CN107499258A - Control method and device applied to autonomous driving vehicle - Google Patents
Control method and device applied to autonomous driving vehicle Download PDFInfo
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- CN107499258A CN107499258A CN201710792107.8A CN201710792107A CN107499258A CN 107499258 A CN107499258 A CN 107499258A CN 201710792107 A CN201710792107 A CN 201710792107A CN 107499258 A CN107499258 A CN 107499258A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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Abstract
This application discloses the control method and device applied to autonomous driving vehicle.One embodiment of this method includes：Based on the sensor information collected, the control instruction of the part on the CAN bus for controlling autonomous driving vehicle is generated, and generates CAN bus signal corresponding to control instruction；The part that CAN bus signal is input on CAN bus, and the CAN bus of generation autonomous driving vehicle is input to monitoring data corresponding to the CAN bus signal on CAN bus.The running situation of part on the CAN bus of autonomous driving vehicle and monitoring the autonomous driving vehicle part on the CAN bus of autonomous driving vehicle in the process of moving can be controlled simultaneously by realizing, so as to relatively efficiently control autonomous driving vehicle in the case where ensuring security.
Description
Technical field
The application is related to vehicular field, and in particular to automatic Pilot field, more particularly to applied to autonomous driving vehicle
Control method and device.
Background technology
The security of autonomous driving vehicle and the control efficiency of autonomous driving vehicle are that autonomous driving vehicle is the most key
Index.Therefore, how to design the control mode for the autonomous driving vehicle for taking into account efficient and security turns into autonomous driving vehicle
Whole control system exploitation in one of key link.
The content of the invention
This application provides the control method and device applied to autonomous driving vehicle, for solving above-mentioned background technology portion
Technical problem existing for point.
This application provides the control method applied to autonomous driving vehicle, this method includes：Based on the sensing collected
Device information, generate the control instruction of the part on the CAN bus for controlling autonomous driving vehicle, Yi Jisheng
Into CAN bus signal corresponding to control instruction；CAN bus signal is input to control general ability
Part on domain network-bus, and the CAN bus of generation autonomous driving vehicle is input to controller LAN
Monitoring data corresponding to CAN bus signal in network bus.
This application provides the control device applied to autonomous driving vehicle, the device includes：Decision package, for based on
The sensor information collected, generate the control of the part on the CAN bus for controlling autonomous driving vehicle
Instruction, and CAN bus signal corresponding to generation control instruction；Interactive unit, for by controller LAN
Network bus signals are input on CAN bus, and the CAN bus of generation autonomous driving vehicle
Part be input to monitoring data corresponding to CAN bus signal on CAN bus.
The control method and device applied to autonomous driving vehicle that the application provides, by based on the sensor collected
Information, generate the control instruction of the part on the CAN bus for controlling autonomous driving vehicle, and generation
CAN bus signal corresponding to control instruction；CAN bus signal is input to controller local
Part on network-bus, and the CAN bus of generation autonomous driving vehicle is input to controller local area network
Monitoring data corresponding to CAN bus signal in bus.Autonomous driving vehicle can be controlled simultaneously by realizing
The controller of part on CAN bus and monitoring autonomous driving vehicle autonomous driving vehicle in the process of moving
The running situation of part on Area Network bus, so as to which relatively efficiently control is driven automatically in the case where ensuring security
Sail automobile.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows a hardware architecture diagram of the autonomous driving vehicle suitable for the application；
Fig. 2 shows the flow of one embodiment of the control method applied to autonomous driving vehicle according to the application
Figure；
Fig. 3 shows an exemplary process diagram of the control method applied to autonomous driving vehicle according to the application；
Fig. 4 shows that the structure of one embodiment of the control device applied to autonomous driving vehicle according to the application is shown
It is intended to.
Embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Be easy to describe, illustrate only in accompanying drawing to about the related part of invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows a hardware architecture diagram of the autonomous driving vehicle suitable for the application.
As shown in figure 1, autonomous driving vehicle includes CPU101, memory 102, camera 103, GPS104, inertial navigation
Equipment 105.CPU101, memory 102, camera 103, GPS104, inertial navigation set 105 are connected with each other by bus 106.
