when the green light flashes, which improves the decision-making effect, reduces vehicle loss, and improves user comfort.

下面图1图示了根据本公开的实施例的设备和/或方法可以在其中被实施的示例环境的示意图。Figure 1 below illustrates a schematic diagram of an example environment in which devices and/or methods according to embodiments of the present disclosure may be implemented.

如图1所示，在示例环境100中，道路中具体行驶的车辆102。车辆102在行驶到路口附近时会检测到路口处的交通指示灯112，为了描述方便，也称为第一交通指示灯。在图1中仅示出了车辆102和第一交通指示灯112，其仅作为示例，而非对本公开的具体限定。示例环境100中可以包括任意合适数量的车辆和交通指示灯。As shown in FIG. 1, in an example environment 100, a vehicle 102 is specifically traveling on a road. When the vehicle 102 is driving near the intersection, it will detect the traffic light 112 at the intersection, which is also referred to as the first traffic light for convenience of description. Only the vehicle 102 and the first traffic light 112 are shown in FIG. 1 by way of example only, and not a specific limitation of the present disclosure. Any suitable number of vehicles and traffic lights may be included in the example environment 100 .

车辆102在路口附近会检测第一交通指示灯112的情况以获得交通指示灯数据。在一些实施例中，车辆102通过传感器获得第一交通指示灯112的交通指示灯数据。例如通过摄像机来获得红绿灯的图像或视频数据。在一些实施例中，车辆102还可以通过车用无线通信技术(V2X)来获得交通指示灯数据。例如车辆102接收由与第一交通指示灯112相关联的发射设备发射的红绿灯的状态的指示信息。上述示例仅是用于描述本公开，而非对本公开的具体限定。本领域技术人员可以通过任意合适的方式来获得交通指示灯数据。The vehicle 102 detects the condition of the first traffic light 112 near the intersection to obtain traffic light data. In some embodiments, the vehicle 102 obtains traffic light data for the first traffic light 112 through sensors. For example, the image or video data of the traffic light is obtained by a camera. In some embodiments, the vehicle 102 may also obtain traffic light data through vehicle wireless communication technology (V2X). For example, the vehicle 102 receives information indicative of the status of the traffic light transmitted by the transmitting device associated with the first traffic light 112 . The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure. Those skilled in the art can obtain traffic light data in any suitable manner.

车辆102包括计算设备104。计算设备104用于利用获得的交通指示灯数据来检测第一交通指示灯112的状态。在一些实施例中，计算设备104从交通指示灯数据检测第一交通指示灯112是否以第一颜色闪烁，备选地或附加地，检测第一交通指示灯112以绿色闪烁。 Vehicle 102 includes computing device 104 . The computing device 104 is used to detect the state of the first traffic light 112 using the obtained traffic light data. In some embodiments, the computing device 104 detects from the traffic light data whether the first traffic light 112 is blinking in a first color, alternatively or additionally, detects that the first traffic light 112 is blinking in green.

图1示出的计算设备104为车辆102内的计算设备，其仅是示例，而非对本公开的具体限定。计算设备104可以为与车辆102通信的任意计算设备，包括但不限于个人计算机、服务器计算机、手持或膝上型设备、移动设备(诸如移动电话、个人数字助理(PDA)、媒体播放器等)、多处理器***、消费电子产品、小型计算机、大型计算机、包括上述***或设备中的任意一个的分布式计算环境等。The computing device 104 shown in FIG. 1 is a computing device within the vehicle 102, which is merely an example and not a specific limitation of the present disclosure. Computing device 104 may be any computing device that communicates with vehicle 102, including but not limited to personal computers, server computers, handheld or laptop devices, mobile devices (such as mobile phones, personal digital assistants (PDAs), media players, etc.) , multiprocessor systems, consumer electronics, minicomputers, mainframe computers, distributed computing environments including any of the foregoing systems or devices, and the like.

计算设备104还可以从其他部件获取车辆102的当前速度106。在一些实施例中，计算设备104可以从速度传感器来获得车辆102的当前速度106。上述示例仅是用于描述本公开，而非对本公开的具体限定。在一些实施例中，计算设备104可以基于接收的导航数据来确定车辆102的当前速度106。The computing device 104 may also obtain the current speed 106 of the vehicle 102 from other components. In some embodiments, the computing device 104 may obtain the current speed 106 of the vehicle 102 from a speed sensor. The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure. In some embodiments, the computing device 104 may determine the current speed 106 of the vehicle 102 based on the received navigation data.

在图1中示出了计算设备104从其他部件接收预先确定的加速度108，该加速度108是使车辆102减速并且保证车辆的人员舒适的最小加速度。图1示出的获取加速度108的方式仅是用于示例，而非对本公开具体限定。在一些实施例中，加速度108存储在计算设备104的存储装置内。计算设备104直接从存储装置获取加速度108。The computing device 104 is shown in FIG. 1 receiving a predetermined acceleration 108 from other components, which is the minimum acceleration to decelerate the vehicle 102 and ensure the comfort of the vehicle's occupants. The manner of acquiring the acceleration 108 shown in FIG. 1 is only used for example, and is not intended to specifically limit the present disclosure. In some embodiments, the acceleration 108 is stored within a storage device of the computing device 104 . Computing device 104 obtains acceleration 108 directly from storage.

计算设备104在接收到车辆102的当前速度106和预设的车辆减速加速度108后可以确定出车辆102在路口的通行策略110，即让车辆102停止在停止线附近还是让车辆102通过路口。After receiving the current speed 106 of the vehicle 102 and the preset vehicle deceleration acceleration 108 , the computing device 104 can determine the passing strategy 110 of the vehicle 102 at the intersection, that is, stop the vehicle 102 near the stop line or let the vehicle 102 pass the intersection.

在一些实施例中，在第一交通指示灯112为红灯时，车辆102处于停止状态时还可以检测与车辆102行驶方向不同的方向上的另一交通指示灯(未示出)的颜色。在一些实施例中，在侧面的交通指示灯以第一颜色闪烁时，例如黄色，则车辆102可以提前准备开始行驶车辆102的操作。在一些实施例中，指示对面车道的交通指示灯以第一颜色闪烁时，车辆102也可以提前准备开始行驶车辆102的操作。上述示例仅是用于描述本公开，而非对本公开的具体限定。In some embodiments, when the first traffic light 112 is red, the color of another traffic light (not shown) in a direction different from the direction in which the vehicle 102 is traveling may also be detected when the vehicle 102 is stopped. In some embodiments, when the side traffic light flashes in a first color, eg, yellow, the vehicle 102 may be prepared to start the operation of the vehicle 102 in advance. In some embodiments, the vehicle 102 may also be prepared to start the operation of the vehicle 102 in advance when the traffic light indicating the opposite lane flashes in the first color. The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure.

上面结合图1描述了根据本公开的实施例的设备和/或方法可以在其中被实施的环境100的示意图。下面结合图2描述用于控制车辆的方法。图2图示了根据本公开的实施例的用于控制车辆的方法的流程图，其中方法200可以在图1中的计算设备104或任何其他适当设备处执行。A schematic diagram of an environment 100 in which devices and/or methods according to embodiments of the present disclosure may be implemented is described above in conjunction with FIG. 1 . A method for controlling a vehicle is described below in conjunction with FIG. 2 . FIG. 2 illustrates a flowchart of a method for controlling a vehicle, where method 200 may be performed at computing device 104 in FIG. 1 or any other suitable device, according to an embodiment of the present disclosure.

在框202处，计算设备104确定是否检测到第一交通指示灯112以第一颜色闪烁。计算设备104会从接收到的交通指示灯数据中检测第一交通指示灯112的颜色和/状态。At block 202, the computing device 104 determines whether the first traffic light 112 is detected to blink in a first color. Computing device 104 may detect the color and/or status of first traffic light 112 from the received traffic light data.

在一些实施例中，计算设备104利用传感器获得的数据来检测第一交通指示灯112的闪烁。例如，车辆102可以通过摄像头来获得第一交通指示灯112的图像或视频。然后计算设备104在图像或视频中检测第一交通指示灯112以第一颜色的闪烁。在一些实施例中，计算设备104从一些车辆外部的设备接收标识第一交通指示灯112的状态的指示信息以检测第一交通指示灯112的闪烁。例如通过V2X技术从与第一交通指示灯112相关联的设备接收交通灯的状态的指示信息，然后通过指示信息获取交通灯以第一颜色闪烁。通过上述方法，可以利用各种合适的方法快速的检测到指示灯的闪烁。In some embodiments, the computing device 104 utilizes sensor-obtained data to detect the blinking of the first traffic light 112 . For example, the vehicle 102 may obtain an image or video of the first traffic light 112 through a camera. The computing device 104 then detects the blinking of the first traffic light 112 in the first color in the image or video. In some embodiments, the computing device 104 receives indication information identifying the state of the first traffic light 112 from some device external to the vehicle to detect the blinking of the first traffic light 112 . For example, the indication information of the state of the traffic light is received from the device associated with the first traffic light 112 through the V2X technology, and then the traffic light is acquired through the indication information to flash in the first color. Through the above method, the flickering of the indicator light can be quickly detected by various suitable methods.

如果检测到第一交通指示灯112以第一颜色闪烁，计算设备104在框204处确定从车辆102的当前位置到与第一交通指示灯112相关联的第一停止位置的第一距离。在检测到第一交通指示灯112以第一颜色闪烁时，表明车辆102可以开始进行决策以确定是否通过第一交通指示灯112所在的路口。If it is detected that the first traffic light 112 is blinking in the first color, the computing device 104 determines a first distance from the current location of the vehicle 102 to the first stop position associated with the first traffic light 112 at block 204 . Upon detection of the first traffic light 112 flashing in the first color, it indicates that the vehicle 102 can begin making a decision to determine whether to pass the intersection where the first traffic light 112 is located.

在一些实施例中，在检测到第一交通指示灯112以第一颜色闪烁时，计算设备104可以确定车辆102的当前位置以及与第一交通指示灯112相关联的停止线。然后计算设备104利用停止线来确定第一停止位置。在一个示例中，第一位置可以为距离停止线预定长度的位置，例如预定长度为车辆102的长度的一半。然后计算设备104计算从当前位置到第一停止位置的第一距离。通过这种方法，可以提前快速的确定出车辆102到停止线附近的停车位置的长度，改进了处理效果。In some embodiments, upon detecting that the first traffic light 112 is blinking in the first color, the computing device 104 may determine the current location of the vehicle 102 and the stop line associated with the first traffic light 112 . The computing device 104 then utilizes the stop line to determine the first stop position. In one example, the first location may be a location that is a predetermined length from the stop line, eg, the predetermined length is half the length of the vehicle 102 . The computing device 104 then calculates a first distance from the current position to the first stop position. Through this method, the length of the vehicle 102 to the parking position near the stop line can be quickly determined in advance, which improves the processing effect.

在框206处，计算设备104基于车辆102的当前速度106和车辆102在减速过程中将采用的加速度108，来确定从车辆102的当前位置到车辆102预计停止的第二停止位置之间的第二距离。At block 206 , the computing device 104 determines the number of times between the current position of the vehicle 102 and the second stop position where the vehicle 102 is expected to stop based on the current speed 106 of the vehicle 102 and the acceleration 108 that the vehicle 102 will employ during deceleration Second distance.