The parts such as the engine control device of autonomous driving vehicle, brake component, turning member pass through CAN
(Controller Area Network, controller local area network) bus connects.In other words, the engine of autonomous driving vehicle
The parts such as control unit, brake component, turning member are the part in the CAN of autonomous driving vehicle.When automatic Pilot vapour
When a part in the CAN of car exports CAN signal, the miscellaneous part in the CAN of autonomous driving vehicle is equal
The CAN signal can be received, it is necessary to which part in the CAN of the autonomous driving vehicle of the CAN signal can be with
The CAN signal is handled.
Fig. 2 is refer to, it illustrates the implementation of one of the control method applied to autonomous driving vehicle according to the application
The flow of example.The control method applied to autonomous driving vehicle that the embodiment of the present application is provided can be held by autonomous driving vehicle
OK.This method comprises the following steps：
Step 201：Based on sensor information, control instruction, and controller local corresponding to generation control instruction are generated
Network-bus signal.
In the present embodiment, the sensor information collected can be primarily based on, is generated for controlling autonomous driving vehicle
Autonomous driving vehicle CAN on part control instruction.The CAN of the autonomous driving vehicle of autonomous driving vehicle
On part can include but is not limited to：Engine control device, brake component, turning member.For controlling automatic Pilot vapour
The control instruction of part in the CAN of the autonomous driving vehicle of car can include but is not limited to：Assisted instruction, deceleration refer to
Make, braking instruction, steering order.The control instructions such as assisted instruction, deceleration instruction, braking instruction, steering order correspond to not respectively
Part in the CAN of same autonomous driving vehicle.For example, braking instruction is for controlling the CAN of autonomous driving vehicle total
The instruction of brake component on line, steering order are the finger of the turning member in the CAN for controlling autonomous driving vehicle
Order.
For example, sensor information is the road conditions image that camera collects, can be according to the multiframe road that camera collects
Condition image, before the traffic lights that autonomous driving vehicle travels to travel route, the state for identifying traffic lights is red, then
Can autonomous driving vehicle apart from traffic lights are in pre-determined distance when, generate the CAN for controlling autonomous driving vehicle
On part in brake component perform brake operation control instruction.
In the present embodiment, it is used to control the portion in the CAN of the autonomous driving vehicle of autonomous driving vehicle in generation
After the control instruction of part, CAN signal corresponding to control instruction can be generated.
For example, sensor information is the road conditions image that camera collects, can be according to the multiframe road that camera collects
Condition image, before the traffic lights that autonomous driving vehicle travels to travel route, the state for identifying traffic lights is red, then
It can be generated in autonomous driving vehicle in traffic lights pre-determined distance in the CAN for controlling autonomous driving vehicle
Brake component in part performs the control instruction of brake operation.Can be by the CAN for controlling autonomous driving vehicle
Part in brake component perform brake operation control instruction be converted to CAN signal after be input to CAN, from
And the brake component in the CAN of autonomous driving vehicle can receive the CAN signal being input in CAN,
Perform brake operation.
In another example sensor information is GPS gathers to the position of autonomous driving vehicle, determine to drive automatically by high-precision map
The road for sailing the front of automobile is bend, when autonomous driving vehicle is travelled to the original position of bend, can be generated for controlling
Turning member in the CAN of autonomous driving vehicle processed performs the control instruction of steering operation.It will can be used to control automatically
The control instruction that turning member in part in the CAN of driving performs steering operation is converted to CAN signal
CAN is input to, so as to, the turning member of autonomous driving vehicle can receive the CAN signal in CAN,
Perform steering operation.
In some optional implementations of the present embodiment, the CAN for controlling autonomous driving vehicle is generated
Part control instruction corresponding to CAN signal include：Generate the portion in the CAN for controlling autonomous driving vehicle
Control signal corresponding to the control instruction of part；To the control instruction of the part in the CAN for controlling autonomous driving vehicle
Corresponding control signal is smoothed；Based on for controlling the control of the part in the CAN of autonomous driving vehicle to refer to
Order and the corresponding relation of CAN signal, generate CAN signal corresponding to control signal.