在一些实施例中，计算设备104获取车辆102的当前速度106，并且还获取预先设置的车辆102在减速过程中将采用的使车辆102内的乘客比较舒适的加速度108。备选地或附加地，该将采用的加速度108为乘客可以接受的最大加速度。然后利用当前速度106和加速度108来计算车辆102停下来需要行驶的距离。该加速度108用于计算车辆的行驶距离以用于做出控制决策，并一定是车辆在实际行驶过程中要采用的加速度108。In some embodiments, the computing device 104 obtains the current speed 106 of the vehicle 102 and also obtains a preset acceleration 108 that the vehicle 102 will use during deceleration to make the occupants of the vehicle 102 more comfortable. Alternatively or additionally, the acceleration to be used 108 is the maximum acceleration acceptable to the passenger. The current speed 106 and acceleration 108 are then used to calculate the distance the vehicle 102 needs to travel to come to a stop. This acceleration 108 is used to calculate the distance traveled by the vehicle for use in making control decisions, and must be the acceleration 108 to be used by the vehicle during actual driving.

在一些实施例中，计算设备104除了获取当前速度106和预先设置的使车辆减速的加速度108外，还获取车辆102当前的加速度以及预定的加速度的变化率。然后计算设备104利用当前速度106和加速度108、当前加速度和加速度变化率来确定车辆102停正下来需要行驶的距离。上述示例仅是用于描述本公开，而非对本公开的具体限定。In some embodiments, the computing device 104 obtains the current acceleration of the vehicle 102 and the predetermined rate of change of the acceleration in addition to the current speed 106 and the preset acceleration 108 that decelerates the vehicle. The computing device 104 then uses the current speed 106 and acceleration 108, the current acceleration and the rate of jerk to determine the distance the vehicle 102 needs to travel to come to a stop. The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure.

在框208处，计算设备104基于第一距离和第二距离，确定车辆102在与第一交通指示灯112相关联的路口处的通行策略110。通过第一距离和第二距离来确定通行策略110的过程可以结合图3进行描述。At block 208, the computing device 104 determines the traffic strategy 110 of the vehicle 102 at the intersection associated with the first traffic light 112 based on the first distance and the second distance. The process of determining the traffic strategy 110 by the first distance and the second distance can be described in conjunction with FIG. 3 .

在一些实施例，计算设备104还可以获得与车辆102行驶方向不同的方向上的第二交通指示灯的信息。在一个示例中，在车辆102停止时，如果计算设备104检测到位于车辆102的侧面的第二交通指示灯以第一颜色闪烁，计算设备104提前执行与车辆102的行驶有关的操作。例如，提前做出车辆102前进的准备。通过这种方法，可以提前执行与行驶车辆有关的操作，使得车辆在可以通行时快速的启动。In some embodiments, computing device 104 may also obtain information for a second traffic light in a direction other than the direction in which vehicle 102 is traveling. In one example, when the vehicle 102 is stopped, if the computing device 104 detects that a second traffic light located on the side of the vehicle 102 is blinking in a first color, the computing device 104 performs an operation related to the travel of the vehicle 102 in advance. For example, preparations for the vehicle 102 to move forward are made in advance. In this way, operations related to the moving vehicle can be performed in advance, so that the vehicle can be started quickly when it is passable.

通过该方法，可以在绿灯闪烁的时候提前开始决策，提升了决策效果，减少了车辆损耗，提高了用户舒适度。Through this method, decision-making can be started in advance when the green light flashes, which improves the decision-making effect, reduces vehicle loss, and improves user comfort.

上面结合图2描述了根据本公开的实施例用于控制车辆的过程。下面结合图3详细描述图2的框208处的确定通行策略110的过程。其中，图3图示了根据本公开的实施例的用于确定通行策略110的方法的流程图。其中方法300可以在图1中的计算设备104或任何其他适当设备处执行。A process for controlling a vehicle according to an embodiment of the present disclosure is described above in conjunction with FIG. 2 . The process of determining the traffic strategy 110 at block 208 of FIG. 2 is described in detail below in conjunction with FIG. 3 . Among them, FIG. 3 illustrates a flowchart of a method for determining a traffic strategy 110 according to an embodiment of the present disclosure. Therein method 300 may be performed at computing device 104 in FIG. 1 or any other suitable device.

在框302处，计算设备104确定第二距离是否小于第一距离。在第二距离小于第一距离时，表明车辆102以乘客感到舒适的停车距离小于车辆102到停止线附近的停车位置的距离。因此，在框306处，计算设备104调整车辆102的加速度以使车辆102停止于第一停止位置与第二停止位置之间。在一个示例中，如果车辆102前方在红灯开始亮时没有车辆，则可以将车辆102停止在第一停止位置。在一个示例中，如果在红灯亮时前方有停止的车辆，则将车辆102停在前方车辆的后面。通过这种方式，可以使车辆较早的做出停车策略，提高了用户体验。At block 302, the computing device 104 determines whether the second distance is less than the first distance. When the second distance is less than the first distance, it indicates that the vehicle 102 is less than the distance from the vehicle 102 to the parking position near the stop line at a comfortable parking distance for the passenger. Accordingly, at block 306, the computing device 104 adjusts the acceleration of the vehicle 102 to stop the vehicle 102 between the first stop position and the second stop position. In one example, if there is no vehicle ahead of the vehicle 102 when the red light begins to illuminate, the vehicle 102 may be stopped at the first stop position. In one example, if there is a stopped vehicle ahead when the red light is on, the vehicle 102 is parked behind the preceding vehicle. In this way, the vehicle can make a parking strategy earlier, which improves the user experience.

如果第二距离大于或等于第一距离，表明如果车辆102要停在停止线位置附近的话，可能会使车内的乘客感觉不舒服。因此，计算设备104可以进一步确定车辆102是否可以在黄灯结束时通过路口。因此，在框304处，计算设备104确定第一交通指示灯112以第一颜色闪烁的第一时长和第一交通指示灯112以第二颜色进行显示的第二时长。例如，计算设备104确定此时交通指示灯绿灯闪烁的时长和黄灯时长。If the second distance is greater than or equal to the first distance, it indicates that if the vehicle 102 were to stop near the stop line location, the occupants in the vehicle might feel uncomfortable. Accordingly, the computing device 104 may further determine whether the vehicle 102 can pass the intersection at the end of the amber light. Accordingly, at block 304, the computing device 104 determines a first duration for which the first traffic light 112 flashes in the first color and a second duration for which the first traffic light 112 is displayed in the second color. For example, the computing device 104 determines the duration of the green light flashing and the yellow light duration of the traffic light at this time.

在一些实施例中，可以将第一交通指示灯112以第一颜色闪烁的时长和以第二颜色显示的时长设置为固定值。例如绿灯闪烁2.5秒，黄灯时长3秒。上述示例仅是用于描述本公开，而非对本公开的具体限定。本领域技术人员可以依据需要将上述时长设置为任意合适的值。In some embodiments, the duration of blinking of the first traffic light 112 in the first color and the duration of display in the second color may be set as fixed values. For example, the green light flashes for 2.5 seconds, and the yellow light lasts for 3 seconds. The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure. Those skilled in the art can set the above duration to any suitable value as required.

在一些实施例中，计算设备104可以获取第一交通指示灯112以第一颜色闪烁的第一组历史时长。然后，利用第一组历史时长来确定第一时长。计算设备104还获取第一交通指示灯112以第二颜色进行显示的第二组历史时长，然后利用第二组历史时长来确定第二时长。通过这种方式可以准确的确定出交通指示灯的时长，提高了时长的准确性。上述示例仅是用于描述本公开，而非对本公开的具体限定。本领域技术人员可以依据需要以任意合适的方式确定第一时长和第二时长。In some embodiments, computing device 104 may obtain a first set of historical durations during which first traffic light 112 flashed in a first color. Then, the first duration is determined using the first set of historical durations. The computing device 104 also obtains a second set of historical durations in which the first traffic light 112 is displayed in the second color, and then uses the second set of historical durations to determine the second duration. In this way, the duration of the traffic light can be accurately determined, which improves the accuracy of the duration. The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure. Those skilled in the art can determine the first duration and the second duration in any suitable manner as required.

在框308处，计算设备104可以利用第一时长和第二时长，确定车辆102在第一时长和第二时长期间行驶的路程的长度，也称为第一长度。在一些实施例中，计算设备104通过利用车辆102的当前速度106和/或当前加速度可以计算车辆102在这两个时长内行驶过的距离。该距离为第一长度。在一些实施例中，计算设备104可以利用考虑路口中交通参与者的位置和速度信息的模型来估计车辆102的行驶距离。例如通过s-t图来标示出交通参与者的信息，然而找出车辆102的运行轨迹。通过该运行轨迹确定车行驶的第一长度。上述示例仅是用于描述本公开，而非对本公开的具体限定。At block 308 , the computing device 104 may utilize the first duration and the second duration to determine the length of the distance traveled by the vehicle 102 during the first duration and the second duration, also referred to as the first length. In some embodiments, the computing device 104 may calculate the distance traveled by the vehicle 102 during these two time periods by utilizing the current speed 106 and/or the current acceleration of the vehicle 102 . The distance is the first length. In some embodiments, computing device 104 may estimate the distance traveled by vehicle 102 using a model that takes into account location and speed information of traffic participants in the intersection. For example, the information of the traffic participants is indicated by means of an s-t diagram, while the trajectory of the vehicle 102 is found. The first length of travel of the vehicle is determined by the running trajectory. The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure.

在框310处，计算设备104利用车辆102在与第一交通指示灯112相关联的路口中的行驶方向，确定车辆102在路口中的行驶路段。计算设备104还需要根据用户的行驶方向，来确定出车辆在路口中的行驶路段。At block 310 , the computing device 104 uses the direction of travel of the vehicle 102 in the intersection associated with the first traffic light 112 to determine the segment of travel of the vehicle 102 in the intersection. The computing device 104 also needs to determine the driving section of the vehicle in the intersection according to the driving direction of the user.

在一些实施例中，如果车辆102直行，则车辆102在路口中的行驶路段是从车辆102前面的停止线对对面马路的停止线之间的直线。因此，可以确定出车辆102在路口的行驶距离为两条停止线之间的距离。In some embodiments, if the vehicle 102 is going straight, the segment of travel of the vehicle 102 in the intersection is a straight line from the stop line in front of the vehicle 102 to the stop line of the opposite road. Therefore, the driving distance of the vehicle 102 at the intersection can be determined as the distance between the two stop lines.

在一些实施例中，如果车辆102左转，则可以依据车辆102内存储的地图数据确定出左转的路线。确定车辆102的左转路线的方法可以采用本领域任意合适的方法。然后车辆102在路口中的行驶距离为车辆102要通过的两条停止线之间的转弯路段的长度。上述示例仅是用于描述本公开，而非对本公开的具体限定。In some embodiments, if the vehicle 102 is turning left, the route for the left turn may be determined according to map data stored in the vehicle 102 . The method of determining the left-turn route of the vehicle 102 may employ any suitable method in the art. The distance traveled by the vehicle 102 in the intersection is then the length of the turn segment between the two stop lines that the vehicle 102 is to pass. The above examples are only used to describe the present disclosure, but not to specifically limit the present disclosure.

在框312处，计算设备104将第一长度与车辆102从当前位置行驶到行驶路段的中间位置的路程的第二长度进行比较。计算设备104可以利用车辆102在路口中的行驶路段，来确定出从车辆102的当前位置到在路口中的行驶路段的中间位置的第二长度，即从当前位置到行驶过一半路口所需要行驶的长度。At block 312 , the computing device 104 compares the first length to a second length of the distance traveled by the vehicle 102 from the current location to an intermediate location of the travel segment. The computing device 104 may use the travel section of the vehicle 102 in the intersection to determine the second length from the current position of the vehicle 102 to the middle position of the travel section in the intersection, that is, the travel required to travel halfway through the intersection from the current position length.