The control of the part in the CAN for controlling autonomous driving vehicle can be generated by the CPU of autonomous driving vehicle
Control signal corresponding to system instruction, control signal corresponding to output control instruction, can use PID (proportional-integral-differential controls
Device processed) algorithm is smoothed to control signal corresponding to the control instruction of output, it is then possible to by being connected with CPU
Corresponding relation of the converting member based on control signal Yu CAN bus signal, generate CAN corresponding to control signal
Bus signals.Converting member can use FPGA (Field Programmable Gate Array, field-programmable gate array
Row).
For example, sensor information is the position by GPS gathers to autonomous driving vehicle, determined by high-precision map automatic
The road in the front of driving is bend, can be by driving automatically when autonomous driving vehicle is travelled to the original position of bend
The CPU for sailing automobile is generated for controlling the control of the turning member execution steering operation in the CAN of autonomous driving vehicle to refer to
Order.It is then possible to by the FPGA that is connected with CPU by the steering in the part in the CAN for controlling autonomous driving vehicle
The control instruction that part performs steering operation is converted to CAN signal, and CAN is input to by CAN interface, from
And the turning member of autonomous driving vehicle can receive the CAN signal in CAN, steering operation is performed.
In some optional implementations of the present embodiment, CAN signal corresponding to generation control instruction includes：Base
In the control instruction and the corresponding relation of CAN instruction of the part in the CAN for controlling autonomous driving vehicle, generation
CAN corresponding to control instruction instructs；Generate CAN signal corresponding to CAN instruction.
It can predefine for controlling the autonomous driving vehicles such as engine control device, brake component, turning member
CAN corresponding to the control instruction of part in CAN instructs, and establishes for controlling engine control device, braking parts
The control instruction of part in the CAN of the autonomous driving vehicles such as part, turning member and the corresponding relation of CAN instruction.
, can be according to for controlling engine control device, braking parts when needing to generate CAN signal corresponding to control instruction
The control instruction of part in the CAN of the autonomous driving vehicles such as part, turning member and the corresponding relation of CAN instruction,
Generate CAN instruction corresponding to control instruction.
For example, sensor information is the position by GPS gathers to autonomous driving vehicle, determined by high-precision map automatic
The road in the front of driving is bend, when autonomous driving vehicle is travelled to the original position of bend, can generate and be used for
The turning member in the CAN of autonomous driving vehicle is controlled to perform the control instruction of steering operation.Can be according to for controlling
The control instruction of part in the CAN of the autonomous driving vehicles such as engine control device, brake component, turning member with
The corresponding relation of CAN instruction, generate the turning member in the CAN for controlling autonomous driving vehicle and perform steering behaviour
CAN corresponding to the control instruction of work instructs, it is then possible to CAN signal corresponding to CAN instruction is generated, will
The CAN signal is input to CAN, so as to which the turning member of autonomous driving vehicle can receive being somebody's turn to do in CAN
CAN signal, perform steering operation.
Step 202：CAN signal is input to CAN, and generation monitoring data.
In the present embodiment, in the CAN that the autonomous driving vehicle for controlling autonomous driving vehicle is generated by step 201
After CAN signal corresponding to the control instruction of part in bus, CAN signal can be input to CAN.Together
When, the CAN signal in CAN can be converted to monitoring data.
In the present embodiment, CAN signal in CAN can be got, CAN signal in CAN is entered
Row parsing, CAN instruction is obtained, CAN instruction includes command field or data field, it is thus possible to generate comprising life
Make the monitoring information of the preset format of field or data field.
For example, the engine control device in the CAN of autonomous driving vehicle sends to oil mass injection control part and controlled
During the order of the distributive value of system, CAN instruction corresponding to the order can be sequentially generated first, corresponding to CAN instruction
CAN signal, then, CAN signal corresponding to CAN instruction is input in CAN.This can be obtained
CAN signal, the CAN signal is parsed, obtains CAN instruction, CAN instruction comprising command field or
Data field, that is, represent the field of the order of the distributive value of control, it is thus possible to generate comprising command field or data field
The monitoring information of preset format.Pass through the monitoring information, it may be determined that engine control device is sent out to oil mass injection control part
Send the order of the distributive value of control.