在框314处，计算设备104确定第一长度是否大于第二长度。如果第一长度大于第二长度，表明车辆102以当前速度和/或加速度行驶可以至少行驶通过路口的一半。因此，在框316处，计算设备104使车辆102行驶通过路口。通过这种方式，可以使车辆合理的通过路口，减少了急刹急停的次数，提高了用户体验。At block 314, the computing device 104 determines whether the first length is greater than the second length. If the first length is greater than the second length, it indicates that the vehicle 102 can travel at least halfway through the intersection at the current speed and/or acceleration. Accordingly, at block 316, the computing device 104 drives the vehicle 102 through the intersection. In this way, the vehicle can pass through the intersection reasonably, reducing the number of sudden braking and emergency stops, and improving the user experience.

如果第一长度小于或等于第二长度，表明车辆102以当前的速度和/加速度行驶不过路口的一半，因此无法通过路口。在框318处，计算设备104基于第一停止位置来停止车辆102。在一个示例中，如果前面没有车辆102，则停止在第一停止位置处。如果前面有车辆，则车辆102停止在前面车辆后面。If the first length is less than or equal to the second length, it means that the vehicle 102 cannot travel halfway through the intersection at the current speed and/or acceleration, and therefore cannot pass through the intersection. At block 318, the computing device 104 stops the vehicle 102 based on the first stop position. In one example, if there is no vehicle 102 ahead, stop at the first stop position. If there is a vehicle ahead, the vehicle 102 stops behind the preceding vehicle.

通过上述方法，可以快速的确定出车辆在路口的通行策略，减少了车辆急刹急停的次数。同时减少了车辆损耗，提高了用户体验。Through the above method, the traffic strategy of the vehicle at the intersection can be quickly determined, and the number of times of sudden braking and emergency stop of the vehicle can be reduced. At the same time, vehicle loss is reduced and user experience is improved.

图4示出了根据本公开实施例的控制车辆的装置的示意性框图。如图4所示，装置400包括第一距离确定模块402，被配置为如果检测到第一交通指示灯以第一颜色闪烁，确定从车辆的当前位置到与第一交通指示灯相关联的第一停止位置的第一距离。装置400还包括第二距离确定模块404，被配置为基于车辆的当前速度和车辆在减速过程中将采用的加速度，来确定从车辆的当前位置到车辆预计停止的第二停止位置之间的第二距离。装置400还包括通行策略确定模块406，被配置为基于第一距离和第二距离，确定车辆在与第一交通指示灯相关联的路口处的通行策略。FIG. 4 shows a schematic block diagram of an apparatus for controlling a vehicle according to an embodiment of the present disclosure. As shown in FIG. 4 , the apparatus 400 includes a first distance determination module 402 configured to determine the distance from the current position of the vehicle to the first distance associated with the first traffic light if the first traffic light is detected to be flashing with a first color. A first distance from a stop position. The apparatus 400 also includes a second distance determination module 404 configured to determine a distance from the current position of the vehicle to a second stop position where the vehicle is expected to stop based on the current speed of the vehicle and the acceleration the vehicle will employ during deceleration. Second distance. The apparatus 400 also includes a traffic strategy determination module 406 configured to determine a traffic strategy of the vehicle at the intersection associated with the first traffic light based on the first distance and the second distance.

在一些实施例中，第一距离确定模块402包括停止线确定模块，被配置为如果检测到第一交通指示灯以第一颜色闪烁，确定车辆的当前位置和与第一交通指示灯相关联的停止线。第一停止位置确定模块，被配置为基于停止线，确定第一停止位置；以及第一距离计算模块，被配置为计算从当前位置到第一停止位置的第一距离。In some embodiments, the first distance determination module 402 includes a stop line determination module configured to determine the current location of the vehicle and the current location of the vehicle and the information associated with the first traffic light if the first traffic light is detected to be blinking in the first color. stop line. a first stop position determination module configured to determine a first stop position based on the stop line; and a first distance calculation module configured to calculate a first distance from the current position to the first stop position.

装置400还包括第一闪烁检测模块，被配置为通过传感器检测第一交通指示灯的闪烁；或者第二闪烁检测模块，被配置为接收标识第一交通指示灯的状态的指示信息以检测第一交通指示灯的闪烁。The apparatus 400 further includes a first flicker detection module configured to detect the flicker of the first traffic light through a sensor; or a second flicker detection module configured to receive indication information identifying the state of the first traffic light to detect the first traffic light Blinking of traffic lights.

在一些实施例中，通行策略确定模块406包括加速度调整模块，被配置为如果第二距离小于第一距离，调整加速度以使车辆停止于第一停止位置与第二停止位置之间。In some embodiments, the traffic strategy determination module 406 includes an acceleration adjustment module configured to adjust the acceleration to stop the vehicle between the first stop position and the second stop position if the second distance is less than the first distance.

在一些实施例中，通行策略确定模块406包括时长确定模块，被配置为如果第二距离大于或等于第一距离，确定第一交通指示灯以第一颜色闪烁的第一时长和第一交通指示灯以第二颜色进行显示的第二时长；第一长度确定模块，被配置为基于第一时长和第二时长，确定车辆行驶的路程的第一长度；行驶路段确定模块，被配置为基于车辆在与第一交通指示灯相关联的路口中的行驶方向，确定车辆在路口中的行驶路段；比较模块，被配置为将第一长度与车辆从当前位置行驶到行驶路段的中间位置的路程的第二长度进行比较；以及行驶确定模块，被配置为如果第一长度大于第二长度，车辆行驶通过路口。In some embodiments, the traffic strategy determination module 406 includes a duration determination module configured to determine a first duration and a first traffic indication during which the first traffic light flashes in the first color if the second distance is greater than or equal to the first distance a second duration for which the light is displayed in a second color; a first length determination module configured to determine a first length of a distance traveled by the vehicle based on the first duration and the second duration; a travel segment determination module configured to determine a first length based on the vehicle A travel direction in the intersection associated with the first traffic light, determining the travel section of the vehicle in the intersection; the comparison module is configured to compare the first length with the distance traveled by the vehicle from the current position to an intermediate position of the travel section. A second length is compared; and a travel determination module configured to travel through the intersection if the first length is greater than the second length.