In the present embodiment, by the way that CAN signal is input into CAN, and by the CAN in CAN
Signal is converted to monitoring data, can control autonomous driving vehicle simultaneously and monitor each automatic Pilot vapour of autonomous driving vehicle
Each control unit running situation in the CAN of car, realizes the monitoring to autonomous driving vehicle.
In some optional implementations of the present embodiment, the part generated in the CAN of autonomous driving vehicle is defeated
Monitoring data corresponding to entering the CAN signal onto CAN includes：Received by CAN interface in CAN
CAN signal, and CAN signal is decoded, obtain CAN corresponding to CAN signal and instruct；Extract CAN
Command field or data field in bus command, and monitoring data of the generation comprising command field or data field.
For example, a part in the CAN of autonomous driving vehicle is to its in the CAN of autonomous driving vehicle
When his part sends order or data, CAN instruction, the CAN corresponding to order or data can be sequentially generated first and is referred to
CAN signal corresponding to order, then, it is input in CAN, CAN can be passed through using converting member such as FPGA
Interface decodes to CAN signal to the CAN signal, obtains CAN corresponding to the CAN signal
Instruction, extract command field or data field in CAN instruction, and generation is comprising command field or data field
Monitoring data.
In some optional implementations of the present embodiment, the part generated in the CAN of autonomous driving vehicle is defeated
Monitoring data corresponding to entering the CAN signal onto CAN includes：Received by CAN interface in CAN
CAN signal, it is then possible to parse CAN signal using CAN controller, obtain corresponding to CAN signal
CAN instructs；The command field or data field in CAN instruction are extracted, and generation includes command field or number
According to the monitoring data of field.
For example, a part in the CAN of autonomous driving vehicle is to its in the CAN of autonomous driving vehicle
When his part sends order or data, can sequentially generate first transmission order or data corresponding to CAN instruction, the CAN
CAN signal corresponding to bus command, then, it is input in CAN, CAN can be received by CAN interface
On CAN signal, it is then possible to using CAN controller parse CAN signal, obtain the CAN signal pair
The CAN instruction answered, extracts command field or data field in CAN instruction, and generation includes command field or number
According to the monitoring data of field.
In some optional implementations of the present embodiment, road conditions figure can be gathered in real time using single wide-angle camera
Picture.Due to during the traveling of autonomous driving vehicle, the state, defeated that road conditions image can be used for cognitive disorders thing is gathered in real time
Enter and predict driving behavior etc. in preset duration in the model of driving behavior into prediction preset duration, autonomous driving vehicle
Carry out needing to be applied to the road conditions image of magnanimity during environment sensing, the road conditions image of magnanimity can occupy in transmitting procedure to be driven automatically
The substantial amounts of bandwidth of whole data transmission system of automobile is sailed, therefore, road conditions figure is gathered in real time by using single wide-angle camera
Picture, while meeting the needs of carrying out environment sensing, occupied caused by avoiding multiple camera collection road conditions images automatic
The problem of bandwidth of the whole data transmission system of driving sharply increases.
Fig. 3 is refer to, it illustrates an example of the control method applied to autonomous driving vehicle according to the application
Property flow chart.
In fig. 3 it is shown that vehicle-mounted brain, camera, GPS, inertial navigation set IMU, PID control part, autobox
Part, CAN.Vehicle-mounted brain can collect according to the position of the autonomous driving vehicle of GPS gathers, inertial navigation set
The posture of autonomous driving vehicle, road conditions image of camera collection etc., generate the CAN for controlling autonomous driving vehicle
Engine control device, brake component, the control instruction of turning member.It is corresponding that autobox parts can generate control instruction
CAN signal, be input to by CAN interface in CAN, it is final to control autonomous driving vehicle to be accelerated, subtracted
The operations such as speed, braking, steering.Meanwhile autobox parts can control the engine in the CAN of autonomous driving vehicle
The CAN signal that part, brake component, turning member are input in CAN is converted to monitoring data.
Fig. 4 is refer to, as the realization to method shown in above-mentioned each figure, this application provides one kind to be applied to automatic Pilot
One embodiment of the control device of automobile, the embodiment are corresponding with the embodiment of the method shown in Fig. 2.
As shown in figure 4, the control device applied to autonomous driving vehicle includes：Decision package 401, interactive unit 402.Its
In, decision package 401 is configured to based on the sensor information collected, generate the controller for controlling autonomous driving vehicle
The control instruction of part on Area Network bus, and CAN bus letter corresponding to the generation control instruction
Number；Interactive unit 402 is configured to CAN bus signal being input to CAN bus, Yi Jisheng
The controller being input into the part on the CAN bus of autonomous driving vehicle on CAN bus
Monitoring data corresponding to Area Network bus signal.
In some optional implementations of the present embodiment, decision package includes：Signal conversion subunit, is configured to
Generate control signal corresponding to control instruction；Control signal corresponding to control instruction is smoothed；Based on control signal
With the corresponding relation of CAN bus signal, CAN bus signal corresponding to control signal is generated.
In some optional implementations of the present embodiment, interactive unit includes：Signal decoding subunit, is configured to
By the CAN bus signal on CAN bus interface CAN bus, with
And CAN bus signal is decoded, obtain controller local corresponding to CAN bus signal
Network-bus instructs；The command field or data field in CAN bus instruction are extracted, and generation includes
The monitoring data of command field or data field.
In some optional implementations of the present embodiment, decision package includes：Conversion subunit is instructed, is configured to
Corresponding relation based on control instruction and CAN bus instruction, generates control general ability corresponding to the control instruction
Domain network-bus instruction；Generate CAN bus signal corresponding to CAN bus instruction.
In some optional implementations of the present embodiment, interactive unit includes：Instruction parsing subelement, is configured to
By the CAN bus signal on CAN bus interface CAN bus, with
And using CAN bus controller parsing CAN bus signal, it is total to obtain controller local area network
CAN bus corresponding to line signal instructs；Extract CAN bus instruction in command field or
Data field, and monitoring data of the generation comprising command field or data field.
In some optional implementations of the present embodiment, the control device applied to autonomous driving vehicle also includes：
Image acquisition units, it is configured to gather road conditions image in real time using single wide-angle camera.
Present invention also provides a kind of autonomous driving vehicle, the autonomous driving vehicle can be configured with one or more processing
Device；Memory, for storing one or more programs, it can be included in one or more programs to perform above-mentioned steps 201-
The instruction of operation described in 202.When one or more programs are executed by one or more processors so that one or more
Operation described in computing device above-mentioned steps 201-202.
Present invention also provides a kind of computer-readable medium, the computer-readable medium can be in autonomous driving vehicle
Included；Can also be individualism, without in supplying autonomous driving vehicle.Above computer computer-readable recording medium carries one
Or multiple programs, when one or more program is performed by autonomous driving vehicle so that autonomous driving vehicle：Based on collection
The sensor information arrived, generate for controlling the control of the part on the CAN bus of autonomous driving vehicle to refer to
Order, and CAN bus signal corresponding to generation control instruction；CAN bus signal is inputted
Part on to CAN bus, and the CAN bus of generation autonomous driving vehicle is input to control
Monitoring data corresponding to CAN bus signal on device Area Network bus processed.
It should be noted that computer-readable medium described herein can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer-readable recording medium can for example include but unlimited
In the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or device, or any combination above.Computer can
Reading the more specifically example of storage medium can include but is not limited to：Electrically connecting with one or more wires, portable meter
Calculation machine disk, hard disk, random access storage device (RAM), read-only storage (ROM), erasable programmable read only memory
(EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic memory device or
The above-mentioned any appropriate combination of person.In this application, computer-readable recording medium can be any includes or storage program
Tangible medium, the program can be commanded execution system, device either device use or it is in connection.And in this Shen
Please in, computer-readable signal media can include in a base band or as carrier wave a part propagation data-signal, its
In carry computer-readable program code.The data-signal of this propagation can take various forms, and include but is not limited to
Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable
Any computer-readable medium beyond storage medium, the computer-readable medium can send, propagate or transmit for by
Instruction execution system, device either device use or program in connection.The journey included on computer-readable medium
Sequence code can be transmitted with any appropriate medium, be included but is not limited to：Wirelessly, electric wire, optical cable, RF etc., or it is above-mentioned
Any appropriate combination.