在一些实施例中，通行策略确定模块406还包括车辆停止模块，被配置为如果第一长度小于或等于第二长度，基于第一停止位置来停止车辆。In some embodiments, the traffic strategy determination module 406 also includes a vehicle stop module configured to stop the vehicle based on the first stop position if the first length is less than or equal to the second length.

在一些实施例中，其中时长确定模块包括第一颜色时长确定模块，被配置为基于第一交通指示灯以第一颜色闪烁的第一组历史时长来确定第一时长；以及第二颜色时长确定模块，被配置为基于第一交通指示灯以第二颜色进行显示的第二组历史时长来确定第二时长。In some embodiments, wherein the duration determination module includes a first color duration determination module configured to determine the first duration based on a first set of historical durations in which the first traffic light flashes in the first color; and the second color duration determination A module configured to determine the second duration based on a second set of historical durations in which the first traffic light is displayed in the second color.

装置400还包括提前执行模块，被配置为如果在车辆停止时检测到位于与车辆的行驶方向不同的方向上的二交通指示灯以第一颜色闪烁，提前执行与车辆的行驶有关的操作。The apparatus 400 further includes an advance execution module configured to execute an operation related to the traveling of the vehicle in advance if it is detected that two traffic lights located in a direction different from the traveling direction of the vehicle flash in a first color when the vehicle is stopped.

图5示出了可以用来实施本公开内容的实施例的示例设备的示意性框图。例如，如图1所示的计算设备104可以由设备500来实施。如图所示，设备500包括中央处理单元CPU 501，其可以根据存储在只读存储器ROM 502中的计算机程序指令或者从存储单元508加载到随机访问存储器RAM 503中的计算机程序指令，来执行各种适当的动作和处理。在RAM 503中，还可存储设备500操作所需的各种程序和数据。CPU 501、ROM 502以及RAM 503通过总线504彼此相连。输入/输出I/O接口505也连接至总线504。5 shows a schematic block diagram of an example device that may be used to implement embodiments of the present disclosure. For example, computing device 104 as shown in FIG. 1 may be implemented by device 500 . As shown, device 500 includes a central processing unit CPU 501, which can execute various functions according to computer program instructions stored in read-only memory ROM 502 or loaded from storage unit 508 into random access memory RAM 503. appropriate action and handling. In the RAM 503, various programs and data required for the operation of the device 500 can also be stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. Input/output I/O interface 505 is also connected to bus 504 .

设备500中的多个部件连接至I/O接口505，包括：输入单元506，例如键盘、鼠标等；输出单元507，例如各种类型的显示器、扬声器等；存储单元508，例如磁盘、光盘等；以及通信单元509，例如网卡、调制解调器、无线通信收发机等。通信单元509允许设备500通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。Various components in the device 500 are connected to the I/O interface 505, including: an input unit 506, such as a keyboard, mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a magnetic disk, an optical disk, etc. ; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.

上文所描述的各个过程和处理，例如方法200和300可由处理单元501执行。例如，在一些实施例中，方法200和300可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元508。在一些实施例中，计算机程序的部分或者全部可以经由ROM 502和/或通信单元509而被载入和/或安装到设备500上。当计算机程序被加载到RAM 503并由CPU 501执行时，可以执行上文描述的方法200和300的一个或多个动作。The various procedures and processes described above, eg,

methods

200 and 300 , may be performed by the processing unit 501 . For example, in some embodiments,

methods

200 and 300 may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 508 . In some embodiments, part or all of the computer program may be loaded and/or installed on device 500 via ROM 502 and/or communication unit 509 . When a computer program is loaded into RAM 503 and executed by CPU 501, one or more of the actions of

methods

200 and 300 described above may be performed.

本公开可以是方法、装置、***和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于执行本公开的各个方面的计算机可读程序指令。The present disclosure may be a method, apparatus, system and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for carrying out various aspects of the present disclosure.

计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子，非穷举的列表，包括：便携式计算机盘、硬盘、随机存取存储器RAM、只读存储器ROM、可擦式可编程只读存储器EPROM或闪存、静态随机存取存储器SRAM、便携式压缩盘只读存储器CD-ROM、数字多功能盘DVD、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波，例如，通过光纤电缆的光脉冲、或者通过电线传输的电信号。A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples, non-exhaustive list, of computer readable storage media include: portable computer disks, hard disks, random access memory RAM, read only memory ROM, erasable programmable read only memory EPROM or flash memory, static random access memory Access memory SRAM, portable compact disk read only memory CD-ROM, digital versatile disk DVD, memory sticks, floppy disks, mechanical coding devices, such as punched cards or raised structures in grooves on which instructions are stored, and the above any suitable combination. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, eg, light pulses through fiber optic cables, or transmission through electrical wires electrical signal.

这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构ISA指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机，例如利用因特网服务提供商来通过因特网连接。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列FPGA或可编程逻辑阵列PLA，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。The computer program instructions for carrying out the operations of the present disclosure may be assembly instructions, instruction set architecture ISA instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or in any combination of one or more programming languages Source or object code written in programming languages including object-oriented programming languages - such as Smalltalk, C++, etc., and conventional procedural programming languages - such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. Where a remote computer is involved, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer, such as through the Internet using an Internet service provider connect. In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array FPGA, or a programmable logic array PLA, is personalized by utilizing state information of computer readable program instructions, which electronic circuit can execute a computer readable program instructions, thereby implementing various aspects of the present disclosure.

这里参照根据本公开实施例的方法、装置/***和计算机程序产品的流程图和/或框图描述了本公开的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus/systems and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理单元，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理单元执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。These computer readable program instructions may be provided to a processing unit of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processing unit of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

附图中的流程图和框图显示了根据本公开的多个实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。Various embodiments of the present disclosure have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

一种控制车辆的方法，包括：A method of controlling a vehicle, comprising:

如果检测到第一交通指示灯以第一颜色闪烁，确定从车辆的当前位置到与所述第一交通指示灯相关联的第一停止位置的第一距离；determining a first distance from the current position of the vehicle to a first stop position associated with the first traffic light if it is detected that the first traffic light flashes in a first color;

基于所述车辆的当前速度和所述车辆在减速过程中将采用的加速度，来确定从所述车辆的当前位置到所述车辆预计停止的第二停止位置之间的第二距离；以及determining a second distance from the current position of the vehicle to a second stop position where the vehicle is expected to stop based on the current speed of the vehicle and the acceleration that the vehicle will employ during deceleration; and

基于所述第一距离和所述第二距离，确定所述车辆在与所述第一交通指示灯相关联的路口处的通行策略。Based on the first distance and the second distance, a traffic strategy of the vehicle at the intersection associated with the first traffic light is determined.
根据权利要求1所述的方法，其中确定所述第一距离包括：The method of claim 1, wherein determining the first distance comprises:

如果检测到所述第一交通指示灯以第一颜色闪烁，确定所述车辆的所述当前位置和与所述第一交通指示灯相关联的停止线；determining the current position of the vehicle and a stop line associated with the first traffic light if it is detected that the first traffic light is blinking in a first color;

基于所述停止线，确定所述第一停止位置；以及Based on the stop line, determining the first stop position; and

计算从所述当前位置到所述第一停止位置的所述第一距离。The first distance from the current position to the first stop position is calculated.
根据权利要求1所述的方法，还包括：The method of claim 1, further comprising:

通过传感器检测所述第一交通指示灯的所述闪烁；或者Detecting said blinking of said first traffic light by a sensor; or

接收标识所述第一交通指示灯的状态的指示信息以检测所述第一交通指示灯的所述闪烁。Indicative information identifying the state of the first traffic light is received to detect the blinking of the first traffic light.
根据权利要求1所述的方法，其中确定所述通行策略包括：The method of claim 1, wherein determining the traffic strategy comprises:

如果所述第二距离小于所述第一距离，调整所述加速度以使所述车辆停止于所述第一停止位置与所述第二停止位置之间。If the second distance is less than the first distance, the acceleration is adjusted to stop the vehicle between the first stop position and the second stop position.
根据权利要求1所述的方法，其中确定所述通行策略包括：The method of claim 1, wherein determining the traffic strategy comprises:

如果所述第二距离大于或等于所述第一距离，确定所述第一交通指示灯以所述第一颜色闪烁的第一时长和所述第一交通指示灯以第二颜色进行显示的第二时长；If the second distance is greater than or equal to the first distance, determining a first duration for which the first traffic light flashes in the first color and a first time for the first traffic light to display in the second color two hours;

确定所述车辆在所述第一时长和所述第二时长期间行驶的路程的第一长度；determining a first length of the distance traveled by the vehicle during the first duration and the second duration;

基于所述车辆在与所述第一交通指示灯相关联的路口中的行驶方向，确定所述车辆在所述路口中的行驶路段；determining a segment of travel of the vehicle in the intersection based on the direction of travel of the vehicle in the intersection associated with the first traffic light;

将所述第一长度与所述车辆从所述当前位置行驶到所述行驶路段的中间位置的路程的第二长度进行比较；以及comparing the first length to a second length of the distance traveled by the vehicle from the current location to an intermediate location of the travel segment; and

如果所述第一长度大于所述第二长度，所述车辆行驶通过所述路口。If the first length is greater than the second length, the vehicle travels through the intersection.
根据权利要求5所述的方法，其中确定所述通行策略还包括：The method of claim 5, wherein determining the traffic strategy further comprises:

如果所述第一长度小于或等于所述第二长度，基于所述第一停止位置来停止所述车辆。If the first length is less than or equal to the second length, the vehicle is stopped based on the first stop position.
根据权利要求5所述的方法，其中确定所述第一时长和所述第二时长包括：6. The method of claim 5, wherein determining the first duration and the second duration comprises:

基于所述第一交通指示灯以所述第一颜色闪烁的第一组历史时长来确定所述第一时长；以及determining the first duration based on a first set of historical durations during which the first traffic light flashed in the first color; and

基于所述第一交通指示灯以所述第二颜色进行显示的第二组历史时长来确定所述第二时长。The second duration is determined based on a second set of historical durations in which the first traffic light is displayed in the second color.
根据权利要求1所述的方法，还包括：The method of claim 1, further comprising:

如果在所述车辆停止时检测到位于与所述车辆的行驶方向不同的方向上的第二交通指示灯以所述第一颜色闪烁，提前执行与所述车辆的行驶有关的操作。If it is detected that a second traffic light located in a direction different from the traveling direction of the vehicle flashes in the first color when the vehicle is stopped, an operation related to the traveling of the vehicle is performed in advance.
一种控制车辆的装置，包括：A device for controlling a vehicle, comprising:

第一距离确定模块，被配置为如果检测到第一交通指示灯以第一颜色闪烁，确定从车辆的当前位置到与所述第一交通指示灯相关联的第一停止位置的第一距离；a first distance determination module configured to determine a first distance from a current position of the vehicle to a first stop position associated with the first traffic light if the first traffic light is detected to be flashing with a first color;

第二距离确定模块，被配置为基于所述车辆的当前速度和所述车辆在减速过程中将采用的加速度，来确定从所述车辆的当前位置到所述车辆预计停止的第二停止位置之间的第二距离；以及A second distance determination module configured to determine a distance from the current position of the vehicle to a second stop position where the vehicle is expected to stop based on the current speed of the vehicle and the acceleration that the vehicle will employ during deceleration the second distance between; and