Flow chart and block diagram in accompanying drawing, it is illustrated that according to the system of the various embodiments of the application, method and computer journey
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
The part of one module of table, program segment or code, the part of the module, program segment or code include one or more use
In the executable instruction of logic function as defined in realization.It should also be noted that marked at some as in the realization replaced in square frame
The function of note can also be with different from the order marked in accompanying drawing generation.For example, two square frames succeedingly represented are actually
It can perform substantially in parallel, they can also be performed in the opposite order sometimes, and this is depending on involved function.Also to note
Meaning, the combination of each square frame and block diagram in block diagram and/or flow chart and/or the square frame in flow chart can be with holding
Function as defined in row or the special hardware based system of operation are realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit can also be set within a processor, for example, can be described as：A kind of processor bag
Include decision package, interactive unit.Wherein, the title of these units does not form the limit to the unit in itself under certain conditions
It is fixed, for example, decision package is also described as " being used to, based on the sensor information collected, generate and drive automatically for controlling
Sail the control instruction of the part on the CAN bus of automobile, and controller corresponding to the generation control instruction
The unit of Area Network bus signal ".
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology that the particular combination of above-mentioned technical characteristic forms
Scheme, while should also cover in the case where not departing from the inventive concept, carried out by above-mentioned technical characteristic or its equivalent feature
The other technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (14)
1. a kind of control method applied to autonomous driving vehicle, it is characterised in that methods described includes：
Based on the sensor information collected, the portion on the CAN bus for controlling autonomous driving vehicle is generated
The control instruction of part, and CAN bus signal corresponding to the generation control instruction；
The CAN bus signal is input to CAN bus, and generation autonomous driving vehicle
CAN bus on part be input on CAN bus CAN bus letter
Monitoring data corresponding to number.
2. according to the method for claim 1, it is characterised in that generate controller local area network corresponding to the control instruction
Bus signals include：
Generate control signal corresponding to the control instruction；
Control signal corresponding to the control instruction is smoothed；
Corresponding relation based on control signal Yu CAN bus signal, generate and controlled corresponding to the control signal
Device Area Network bus signal.
3. according to the method for claim 2, it is characterised in that generate the CAN bus of autonomous driving vehicle
On the CAN bus signal that is input on CAN bus of part corresponding to monitoring data include：
Believed by the CAN bus on CAN bus interface CAN bus
Number, and the CAN bus signal is decoded, obtain the CAN bus signal pair
The CAN bus instruction answered；
The command field or data field in CAN bus instruction are extracted, and generation includes the command word
The monitoring data of section or data field.
4. according to the method for claim 1, it is characterised in that generate controller local area network corresponding to the control instruction
Bus signals include：
Corresponding relation based on control instruction and CAN bus instruction, generates corresponding to the control instruction and controls
Device Area Network bus instructs；
Generate CAN bus signal corresponding to the CAN bus instruction.
5. according to the method for claim 4, it is characterised in that generate the CAN bus of autonomous driving vehicle
On the CAN bus signal that is input on CAN bus of part corresponding to monitoring data include：
Believed by the CAN bus on CAN bus interface CAN bus
Number, and the CAN bus signal is parsed using CAN bus controller, obtain the control
CAN bus corresponding to device Area Network bus signal processed instructs；
The command field or data field in CAN bus instruction are extracted, and generation includes the command word
The monitoring data of section or data field.
6. according to the method described in one of claim 1-5, it is characterised in that methods described also includes：
Road conditions image is gathered using single wide-angle camera in real time.
A kind of 7. control device applied to autonomous driving vehicle, it is characterised in that the control applied to autonomous driving vehicle
Device processed includes：
Decision package, for based on the sensor information collected, generating the controller local for controlling autonomous driving vehicle
The control instruction of part on network-bus, and CAN bus signal corresponding to the generation control instruction；
Interactive unit, for the CAN bus signal to be input into CAN bus, Yi Jisheng
The controller being input into the part on the CAN bus of autonomous driving vehicle on CAN bus
Monitoring data corresponding to Area Network bus signal.