通行策略确定模块，被配置为基于所述第一距离和所述第二距离，确定所述车辆在与所述第一交通指示灯相关联的路口处的通行策略。A traffic strategy determination module is configured to determine a traffic strategy of the vehicle at the intersection associated with the first traffic light based on the first distance and the second distance.
根据权利要求9所述的装置，其中所述第一距离确定模块包括：The apparatus of claim 9, wherein the first distance determination module comprises:

停止线确定模块，被配置为如果检测到所述第一交通指示灯以第一颜色闪烁，确定所述车辆的所述当前位置和与所述第一交通指示灯相关联的停止线；a stop line determination module configured to determine the current location of the vehicle and a stop line associated with the first traffic light if it is detected that the first traffic light is blinking in a first color;

第一停止位置确定模块，被配置为基于所述停止线，确定所述第一停止位置；以及a first stop position determination module configured to determine the first stop position based on the stop line; and

第一距离计算模块，被配置为计算从所述当前位置到所述第一停止位置的所述第一距离。A first distance calculation module configured to calculate the first distance from the current position to the first stop position.
根据权利要求9所述的装置，还包括：The apparatus of claim 9, further comprising:

第一闪烁检测模块，被配置为通过传感器检测所述第一交通指示灯的所述闪烁；或者a first flicker detection module configured to detect the flicker of the first traffic light by a sensor; or

第二闪烁检测模块，被配置为接收标识所述第一交通指示灯的状态的指示信息以检测所述第一交通指示灯的所述闪烁。A second flicker detection module configured to receive indication information identifying the state of the first traffic light to detect the flicker of the first traffic light.
根据权利要求9所述的装置，其中所述通行策略确定模块包括：The apparatus according to claim 9, wherein the traffic policy determination module comprises:

加速度调整模块，被配置为如果所述第二距离小于所述第一距离，调整所述加速度以使所述车辆停止于所述第一停止位置与所述第二停止位置之间。An acceleration adjustment module configured to adjust the acceleration to stop the vehicle between the first stop position and the second stop position if the second distance is less than the first distance.
根据权利要求9所述的装置，其中所述通行策略确定模块包括：The apparatus according to claim 9, wherein the traffic policy determination module comprises:

时长确定模块，被配置为如果所述第二距离大于或等于所述第一距离，确定所述第一交通指示灯以所述第一颜色闪烁的第一时长和所述第一交通指示灯以第二颜色进行显示的第二时长；A duration determination module configured to determine a first duration for which the first traffic light flashes in the first color and a first duration for the first traffic light to flash in the first color if the second distance is greater than or equal to the first distance The second duration for which the second color is displayed;

第一长度确定模块，被配置为确定所述车辆在所述第一时长和所述第二时长期间行驶的路程的第一长度；a first length determination module configured to determine a first length of a distance traveled by the vehicle during the first duration and the second duration;

行驶路段确定模块，被配置为基于所述车辆在与所述第一交通指示灯相关联的路口中的行驶方向，确定所述车辆在所述路口中的行驶路段；a travel segment determination module configured to determine a travel segment of the vehicle in the intersection associated with the first traffic light based on the direction of travel of the vehicle in the intersection associated with the first traffic light;

比较模块，被配置为将所述第一长度与所述车辆从所述当前位置行驶到所述行驶路段的中间位置的路程的第二长度进行比较；以及a comparison module configured to compare the first length to a second length of a distance traveled by the vehicle from the current location to an intermediate location of the travel segment; and

行驶确定模块，被配置为如果所述第一长度大于所述第二长度，所述车辆行驶通过所述路口。A travel determination module configured to travel through the intersection if the first length is greater than the second length.
根据权利要求13所述的装置，其中所述通行策略确定模块还包括：The apparatus according to claim 13, wherein the traffic policy determination module further comprises:

车辆停止模块，被配置为如果所述第一长度小于或等于所述第二长度，基于所述第一停止位置来停止所述车辆。A vehicle stop module configured to stop the vehicle based on the first stop position if the first length is less than or equal to the second length.
根据权利要求13所述的装置，其中所述时长确定模块包括：The apparatus of claim 13, wherein the duration determination module comprises:

第一颜色时长确定模块，被配置为基于所述第一交通指示灯以所述第一颜色闪烁的第一组历史时长来确定所述第一时长；以及a first color duration determination module configured to determine the first duration based on a first set of historical durations in which the first traffic light flashes in the first color; and

第二颜色时长确定模块，被配置为基于所述第一交通指示灯以所述第二颜色进行显示的第二组历史时长来确定所述第二时长。A second color duration determination module is configured to determine the second duration based on a second set of historical durations in which the first traffic light is displayed in the second color.
根据权利要求9所述的装置，还包括：The apparatus of claim 9, further comprising:

提前执行模块，被配置为如果在所述车辆停止时检测到位于与所述车辆的行驶方向不同的方向上的二交通指示灯以所述第一颜色闪烁，提前执行与所述车辆的行驶有关的操作。an early execution module configured to perform early execution related to the driving of the vehicle if it is detected that two traffic lights located in a direction different from the driving direction of the vehicle flash in the first color when the vehicle is stopped operation.
一种电子设备，包括：An electronic device comprising:

至少一个处理器；at least one processor;

存储器，耦合至所述至少一个处理器并且具有存储在其上的指令，所述指令由所述至少一个处理器执行以实现根据权利要求1至8中任一项所述的方法。a memory coupled to the at least one processor and having stored thereon instructions executable by the at least one processor to implement the method of any of claims 1-8.
一种计算机可读存储介质，所述计算机可读存储介质具有存储在其上的指令，所述指令在被处理器执行时使所述处理器实现根据权利要求1-8中的任一项所述的方法。A computer-readable storage medium having stored thereon instructions that, when executed by a processor, cause the processor to implement the methods described in any of claims 1-8. method described.