8. the control device according to claim 7 applied to autonomous driving vehicle, it is characterised in that decision package bag
Include：
Signal conversion subunit, it is configured to generate control signal corresponding to the control instruction；It is corresponding to the control instruction
Control signal be smoothed；Corresponding relation based on control signal Yu CAN bus signal, generate institute
State CAN bus signal corresponding to control signal.
9. the control device according to claim 8 applied to autonomous driving vehicle, it is characterised in that interactive unit bag
Include：
Signal decoding subunit, it is configured on CAN bus interface CAN bus
CAN bus signal, and the CAN bus signal is decoded, obtains the control
CAN bus corresponding to device Area Network bus signal processed instructs；Extract CAN bus instruction
In command field or data field, and monitoring data of the generation comprising the command field or data field.
10. the control device according to claim 7 applied to autonomous driving vehicle, it is characterised in that decision package bag
Include：
Conversion subunit is instructed, is configured to the corresponding relation based on control instruction and CAN bus instruction, it is raw
Instructed into CAN bus corresponding to the control instruction；It is corresponding to generate the CAN bus instruction
CAN bus signal.
11. the control device according to claim 10 applied to autonomous driving vehicle, it is characterised in that interactive unit bag
Include：
Instruction parsing subelement, is configured on CAN bus interface CAN bus
CAN bus signal, and parse the controller LAN using CAN bus controller
Network bus signals, obtain CAN bus corresponding to the CAN bus signal and instruct；Extract
Command field or data field in CAN bus instruction, and generation include the command field or data word
The monitoring data of section.
12. the control device applied to autonomous driving vehicle according to one of claim 7-11, it is characterised in that described
Control device applied to autonomous driving vehicle also includes：
Image acquisition units, it is configured to gather road conditions image in real time using single wide-angle camera.
A kind of 13. autonomous driving vehicle, it is characterised in that including：
One or more processors；
Memory, for storing one or more programs,
When one or more of programs are by one or more of computing devices so that one or more of processors
Realize the method as described in any in claim 1-6.
A kind of 14. computer-readable recording medium, it is characterised in that be stored thereon with computer program, it is characterised in that the journey
The method as described in any in claim 1-6 is realized when sequence is executed by processor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710792107.8A CN107499258A (en) | 2017-09-05 | 2017-09-05 | Control method and device applied to autonomous driving vehicle |
| PCT/CN2018/098624 WO2019047642A1 (en) | 2017-09-05 | 2018-08-03 | Control method and device applicable to self-driving car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710792107.8A CN107499258A (en) | 2017-09-05 | 2017-09-05 | Control method and device applied to autonomous driving vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108965293A (en) * | 2018-07-13 | 2018-12-07 | 智车优行科技（北京）有限公司 | Message parsing method and device, electronic equipment |
| WO2019047642A1 (en) * | 2017-09-05 | 2019-03-14 | 百度在线网络技术（北京）有限公司 | Control method and device applicable to self-driving car |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019047642A1 (en) * | 2017-09-05 | 2019-03-14 | 百度在线网络技术（北京）有限公司 | Control method and device applicable to self-driving car |
| CN108965293A (en) * | 2018-07-13 | 2018-12-07 | 智车优行科技（北京）有限公司 | Message parsing method and device, electronic equipment |
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| CN110488830A (en) * | 2019-08-26 | 2019-11-22 | 吉林大学 | High-precision cartographic information pre-parsed system and pre-parsed method towards intelligent vehicle speed energy conservation plan |
| CN110488830B (en) * | 2019-08-26 | 2021-11-19 | 吉林大学 | High-precision map information pre-analysis system and pre-analysis method for intelligent vehicle speed energy-saving planning |
| CN110780608A (en) * | 2019-11-26 | 2020-02-11 | 北京百度网讯科技有限公司 | Simulation test method and device |
| CN110780608B (en) * | 2019-11-26 | 2023-03-10 | 北京百度网讯科技有限公司 | Simulation test method and device |
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| WO2019047642A1 (en) | 2019-03-14 |
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